working machine

Abstract

The present application can create an appropriate travel path according to a work. A work machine (1) has: a vehicle body (2); a first work device (60A) that performs a first work; a travel device (4); a first work acquisition unit (57e) that acquires first information of the first work device (60A); a second work acquisition unit (57f) that acquires second information of a second work device (60B) that performs a second work that is a work that precedes the first work; a path acquisition unit (57g) that acquires a path of the second work, that is, a second path (L2); and a path creation unit (57d) that creates a path of the first work, that is, a first path (L1) that includes a plurality of first portions (La1). The path acquisition unit (57g) acquires a plurality of second portions (La2) as the second path (L2), and the path creation unit (57d) creates the plurality of first portions (La1) by shifting the plurality of second portions (La2) in a direction orthogonal to the plurality of second portions (La2) based on the first information acquired by the first work acquisition unit (57e) and the second information acquired by the second work acquisition unit (57f).

Description

Technical Field

[0001] This invention relates to tractors and other work machines. Background Technology

[0002] Currently, there is a known patent document 1 regarding the technology for creating a target travel path for agricultural machinery.

[0003] The work vehicle assistance system of Patent Document 1 includes: a vehicle position detection module for detecting the vehicle position; a non-work area shape map calculation unit for calculating a shape map of the non-work area within the work predetermined area based on the vehicle position data obtained by the vehicle position detection module when driving around the perimeter of the work predetermined area; and a path calculation unit for calculating a target driving path for driving in the non-work area based on the shape map calculated by the non-work area shape map calculation unit.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Publication No. 2017-55673. Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In Patent Document 1, a shape map of the unworked area is calculated, and a target driving path is created on the calculated shape map. However, the technology disclosed in Patent Document 1 does not take into account the situation where different operations are performed in the same field due to different work vehicles. Assuming that the subsequent operation (first operation) and the preceding operation (second operation) travel on the same target driving path, it is possible to unintentionally generate areas where the first operation is not performed (unworked area) and areas where the first operation is performed repeatedly (repeated operation area).

[0009] This invention was made to address the problems of the prior art, and its purpose is to provide a work machine capable of creating appropriate travel paths according to the task.

[0010] Technical means to solve the problem

[0011] An embodiment of the present invention provides a work machine comprising: a vehicle body; a first work device capable of being mounted on the vehicle body and performing a first work; a travel device disposed on the vehicle body; a first work acquisition unit for acquiring first information of the first work device; a second work acquisition unit for acquiring second information of a second work device for a second work performed prior to the first work; a path acquisition unit for acquiring a path for the second work, i.e., a second path; and a path creation unit for creating a path for the first work, i.e., a first path, the first path comprising a plurality of first portions extending from one end of a field to the other end and arranged separately from each other. The path acquisition unit acquires the plurality of second portions extending from one end of the field to the other end and arranged separately from each other, as the second path. The path creation unit, based on the first information acquired by the first work acquisition unit and the second information acquired by the second work acquisition unit, shifts the plurality of second portions in a direction orthogonal to the plurality of second portions, thereby creating the plurality of first portions.

[0012] The plurality of first portions are arranged at equal intervals, and the plurality of second portions may also be arranged at equal intervals with intervals different from those of the plurality of first portions.

[0013] The first job acquisition unit acquires the first job width of the first job device as the first information, and the second job acquisition unit acquires the second job width of the second job device as the second information. The path creation unit may also use the difference between the first job width acquired by the first job acquisition unit and the second job width acquired by the second job acquisition unit to shift the plurality of second parts respectively, thereby creating the first part.

[0014] The path creation unit can also create the first part by shifting each of the plurality of second parts by the product of the difference between the first job width obtained by the first job acquisition unit and the second job width obtained by the second job acquisition unit and a natural number multiple of 1 / 2.

[0015] The first working device has a single first working part or a plurality of first working parts arranged at a first interval in the width direction. The second working device has a single second working part or a plurality of second working parts arranged at a first interval in the width direction. The first working acquisition unit acquires the number of the first working parts as the first information, and the second working acquisition unit acquires the number of the second working parts as the second information. The path creation unit may also shift each of the plurality of second parts based on the difference between the number of the first working parts acquired by the first working acquisition unit and the number of the second working parts acquired by the second working acquisition unit, and the first interval, thereby creating the plurality of first parts.

[0016] The path creation unit can also create the plurality of first parts by shifting each of the plurality of second parts by the product of the difference between the number of first jobs obtained by the first job acquisition unit and the number of second jobs obtained by the second job acquisition unit, the first interval, and a natural number multiple of 1 / 2.

[0017] The first job acquisition unit acquires the first job width of the first job device as the first information. The path creation unit creates the second path based on the first job width. The path acquisition unit may also acquire the second path created by the path creation unit.

[0018] The work machine includes a position detection device that detects the position of the vehicle body. When the vehicle body connected to the second work device moves, the path acquisition unit can also acquire the second path based on the position of the vehicle body acquired by the position detection device.

[0019] The work machine may also include: a position detection device for detecting the position of the vehicle body; and a display device for displaying the position of the vehicle body detected by the position detection device and the first path created by the path creation unit.

[0020] The work machine may also include: a position detection device for detecting the position of the vehicle body; and an automatic steering control unit for controlling the steering of the travel device based on the position of the vehicle body detected by the position detection device and the first path created by the path creation unit.

[0021] The work machine may also include: a position detection device for detecting the position of the vehicle body; and an automatic driving control unit for controlling the steering and speed of the driving device based on the position of the vehicle body detected by the position detection device and the first path created by the path creation unit.

[0022] The work machine has a connecting device that can be selected from the first work device and the second work device and connected to the vehicle body. The first path can also be the path along which the vehicle body with the first work device is mounted via the connecting device travels, and the second path can also be the path along which the vehicle body with the second work device is mounted via the connecting device travels.

[0023] Invention Effects

[0024] Based on the aforementioned work machine, an appropriate travel path can be created according to the task. Attached Figure Description

[0025] Figure 1 It is a block diagram representing the work machine.

[0026] Figure 2 This is a diagram showing a lifting device.

[0027] Figure 3 This is an example of a farm registration screen.

[0028] Figure 4A It is a map that shows the outline of the field based on the location points.

[0029] Figure 4B It is a map that shows the outline of a field based on its turning points.

[0030] Figure 4C It is a map that shows the outline of a field based on the ends of the field.

[0031] Figure 5 It is a map for creating driving routes and unit work zones.

[0032] Figure 6 It is a diagram illustrating the division of work areas within a unit.

[0033] Figure 7 It means and Figure 6 A map showing the different work zones for different units.

[0034] Figure 8A It is a diagram showing the relationship between the first type of device, the production line, and the unit's work area.

[0035] Figure 8B It is a diagram showing the relationship between the second type of equipment, the production line, and the unit's work area.

[0036] Figure 8C It is a diagram showing the relationship between the third type of equipment, the production line, and the unit's work area.

[0037] Figure 9A This is a diagram showing a ridge-forming device as an example of the first type of device.

[0038] Figure 9B This is a diagram showing a seeding and dispersing device as an example of the first type of device.

[0039] Figure 9C This is a diagram showing a pesticide dispensing device as an example of the second type of device.

[0040] Figure 9D This is a diagram showing a tillage device as an example of the third type of device.

[0041] Figure 10 It is a top view showing the non-drivable lines and the positional relationship between the drivable lines and the work machine.

[0042] Figure 11A The first diagram illustrates the situation in the prior art where the first and second operations are performed while traveling on a second path.

[0043] Figure 11B The second figure illustrates the situation in the prior art where the first and second operations are performed while traveling on a second path.

[0044] Figure 11C The third figure illustrates the situation where the first and second operations are performed while traveling on the second path in the prior art.

[0045] Figure 11D The fourth figure illustrates the situation where the first and second operations are performed while traveling on the second path in the prior art.

[0046] Figure 12 This is an example of a screen selection screen.

[0047] Figure 13A This is the first diagram illustrating the second path and the drivable route.

[0048] Figure 13B This is the second diagram illustrating the second path and the drivable route.

[0049] Figure 14 This diagram illustrates the first part of the settings performed by the settings department.

[0050] Figure 15A It is a diagram showing the series of processes by which the path creation department creates the first path.

[0051] Figure 15B It is a diagram showing the series of processes by which the path creation department creates the first path.

[0052] Figure 16 This is an example of a screen showing the input for the second task.

[0053] Figure 17 This is an example of a screen showing the input for the first task.

[0054] Figure 18 This is an example of a path display screen.

[0055] Figure 19 This is a block diagram representing the working machine in the first variation.

[0056] Figure 20 This is a diagram illustrating the autopilot in the first variation.

[0057] Figure 21 This is a block diagram representing the working machine in the second variation.

[0058] Figure 22 This is a side view of the machine.

[0059] Figure 23 This is the main view of the machine. Detailed Implementation

[0060] Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings.

[0061] Figure 22 This is a side view showing one embodiment of the work machine 1. Figure 23 This is a front view showing one embodiment of the work machine 1. In this embodiment, the work machine 1 is a tractor equipped with the work device 60. It should be noted that the work machine 1 is not limited to a tractor, and can also be a rice transplanter or a combine harvester. For ease of explanation, the following description will use the case where the work machine 1 is a tractor equipped with the work device 60 as an example. In addition, the view in front of the operator (driver) sitting in the driver's seat 7 of the work machine 1 ( Figure 22 (arrow A1 direction) is taken as the front, and the operator's rear side ( Figure 22 (arrow A2 direction) is taken as the rear, and the operator's left side is taken as the left side ( Figure 23 (in the direction of arrow A3), taking the operator's right side as the right side ( Figure 23 The direction of arrow A4 will be used for explanation. Additionally, the horizontal direction, which is orthogonal to the forward / backward direction of machine 1, will be used as the width direction for explanation.

[0062] The work machine 1 has a body 2, a prime mover 8, a first hydraulic pump 9, a transmission device 11, and a connecting device 30. For example... Figure 22 As shown, the vehicle body 2 has a driving device 4 and is capable of movement. The driving device 4 is a device having front wheels 4A and rear wheels 4B. The front wheels 4A and rear wheels 4B are arranged at intervals in the longitudinal direction. Furthermore, as... Figure 23 As shown, in this embodiment, a pair of front wheels 4A and rear wheels 4B are respectively provided at intervals in the width direction of the vehicle body 2.

[0063] That is, the driving device 4 consists of four wheels in total: a pair of front wheels 4A and a pair of rear wheels 4B. It includes a first driving section 4L (in this embodiment, the left front wheel 4A and rear wheel 4B) disposed on one side (left side) of the vehicle body 2 in the width direction, and a second driving section 4R (in this embodiment, the right front wheel 4A and rear wheel 4B) disposed on the other side (right side) of the vehicle body 2 at a predetermined interval from the first driving section 4L. The first driving section 4L and the second driving section 4R are separately disposed on the vehicle body 2 in the width direction. It should be noted that the driving device 4 may not consist of four wheels as in this embodiment; for example, it may consist of three wheels.

[0064] like Figure 1 As shown, the front wheel 4A is connected by an arm (steering knuckle arm) 5 that changes the orientation of the front wheel 4A. The vehicle body 2 changes the orientation of the front wheel 4A via the steering knuckle arm 5, thereby enabling straight-line driving and turning. It should be noted that the vehicle body 2 only needs to be able to drive straight and turn; the above structure can be substituted, or a structure can be built by changing the rotational speed of one side (left) and the other side (right) of the front wheel 4A and the rear wheel 4B to achieve straight-line driving and turning. Furthermore, the front wheel 4A and the rear wheel 4B can be either tire-type or track-type. The vehicle body 2 is equipped with a PTO shaft 6 that outputs power from the prime mover 8 to the outside and a driver's seat 7 for the operator.

[0065] The prime mover 8 is a diesel engine, an electric motor, etc., and in this embodiment, it is a diesel engine. The transmission device 11 can switch the propulsion of the travel device 4 by changing the speed, and can switch the travel device 4 forward and backward. The first hydraulic pump 9 is installed on the vehicle body 2 and is a device for spraying working oil. The first hydraulic pump 9 is connected to the prime mover 8, for example, and sprays working oil through the power output by the prime mover 8.

[0066] The connecting device 30 is sway-freely mounted on the vehicle body 2 and connects to the working device 60. Specifically, the connecting device 30 is located at the rear of the vehicle body 2. Furthermore, the connecting device 30 can oscillate using a first hydraulic device 31 driven by working oil injected by the first hydraulic pump 9. The working device 60 can be loaded and unloaded at the rear of the connecting device 30. By connecting the working device 60 to the connecting device 30, the working device 60 can be towed by the vehicle body 2.

[0067] The working device 60 is a device that can be mounted on the vehicle body 2. When the working machine 1 is a tractor, the working device 60 is connected to the vehicle body 2 via the connecting device 30. The working device 60 can operate using power input from an external source, such as power input from the PTO shaft 6. Alternatively, it can have a hydraulic device (not shown) driven by working oil sprayed from the first hydraulic pump 9, and operate using this hydraulic device. The working device 60 can be a tillage device 90 for cultivating land, a ridging device 71 for ridging, a fertilizer distributing device for distributing fertilizer, a pesticide distributing device 85 for distributing pesticides for pest control, a seed distributing device 75 for sowing, a transplanter for planting crops (seedlings), a harvesting device for harvesting crops, a cutting device for cutting forage, a spreading device for spreading forage, a forage collecting device for collecting forage, and a forage forming device, etc. That is, the connecting device 30 can select to connect the various types of working devices 60 to the vehicle body 2.

[0068] It should be noted that, for ease of explanation, the following descriptions use the following terms: Figure 23 As shown, the explanation will focus on the case where the central portion of the working device 60 in the width direction is aligned with the central portion of the working machine 1 in the width direction, excluding the case where the central portion of the working device 60 in the width direction is offset from the central portion of the working machine 1 in the width direction. However, the present invention can also be applied even when the central portion of the working device 60 in the width direction is offset from the central portion of the working machine 1 in the width direction. In the processing of the control device 40 and the like described later, the position (vehicle position VP) of the working machine 1 can be appropriately changed.

[0069] The transmission device 11 will now be described in detail. Figure 1 As shown, the transmission 11 includes a main shaft (propeller shaft) 11a, a main transmission section 11b, a secondary transmission section 11c, a shuttle section 11d, a PTO power transmission section 11e, and a front transmission section 11f. The propeller shaft 11a is rotatably supported on the housing (gearbox) of the transmission 11, and power from the crankshaft of the prime mover 8 is transmitted to the propeller shaft 11a. The main transmission section 11b has a plurality of gears and a shifter that changes the connection of the gears. By appropriately changing the connection (meshing) of the plurality of gears using the shifter, the main transmission section 11b changes the rotation input from the propeller shaft 11a and outputs (shifts) the rotation.

[0070] The auxiliary transmission unit 11c, like the main transmission unit 11b, has a plurality of gears and a shifter that changes the connection of the plurality of gears. The auxiliary transmission unit 11c changes the rotation input from the main transmission unit 11b and outputs (speed change) by appropriately changing the connection (meshing) of the plurality of gears using the shifter.

[0071] The shuttle 11d has a shuttle shaft 12 and a forward / reverse switching unit 13. Power output from the auxiliary transmission unit 11c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is, for example, a hydraulic clutch, which switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse movement of the work machine 1, by opening and closing the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 17R. The rear wheel differential device 17R rotatably supports the rear axle 18R on which the rear wheel 4B is mounted.

[0072] The PTO power transmission unit 11e includes a PTO drive shaft 14 and a PTO clutch 15. The PTO drive shaft 14 is rotatably supported and can transmit power from the drive shaft 11a. The PTO drive shaft 14 is connected to the PTO shaft 6 via gears or the like. The PTO clutch 15 is, for example, a hydraulic clutch, and switches between a state where power from the drive shaft 11a is transmitted to the PTO drive shaft 14 and a state where power from the drive shaft 11a is not transmitted to the PTO drive shaft 14 by opening and closing the hydraulic clutch.

[0073] The front transmission unit 11f has a first clutch 16A and a second clutch 16B. The first clutch 16A and the second clutch 16B can transmit power from the drive shaft 11a, for example, power from the shuttle shaft 12 transmitted via gears and a drive shaft. Power from the first clutch 16A and the second clutch 16B can be transmitted to the front axle 18F via the front drive shaft 19. Specifically, the front drive shaft 19 is connected to a front differential assembly 17F, which rotatably supports the front axle 18F on which the front wheels 4A are mounted.

[0074] The first clutch 16A and the second clutch 16B are composed of hydraulic clutches, etc. An oil circuit is connected to the first clutch 16A, and a first working valve 25a is connected to this oil circuit for supplying working oil injected from the first hydraulic pump 9. The first clutch 16A switches between engaged and disengaged states using the opening degree of the first working valve 25a. An oil circuit is connected to the second clutch 16B, and a second working valve 25b is connected to this oil circuit. The second clutch 16B switches between engaged and disengaged states using the opening degree of the second working valve 25b. The first working valve 25a and the second working valve 25b are, for example, dual-position switching valves with solenoid valves, which switch to engaged or disengaged states by energizing or demagnetizing the solenoid valve's solenoid.

[0075] When the first clutch 16A is disengaged and the second clutch 16B is engaged, the power from the shuttle shaft 12 is transmitted to the front wheel 4A via the second clutch 16B. This results in a four-wheel drive (4WD) system where both the front wheel 4A and rear wheel 4B are powered, and the rotational speeds of the front wheel 4A and rear wheel 4B are approximately the same (4WD constant speed state). Conversely, when the first clutch 16A is engaged and the second clutch 16B is disengaged, it becomes a four-wheel drive system where the rotational speed of the front wheel 4A is faster than that of the rear wheel 4B (4WD speed-increasing state). Furthermore, when both the first clutch 16A and the second clutch 16B are engaged, since the power from the shuttle shaft 12 is not transmitted to the front wheel 4A, it becomes a two-wheel drive system where the rear wheel 4B is powered.

[0076] like Figure 1 As shown, the work machine 1 has an operating device 20 for operating the work machine 1. The operating device 20 is arranged around the driver's seat 7 and can operate the prime mover 8, the transmission device 11, and the travel device 4, etc. The operating device 20 includes, for example, a first operating lever 21, a second operating lever 22, and a steering device 23. The first operating lever 21 and the second operating lever 22 can be held by the operator and tilted. The first operating lever 21 is a device that can operate the lifting and lowering of the connecting device 30, and the second operating lever 22 is a device that can operate the work device 60 connected to the connecting device 30.

[0077] The steering device 23 is a manual steering device that allows the operator to control the vehicle body 2, enabling straight-line movement and turning. For example... Figure 22 As shown, the steering device 23 is located in front of the driver's seat 7. The steering device 23 has a steering wheel (steering wheel) 23a and a steering shaft (rotation shaft) 23b that rotatably supports the steering wheel 23a. In addition, the steering device 23 has an auxiliary mechanism (power steering device) 35. The auxiliary mechanism 35 assists the rotation of the steering shaft 23b (steering wheel 23a) using hydraulic pressure or the like. The auxiliary mechanism 35 includes a second hydraulic pump 36a, an auxiliary control valve 36b for supplying working oil injected from the second hydraulic pump 36a, and a steering cylinder 36c actuated by the auxiliary control valve 36b. The auxiliary control valve 36b is, for example, a three-position switching valve that can be switched by the movement of a slide valve or the like, and switches accordingly to the steering direction (rotation direction) of the steering shaft 23b. The steering cylinder 36c is connected to an arm 5 that changes the orientation of the front wheels 4A.

[0078] Therefore, if the operator operates the steering wheel 23a, the switching position and opening degree of the auxiliary control valve 36b will switch accordingly to the rotation direction of the steering wheel 23a. Based on the switching position and opening degree of the auxiliary control valve 36b, the steering cylinder 36c will extend or retract to the left or right, thereby changing the steering direction of the front wheels 4A. In other words, the vehicle body 2 can change its direction of travel to the left or right by manually steering the steering wheel 23a.

[0079] like Figure 2 As shown, the connecting device 30 has a lifting arm 30a, a lower connecting rod 30b, a top connecting rod 30c, and a lifting rod 30d. The front end of the lifting arm 30a is supported on the upper rear part of the housing (gearbox) that houses the transmission device 11, which can swing upward or downward.

[0080] The front end of the lower connecting rod 30b is supported at the lower rear of the transmission device 11, allowing it to swing upwards or downwards. The front end of the top connecting rod 30c, located above the lower connecting rod 30b, is also supported at the rear of the transmission device 11, allowing it to swing upwards or downwards. The lifting rod 30d connects the lifting arm 30a and the lower connecting rod 30b. The working device 60 is connected to the rear of both the lower connecting rod 30b and the top connecting rod 30c.

[0081] like Figure 1 As shown, the work machine 1 includes a control device 40 and a storage unit 41. The control device 40 is a device composed of electrical / electronic circuits, programs stored in a CPU, etc. The control device 40 controls various devices provided by the work machine 1. Specifically, the control device 40 can control the first hydraulic device 31, the work device 60, and change the output of the first hydraulic pump 9, etc. The storage unit 41 is a non-volatile memory, etc., that stores various information related to the control of the control device 40.

[0082] like Figure 1 As shown, the work machine 1 has a position detection device (positioning device) 50. The position detection device 50 can detect its own position (including latitude and longitude positioning information) via satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, and Quasi-Zenith Satellite System. That is, the position detection device 50 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites, and detects the position of the work machine 1 (e.g., latitude and longitude) based on the satellite signals, i.e., detects the vehicle position VP. The position detection device 50 has a receiving device 51 and an inertial measurement unit (IMU) 52. The receiving device 51 is a device with an antenna, etc., that receives satellite signals transmitted from the positioning satellites, and is installed separately from the inertial measurement unit 52 on the work machine 1. Figure 22 , Figure 23As shown, in this embodiment, the receiving device 51 is installed on the upper part of the tipping teeth 10 provided on the vehicle body 2. It should be noted that the installation position of the receiving device 51 is not limited to the above-mentioned position. It can also be the central part of the engine hood, or the upper part of the protective mechanism if the vehicle body 2 is provided with a cab or other protective mechanism.

[0083] The inertial measurement unit 52 includes an accelerometer sensor for detecting acceleration and a gyroscope sensor for detecting angular velocity. The machine 1 is, for example, located below the driver's seat 7, and the inertial measurement unit 52 can detect the roll angle, pitch angle, yaw angle, etc. of the machine 1.

[0084] like Figure 1 As shown, the work machine 1 has a display device 55. The display device 55 is, for example, a driving assistance device located near the driver's seat 7. The display device 55 includes a display section 56, a display control section 57, and a display storage section 58. The display section 56 is composed of any of a liquid crystal panel, a touch panel, or other panels, and is capable of displaying information such as a field G (e.g., farm F) to assist in the driving of the work machine 1. In addition to information assisting in the driving of the work machine 1, the display section 56 can also display various information related to the work machine 1 and the work device 60.

[0085] The display control unit 57 comprises electrical / electronic components provided on the display device 55, programs stored in the display storage unit 58 (described later), etc. The display control unit 57 causes the display unit 56 to display a screen that visualizes the information stored in the display storage unit 58.

[0086] The display storage unit 58 is composed of a non-volatile memory or the like, and stores various information related to the work machine 1 and the work device 60. Furthermore, the display device 55 can be communicatively connected to the equipment of the work machine 1 via wired or wireless means, enabling mutual information transmission and reception. Specifically, for example, the display control unit 57 of the display device 55 can be communicatively connected to the control device 40 of the work machine 1.

[0087] It should be noted that in the above embodiments, the display device 55 is a driving assistance device installed near the driver's seat 7. The display device 55 only needs to have a display unit 56, a display control unit 57, and a display storage unit 58, and it can also be a computer such as a personal computer (PC), a smartphone (multifunction mobile phone), or a tablet computer.

[0088] like Figure 1As shown, the work machine 1 includes a location acquisition unit 57a, a farm registration unit 57b, and a farm acquisition unit 57c. In this embodiment, the location acquisition unit 57a, the farm registration unit 57b, and the farm acquisition unit 57c are composed of electrical / electronic components, programs stored in the display device 55, etc., and the location acquisition unit 57a, the farm registration unit 57b, and the farm acquisition unit 57c are also served by the display control unit 57 of the display device 55. It should be noted that in this embodiment, the location acquisition unit 57a, the farm registration unit 57b, and the farm acquisition unit 57c are also served by the display control unit 57 of the display device 55; however, the location acquisition unit 57a, the farm registration unit 57b, and the farm acquisition unit 57c may also be provided by a control device 40 or the like, and its structure is not limited to the above structure.

[0089] The position acquisition unit 57a acquires a plurality of positioning points as the work machine 1 circles the field G. Specifically, in this embodiment, the position acquisition unit 57a acquires the position (vehicle position VP) of the work machine 1 detected by the position detection device 50 as a plurality of positioning points VP. It should be noted that the position acquisition unit 57a only needs to be able to acquire a plurality of positioning points. It can also be a structure that connects a storage device such as a memory that pre-stores the position information of a plurality of positioning points to a display device 55, and acquires the position information of a plurality of positioning points from the storage device. The acquisition method is not limited to the method described above.

[0090] The outline H1 of the designated farmland G registered in the farm registration department 57b, for example, corresponds to the position of the designated farmland G outline H1, and is displayed as farm F on the display unit 56. When the operator performs a prescribed operation on the display device 55, such as Figure 3 As shown, the display control unit 57 causes the display unit 56 to display the farm registration screen D1. The farm registration screen D1 displays: the farm F, including field G, and the farm display unit 100 indicating the vehicle position VP of the work machine 1; and the name of field G (field name) and the first information display unit 101 indicating field identification information such as field management number. In the farm F, in addition to the image data indicating field G, it is also associated with location information such as latitude and longitude. When the operator performs a prescribed operation on the display device 55, the display control unit 57 causes the display unit 56 to display the farm registration screen D1. When the display unit 56 displays the farm registration screen D1, the operator operates the work machine 1, causing the work machine 1 to circle within the field G. The position acquisition unit 57a acquires the vehicle position VP detected by the position detection device 50 at a predetermined period, records the vehicle position VP in the display storage unit 58 at all times, and displays the vehicle position VP on the farm display unit 100 at all times. Figure 3 For convenience, only a portion of the vehicle body position (VP) is shown in the image.

[0091] When the work machine 1 finishes its circumference within field G, and the operator selects the registration button 102, the farm registration department 57b calculates the travel trajectory T1 of the work machine 1 based on the recorded multiple vehicle positions VP. Additionally, as... Figure 4A As shown, the display control unit 57 displays the driving trajectory T1 on the farm F of the farm display unit 100. Figure 4A In the example, after detecting (acquiring) multiple vehicle positions VP in sequence, the line T1 that returns to the initially detected position VP is used as the driving trajectory of the work machine 1.

[0092] The vehicle position VP is the GPS position of the position detection device 50, and the driving trajectory T1 is the trajectory after the GPS position has moved. Therefore, the farm registration unit 57b shifts the driving trajectory T1 outward, thereby forming a line H1 between the driving trajectory T1 and the outline of the farm F, wherein the offset is related to the distance from the GPS position in the work machine 1 to the outermost end of the work device 60 (in... Figure 4A In this embodiment, the distance between the working machine 1 and the left end of the working device 60 in the width direction is equal. The GPS position of the position detection device 50 is located at the center of the working machine 1. Since the center of the working machine 1 in the width direction coincides with the center of the working device 60 in the width direction, the aforementioned offset is made to be half the value of the outer width (length in the width direction) of the working device 60 or half the value of the working width W (the length in the width direction of the area where the working device 60 exerts a certain effect on the field G). Alternatively, the offset can be a value that is slightly smaller or slightly larger than the distance between the GPS position of the working machine 1 and the outer end of the working device 60 in the width direction, forming a line H1 between the travel trajectory T1 and the outline of the farm F.

[0093] The farm registration unit 57b uses the line H1 formed as described above as the outline (shape) of the field G, and registers (stores) the farm F represented by the outline H1 in the display storage unit 58. At the same time, the farm registration unit 57b establishes a correspondence between the name (field name) of the field G and the field management number, etc., and the farm F, and registers them in the display storage unit 58. Multiple farms F, etc., can be registered in the display storage unit 58. When the farm registration unit 57b registers a farm F, the display control unit 57 displays that farm F (the outline H1 of the field G).

[0094] The registration method for field G (farm F) described above is one example, and is not limited to this. As another example, such as... Figure 4BAs shown, the farm registration unit 57b calculates the inflection point based on the travel trajectory T1 of the work machine 1, forming a line K1 passing through the inflection point. Furthermore, the line K1 can be offset outward by the aforementioned offset amount to form a line H2 between the travel trajectory T1 and the outline of the farm F. This line H2 serves as the outline K2 of the field G and the farm F, and the farm F is registered in the display storage unit 58.

[0095] Additionally, while the work machine 1 is circling, the operator operates designated switches, etc., such as... Figure 4C As shown, the ends of field G can also be specified. In this case, after passing through each end of field G in a specified order, farm registration unit 57b forms a line K2 returning to the initially specified end. Furthermore, by offsetting line K2 outward by the aforementioned offset amount, line H3 is formed between the travel trajectory T1 and the outline of farm F. This line H3 serves as the outline K4 of field G and farm F, and farm F is registered in display storage unit 58.

[0096] Furthermore, the outlines H1, H2, H3 of field G and farm F can be represented by data in terms of location (latitude, longitude), coordinate system (X-axis, Y-axis), or other representations.

[0097] As described above, the display device 55 can register a plurality of farms F by the farm registration unit 57b. The farm acquisition unit 57c acquires the farm F representing the specified field G from the plurality of farms F each time an operation is performed.

[0098] like Figure 1 As shown, the work machine 1 has a path creation unit 57d that creates a travel path L for the vehicle body 2. In this embodiment, the path creation unit 57d is composed of electrical / electronic components, a program stored in the display device 55, etc., and is also served by the display control unit 57 of the display device 55. It should be noted that in this embodiment, the path creation unit 57d is also served by the display control unit 57 of the display device 55, but the path creation unit 57d may also be provided by a control device 40 or the like, and its structure is not limited to the above structure.

[0099] The path creation unit 57d has a first creation unit 57d1, which, for example, can refer to the farm F registered in the display storage unit 58, in Figure 5 The diagram shows the creation of a travel path L for the work machine 1 on the farm F. The travel path L is the path along which the work machine 1 travels, moving along the travel path L with its vehicle body position VP. The first creation unit 57d1 creates the travel path L on the farm F based on the work width W, etc.

[0100] Specifically, for example, such as Figure 6As shown, the first creation unit 57d1 creates a plurality of unit work areas E on the farm F for operation by the work device 60 by dividing the field G on the farm F along the longitudinal or transverse direction with a work width W. That is, the first creation unit 57d1 creates a plurality of unit work areas E on the farm F with the same width as the work width W. The unit work area E extends from one end of the field G to the other end (first direction B1). It should be noted that in the following description, the direction orthogonal to the first direction B1 will sometimes be described as the second direction B2.

[0101] It should be noted that, as Figure 7 As shown, the first creation unit 57d1 can also create a plurality of unit work zones E on the farm F, each with a width (actual work width) W2 after removing the overlap width W1 from the work width W. The overlap width W1 can be input to the screen displayed on the display unit 56 by operating the display device 55. That is, when the work machine 1 connected to the work device 60 is in motion, the first creation unit 57d1 sets the area where the work device 60 performs work on the field G as the unit work zone E.

[0102] like Figure 5 As shown, the first creation unit 57d1 creates a straight zoning line La for each unit work area E of the farm F, for which the work machine 1 travels. Specifically, the first creation unit 57d1 creates, for example, a generally straight zoning line La connecting the two ends of the unit work area E in the length direction at the center of the width direction. That is, the zoning line La extends along the first direction B1. Furthermore, the first creation unit 57d1 creates a turning section Lb for the work machine 1 to turn. Specifically, the first creation unit 57d1 creates the turning section Lb by connecting the ends of adjacent zoning lines La to each other in an arc shape.

[0103] It should be noted that in the above embodiment, the unit work area E is formed into a generally rectangular shape extending along the first direction B1. The unit work area E can be formed to have the same width as the work width W and extend along the first direction B1, or it can be formed into a relatively gentle curve or a sawtooth shape. That is, the division line La is also formed into a straight line extending along the first direction B1, but it can be any line connecting the two ends of the unit work area E in the length direction at the center of the width direction, or it can be formed into a relatively gentle curve or a sawtooth shape.

[0104] As mentioned above, various types of work devices 60 exist depending on the type of work being performed. Furthermore, there are work devices 60 that operate in a manner corresponding to the position of the ridges and crops, such as ridge-forming devices 71, fertilizer distributing devices, seed distributing devices 75, and transplanters, which operate based on the position of the ridges and crops in the field G. There are also work devices 60 that perform relatively large-scale operations regardless of the individual positions of the ridges and crops, such as tillage devices 90 and pesticide distributing devices 85. Additionally, even among machines performing the same task, there may be differences in their working width W.

[0105] In the following description, the operating device 60 that directly interferes with the soil of the field G, such as forming ridges like the ridge-forming device 71 and the seeding and distributing device 75, or performing seeding and planting operations on each ridge, will be referred to as "the first type of device 61". The operating device 60 that operates without directly interfering with the soil of the field G after ridge-forming and transplanting operations, such as the pesticide distributing device 85 and the fertilization device, will be referred to as "the second type of device 62". Furthermore, the operating device that directly interferes with the soil, regardless of the individual location of the ridges or crops, will be referred to as "the third type of device 63".

[0106] like Figure 8A As shown, the first type of device 61 has one or more working sections 61a. The working section 61a is a structure that performs on-the-ground operations on the field G by being pulled by the working machine 1, forming working lines R1 extending along the travel direction of the working machine 1. In the following description, the width of the working section 61a performing the operations will be described as the unit working width Wc. More specifically, the unit working width Wc can also be the width representing the actual result of the work performed by the working section 61a, or the width representing the target result of the actual work performed by the working section 61a. For example, when the ridge-forming device 71 forms ridges, the unit working width Wc can be the width of the ridge, or the width of the upper surface of the ridge (excluding the lower part of the ridge).

[0107] In the case where the first type of device 61 has a plurality of working parts 61a, the plurality of working parts 61a are arranged separately and at equal intervals (every first interval x) in the width direction. It should be noted that the first interval x is a value that is predetermined by each of the first type of devices 61, and can also be a value arbitrarily set by the operator according to a series of operations performed on the field G. It is set such that the interval of the working parts 61a of one working device 60 is consistent with the interval of the working parts 61a of other working devices 60.

[0108] A plurality of work units 61a are configured such that the length from the center of one work unit 61a to the center of another work unit 61a adjacent to that work unit 61a is a first interval x. In addition, the width of the work performed by a single work unit 61a (unit work width Wc) is less than the first interval x (Wc < x).

[0109] That is, the work machine 1 is in Figure 5 When traveling on the driving path L shown, such as Figure 8A As shown, the work line R1 formed by the work unit 61a forms a strip-shaped area with equal intervals relative to the field G. In this embodiment, the central part of the work machine 1 in the width direction coincides with the central part of the work device 60 in the width direction, and the vehicle body position VP is located at the central part of the work machine 1 in the width direction. Therefore, in the unit work area E, the work line R1 is formed symmetrically in the width direction with the travel path L as the reference.

[0110] In the case where the first device 61 has a plurality of working sections 61a, the working line R1 is formed within a unit working area E by separating sections at first intervals x in a direction orthogonal to the length direction. In other words, the first device 61 forms a working area (working line R1) and a non-working area (line R2) within a unit working area E, where the working line R1 is the smallest unit area formed within the field G below the unit working area E. The width (first width) Wd of the working line R1 is the same as the unit working width Wc.

[0111] The work line R1 is a ridge or the upper surface of a ridge that is damaged due to contact with the traveling device 4, or damaged crops. In other words, the work line R1 is a non-drivable line R1 that the traveling device 4 cannot travel on. That is, the non-drivable line R1 extends from one end of the field G to the other end (first direction B1), is formed in the second direction B2 at intervals of a first interval x, and is separated at intervals of a first interval x. In this embodiment, the non-drivable line R1 is formed in a generally straight line, but it can also be formed in a relatively gentle curve or a serrated shape. It should be noted that, for ease of explanation, the following description focuses on the case where the work line R1 is a ridge or crops.

[0112] Line R2 is a line formed adjacent to a plurality of non-drivable lines R1, and is the area outside of work lines R1 in the unit work zone E. Specifically, the plurality of lines R2 are formed adjacent to each other on both sides in a direction orthogonal to the plurality of non-drivable lines R1 (second direction B2). That is, as shown... Figure 13A as well as Figure 13B As shown, the plurality of lines R2 includes the lines formed between the plurality of non-drivable lines R1, and two lines from the plurality of lines R1 that are located at both ends and are respectively adjacent to the outer side of line R1. Figure 8A , Figure 10As shown, line R2 extends from one end of field G to the other end (first direction B1) and is formed at first intervals x in the second direction B2. It should be noted that in this embodiment, line R2 is formed in a generally straight line shape, but it can also be formed in a more gently curved or serrated shape.

[0113] In addition, such as Figure 8A , Figure 10 As shown, the width (second width) We of the complex number of lines R2 is consistent with the difference between the first interval x and the unit work width Wc (We=x-Wc).

[0114] Here, the relationship between the position of the traveling device 4 (first traveling section 4L, second traveling section 4R), the first interval x, and the unit working width Wc is explained, as follows: Figure 10 As shown, the length (third width) Wf and tread width (fourth width) Wg of the contact surface of the traveling device 4 are set such that when the first traveling part 4L is located on one line R2, the second traveling part 4R is located on another line R2. In other words, line R2 is a drivable line R2 that, when the traveling device 4 is traveling, if the first traveling part 4L and the second traveling part 4R travel along line R2, the first traveling part 4L and the second traveling part 4R will not come into contact with the ridge or crops. It should be noted that when the working line (non-drivable line) R1 is the upper surface of the ridge, line R2 is a drivable line R2 that, when the traveling device 4 is traveling, if the first traveling part 4L and the second traveling part 4R travel along line R2, even if the first traveling part 4L and the second traveling part 4R damage the lower part of the ridge, they will at least not come into contact with the upper surface of the ridge.

[0115] First, the length (third width) Wf of the contact surface of the driving device 4, that is, the tire width Wf of the front wheel 4A and the rear wheel 4B in this embodiment, is set to be less than the length (second width) We (Wf < We) of the width direction of the drivable line R2. Here, as Figure 8A , Figure 10 As shown, since the second width We is equal to the difference between the first interval x and the unit working width Wc (We=x-Wc), that is to say, the tire width Wf of the front wheel 4A and the rear wheel 4B is set to be less than the difference between the first interval x and the unit working width Wc (Wf<We=x-Wc).

[0116] Next, the tread width (fourth width) Wg is the length from the center of the width direction of the first traveling section 4L to the center of the width direction of the second traveling section 4R. When the fourth width Wg is of an appropriate length, it is possible to prevent the first traveling section 4L and the second traveling section 4R from contacting ridges or crops. Specifically, when the work machine 1 travels along the travel path L (the dividing line La), if the number of work lines R1 located between the first traveling section 4L and the second traveling section 4R is set as k, then the fourth width Wg is greater than the product of the first interval x and the natural number k-1, the first width Wd, and the third width Wf (Wg > x(k-1) + Wd + Wf). In addition, the fourth width Wg is less than the difference between the product of the first interval x and the natural number k+1 and the third width Wf (Wg < x(k+1) - Wf).

[0117] Therefore, the separation width (Wg-Wf) between the first traveling unit 4L and the second traveling unit 4R will not be less than the length in the width direction of the work line R1 located between the first traveling unit 4L and the second traveling unit 4R (x(k-1)+Wd), and the length between the outer ends in the width direction of the first traveling unit 4L and the outer ends in the second traveling unit 4R (Wf+Wg) will not be greater than the length between one work line R1 and another work line R1 located on the side of the work machine 1 (x(k+1)). That is, the traveling device 4 is arranged separately with a length corresponding to the first interval x. Thus, if the first traveling unit 4L and the second traveling unit 4R travel along line R2 when the traveling device 4 is traveling, the first traveling unit 4L and the second traveling unit 4R will not come into contact with the ridges or crops.

[0118] It should be noted that the tread width (fourth width) Wg is preferably an approximately integer multiple of the first interval x. Furthermore, the operator can adjust the first width wd, the first interval x, the third width Wf, and the fourth width Wg in a manner that satisfies the above conditions. For example, by changing the driving gear (in this embodiment, the front wheel 4A and the rear wheel 4B), appropriately changing the second width We and the fourth width Wg, the operator can make fine adjustments to the third width Wf and the fourth width Wg.

[0119] Therefore, if the first traveling part 4L and the second traveling part 4R travel along line R2 when the traveling device 4 is traveling, then line R2 is a line in which the first traveling part 4L and the second traveling part 4R do not come into contact with the ridges or crops, that is, the traversable line R2 in which the traveling device 4 can travel.

[0120] In addition, such as Figure 10As shown, when the work machine 1 travels on the travel path L (division line La), the first travel unit 4L and the second travel unit 4R travel on the drivable lines R2 located at half the fourth width Wg on both sides of the width direction of the vehicle body 1, that is, in the direction orthogonal to the division line La. In other words, the division line La, the drivable line R2 on which the first travel unit 4L and the second travel unit 4R travel, corresponds to the fourth width Wg. That is, for the travel path L (division line La) and the drivable line R2, if a drivable line R2 is selected from a plurality of drivable lines R2, the division line La when the first travel unit 4L or the second travel unit 4R travels on that drivable line R2 can be defined based on the fourth width Wg. On the other hand, if a division line La is selected from a plurality of division lines La, the drivable line R2 on which the first travel unit 4L and the second travel unit 4R travel when the work machine 1 travels on that division line La can be defined based on the fourth width Wg.

[0121] For example, in the case where the first device 61 is a ridge-forming device 71, the working unit 61a is a ridging device 72 that guides the soil in the field G to form ridges. The ridge-forming device 71 performs ridge-forming operations to form ridge lines Ra as the working line R1, and the length of the ridge line Ra in the width direction (the width of the ridge or the width of the upper surface of the ridge) is consistent with the unit working width Wc. Alternatively, in the case where the first device 61 is a seeding and distributing device 75, the working unit 61a consists of a seeding nozzle 76 and a press roller 77 that sow seeds from a container 78 into the field G. The working line R1 is the crop line Rb after the crop seeds have been sown, and the length of the crop line Rb in the width direction is consistent with the unit working width Wc. Furthermore, in the case where the first device 61 is a transplanting machine, the working unit 61a is a hopper for planting crops. The working line R1 is the crop line Rb after the crop has been planted by the hopper, and the length of the crop line Rb in the width direction is consistent with the unit working width Wc.

[0122] It should be noted that, for ease of explanation, the following description will focus on the case where the number of working parts 61a in the first type of device 61 is even. As described above, in this embodiment, for ease of explanation, the example will be that the central portion of the working device 60 in the width direction coincides with the central portion of the working machine 1 in the width direction. Therefore, among the plurality of working parts 61a in the first type of device 61, the central portions of the two innermost working parts 61a are aligned with the central portion of the working machine 1 in the width direction.

[0123] The following is based on Figure 9A The ridge forming device 71 shown and Figure 9BTaking the seeding and spreading device 75 shown as an example, the first type of device 61, the working section 61a, and the working line R1 will be described in detail. The ridge-forming device 71, as the working section 61a, has one or more ridging devices 72. In this embodiment, a pair of ridging devices 72 are arranged in the width direction. Specifically, as... Figure 9A As shown, the distance from the center of one ridging device 72 in the width direction to the center of the other ridging device 72 in the width direction is the first interval x. That is, when the working device 60 is a ridging forming device 71, the first interval x is the "rice-to-rice distance" between the center of a ridging and the center of another ridging adjacent to that ridging.

[0124] like Figure 9A As shown, the ridging device 72 has a top plate 72a, a first side plate 72b, and a second side plate 72c. The top plate 72a forms the upper part of the ridging device 72 and is arranged in a downwardly inclined manner from the front to the rear. The first side plate 72b extends downward from one end (left end) of the top plate 72a in the width direction, and the second side plate 72c extends downward from the other end (right end) of the top plate 72a in the width direction. The ridging device 72 is generally trapezoidal when viewed from the back.

[0125] exist Figure 9A In the example shown, the ridge forming device 71 has a pair of ridging devices 72, so it can form two rows of ridge lines Ra by being pulled by the working machine 1. It should be noted that when the ridge forming device 71 has three ridging devices 72, it forms three rows of ridge lines Ra by being pulled by the working machine 1, and when the ridge forming device 71 has four ridging devices 72, it forms four rows of ridge lines Ra by being pulled by the working machine 1.

[0126] It should be noted that, Figure 9A The ridging device 71 shown has a rotating tillage section 73 at the front of the ridger 72, which shapes the soil released rearward by the rotating tillage section 73 into ridges. The rotating tillage section 73 has a claw shaft 73a and tillage claws 73b. The claw shaft 73a has a rotating shaft extending in the width direction and is driven by power output from the PTO shaft 6 to till the soil.

[0127] exist Figure 9A In the ridging device 71 shown, the working width W is the length from one side (left end) of the rotating tillage section 73 in the width direction to the other side (right end) of the rotating tillage section 73. Alternatively, if the ridging device 71 does not have a rotating tillage section 73, the working width W is the length from the member positioned on one side (left end) in the width direction that guides soil toward the ridger 72 to the member positioned on the other side (right end) in the width direction that guides soil toward the ridger 72.

[0128] Furthermore, the seeding and distributing device 75 has one or more seeding nozzles 76, which serve as the working unit 61a in this embodiment, such as Figure 9B As shown, there are four seeding nozzles 76 arranged in the width direction. Specifically, the distance from the center of the width direction of one seeding nozzle 76 to the center of the width direction of another seeding nozzle 76 adjacent to that one seeding nozzle 76 is a first interval x, and the seeding nozzles 76 are arranged such that the center of the width direction is located at every first interval x.

[0129] Additionally, the seeding and distributing device 75 includes press rollers 77, which are positioned corresponding to the seeding nozzles 76. In this embodiment, four press rollers 77 are arranged separately along the width direction behind the seeding nozzles 76. Specifically, the distance from the center of one press roller 77 in the width direction to the center of another press roller 77 adjacent to that press roller 77 in the width direction is a first interval x, and the press rollers 77 are arranged such that their center in the width direction is located at every first interval x. It should be noted that in this embodiment, the seeding nozzles 76 are described as the working unit 61a of the seeding and distributing device 75, but since the seeding nozzles 76 and press rollers 77 are positioned in corresponding locations and perform operations on the field G respectively, the press rollers 77 can also be described as the working unit 61a.

[0130] The seeding and distributing device 75 includes a container 78 for holding seeds, a hose (not shown) connecting the container 78 and the seeding nozzle 76, and a delivery machine 79 that delivers the seeds from the container 78 via the hose. Therefore, the seeds delivered to the hose by driving the delivery machine 79 are sown into the field G through the seeding nozzle 76 via the hose, and a press roller 77 presses down at least the sown portion. Therefore, in Figure 9B In the example shown, the seeding and distributing device 75 has four seeding nozzles 76 and a press roller 77, and is able to form four rows of crop lines Rb by being pulled by the working machine 1. It should be noted that when the seeding and distributing device 75 has one seeding nozzle 76 and a press roller 77, it forms one row of crop lines Rb by being pulled by the working machine 1; when the seeding and distributing device 75 has a pair of seeding nozzles 76 and a press roller 77, it forms two rows of crop lines Rb by being pulled by the working machine 1.

[0131] It should be noted that, in Figure 9B In the seeding and distributing device 75 shown, the working width W is the sum of the length from the left end of the distributing range of the seeding nozzle 76 located on one side (left end) of the width direction to the right end of the distributing range of the seeding nozzle 76 located on the other side (right end) of the width direction and the second width We.

[0132] The second type of device 62 is a working device 60 that performs operations on the soil of field G after ridging and transplanting operations have been completed, without directly interfering with the soil. Figure 8B As shown, unlike the first device 61, it has a single working body 62a. The working body 62a is a structure formed by the second device 62 being pulled by the work machine 1 to perform on-the-ground work on the field G, creating a working area R3 extending along the travel direction of the work machine 1. Here, the working width W of the second device 62 is the same as the length in the width direction of the working area R3, and the working area R3 is consistent with the unit working zone E. That is, unlike the first device 61, the second device 62 does not form a working area (working line R1) and a non-working area within the unit working zone E; it performs work throughout the entire area within the unit working zone E.

[0133] The following is based on Figure 9C Taking the pesticide dispensing device 85 shown as an example, the second type of device 62 will be described. The pesticide dispensing device 85 has a plurality of pesticide nozzles 86 as working bodies 62a, and the plurality of pesticide nozzles 86 are arranged in a plurality of width directions. The plurality of pesticide nozzles 86 are arranged at intervals of the same value as the first interval x or other sizes, regardless of the position of the ridge or the crop, and do not form a working area (working line R1) and an unworking area within the entire area of ​​the unit working area E, but rather a relatively large-scale dispensing operation.

[0134] The pesticide dispensing device 85 includes a pesticide storage tank 87, a frame 88 holding the tank 87, and a dispensing pump 89 that supplies the pesticide from the tank 87 to pesticide nozzles 86. A plurality of pesticide nozzles 86 are mounted at predetermined intervals on support members projecting to the left or right from the rear of the frame 88. The frame 88 is formed into a frame shape by combining longitudinal and transverse members. The pesticide dispensing device 85 disperses the pesticide by driving the dispensing pump 89, causing the pesticide in the tank 87 to be sprayed from the pesticide nozzles 86.

[0135] In the pesticide dispensing device 85, such as Figure 9C As shown, the working width W is the length from the left end of the distribution range of the pesticide nozzle 86 located on one side (left end) in the width direction to the right end of the distribution range of the pesticide nozzle 86 located on the other side (right end) in the width direction.

[0136] The third type of device 63 is an operating device 60, such as the tillage device 90, which directly interferes with the soil and performs operations regardless of the presence or absence of ridges or crop lines. Figure 8CAs shown, similar to the second device 62, but different from the first device 61, it has a single working body 63a. The working body 63a is a structure formed by the third device 63 being pulled by the work machine 1 to perform on-the-ground work on the field G, creating a working area R4 extending along the travel direction of the work machine 1. Here, the working width W of the third device 63 is the same as the length in the width direction of the working area R4, and the working area R3 is consistent with the unit working zone E. That is, the third device 63 is similar to the second device 62, but different from the first device 61; within the unit working zone E, it does not form a working area (working line R1) or a non-working area, but performs work throughout the entire area within the unit working zone E.

[0137] The following is based on Figure 9D Taking the tillage device 90 shown as an example, the third type of device 63 will be described. The tillage device 90 has a claw shaft 91 and tillage claws 92. The claw shaft 91 has a rotating shaft extending in the width direction and is driven to till the land by power output from the PTO shaft 6. The tillage claws 92 are mounted on the claw shaft 91 and rotate about the axis of the claw shaft 91 to till and break the soil. The tillage claws 92 are arranged from one side (left) to the other side (right) in the width direction of the claw shaft 91 and extend radially outward from the axis of the claw shaft 91.

[0138] exist Figure 9D In the tillage device 90 shown, the working width W is the length from one side (left end) of the tillage device 90 in the width direction to the other side (right end) of the tillage device 90 in the width direction.

[0139] Here, when crops are typically cultivated in field G, multiple different work devices 60 are sometimes used for work based on a work schedule over a certain period (e.g., a year or several months). Hereinafter, the work performed in field G at any time within a certain period (n, n=1, 2, 3…n) will be described as the first work Jn, and the work device 60 connected to the work machine 1 will be described as the first work device 60A. Furthermore, the work performed before the first work Jn will be described as the second work Jn-1, and the work device 60 connected to the work machine 1 will be described as the second work device 60B.

[0140] It should be noted that the working width W of the first working device 60A is described as the first working width Wa, and the working width W of the second working device 60B is described as the second working width Wb. Furthermore, when the first working device 60A is a first type of device 61, its working section 61a is described as the first working section 61a1. When the second working device 60B is a first type of device 61, its working section 61a is described as the second working section 61a2.

[0141] Taking the cultivation of potatoes in field G as an example, the first operation Jn and the second operation Jn-1 are explained. The series of procedures for potato cultivation are carried out in the following order: fertilization J1, breaking soil J2, pest control J3, ridging J4, planting J5, weeding J6, hilling J7, sprouting J8, topdressing J9, pest control J10, and harvesting J11 in field G. (It should be noted that the above process is only one example, and the operating device 60 connected to the operating machine 1 varies depending on the type, structure, or growth status.)

[0142] That is, when the first operation Jn is set as ridging J4 in field G, the first operation device 60A is a ridging device 71, and the second operation Jn-1 is any one or all of fertilization J1, breaking soil J2, and pest control J3 in field G. In this case, the second operation device 60B is the operation device 60 corresponding to the second operation Jn-1. For example, when the second operation Jn-1 is fertilization J1, the second operation device 60B is a fertilizer distributing device. In addition, when the first operation Jn is set as harvesting J11, the first operation device 60A is a harvesting device, and the second operation Jn-1 is any one or all of fertilization J1, breaking soil J2, pest control J3, ridging J4, planting J5, weeding J6, hilling J7, bud removal J8, topdressing J9, and pest control J10 in field G. That is, the first operation Jn of the first working device 60A and the second operation Jn-1 of the second working device 60B are directly or indirectly related.

[0143] As described above, generally, the intervals of the ridging device 72 of the ridging device 71, the distributing nozzle of the fertilizer distributing device, the sowing nozzle 76 of the sowing distributing device 75, and the hopper of the transplanter are made consistent in advance, and the intervals (first interval x) are set in such a way that the position of the ridging corresponds to that of the crop. The length (third width) Wf of the width direction of the ground contact area of ​​the traveling device 4 is set in correspondence with the width (first width) Wd of the working line R1 and the first interval x, so that the traveling device 4 can travel across the working line R1.

[0144] However, for example, the second working device 60B is Figure 9AThe ridging forming device 71 shown, the first working device 60A is Figure 9B As shown in the case of the seeding and distributing device 75, in the first working device 60A and the second working device 60B, if the number of working sections 61a arranged in the width direction is different or the working width W is different, the working machine 1 connected to the first working device 60A travels on the same path (reference path L2) that the working machine 1 travels when the second working device 60B performs the second work Jn-1. When the first working device 60A performs the first work Jn, as... Figure 11A , Figure 11B , Figure 11C , Figure 11D As shown, during the first task Jn, either an unfinished area (unfinished area E1) or an area where the task is repeated (repeated task area E2) is generated. It should be noted that... Figures 11A to 11D For ease of explanation, the regions that only underwent the first task Jn, the regions that only underwent the second task Jn-1, and the regions that underwent both the first task Jn and the second task Jn-1 are displayed with different grids. The outlines of the unworked region E1 and the repeated task region E2 are shown in coarser form. In addition, the repeated task region E2 is displayed with a finer grid compared to the other regions.

[0145] Specifically, for example, in the case where the first working device 60A is a first type of device 61 and there are two first working units 61a1, and the second working device 60B is a first type of device 61 and there are four second working units 61a2, etc., and the number of first working units 61a1 is less than the number of second working units 61a2, such as... Figure 11A As shown, when the machine 1 connected to the first working device 60A travels on the reference path L2 and the first working device 60A performs the first operation Jn, an unworked area E1 is generated.

[0146] Furthermore, in cases where the first working device 60A is a first type of device 61 and there are four first working units 61a1, and the second working device 60B is a first type of device 61 and there are two second working units 61a2, and so on, and there are more first working units 61a1 than second working units 61a2, such as... Figure 11B As shown, when the work machine 1 connected to the first work device 60A travels on the reference path L2, and the first work device 60A performs the first work Jn, a repetitive work area E2 is generated. Then, the first work unit 61a1 performs work outside the work line R1 where the second work unit 61a2 has performed its work.

[0147] Furthermore, when the first working device 60A is the second type of device 62, the second working device 60B is the first type of device 61, and the first working width Wa is smaller than the second working width Wb, such as Figure 11CAs shown, when the machine 1 connected to the first working device 60A travels on the reference path L2 and the first working device 60A performs the first operation Jn, an unworked area E1 is generated.

[0148] Furthermore, when the first working device 60A is the second type of device 62, the second working device 60B is the first type of device 61, and the first working width Wa is larger than the second working width Wb, such as Figure 11D As shown, when the work machine 1, which is connected to the first work device 60A, travels on the reference path L2, and the first work device 60A performs the first work Jn, a repetitive work area E2 is generated. Then, the work body 62a performs work outside the work line R1 where the second work section 61a2 has performed work.

[0149] Therefore, the path creation unit 57d, instead of the first creation unit 57d1, or additionally having a second creation unit 57d2, is capable of creating the travel path L (first path L1) of the first operation Jn based on the second operation Jn-1. Specifically, the second creation unit 57d2 creates the travel path L of the first operation Jn based on the travel path L in the second operation Jn-1 and the second information of the second operation device 60B. Hereinafter, for ease of explanation, the travel path L (base path L2) in the second operation Jn-1 will sometimes be described as the second path L2, and the travel path L of the first operation Jn will be described as the first path L1. In other words, the second path L2 is the path connecting the vehicle body 2 of the second operation device 60B to move, i.e., the second operation path, and the first path L1 is the path connecting the vehicle body 2 of the first operation device 60A to move, i.e., the first operation path. In this case, the dividing line La of the first path L1 will be described as the first part La1, and the dividing line La of the second path L2 will be described as the second part La2.

[0150] More specifically, the second creation unit 57d2 creates a first path L1 based on a plurality of non-drivable lines R1 extending from one end of the field G to the other end (first direction B1) and formed at first intervals x. In this embodiment, the plurality of non-drivable lines R1 are, for example, work lines R1 that have been operated from one end of the field G to the other end at first intervals x. The second creation unit 57d2 (path creation unit 57d) creates the first path L1 based on the plurality of non-drivable lines R1 (work lines R1) extending from one end of the field G to the other end (first direction B1) and formed at first intervals x. In other words, the second creation unit 57d2 (path creation unit 57d) creates a first path L1 that suppresses unoperated areas E1 and repetitive operation areas E2 based on the operation of the previous process, as a driving path L for performing the first operation Jn.

[0151] In this embodiment, the path creation unit 57d switches between the driving path L created by the first creation unit 57d1 and the driving path L created by the second creation unit 57d2 based on the condition of the field G, i.e., the work schedule within a certain period, and the creation status of the work plan. Specifically, when the operator performs any operation on the display device 55, such as... Figure 12 As shown, the display control unit 57 causes the display unit 56 to display the selection screen D2. The path creation unit 57d, through the first creation unit 57d1 and the second creation unit 57d2, can switch between a "first mode" in which the first path L1 and the second path L2 are created together, and a "second mode" in which only the second path L2 is created by referring to the second operation Jn-1. The selection screen D2 has a selection unit 105, which performs selection operations for the "first mode" and the "second mode".

[0152] The following is a detailed explanation of how the first path L1 is created by the second creation unit 57d2.

[0153] like Figure 1 As shown, the work machine 1 includes a first job acquisition unit 57e, a second job acquisition unit 57f, a path acquisition unit 57g, a first acquisition unit 57h, and a judgment unit 57i. The first job acquisition unit 57e, the second job acquisition unit 57f, the path acquisition unit 57g, and the judgment unit 57i are concurrently performed by the display control unit 57 of the display device 55. It should be noted that in this embodiment, the first job acquisition unit 57e, the second job acquisition unit 57f, the path acquisition unit 57g, and the judgment unit 57i are concurrently performed by the display control unit 57 of the display device 55, but the first job acquisition unit 57e, the second job acquisition unit 57f, the path acquisition unit 57g, and the judgment unit 57i may also be provided by a control device 40 or the like, and its structure is not limited to the above structure.

[0154] The first job acquisition unit 57e acquires first information about the first job device 60A. This first information includes inherent information about the first job device 60A and information related to the first job Jn performed by the first job device 60A. Specifically, the first job acquisition unit 57e acquires, for example, the first job width (second interval) Wa and the number c1 of the first job units 61a1 as first information. It should be noted that the first information acquired by the first job acquisition unit 57e is not limited to the first job width Wa and the number c1 of the first job units 61a1. In addition to the first job width Wa and the number c1 of the first job units 61a1, it may also acquire information such as the type of the first job device 60A, individual information, model name, the unit job width Wc of the first job unit 61a1, the first interval x, and the date and time of the first job as first information. In this embodiment, in addition to the first working width Wa and the number c1 of the first working units 61a1, the first working acquisition unit 57e acquires the type, individual information, model name, size of the unit working width Wc, and the first interval x of the first working device 60A as first information. It should be noted that, for ease of explanation, the structure of acquiring the first working width (second interval) Wa in the first working acquisition unit 57e will sometimes be described as the second acquisition unit 57e1.

[0155] The second task acquisition unit 57f acquires second information about the second task device 60B. This second information includes inherent information about the second task device 60B and information related to the second task Jn-1 performed by the second task device 60B. Specifically, the second task acquisition unit 57f acquires, for example, the second task width Wb and the number c2 of the second task units 61a2 as second information. It should be noted that the second information acquired by the second task acquisition unit 57f is not limited to the second task width Wb and the number c2 of the second task units 61a2. In addition to the second task width Wb and the number c2 of the second task units 61a2, it can also acquire information such as the type of the second task device 60B, individual information, model name, unit task width Wc, first interval x, and the date and time of the second task as second information. In this embodiment, in addition to the second task width Wb and the number c2 of the second task units 61a2, the second task acquisition unit 57f acquires information such as the type of the second task device 60B, individual information, model name, unit task width Wc, and first interval x as second information.

[0156] The path acquisition unit 57g acquires the second path L2. When the path acquisition unit 57g acquires the driving path L corresponding to the second operation Jn-1 from the driving path L created by the path creation unit 57d as the second path L2, and the driving path L corresponding to the second operation Jn-1 is stored in the storage area such as the control device 40, the driving path L is acquired from that storage area as the second path L2. In this embodiment, the path acquisition unit 57g acquires at least a plurality of second portions La2 in the second path L2. In this embodiment, the second path L2 acquired by the path acquisition unit 57g is the driving path L created by the first creation unit 57d1, but the second path L2 may also be the driving path L created by the second creation unit 57d2. Furthermore, the path acquisition unit 57g may also acquire the second path L2 based on the vehicle position VP acquired by the position acquisition unit 57a. In this case, the position detection device 50 detects the position (vehicle position VP) of the work machine 1 when it performs the second operation, and the position acquisition unit 57a establishes a correspondence with the time information of the position detection device 50 detecting the vehicle position VP to acquire the vehicle position VP. The path acquisition unit 57g, for example, connects the vehicle position VP acquired by the position acquisition unit 57a based on the time information, defines a second path L2, and acquires the defined second path L2.

[0157] The first acquisition unit 57h acquires the non-drivable line R1. Specifically, in this embodiment, the first acquisition unit 57h defines the position information of the work line R1 based on the number c2 of the second work units 61a2 acquired by the second work acquisition unit 57f, the unit work width Wc, the first interval x, and the second path L2 acquired by the path acquisition unit 57g, thereby acquiring data of the non-drivable line R1, such as data represented by location (latitude, longitude) and data represented by coordinate (X-axis, Y-axis) system. More specifically, the first acquisition unit 57h acquires the data of the work line R1 represented by location (latitude, longitude) and data represented by coordinate (X-axis, Y-axis) system based on the second portion La2 acquired by the path acquisition unit 57g, and the number c2 of the second work units 61a2 acquired by the second work acquisition unit 57f, the unit work width Wc, the first interval x, and the second portion La2.

[0158] It should be noted that in the above embodiment, the first acquisition unit 57h defines the work line R1 based on the number c2 of the second work units 61a2 acquired by the second work acquisition unit 57f, the unit work width Wc, the first interval x, and the second path L2 acquired by the path acquisition unit 57g, thereby acquiring the non-drivable line R1. However, the acquisition method is not limited to the above method. If the non-drivable line R1 (work line R1) is pre-stored in the storage area of ​​an external server or other storage area that can communicate directly or indirectly with the display device 55 or the control device 40, the display storage unit 58 can also acquire the non-drivable line R1 from the storage area.

[0159] The determination unit 57i determines, based on the second information acquired by the second job acquisition unit 57f, which of the following is the type of the second job device 60B: the first type 61, the second type 62, and the third type. The determination unit 57i also determines, based on the type of the second job device 60B in the second information, which of the following is the type of the second job device 60B: the first type 61, the second type 62, and the third type. Specifically, the display storage unit 58 and an external server or similar storage area capable of direct or indirect communication with the display device 55 or the control device 40 store a table representing the combination of the type of job device 60 and which of the following is the type of the job device 60: the first type 61, the second type 62, and the third type. The determination unit 57i determines, based on the second information and this table, which of the following is the type of the second job device 60B: the first type 61, the second type 62, and the third type. Furthermore, when the second job acquisition unit 57f acquires information as the second type of the first type of device 61, the second type of device 62, and the third type of device, the determination unit 57i determines, based on that type, which of the first type of device 61, the second type of device 62, and the third type of device the second job acquisition unit 60B is.

[0160] It should be noted that the judgment unit 57i only needs to be able to determine which of the first type of device 61, the second type of device 62, and the third type of device the second working device 60B is, and its judgment method is not limited to the above methods.

[0161] like Figure 1 As shown, the second creation unit 57d2 has a line definition unit 157a and a setting unit 157b. In other words, the path creation unit 57d has a line definition unit 157a and a setting unit 157b.

[0162] The line definition unit 157a defines a plurality of drivable lines R2 in the field G, which are areas other than the plurality of non-drivable lines R1, based on the plurality of non-drivable lines R1 obtained by the first acquisition unit 57h. The second working device 60B is... Figure 9A The following explanation will be based on the case of the ridge forming device 71 shown. Figure 9A The second working device 60B has two working sections 61a, therefore, as Figure 13A As shown, when the machine 1 makes five reciprocating movements from one end of the field G to the other end (first direction B1), that is, when the second path L2SIP has 10 zoning lines La, 20 working lines R1 are formed and 21 drivable lines R2 are formed.

[0163] In addition, the second working device 60B is Figure 9B The following explanation will be based on the seeding and distributing device 75 shown. Figure 9B The second working device 60B has four working sections 61a, such as... Figure 13B As shown, when the machine 1 forms two reciprocating halves from one end of the field G to the other end (first direction B1), that is, when the second path L2 has 5 zoning lines La, 20 working lines R1 are formed and 21 drivable lines R2 are formed.

[0164] In this embodiment, the first acquisition unit 57h acquires the location information of a plurality of work lines R1 as a plurality of non-drivable lines R1. The line definition unit 157a refers to a farm F registered in the display storage unit 58 and, based on the location information of the plurality of work lines R1 and the farm F, acquires the area outside the work lines R1. Therefore, the line definition unit 157a calculates the location information of the area outside the plurality of work lines R1 in the farm F based on the location information of the plurality of work lines R1 and the farm F, to define a plurality of drivable lines R2.

[0165] Based on the plurality of drivable lines R2 defined by the line definition unit 157a, the setting unit 157b sets the path extending from one end of the field G to the other end (first direction B1) and on which the driving device 4 travels as a first portion La1. That is, the setting unit 157d can set paths on drivable lines R2 other than the second portion La2 as candidates for the first portion La1. When setting the first portion La1, the setting unit 157b extracts a drivable line R2 from the plurality of drivable lines R2 and sets the first portion La1 corresponding to that drivable line R2.

[0166] Here, as described above, the driving path L (division line La) and the drivable line R2 have the following relationship: if a drivable line R2 is selected from a plurality of drivable lines R2, the driving path L (division line La) when the first driving unit 4L or the second driving unit 4R travels on that drivable line R2 can be defined; if the driving path L (division line La) is selected, when the work machine 1 travels on the driving path L (division line La), the drivable line R2 traveled by the first driving unit 4L and the second driving unit 4R can be defined. Therefore, when setting the first part La1, the setting unit 157b selects the second part La2 obtained by the path acquisition unit 57g (in other words, extracts the drivable line R2 corresponding to the second part La2), extracts the drivable line R2 corresponding to the first part La1 by shifting the second part La2, and sets the first part La1.

[0167] Specifically, the setting unit 157b (path creation unit 57d) shifts a plurality of second parts La2 in an orthogonal direction based on the first information obtained by the first job acquisition unit 57e and the second information obtained by the second job acquisition unit 57f. More specifically, the setting unit 157b (path creation unit 57d) shifts the plurality of second parts La2 based on the difference between the first job width Wa obtained by the first job acquisition unit 57e and the second job width Wb obtained by the second job acquisition unit 57f. More specifically, the setting unit 157b (path creation unit 57d) shifts the plurality of second parts La2 by approximately a natural multiple of half the difference between the first job width Wa obtained by the first job acquisition unit 57e and the second job width Wb obtained by the second job acquisition unit 57f.

[0168] The setting unit 157b shifts the plurality of second portions La2 sequentially (m=1, 2, 3...m) from one end (right end) of the second direction B2 to the other end (left end) of the second direction B2. In this embodiment, the shifting is performed sequentially starting from the second portion La2 on the right side of the paper. Specifically, the setting unit 157b calculates the shift amount based on the following mathematical formula (1).

[0169] [Mathematical Expression 1]

[0170]

[0171] Therefore, when the setting unit 157b shifts a plurality of second portions La2 by the shift amount calculated by the aforementioned mathematical formula, and sets a plurality of first portions La1, the interval between two adjacent first portions La1 is substantially the same as the second interval Wa. That is, the setting unit 157b sets a plurality of first portions La1 in such a way that the interval between two adjacent first portions La1 is substantially the same as the second interval Wa based on the second interval Wa in the first information obtained by the second acquisition unit 57e1.

[0172] Here, when both the first working device 60A and the second working device 60B are of the first type 61, since the first working width Wa and the second working width Wb are approximately equal to natural number multiples of the first interval x, the setting unit 157b can calculate the displacement amount based on the number c2 of the plurality of second working units 61a2 obtained by the second working unit 57f and the number c1 of the plurality of first working units 61a1 obtained by the first working unit 57e. Specifically, the setting unit 157b (path creation unit 57d) calculates the displacement amount based on the difference between the number c1 of the first working units 61a1 and the number c2 of the second working units 61a2 and the first interval x. More specifically, the setting unit 157b (path creation unit 57d) calculates the displacement amount based on the following mathematical formula (2), by multiplying the difference between the number c1 of the first working units 61a1 and the number c2 of the second working units 61a2, the first interval x, and a natural number multiple of 1 / 2.

[0173] [Mathematical Expression 2]

[0174]

[0175] That is, according to the above mathematical formula (2), when the quantity c1 of the first work unit 61a1 and the quantity c2 of the second work unit 61a2 are even numbers, that is, when the difference between the quantity c1 of the first work unit 61a1 and the quantity c2 of the second work unit 61a2 is a multiple of 2, the shift amount is an integer multiple of the first interval x.

[0176] The setting unit 157b performs a shift operation on a plurality of second parts La2 based on any one of the shift operations calculated in the above mathematical formulas. It should be noted that when the first work width Wa is larger than the second work width Wb (Wb < Wa) and the number of first work parts 61a1 c1 is greater than the number of second work parts 61a2 c2 (c2 < c1), i.e., when the shift operation calculated by mathematical formulas (1) and (2) is positive, the setting unit 157b shifts the plurality of second parts La2 from one end (right end) to the other end (left end) of the second direction B2 by the shift operation. In this embodiment, when the shift operation calculated by mathematical formulas (1) and (2) is positive, the setting unit 157b shifts the plurality of second parts La2 to the left of the paper by the shift operation.

[0177] Here, under the aforementioned conditions (Wb < Wa), if the second portion La2 is completely shifted, the shifted second portion La2 (the first portion La1) will be exposed from the outline of the field G. Therefore, the setting unit 157b sets the number of shifted second portions La2 among the plurality of second portions La2 to the greatest common divisor of the length of the first working width Wa relative to the second direction B2 of the field G, and the path creation unit 57d connects the respective adjacent first portions La1 to form the first turning portion Lb1.

[0178] On the other hand, when the second work width Wb is larger than the first work width Wa (Wa < Wb) and the number of second work sections 61a2 c2 is greater than the number of first work sections 61a1 c1 (c1 < c2), that is, when the shift amount of the calculation result of mathematical formulas (1) and (2) is negative, the setting unit 157b shifts the plurality of second parts La2 from the other end (left end) to one end (right end) of the second direction B2 by a shift amount. In this embodiment, when the shift amount of the calculation result of mathematical formulas (1) and (2) is negative, the setting unit 157b shifts the plurality of second parts La2 to the right of the paper by a shift amount.

[0179] Here, under the aforementioned conditions (Wa < Wb), even if the second part La2 is completely shifted, an area in farm F where the first part La1 is not set will still be created. Therefore, the setting unit 157b not only shifts the second part La2 to set the first part La1, but also creates a new first part La1 separated by each first working width Wa on the drivable line R2. Specifically, the setting unit 157b recreates the first part La1 by the difference between the number of the greatest common divisors of the length of the first working width Wa relative to the second direction B2 of the field G and the number of the second parts La2, and the second creation unit 57d2 connects the adjacent first parts La1 to form the first turning section Lb1. Thus, the path creation unit 57d (second creation unit 57d2) creates the first path L1.

[0180] The first working device 60A is Figure 9A The ridge forming device 71 shown, and the second working device 60B are... Figure 9B Taking the seeding and distributing device 75 as an example, since the first working device 60A and the second working device 60B are the first type of device 61, the setting unit calculates the displacement amount based on mathematical formula (2). Since the number of the first working units 61a1 is two (c1) and the number of the second working units 61a2 is four, the number of the second working units 61a2 is more than the number of the first working units 61a1 (c1) than the number of the second working units 61a2 (c2). Therefore, the displacement amount of mathematical formula (2) is negative. Thus, the setting unit 157b shifts the plurality of second parts La2 to the right of the paper by the displacement amount.

[0181] First, the setting unit 157b sequentially shifts the first part La1 from the right end (m=1) of the plurality of second parts La2 in the second direction B2. The setting unit 157b calculates the shift amount of the second part La2 (m=1) using mathematical formula (2), which is the same value (negative number) as the first interval x. Thus, as Figure 14 As shown, the setting unit 157b sets the displacement of the second part La2 (m=1) to the first interval x to the right of the paper plane by a displacement amount of the second part La2 (m=1).

[0182] If the setting unit 157b sets the first part La1 (m=1) by shifting the second part La2 (m=1), then the second part La2 (m=2), which is inside the second part La2 (m=1), is shifted. The setting unit 157b calculates, using mathematical formula (2), that the shift amount of the second part La2 (m=2) is the same as (a negative number) three times the first interval x. Thus, as Figure 14 As shown, the setting unit 157b sets the first part La1 (m=2) by shifting the second part La2 (m=2) by 3 times the first interval x to the right of the paper.

[0183] When the second part La2 (m=5) is shifted, the setting unit 157b recreates the first part La1 with the difference of 10, the number of greatest common divisors of the length of the first working width Wa relative to the second direction B2 of the field G, and 5, the number of the second part La2 being 5. The second creation unit 57d2 connects the adjacent first parts La1 to form the first turning part Lb1.

[0184] Therefore, based on the operation width W of the first information obtained by the first operation acquisition unit 57e, the setting unit 157b extracts the drivable line R2 where the unoperated area E1 and the repeated operation area E2 are reduced in a way that does not generate an unoperated area E1 and a repeated operation area E2, and sets the first part La1.

[0185] The following mainly uses Figure 15A , Figure 15B The acquisition of second information based on the second task acquisition unit 57f and the acquisition of first information based on the first task acquisition unit 57e in the first mode and the second mode are explained according to a series of procedures.

[0186] like Figure 15A As shown, when the selection screen D2 is displayed on the display device 55 (S1), a selection operation is performed. When the first mode is selected (S2 is "Yes"), the path creation unit 57d switches to the first mode (S3).

[0187] When the path creation unit 57d switches to the first mode (S3), the display control unit 57 displays the second job input screen D3 on the display unit 56 (S4). The second job input screen D3 is a screen that accepts the input of information from the second job device 60B, and has a first input unit 110 that accepts the input of second information.

[0188] like Figure 16 As shown, the first input unit 110 includes: a first area 111 for accepting input of the second working width Wb; a second area 112 for accepting input of the quantity c2 of the second working units 61a2; a third area 113 for accepting input of the type of the second working device 60B; a fourth area 114 for accepting input of individual information of the second working device 60B; a fifth area 115 for accepting input of the model name of the second working device 60B; a sixth area 116 for accepting input of the unit working width Wc of the second working unit 61a2; and a seventh area 117 for accepting input of the first interval x of the second working device 60B. The first area 111, the second area 112, the sixth area 116, and the seventh area 117 accept numerical input, for example, via the operation display device 55; and the third area 113, the fourth area 114, and the fifth area 115 accept string input, for example, via the operation display device 55.

[0189] It should be noted that when the second work device 60B is a second type of device 62 or a third type of device 63, the second area 112 is not input, and the second work acquisition unit 57f does not acquire the number c2 of the second work units 61a2. Furthermore, the second work acquisition unit 57f acquires second information, including the second work width Wb and the number c2 of the second work units 61a2, based on the information input to the display unit 56. However, the method of inputting the second information is not limited to the method described above, and the acquisition source is not limited to the information input to the second work input screen D3. For example, the second work input screen D3 may accept input of the model of the work device 60, and the second work acquisition unit 57f may acquire the second information from a table pre-stored in the display storage unit 58. In this case, the second information is stored as a table containing the model of the work device 60, and the model of the work device 60 is acquired as individual information. Alternatively, the second job acquisition unit 57f may acquire a second information structure, including the second job width Wb and the number c2 of the second job units 61a2, based on the image captured by the shooting device installed on the job machine 1 and the information detected by the detection device such as the sensor.

[0190] When the second information is input into the second job input screen D3 and the first decision button 118 of the second job input screen D3 is selected, the second job acquisition unit 57f acquires the second information including the second job width Wb input into the second job input screen D3 and the number c2 of the second job units 61a2 (S5).

[0191] like Figure 15A As shown, when the second job acquisition unit 57f acquires the second information (S5), the display storage unit 58 stores the acquired second information (S6). Furthermore, when the display storage unit 58 stores the second information (S6), the first creation unit 57d1 (path creation unit 57d) creates a second path L2 based on the second information acquired by the second job acquisition unit 57f (S7). When the first creation unit 57d1 creates the second path L2 (S7), the display storage unit 58 stores the second path L2 in its display storage unit (S8).

[0192] When the first creation unit 57d1 (path creation unit 57d) creates the second path L2 (S7), and the display storage unit 58 stores the second path L2 (S8), the path acquisition unit 57g retrieves the second path L2 created by the first creation unit 57d1 from the display storage unit 58 (S9). Furthermore, when the path acquisition unit 57g retrieves the second path L2 (S9), the display control unit 57 displays the first job input screen D4 on the display unit 56 (S10).

[0193] The first operation input screen D4 is the screen for receiving information from the first operation device 60A, such as... Figure 17 As shown, a second input unit 120 is provided to accept input of first information. The second input unit 120 includes: an eighth area 121 for accepting input of the first working width (second interval) Wa; a ninth area 122 for accepting input of the quantity c1 of the first working unit 61a1; a tenth area 123 for accepting input of the type of the first working device 60A; an eleventh area 124 for accepting input of individual information of the first working device 60A; a twelfth area 125 for accepting input of the model name of the first working device 60A; a thirteenth area 126 for accepting input of the unit working width Wc of the first working unit 61a1; and a fourteenth area 127 for accepting input of the first interval x of the first working device 60A. The eighth area 121, ninth area 122, thirteenth area 126, and fourteenth area 127 accept numerical input, for example, via the operation display device 55. The tenth area 123, eleventh area 124, and twelfth area 125 accept string input, for example, via the operation display device 55.

[0194] It should be noted that when the first work device 60A is the second type of device 62 or the third type of device 63, the ninth area 122 is not input, and the first work acquisition unit 57e does not acquire the number c1 of the first work units 61a1. Furthermore, the first work acquisition unit 57e acquires first information including the first work width Wa and the number c1 of the first work units 61a1 based on the information input to the display unit 56. However, the method of inputting the first information is not limited to the method described above, and the acquisition source is not limited to the information input to the first work input screen D4. For example, the first work input screen D4 may accept input of the model of the work device 60, and the first work acquisition unit 57e may acquire the first information from a table pre-stored in the display storage unit 58. In this case, the first information is stored as a table containing the model of the work device 60, and the model of the work device 60 is acquired as individual information. Alternatively, the first job acquisition unit 57e may acquire first information, including the first job width Wa and the number c1 of the first job units 61a1, based on the image captured by the shooting device installed on the job machine 1 and the information detected by the detection device such as the sensor.

[0195] When first information is input into the first job input screen D4 and the second decision button 128 of the first job input screen D4 is selected, the first job acquisition unit 57e acquires first information including the first job width Wa and the number c1 of the first job units 61a1 input into the first job input screen D4 (S11).

[0196] like Figure 15AAs shown, when the first job acquisition unit 57e acquires the first information (S11), the display storage unit 58 stores the acquired first information (S12). In addition, when the display storage unit 58 stores the first information (S12), the determination unit 57i determines, based on the second information corresponding to the second path L2, whether the second job device 60B corresponding to the second job Jn-1 is a third type device 63 (S13).

[0197] If the determination unit 57i determines that the second working device 60B is not the third type of device 63, that is, if the determination unit 57i determines that the second working device 60B is the first type of device 61 or the second type of device 62 (S13 is "No"), the second creation unit 57d2 (path creation unit 57d) creates the first path L1 based on the first information obtained by the first work acquisition unit 57e, the second information obtained by the second work acquisition unit 57f, and the second path L2 obtained by the path acquisition unit 57g (S14). In other words, when a non-drivable line R1 is formed in the field G, the second creation unit 57d2 (path creation unit 57d) creates the first path L1 based on the first information obtained by the first work acquisition unit 57e, the second information obtained by the second work acquisition unit 57f, and the second path L2 obtained by the path acquisition unit 57g.

[0198] On the other hand, if the determination unit 57i determines that the second work device 60B is a third type device 63 (S13 is "Yes"), the second work acquisition unit 57f checks whether the second information of the second work Jn-2, which precedes the second work Jn-1 determined by the determination unit 57i in S12, is stored in the display storage unit 58 (S15). When the second work acquisition unit 57f confirms the existence of the second information of the second work Jn-2, which precedes the second work Jn-1 determined by the determination unit 57i in S13 (S15 is "Yes"), it acquires the second information of the second work Jn-2 from the display storage unit 58 (S16). When the second work acquisition unit 57f acquires the second information of the second work Jn-2 from the display storage unit 58, it returns to S13, and the determination unit 57i determines whether the second work device 60B corresponding to the second work Jn-2 is a third type device 63 (S13).

[0199] It should be noted that when the second job acquisition unit 57f confirms whether the second information of the second job Jn-2, which is earlier than the second job Jn-1 determined by the judgment unit 57i in S13 or S16, is stored in the display storage unit 58 (S15 is "No"), the first creation unit 57d1 creates the first path L1 based on the first information obtained by the first job acquisition unit 57e (S17).

[0200] In addition, such as Figure 15A , Figure 15BAs shown, when the second mode is selected in S1 (S2 is "No"), the path creation unit 57d switches to the second mode process (S18).

[0201] When the path creation unit 57d switches to the second mode (S18), the display control unit 57 displays the first job input screen D4 on the display unit 56 (S19). When first information is input into the first job input screen D4 and the second decision button 128 of the first job input screen D4 is selected, the first job acquisition unit 57e acquires first information including the first job width Wa and the number c1 of the first job units 61a1 input into the first job input screen D4 (S20).

[0202] like Figure 15B As shown, when the first job acquisition unit 57e acquires the first information (S20), the display storage unit 58 stores the acquired first information (S21). Additionally, when the display storage unit 58 stores the first information (S21), the second job acquisition unit 57f checks whether the second information of the second job Jn-1, which precedes the first job Jn acquired in S20, is stored in the display storage unit 58 (S22). When the second job acquisition unit 57f confirms the existence of the second information of the second job Jn-1, which precedes the first job Jn acquired in S22 (S22 is "yes"), it acquires the second information of the second job Jn-1 from the display storage unit 58 (S23). When the second job acquisition unit 57f acquires the second information from the display storage unit 58 (S23), the determination unit 57i determines whether the second job device 60B corresponding to the second job Jn-1 is a third type device 63 (S24).

[0203] If the determination unit 57i determines that the second working device 60B corresponding to the second information is not the third type of device 63, that is, if the determination unit 57i determines that the second working device 60B is the first type of device 61 or the second type of device 62 (S24 is "No"), the second creation unit 57d2 creates the first path L1 based on the first information obtained by the first acquisition unit 57h, the second information obtained by the second acquisition unit 57e1, and the second path L2 (S25). In other words, when an impassable line R1 is formed on the field G, the second creation unit 57d2 (path creation unit 57d) creates the first path L1 based on the first information obtained by the first working acquisition unit 57e, the second information obtained by the second working acquisition unit 57f, and the second path L2 obtained by the path acquisition unit 57g.

[0204] On the other hand, if the determination unit 57i determines that the second work device 60B corresponding to the second information is a third type device 63 (S24 is "Yes"), the second job acquisition unit 57f checks whether the second information of the second job Jn-2, which precedes the second job Jn-1 determined by the determination unit 57i in S22, is stored in the display storage unit 58 (S26). When the second job acquisition unit 57f confirms the existence of the second information of the second job Jn-2, which precedes the second job Jn-1 determined by the determination unit 57i in S24 (S26 is "Yes"), it acquires the second information of the second job Jn-2 from the display storage unit 58 (S27). When the second job acquisition unit 57f acquires the second information from the display storage unit 58 (S27), it returns to S24, and the determination unit 57i determines whether the second work device 60B corresponding to the second job Jn-2 is a third type device 63 (S24).

[0205] It should be noted that when the second job acquisition unit 57f confirms that the second information of the second job Jn-1 is not stored in the display storage unit 58 (S22 is "No"), or confirms that the second information of the second job Jn-2 which is earlier than the second job Jn-1 acquired in S23 or S27 is not stored in the display storage unit 58 (S26 is "No"), the first creation unit 57d1 creates the first path L1 based on the first information acquired by the second acquisition unit 57e1 (S28).

[0206] like Figure 15A , Figure 15B As shown, when the first path L1 is created in S14, S17, S25, or S28, the display storage unit 58 stores the first path L1 in the display storage unit 58 (S29). When the display storage unit 58 stores the first path L1 in the display storage unit 58 (S29) or performs a predetermined operation, the display control unit 57 displays the path display screen D5 on the display unit 56 and displays the second path L2 and the first path L1 stored in the display storage unit 58 (S30).

[0207] like Figure 18 As shown, the path display screen D5 includes, for example, a path display unit 130 capable of selectively displaying a second path L2 and a first path L1; a switch button 131 for switching the display of the path display unit 130; a second information display unit 132 displaying field identification information such as the name (field name) and field management number of the field G; and a third information display unit 133 displaying detailed information about the operations performed on the field G. The path display unit 130 displays the farm F registered by the farm registration unit 57b, and according to the operation of the switch button 131, either the second path L2 or the first path L1 is displayed on the farm F.

[0208] Additionally, the display control unit 57 acquires the vehicle position VP detected by the position detection device (positioning device) 50, and displays the current position of the work machine 1 on the path display unit 130 using an icon 130a based on the vehicle position VP. The third information display unit displays either the first information acquired by the first work acquisition unit 57e or the second information acquired by the second work acquisition unit 57f, depending on the operation of the switching button 131. In this embodiment, for example, the third information display unit displays the first work width Wa, the number c1 of the first work units 61a1, the type, individual information, and model name of the first work device 60A, the unit work width Wc of the first work unit 61a1, and the first interval x as the first information, and displays the second work width Wb, the number c2 of the second work units 61a2, the type, individual information, and model name of the second work device 60B, the unit work width Wc of the second work unit 61a2, and the first interval x as the second information.

[0209] It should be noted that the series of processes by which the path creation unit 57d creates the first path L1 is only one example. In the above embodiment, the first creation unit 57d1 creates the second path L2 (S7), the display storage unit 58 stores the second path L2 (S8), the path acquisition unit 57g acquires the second path L2 (S9), and the display control unit 57 displays the first job input screen D4 on the display unit 56 (S10). However, it is also possible that the second job acquisition unit 57f acquires the second information (S5), the display control unit 57 displays the first job input screen D4 on the display unit 56 (S10), and after the first job acquisition unit 57e acquires the first information (S11), the first creation unit 57d1 creates the second path L2 (S7).

[0210] Additionally, for example, in this embodiment, in S13 and S24, when the determination unit 57i determines that the second work device 60B corresponding to the second information is a third type of device 63 (S13 and S24 are "yes"), until it is determined that the second work device 60B corresponding to the second information is not a third type of device 63 (S13 and S24 are "no") or until it is determined that the second information of the second work Jn-2, which is earlier than the second work Jn-1, is not stored in the display storage unit 58 (S15 and S26 are "yes"), the second work acquisition unit 57f repeats the steps of S13, S15, and S16 or S24, S26, and S27, and confirms whether the second information of the second work earlier than the second work Jn-2 is stored in the display storage unit 58 (S26). However, it is also possible that if the first information acquired by the first job acquisition unit 57e includes the date and time of the first job, and the second information acquired by the second job acquisition unit 57f includes the date and time of the second job, and the second job is separated from the first job by a predetermined number of days or more, then the process moves to S17 in S15 and to S28 in S26. Alternatively, it is also possible that the determination unit 57i determines whether the second job device 60B corresponding to the second job Jn-2 is a third type device 63, and if the second job device 60B corresponding to the second job Jn-2 is a third type device 63 (S13 and S24 are "No"), in other words, if the second job device 60B corresponding to the second job Jn-2 (which is two jobs before the first job Jn) is a third type device 63, then the process moves to S17 in S15 and to S28 in S26.

[0211] Furthermore, in the above embodiment, the example given is that the path creation unit 57d creates the first path L1 and the second path L2 together. However, in addition to the first path L1 and the second path L2, the path creation unit 57d may also create the travel path L (third path) that the work machine 1 travels in the third operation, which is the operation after the second operation. The travel path L created by the path creation unit 57d together is not limited to two, but may be three or four.

[0212] In addition, in the above embodiment, the display device 55 displays the driving path L (second path L2 and first path L1) created by the path creation unit 57d on the display unit 56, but the control device 40 of the work machine 1 can also use the driving path L created by the path creation unit 57d to control the driving device 4.

[0213] Specifically, for example, such as Figure 19As shown, in the first modified example, the control device 40 includes an autopilot control unit 40a. The autopilot control unit 40a consists of electrical / electronic circuits provided in the control device 40, a program stored in the CPU, etc. The autopilot control unit 40a controls the steering motor 38 of the autopilot mechanism 37 in such a way that the vehicle body 2 travels along the driving path L based on the control signal output from the control device 40.

[0214] like Figure 20 As shown in the diagram above, when the deviation between the position of the vehicle body 2 and the travel path L is less than a predetermined value, the automatic steering control unit 40a maintains the rotation angle of the steering motor 38's rotating shaft. When the deviation between the position of the vehicle body 2 and the travel path L is greater than or equal to a predetermined value and the work machine 1 is located on the left side relative to the travel path L, the automatic steering control unit 40a rotates the steering motor 38's rotating shaft so that the work machine 1's steering direction becomes right. When the deviation between the position of the vehicle body 2 and the travel path L is greater than or equal to a predetermined value and the work machine 1 is located on the right side relative to the travel path L, the automatic steering control unit 40a rotates the steering motor 38's rotating shaft so that the work machine 1's steering direction becomes left.

[0215] It should be noted that in the above embodiment, the steering angle of the steering device 23 is changed based on the deviation between the position of the vehicle body 2 and the driving path L, but if... Figure 20 As shown in the figure below, when the orientation of the travel path L is different from the orientation of the direction of travel (travel direction) of the work machine 1 (vehicle body 2), that is, when the angle θg of the orientation of the vehicle body 2 relative to the travel path L is above a predetermined value, the automatic steering control unit 40a can also set the steering angle in such a way that the angle θg becomes zero (in such a way that the orientation of the vehicle body 2 is consistent with the orientation of the travel path L).

[0216] Furthermore, the autopilot control unit 40a can also set the final steering angle in autopilot based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the bearing (bearing deviation). The setting of the steering angle in autopilot in the above embodiment is only an example and is not intended to limit the scope.

[0217] In the above embodiment, the structure of the control device 40 controlling the automatic steering of the work machine 1 has been described. However, it is also possible that the control device 40 controls the speed of the work machine 1 in addition to controlling the automatic steering mechanism 37.

[0218] like Figure 21As shown, in the second modification, the control device 40 includes an automatic travel control unit 40b for controlling the automatic travel of the work machine 1. The automatic travel control unit 40b consists of electrical / electronic circuitry provided in the control device 40 and programs stored in the CPU, etc. When automatic travel begins, the automatic travel control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the work machine 1 travels along the travel path L. Furthermore, when automatic travel begins, the automatic travel control unit 40b controls the speed (travel speed) of the work machine 1 by automatically changing the gears of the transmission 11, the rotational speed of the prime mover 8, etc.

[0219] When automatic driving begins, the automatic driving control unit 40b controls different driving speeds in the zone La and the turning section Lb respectively. For example, in the zone La, the automatic driving control unit 40b sets the driving speed to speed α. On the other hand, in the turning section Lb, the automatic driving control unit 40b sets the driving speed to a speed β (β < α), which is slower than speed α. It should be noted that the automatic driving control unit 40b may also divide the zone La into multiple sections and set different driving speeds for each section; the control of driving speed is not limited to the above structure.

[0220] The automatic driving control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 in the same way as the automatic steering control unit 40a described above, so that the work machine 1 travels along the driving path L.

[0221] The aforementioned work machine 1 includes: a vehicle body 2; a first work device 60A, which can be mounted on the vehicle body 2; a travel device 4, which is disposed on the vehicle body 2; a first acquisition unit 57h, which acquires a plurality of non-drivable lines R1 extending from one end of the field G to the other end, the plurality of non-drivable lines R1 being formed at a first interval x; and a path creation unit 57d, which, based on the plurality of non-drivable lines R1 acquired by the first acquisition unit 57h, creates a first path L1 including a plurality of first portions La1 traveled by the vehicle body 2, the plurality of first portions La1 extending from one end of the field G to the other end. The travel device 4 is configured separately with lengths corresponding to the first interval x. The path creation unit 57d includes: a line definition unit 157a, which defines a region in the field G other than the plurality of non-drivable lines R1 obtained by the first acquisition unit 57h as a plurality of drivable lines R2; and a setting unit 157b, which sets a path extending from one end of the field G to the other end, and on which the traveling device 4 travels, as a plurality of first portions La1, based on the plurality of drivable lines R2 defined by the line definition unit 157a. According to this structure, since the work machine 1 can travel on the drivable lines R2 by crossing the non-drivable lines R1, the path creation unit 57d can create first portions La1 that can travel without encroaching on the non-drivable lines R1 of the work machine 1 by setting the first portions La1 based on the plurality of drivable lines R2 using the setting unit 157b. Thus, the work machine 1 will not travel on the non-drivable lines R1 and can efficiently perform operations in the field G.

[0222] Furthermore, the driving device 4 includes: a first driving unit 4L, which is disposed on the vehicle body 2; and a second driving unit 4R, which is separately disposed on the vehicle body 2 such that when the first driving unit 4L is located on one drivable line R2, the second driving unit 4R is located on another drivable line R2. The setting unit 157b extracts two drivable lines R2 from a plurality of drivable lines R2, and sets a plurality of first portions La1 based on the extracted two drivable lines R2 respectively. According to the above structure, the setting unit 157b can set the first portions La1 corresponding to the drivable line R2 traveled by the first driving unit 4L and the drivable line R2 traveled by the second driving unit 4R. Therefore, the setting unit 157b can further reliably suppress the first driving unit 4L and the second driving unit 4R from traveling on non-drivable lines R1.

[0223] Furthermore, the work machine 1 includes a second acquisition unit 57e1, which acquires a first working width Wa, i.e., a second interval Wa. The setting unit 157b, based on the second interval Wa acquired by the second acquisition unit 57e1, sets a plurality of first portions La1 in such a manner that the interval between two adjacent dividing lines La is substantially the same as the second interval Wa. According to this structure, when the work machine 1 travels on two adjacent dividing lines La, the setting unit 157b can suppress the separation or repetition of the area where the first work device 60A performs work. Therefore, the work machine 1 can suppress the generation of an unworked area E1 where the first work device 60A does not perform work, or a repetitive work area E2 where work is performed again in an area where the first work device 60A has already performed work.

[0224] Furthermore, the first acquisition unit 57h acquires a plurality of work lines R1 that have been worked on from one end of the field G to the other end or from the other end to one end at a first interval x, and designates them as a plurality of non-drivable lines R1. According to the above structure, the work machine 1 traveling on the first section La1 can perform work without encroaching on the plurality of work lines R1. Therefore, the work machine 1 can perform work more efficiently without disturbing areas that have already been worked on.

[0225] Furthermore, the plurality of work lines R1 acquired by the first acquisition unit 57h as a plurality of non-traveling lines R1 are the ridge line Ra for ridging operations and the crop line Rb for seed sowing or crop planting operations. According to the above structure, the work machine 1 traveling on the first section La1 can operate without damaging the ridges, the upper surface of the ridges, or the sown seeds and growing crops. Therefore, by operating on the first section La1, the work machine 1 can suppress situations that hinder seed and crop growth and reduce crop quality, and can operate efficiently.

[0226] Additionally, the work machine 1 includes: a path acquisition unit 57g, which acquires a second path L2 when the vehicle body 2 is working in the field G; a second work device 60B, which can be installed on the vehicle body 2 and performs a second work before the first work performed by the first work device 60A; and a connecting device 30, which connects either the first work device 60A or the second work device 60B to the vehicle body 2. The connecting device 30 can connect the second work device 60B, which performs a second work before the first work performed by the first work device 60A, to the vehicle body 2. The second work device 60B can work at a first interval x. The path acquisition unit 57g acquires a plurality of second portions La2 extending from one end of the field G to the other end, along which the vehicle body 2, connected to the second work device 60B, travels, as the second path L2. A plurality of non-drivable lines R1 are formed by the vehicle body 2 traveling on a plurality of second sections La2, and the second working device 60B performing a second operation from one end of the field G to the other end or from the other end to one end, with a plurality of working lines R1 formed at a first interval x. The setting unit 157b sets a plurality of first sections La1 by shifting the second path L2 obtained by the path acquisition unit 57g based on the plurality of drivable lines R2 defined by the line definition unit 157a. According to the above structure, the path creation unit 57d changes the second path L2 when the working machine 1 performs the second operation and creates a first path L1 containing the first sections La1, so the input of various information contained in the second path L2 can be omitted, and the first section La1 can be set simply. In addition, the operation (first operation) corresponding to the second operation can be performed more accurately.

[0227] Furthermore, the work machine 1 includes: a position detection device 50 for detecting the position of the vehicle body 2; and a display device 55 for displaying the position of the vehicle body 2 detected by the position detection device 50 and the first path L1 created by the path creation unit 57d. According to the above structure, the first drivable path L1 (first portion La1) can be displayed without encroaching on the non-drivable line R1. Therefore, by visually observing the first portion La1 displayed on the display device 55 and confirming the position of the vehicle body 2 and the first path L1 while operating the work machine 1, the work machine 1 can be driven along the first portion La1 without traveling on the non-drivable line R1, thereby efficiently performing work in the field G.

[0228] Furthermore, the work machine 1 includes: a position detection device 50 that detects the position of the vehicle body 2; and an automatic steering control unit 40a that controls the steering of the travel device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first path L1 created by the path creation unit 57d. According to this structure, when the operator does not steer the work machine 1, the automatic steering control unit 40a controls the steering, causing the work machine 1 to travel along the first path L1 (first part La1), thereby avoiding travel on the non-drivable line R1 and efficiently performing work in the field G. Therefore, the workability of the work machine 1 can be further improved.

[0229] Furthermore, the work machine 1 includes: a position detection device 50 that detects the position of the vehicle body 2; and an automatic driving control unit 40b that controls the steering and speed of the driving device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first path L1 created by the path creation unit 57d. According to this structure, even when the operator does not operate the steering or speed control of the work machine 1, the automatic driving control unit 40b controls the steering and speed, causing the work machine 1 to travel along the first path L1 (first part La1), thereby avoiding travel on the undrivable line R1 and efficiently performing work in the field G. Therefore, the workability of the work machine 1 can be further improved.

[0230] In addition, the above-mentioned work machine 1 includes: a vehicle body 2; a first work device 60A, which can be installed on the vehicle body 2 and perform a first work; a travel device 4, which is provided on the vehicle body 2; a first work acquisition unit 57e, which acquires first information of the first work device 60A; a second work acquisition unit 57f, which acquires second information of the second work device 60B, which performs the work before the first work, i.e., the second work; a path acquisition unit 57g, which acquires the path of the second work, i.e., the second path L2; and a path creation unit 57d, which creates the path of the first work, i.e., the first path L1, which includes a plurality of first parts La1 that extend from one end of the field G to the other end and are arranged separately from each other. The path acquisition unit 57g acquires a plurality of second parts La2 that extend from one end of the field G to the other and are arranged separately from each other, serving as the second path L2. The path creation unit 57d, based on the first information acquired by the first task acquisition unit 57e and the second information acquired by the second task acquisition unit 57f, shifts the plurality of second parts La2 in a direction orthogonal to them, thereby creating a plurality of first parts La1. According to this structure, the path creation unit 57d shifts the path (i.e., the second part La2) where the second task has been performed, i.e., changes the second path L2, and can create a first path L1 that includes the first parts La1. Therefore, the input of various information contained in the second path L2 can be omitted, and the first path L1 (first parts La1) can be created simply. Furthermore, the task corresponding to the second task (the first task) can be performed more accurately.

[0231] Furthermore, a plurality of first portions La1 are arranged at equal intervals, and a plurality of second portions La2 are arranged at equal intervals with intervals different from those of the plurality of first portions. According to the above structure, it is possible to suppress the generation of an unworked area E1 and a repetitive work area E2 when both the first and second operations are being performed.

[0232] Furthermore, the first job acquisition unit 57e acquires the first job width Wa of the first job device 60A as first information, and the second job acquisition unit 57f acquires the second job width Wb of the second job device 60B as second information. The path creation unit 57d, based on the difference between the first job width Wa acquired by the first job acquisition unit 57e and the second job width Wb acquired by the second job acquisition unit 57f, creates a first part La1 by shifting a plurality of second parts La2 respectively. According to the above structure, when the path creation unit 57d creates the first part La1 by shifting the second parts La2, it can position the first part La1 at a position corresponding to the first job width Wa. That is, when the work machine 1 travels on the first part La1, it can prevent the separation or repetition of the work area performed by the first job device 60A. Therefore, by traveling on the first part La1, the work machine 1 can suppress the generation of unworked areas E1 where the first job device 60A has not performed work, and repetitive work areas E2 where work is performed again in areas where work has already been performed by the first job device 60A.

[0233] Furthermore, the path creation unit 57d creates the first part La1 by shifting each of the plurality of second parts La2 by the product of the difference between the first work width Wa obtained by the first work acquisition unit 57e and the second work width Wb obtained by the second work acquisition unit 57f and a natural multiple of 1 / 2. According to the above structure, the work machine 1 can reliably and simply suppress the generation of the unworked area E1 and the repetitive work area E2 of the first work device 60A.

[0234] Furthermore, the first working device 60A has a single first working unit 61a1 or a plurality of first working units 61a1 arranged at a first interval x in the width direction, and the second working device 60B has a single second working unit 61a2 or a plurality of second working units 61a2 arranged at a first interval x in the width direction. The first working acquisition unit 57e acquires the number c1 of the first working units 61a1 as first information, and the second working acquisition unit 57f acquires the number c2 of the second working units 61a2 as second information. The path creation unit 57d shifts each of the plurality of second parts La2 based on the difference between the number c1 of the first working units 61a1 acquired by the first working acquisition unit 57e and the number c2 of the second working units 61a2 acquired by the second working acquisition unit 57f, and the first interval x, thereby creating a plurality of first parts La1. According to the above structure, when the path creation unit 57d shifts the second part La2 to create the first part La1, it can position the first part La1 at a position corresponding to the first work unit 61a1 and the second work unit 61a2. That is, by traveling on the first part La1, the work machine 1 can reliably perform work relative to the position where the second work unit 61a2 has performed work. Therefore, when the work machine 1 travels on the first part La1, the separation or repetition of the work area performed by the first work device 60A can be avoided.

[0235] Furthermore, the path creation unit 57d creates a plurality of first parts La1 by shifting each of the plurality of second parts La2 by the product of the difference between the number c1 of the first work units 61a1 obtained by the first work acquisition unit 57e and the number c2 of the second work units 61a2 obtained by the second work acquisition unit 57f, the first interval x, and a natural number multiple of 1 / 2. Based on the above structure, the work machine 1 can reliably and simply suppress the generation of the unworked area E1 and the repetitive work area E2 of the first work device 60A.

[0236] Furthermore, the first job acquisition unit 57e acquires the first job width Wa of the first job device 60A as first information, and the path creation unit 57d creates a second path L2 based on the first job width Wa. The path acquisition unit 57g acquires the second path L2 created by the path creation unit 57d. According to the above structure, when the work machine 1 travels on the second path L2, it can suppress the generation of unworked areas E1 where the second job device 60B has not performed work, and repetitive work areas E2 where work is performed again in areas where work has already been performed on the second job device 60B. The path creation unit 57d can easily create a first path L1 with high work efficiency based on the second path L2 with high work efficiency.

[0237] Furthermore, the work machine 1 has a position detection device 50 that detects the position of the vehicle body 2. When the vehicle body 2, which is connected to the second work device 60B, moves, the path acquisition unit 57g acquires a second path L2 based on the position of the vehicle body 2 acquired by the position detection device 50. According to the above structure, when performing the second work, a second path L2 can be created, and the work machine 1 can easily and efficiently acquire the second path L2.

[0238] Furthermore, the work machine 1 includes: a position detection device 50 for detecting the position of the vehicle body 2; and a display device 55 for displaying the position of the vehicle body 2 detected by the position detection device 50 and the first path L1 created by the path creation unit 57d. According to this structure, the operator visually views the first portion La1 displayed on the display device 55, confirms the position of the vehicle body 2 and the first path L1 while operating the work machine 1. By moving the work machine 1 along the first portion La1, efficient work can be performed in the field G.

[0239] Furthermore, the work machine 1 includes: a position detection device 50 that detects the position of the vehicle body 2; and an automatic steering control unit 40a that controls the steering of the travel device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first path L1 created by the path creation unit 57d. According to this structure, even when the operator does not steer the work machine 1, the automatic steering control unit 40a controls the steering, causing the work machine 1 to travel along the first path L1 (first part La1), thereby enabling efficient operation in the field G. Therefore, the workability of the work machine 1 can be further improved.

[0240] Furthermore, the work machine 1 includes: a position detection device 50 that detects the position of the vehicle body 2; and an automatic driving control unit 40b that controls the steering and speed of the driving device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first path L1 created by the path creation unit 57d. According to this structure, even without the operator controlling the steering and speed of the work machine 1, the automatic driving control unit 40b controls the steering and speed, enabling the work machine 1 to travel along the first path L1 (first part La1), thereby achieving efficient operation in the field G. Therefore, the workability of the work machine 1 can be further improved.

[0241] Furthermore, the work machine has a connecting device 30 that can select between the first work device 60A and the second work device 60B and connect to the vehicle body 2. The first path L1 is the path along which the vehicle body 2, with the first work device 60A mounted on it, travels via the connecting device 30, and the second path L2 is the path along which the vehicle body 2, with the second work device 60B mounted on it, travels via the connecting device 30. According to the above structure, when both the first and second work are performed by the same vehicle body 2, as described above, the first path L1 is created using the second path L2, and the vehicle body 2 travels along the first path L1 to perform the first work, thereby enabling more appropriate work to be performed.

[0242] The present invention has been described above, but it should be considered that the embodiments disclosed herein are merely illustrative in all respects and not restrictive. The scope of the invention is shown by the claims rather than by the foregoing description and is intended to include all modifications within the meaning and scope of the claims.

[0243] For example, in the above embodiment, the case where the number of working units 61a in the first type of device 61 is even was described, but the present invention can also be applied to the case where the number of working units 61a in the first type of device 61 is odd. In this case, if both the first working device 60A and the second working device 60B are the first type of device 61, then it can be applied to the case where both the first working unit 61a1 and the second working unit 61a2 are odd in number.

[0244] For example, in the above embodiment, the work line R1 is described as an example of a non-drivable line R1. As long as the non-drivable line R1 is an area that the driving device 4 (first driving unit 4L, second driving unit 4R) cannot enter and extends from one end of the field G to the other end (first direction B1), and is formed at every first interval x, it can be, for example, a trough, etc., and is not limited to the work line R1.

[0245] Explanation of reference numerals in the attached figures

[0246] 1 working machine

[0247] 2 car bodies

[0248] 4. Driving device

[0249] 30 connecting devices

[0250] 40a Automatic Steering Control Unit

[0251] 40b Automatic Driving Control Unit

[0252] 50 position detection device

[0253] 55 display devices

[0254] 57d Path Creation Department

[0255] 57e First Assignment Acquisition Department

[0256] 57f Second Operation Acquisition Department

[0257] 57g Path Acquisition Department

[0258] 60A First Working Device

[0259] 60B Second Working Device

[0260] 61a1 First Operations Department

[0261] 61a2 Second Operations Department

[0262] E1 Unworked Area

[0263] E2 Repetitive Work Area

[0264] G Field

[0265] La1 Part 1

[0266] La2 Part 2

[0267] L1 First Path

[0268] L2 Second Path

[0269] Wa: First working width (second interval)

[0270] Wb second working width

[0271] x First interval

Claims

1. A type of work machine, wherein, have: Vehicle body; The first working device can be installed on the vehicle body and perform the first operation; A driving device is installed on the vehicle body; The first task acquisition unit acquires the first information of the first task device; The second job acquisition unit acquires second information of the second job device for the job performed before the first job, i.e., the second job. The path acquisition unit acquires the path of the second task, i.e., the second path; The path creation unit creates the path of the first operation, namely the first path, which includes a plurality of first parts that extend from one end of the field to the other end and are arranged separately from each other. as well as The connecting device can be selected from the first working device and the second working device and connected to the vehicle body. The first path is the path along which the vehicle body, on which the first working device is mounted, travels via the connecting device. The second path is the path along which the vehicle body, on which the second working device is mounted, travels via the connecting device. The path acquisition unit acquires a plurality of second portions that extend from one end of the field to the other end and are arranged separately from each other, as the second path. The path creation unit, based on the first information obtained by the first job acquisition unit and the second information obtained by the second job acquisition unit, shifts the plurality of second parts in a direction orthogonal to the plurality of second parts, thereby creating the plurality of first parts.

2. The work machine according to claim 1, wherein, The plurality of first portions are arranged at equal intervals. The plurality of second portions are arranged at equal intervals, with intervals different from those of the plurality of first portions.

3. The work machine according to claim 1 or 2, wherein, The first task acquisition unit acquires the first task width of the first task device as the first information. The second task acquisition unit acquires the second task width of the second task device as the second information. The path creation unit uses the difference between the first job width obtained by the first job acquisition unit and the second job width obtained by the second job acquisition unit to shift the plurality of second parts respectively, thereby creating the first part.

4. The work machine according to claim 3, wherein, The path creation unit creates the first part by shifting each of the plurality of second parts by the product of the difference between the first job width obtained by the first job acquisition unit and the second job width obtained by the second job acquisition unit and a natural number multiple of 1 / 2.

5. The work machine according to claim 1 or 2, wherein, The first working device has a single first working part or a plurality of first working parts arranged at first intervals in the width direction. The second working device has a single second working unit or a plurality of second working units arranged in the width direction at intervals of the first interval. The first job acquisition unit acquires the number of first job units, which is used as the first information. The second job acquisition unit acquires the number of second job units, which is used as the second information. The path creation unit shifts each of the plurality of second parts based on the difference between the number of first work units obtained by the first work acquisition unit and the number of second work units obtained by the second work acquisition unit, and the first interval, thereby creating the plurality of first parts.

6. The work machine according to claim 5, wherein, The path creation unit creates the plurality of first parts by shifting each of the plurality of second parts by the product of the difference between the number of first jobs obtained by the first job acquisition unit and the number of second jobs obtained by the second job acquisition unit, the first interval, and a natural number multiple of 1 / 2.

7. The operating machine according to any one of claims 1, 2, 4, and 6, wherein, The first task acquisition unit acquires the first task width of the first task device as the first information. The path creation unit creates the second path based on the first job width. The path acquisition unit acquires the second path created by the path creation unit.

8. The work machine according to claim 7, wherein, have: The position detection device detects the position of the vehicle body. When the vehicle body connected to the second working device moves, the path acquisition unit acquires the second path based on the position of the vehicle body acquired by the position detection device.

9. The operating machine according to any one of claims 1, 2, 4, 6, and 8, wherein, have: A position detection device detects the position of the vehicle body; and The display device displays the position of the vehicle body detected by the position detection device and the first path created by the path creation unit.

10. The operating machine according to any one of claims 1, 2, 4, 6, and 8, wherein, have: A position detection device detects the position of the vehicle body; and The automatic steering control unit controls the steering of the driving device based on the position of the vehicle body detected by the position detection device and the first path created by the path creation unit.

11. The operating machine according to any one of claims 1, 2, 4, 6, and 8, wherein, have: A position detection device detects the position of the vehicle body; and The automatic driving control unit controls the steering and speed of the driving device based on the position of the vehicle body detected by the position detection device and the first path created by the path creation unit.

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