Agricultural work assisting system, agricultural machine

Abstract

The present application can prevent user from getting confused when operating the work implement (2). The agricultural work assisting system (100) has: a connecting device (8) connecting the work implement (2) with the agricultural machine (1); a control device (60) automatically performing travel or steering of the agricultural machine (1) and performing agricultural work on a farmland with the work implement (2); a first operation part (62b) provided on the agricultural machine (1) and operated to actuate the work implement (2); a second operation part (B28, B29) capable of being operated outside the agricultural machine (1) to actuate the work implement (2); and a first detection part (64a) detecting a riding state and a non-riding state of a user relative to the agricultural machine (1); when the first detection part (64a) detects the riding state, the work implement (2) can be actuated according to the operation of the first operation part (62b), and the operation of the second operation part (B28, B29) becomes invalid; when the first detection part (64a) detects the non-riding state, the work implement (2) can be actuated according to the operation of the second operation part (B28, B29), and the operation of the first operation part (62b) becomes invalid.

Description

Technical Field

[0001] This invention relates to agricultural machinery that performs agricultural operations while traveling in farmland, and an agricultural operation assistance system that assists the agricultural machinery in performing agricultural operations. Background Technology

[0002] Patent Document 1 discloses a technology that assists agricultural machinery (operating vehicles) in performing agricultural operations using an operating device connected to the agricultural machinery while driving it in an automatic driving mode in farmland. The automatic driving system disclosed in Patent Document 1 includes an automatic driving unit capable of enabling automatic driving (autonomous driving) of the agricultural machinery and a remote operation device capable of remotely operating the agricultural machinery based on wireless communication. The agricultural machinery includes an operating height setter for setting the operating height of the operating device, a height detector for detecting the height position of the operating device, a lifting indicator, and a lifting control unit. The lifting control unit sets the control target height of the operating device to the operating height based on the indication from the lifting indicator and performs automatic lifting control to align the height position of the operating device with the operating height. The remote operation device includes a display device and an operating height adjuster capable of manually adjusting the operating height in the automatic driving mode of the agricultural machinery. The display device has an operating height display section that displays the operating height set by the operating height setter, the operating height adjusted by the operating height adjuster, and the height position of the operating device detected by the height detector.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Publication No. 2020-31565 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] For example, in the automatic driving of agricultural machinery, when the operating unit connected to the agricultural machinery can be operated individually using both the operating unit located on the agricultural machinery and the operating unit located separately from the agricultural machinery, if the operating status of the operating unit of the agricultural machinery does not correspond to the operating status of the operating unit of the remote operating device, or does not correspond to the actual action status of the operating device, the operating device will not act according to the user's operation of a certain operating unit, which may lead to confusion.

[0008] Therefore, in view of the above problems, the object of the present invention is to prevent confusion when the user operates the working device.

[0009] Technical solutions to the problem

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

[0011] An agricultural operation assistance system according to one aspect of the present invention includes: a connection device for connecting an operation device to agricultural machinery; a control device for automatically driving or steering the agricultural machinery while using the operation device to perform agricultural operations on farmland; a first operation unit disposed on the agricultural machinery and operated to operate the operation device; a second operation unit operable from outside the agricultural machinery to operate the operation device; and a first detection unit for detecting whether a user is in a seated or non-seat state relative to the agricultural machinery; when the first detection unit detects the seated state, the operation device can operate according to the operation of the first operation unit, and the operation of the second operation unit becomes invalid; when the first detection unit detects the non-seat state, the operation device can operate according to the operation of the second operation unit, and the operation of the first operation unit becomes invalid.

[0012] An agricultural machine according to one aspect of the present invention includes: a vehicle body capable of travel; a connecting device for connecting a working device to the vehicle body; a control device for automatically driving or steering the vehicle body while performing agricultural operations on farmland using the working device; a first operating unit for operating the working device; and a first detection unit for detecting a user's riding state and non-riding state relative to the vehicle body; when the first detection unit detects the riding state, the control device can operate the working device according to the operation of the first operating unit, and invalidate the operation of a second operating unit used outside the agricultural machine to operate the working device; when the first detection unit detects the non-riding state, the control device can operate the working device according to the operation of the second operating unit, and invalidate the operation of the first operating unit.

[0013] Alternatively, the first operating unit and the second operating unit may be operated to change the posture of the working device; in the execution of automatic driving of the agricultural machinery while using the working device to perform agricultural operations, the control device changes the posture of the working device based on the detection result of the first detection unit, according to the operation of one of the first operating unit and the operation of the second operating unit, but not according to the operation of the other.

[0014] Alternatively, the agricultural operation assistance system may include a communication device located on the agricultural machinery and communicating wirelessly with a terminal device; a second operation unit located on the terminal device; a connection device capable of changing the posture of the operating device; when the first detection unit detects a non-riding state, the terminal device sends an operation signal corresponding to the operation of the second operation unit, and the control device receives the operation signal via the communication device, and changes the posture of the operating device based on the operation signal via the connection device; when the first detection unit detects a riding state, even if the second operation unit is operated, the terminal device will not send an operation signal corresponding to the operation, or the control device will not receive the operation signal.

[0015] The agricultural operation assistance system may have a communication device, which is installed on the agricultural machinery and communicates wirelessly with the terminal device; the second operation unit may be installed on the terminal device, and when the first detection unit detects a change from the non-riding state to the riding state, the control device may send an invalidation notification through the communication device, indicating that the operation of the second operation unit is invalidated, and the terminal device may prevent the operation of the second operation unit from being performed upon receiving the invalidation notification.

[0016] The agricultural operation assistance system may have a second detection unit that detects the actual posture of the operating device; when the first detection unit detects the non-riding state, if the second operation unit is operated, the terminal device may calculate the input value of the posture of the operating device corresponding to the operation and send an operation signal containing the input value; when the operation signal is received through the communication device, the control device may change the posture of the operating device so that the input value contained in the operation signal corresponds to the actual posture of the operating device detected by the second detection unit.

[0017] The agricultural operation assistance system may include: a second detection unit for detecting the actual posture of the operating device; and a third detection unit for detecting the operating position of the first operating unit; when the first detection unit detects the riding state, if the first operating unit is operated, the control device may calculate a set value of the posture of the operating device corresponding to the operating position of the first operating unit detected by the third detection unit, and change the posture of the operating device so that the set value corresponds to the actual posture of the operating device detected by the second detection unit.

[0018] When the first detection unit detects the non-riding state, if the second operation unit is operated, the terminal device can calculate the input value of the posture of the working device corresponding to the operation and store the input value in the storage unit. When the first detection unit detects a change from the riding state to the non-riding state, the control device can calculate the setting value of the posture of the working device corresponding to the operation position of the first operation unit detected by the third detection unit and send the setting value through the communication device. When the terminal device receives the setting value of the posture of the working device, it can change the input value of the posture of the working device stored in the storage unit to correspond to the setting value.

[0019] The agricultural operation assistance system may have a warning unit that outputs warnings. When the first detection unit detects a change from the non-riding state to the riding state, the control device may calculate a set value for the posture of the operating device corresponding to the operating position of the first operating unit detected by the third detection unit. If the set value does not correspond to the actual posture of the operating device detected by the second detection unit, a warning is output through the warning unit, and the posture of the operating device is changed so that the set value corresponds to the actual lifting height.

[0020] Alternatively, when the first detection unit detects a change from the non-riding state to the riding state, the control device calculates a setting value for the posture of the working device corresponding to the operating position of the first operating unit detected by the third detection unit. If the setting value does not correspond to the actual posture of the working device detected by the second detection unit, then the automatic driving of the agricultural machinery is not executed.

[0021] The control device can transmit the actual posture of the working device detected by the second detection unit through the communication device; the terminal device can receive the actual posture of the working device and can have a display unit that displays the actual posture and the input value of the posture of the working device corresponding to the operation of the second operation unit.

[0022] The connecting device can change the lifting height of the working device by raising and lowering it; the first operating unit can be composed of an operating member operated by a user riding in the agricultural machinery to change the lifting height of the working device and maintaining an operating position corresponding to the operation; the second operating unit can be provided in a terminal device carried by the user and is composed of an operating key operated to change the lifting height of the working device.

[0023] Alternatively, in the agricultural machinery, the first operating unit is composed of an operating member that is operated by a user riding in the agricultural machinery to change the posture of the working device and maintains an operating position corresponding to the operation; the second operating unit is provided in a terminal device carried by the user and is operated to change the posture of the working device; when the control device performs automatic driving while driving the vehicle body and using the working device to perform the agricultural operation, it changes the posture of the working device based on the detection result of the first detection unit, according to the operation of one of the first operating unit and the operation of the second operating unit, but not according to the operation of the other.

[0024] The agricultural machinery may include: a communication device for wireless communication with the terminal device; and a second detection unit for detecting the actual posture of the working device; the connection device is capable of changing the posture of the working device; when the first detection unit detects the non-riding state, and when the communication device receives an operation signal sent from the terminal device based on the operation of the second operation unit, the control device changes the posture of the working device through the connection device so that the input value of the posture of the working device corresponding to the operation of the second operation unit contained in the operation signal corresponds to the actual posture of the working device detected by the second detection unit.

[0025] The agricultural machinery may include: a third detection unit for detecting the operating position of the first operating unit; and a warning unit for outputting a warning; when the first detection unit detects a change from the non-riding state to the riding state, the control device calculates a set value for the posture of the working device corresponding to the operating position of the first operating unit detected by the third detection unit; if the set value does not correspond to the actual posture of the working device detected by the second detection unit, a warning is output through the warning unit, and the posture of the working device is changed through the connecting device so that the set value corresponds to the actual lifting height.

[0026] Invention Effects

[0027] According to the present invention, confusion can be prevented when the user changes the lifting height of the operating device. Attached Figure Description

[0028] Figure 1 This is a structural diagram of an agricultural operation support system.

[0029] Figure 2 It is a three-dimensional view of the connecting device.

[0030] Figure 3 This is a diagram showing an example of a driving route.

[0031] Figure 4 This is an example of a driving control screen.

[0032] Figure 5A This diagram illustrates the automatic driving of agricultural machinery.

[0033] Figure 5B This diagram illustrates the automatic driving of agricultural machinery.

[0034] Figure 5C This diagram illustrates the automatic driving of agricultural machinery.

[0035] Figure 5D This diagram illustrates the automatic driving of agricultural machinery.

[0036] Figure 6A This is an example of a screen showing the operation of raising and lowering the height.

[0037] Figure 6B This is an example of a screen showing the operation of raising and lowering the height.

[0038] Figure 6C This is an example of a screen showing the operation of raising and lowering the height.

[0039] Figure 6D This is an example of a screen showing the operation of raising and lowering the height.

[0040] Figure 7A This is a flowchart illustrating an example of the operation of agricultural machinery.

[0041] Figure 7B It is shown Figure 7A The subsequent flowchart.

[0042] Figure 8A This is a flowchart illustrating an example of the operation of a terminal device.

[0043] Figure 8B It is shown Figure 8A The subsequent flowchart.

[0044] Figure 8C It is shown Figure 8B The subsequent flowchart.

[0045] Figure 9 This is a timing diagram illustrating an example of the changes in the automatic driving, riding, and lifting states of the operating devices of agricultural machinery.

[0046] Figure 10A This is a diagram showing an example of the lifting height of a tilling device connected to agricultural machinery.

[0047] Figure 10BThis is a diagram showing an example of the lifting height of a tilling device connected to agricultural machinery.

[0048] Figure 11 This is a side view of agricultural machinery. Detailed Implementation

[0049] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0050] First, the agricultural machinery 1 of this embodiment will be described. Figure 11 This is a side view of an example of agricultural machinery 1. In this example, agricultural machinery 1 is composed of a tractor. However, agricultural machinery 1 is not limited to a tractor; for example, it may be composed of other agricultural machinery such as a rice transplanter or a combine harvester, or other work vehicles other than tractors used for agricultural operations.

[0051] Agricultural machinery 1 includes a vehicle body 3, a prime mover 4, a transmission device 5, and a traveling device 7. The front wheel 7F of the traveling device 7 can be either tire-type or track-type. Similarly, the rear wheel 7R of the traveling device 7 can also be either tire-type or track-type. The prime mover 4 is composed of a diesel engine or an electric motor, etc. In this embodiment, the prime mover 4 is composed of a diesel engine. The transmission device 5 can switch the propulsion force of the traveling device 7 by changing the gear ratio, and can switch the forward and reverse movement of the traveling device 7. The driving force of the prime mover 4 is transmitted to the traveling device 7 through the transmission device 5, and the vehicle body 3 moves forward and backward under the drive of the traveling device 7. Furthermore, in... Figure 11 In the center, the left side represents the front of vehicle 3, and the right side represents the rear of vehicle 3. Additionally, facing... Figure 11 The inside side is the right side of the vehicle body 3, and the front side is the left side of the vehicle body 3.

[0052] A cab 9 is installed on the vehicle body 3. A driver's seat 10 is installed inside the cab 9. A connecting device 8, consisting of a three-point suspension mechanism, is installed at the rear of the vehicle body 3. The connecting device 8 connects the working device 2, used for agricultural operations, to the vehicle body 3 of the agricultural machinery 1. Specifically, by connecting the working device 2 to the connecting portions 8g and 8h provided in the connecting device 8, the working device 2 and the vehicle body 3 are connected, thereby enabling the agricultural machinery 1 to tow the working device 2.

[0053] The operating device 2 performs field operations. In this example, the operating device 2 includes, for example, a tillage device (rotary tiller) for tilling the field, a stubble cultivator for stubble removal, a drive harrow for harrowing, a spreading device for spreading fertilizer or pesticides, a sowing device for sowing seeds, a transplanting device for transplanting seedlings, and a harvesting device for harvesting.

[0054] Next, the agricultural operation assistance system 100 of this embodiment will be described. Figure 1 This is a structural diagram of an agricultural operation assistance system 100. The agricultural operation assistance system 100 includes agricultural machinery 1, an operation device 2, and a portable terminal device 50 (hereinafter referred to as "portable terminal 50"). The agricultural operation assistance system 100 and the portable terminal 50 assist in carrying out agricultural operations using the operation device 2 while the agricultural machinery 1 moves through the farmland.

[0055] Agricultural machinery 1 includes a control device 60, an operating device 62, a prime mover 4, a transmission device 5, a braking device 6, a steering device 29, a connection device 8, a positioning device 40, an alarm device 63, a detection device 64, and a communication device 66. Furthermore, an on-board network N1, such as LAN or CAN, is constructed within agricultural machinery 1. The control device 60, operating device 62, positioning device 40, alarm device 63, detection device 64, and communication device 66 are connected to the on-board network N1. All these components of agricultural machinery 1 are included in an agricultural operation assistance system 100. The communication device 66 consists of a communication circuit that wirelessly communicates with a portable terminal 50.

[0056] The control device 60 consists of circuitry including a CPU (or microcomputer) and memory. The memory of the control device 60 includes both volatile and non-volatile memory. The control device 60 controls the actions of various parts of the agricultural machinery 1. The operating device 62 consists of switches, levers, pedals, and other keys that can be operated by a user (input personnel) such as a driver seated in the driver's seat 10 or an operator located near the agricultural machinery 1.

[0057] The operating device 62 includes a mode switch 62a and a lifting lever 62b. The mode switch 62a is an operating component used to switch the mode of the agricultural machinery 1. The lifting lever 62b is an operating component operated by the user to change the lifting height of the working device 2, and maintains the operating position corresponding to the operation. The lifting lever 62b is an example of the first operating part of the present invention.

[0058] The agricultural machinery 1, selectable via mode switch 62a, includes an automatic driving operation mode and an automatic steering operation mode. The automatic driving operation mode refers to a mode in which the vehicle body 3 of the agricultural machinery 1 travels in an automatic driving mode while the working device 2 performs agricultural operations (ground-based operations). Automatic driving of the agricultural machinery 1 refers to automatically changing the speed of the vehicle body 3 and automatically steering the vehicle body 3. The automatic steering operation mode refers to a mode in which the vehicle body 3 is automatically steered while the working device 2 performs agricultural operations (ground-based operations). When the agricultural machinery 1 is in automatic steering operation mode, the driver of the agricultural machinery 1 operates the throttle or brake components included in the operating device 62 to change the speed of the vehicle body 3. That is, in automatic steering operation mode, the speed of the vehicle body 3 is changed based on manual operation.

[0059] In addition, the agricultural machinery 1 can also be driven manually, and can perform ground operations using the working device 2 while driving. Manual driving of the agricultural machinery 1 means that the driver changes the speed of the vehicle body 3 by operating the throttle or brake components of the operating device 62, and steers the vehicle body 3 by operating the steering wheel 30.

[0060] The driving, stopping, and speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission device 5 is connected to the control valve 37. The control valve 37 is a solenoid valve that operates based on control signals sent by the control device 60. Working oil injected from the hydraulic pump 33 is supplied to the control valve 37. Figure 1 In the diagram, control valve 37 is represented by a box, but the appropriate number can be set according to the number of hydraulic devices such as hydraulic clutches or hydraulic cylinders installed in the transmission device 5.

[0061] Braking device 6 is connected to control valve 38. Control valve 38 is a solenoid valve that operates based on control signals sent from control device 60. Working oil injected from hydraulic pump 33 is supplied to control valve 38. Control device 60 electrically controls the switching position and opening degree of control valve 38 to activate braking device 6 and apply braking to vehicle body 3.

[0062] The control device 60 controls the drive of the transmission device 5 by electrically controlling the switching position (opening degree) of the control valve 37. The transmission device 5 transmits the driving force of the prime mover 4 to the travel device 7, causing the travel device 7 to operate and thus moving the vehicle body 3 forward and backward. In addition, for example, when the work device 2 is performing ground work, the transmission device 5 transmits the driving force of the prime mover 4 to the work device 2. As a result, the operating force of the work device 2 increases.

[0063] Furthermore, the control device 60 communicates with the working device 2 via the vehicle-mounted network N1. Specifically, the working device 2 has a control unit and a communication unit (not shown). The control device 60 sends work instructions to the working device 2 via the vehicle-mounted network N1. When the communication unit receives the work instructions, the control unit of the working device 2 controls the operation of each part of the working device 2 based on the work instructions, thereby performing agricultural operations (ground operations). In addition, the control unit of the working device 2 sends information or data indicating the work status, etc., to the control device 60 via the vehicle-mounted network N1 through the communication unit. The control device 60 detects the work status, etc., of the working device 2 based on the information or data received from the working device 2 via the vehicle-mounted network N1.

[0064] In addition, there is also a work device 2 that does not have a control unit and a communication unit. When using this work device 2, the control device 60 does not communicate with the work device 2 via the vehicle network N1, but as will be described later, the work device 2 is raised and lowered by the connection device 8 to change the position of the work device 2, thereby controlling the operation of the work device 2 and detecting the working status of the work device 2.

[0065] The steering mechanism 29 includes a steering wheel (steering wheel) 30, a steering shaft (rotation shaft) 31, and an auxiliary mechanism (power steering mechanism) 32. The steering wheel 30 is located inside the driver's cab 9. The steering shaft 31 rotates as the steering wheel 30 rotates. The auxiliary mechanism 32 assists in steering the steering wheel 30.

[0066] The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is a solenoid valve that operates based on a control signal sent by the control device 60. Specifically, the control valve 34 is a three-position switching valve that can be switched by the movement of a valve stem, etc. Working oil injected from the hydraulic pump 33 is supplied to the control valve 34. The control device 60 adjusts the hydraulic pressure supplied to the steering cylinder 35 by electrically controlling the switching position and opening degree of the control valve 34, thereby causing the steering cylinder 35 to extend and retract. The steering cylinder 35 is connected to the steering arm 39, which changes the orientation of the front wheels 7F.

[0067] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operating state, thereby switching the switching position and opening degree of the control valve 34. The steering cylinder 35 extends or retracts to the left or right of the vehicle body 3 according to the switching position and opening degree of the control valve 34. Through the extension or retraction of the steering cylinder 35, the steering direction of the front wheels 7F is changed. Furthermore, the steering device 29 described above is only one example and is not limited to the structure described above.

[0068] The vehicle body 3 of the agricultural machinery 1 can be manually steered using a steering wheel 30 and automatically steered using a control device 60. Furthermore, the vehicle body 3 can be moved and stopped by manually operating the transmission 5 or braking device 6 via the throttle component or brake pedal (both omitted from the diagram) on the operating device 62. Moreover, the vehicle body 3 can be automatically moved and stopped by the control device 60 controlling the transmission 5 and braking device 6. In other words, the agricultural machinery 1 can achieve manual driving (where the user (driver) performs driving and steering operations), automatic driving (where the control device 60 automatically performs driving and steering operations), and automatic steering control (also known as automatic steering control or semi-automatic driving) where the control device 60 automatically steers while the user performs driving operations.

[0069] Figure 2 This is a perspective view of the connecting device 8. The connecting device 8 includes a lifting arm 8a, a lower connecting rod 8b, an upper connecting rod 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end of the lifting arm 8a is supported on the upper rear part of the housing (gearbox) housing the transmission device 5 in a manner that allows it to swing upwards or downwards. The lifting arm 8a swings (lifts) via the lifting cylinder 8e. The lifting cylinder 8e is a hydraulic cylinder. The lifting cylinder 8e is connected to the control valve 36 (… Figure 1 The control valve 36 is a solenoid valve that operates based on a control signal sent by the control device 60. Working oil injected from the hydraulic pump 33 is supplied to the control valve 36.

[0070] Figure 2 The front end of the lower connecting rod 8b shown is supported on the transmission device 5 in a manner that allows it to swing upwards or downwards. Figure 1 , Figure 11 The lower part of the upper link 8c is located above the lower link 8b and is supported at the rear of the transmission device 5 in a manner that allows it to swing upwards or downwards. The lifting rod 8d connects the lifting arm 8a and the lower link 8b. Connecting parts 8g and 8h, which can be connected to the working device 2, are provided at the rear ends of the lower link 8b and the upper link 8c.

[0071] Figure 1 The control valve 36 shown includes Figure 2 Control valves 36a and 36b are shown. Control device 60 ( Figure 1 The hydraulic pressure supplied to the lifting cylinder 8e is adjusted by electrically controlling the switching position or opening of the control valve 36a, thereby causing the lifting cylinder 8e to extend and retract. Through the extension and retraction of the lifting cylinder 8e, the lifting arm 8a rises and falls, and is also raised and lowered via the lower connecting rod 8b connected to the lifting arm 8a via the lifting rod 8d. Thus, the working device 2 swings (rises and falls) upwards or downwards using the front part of the lower connecting rod 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum.

[0072] like Figure 10A and Figure 10B As shown, when the working device 2 connected to the agricultural machinery 1 is composed of a tilling device 2A, the control device 60 uses the connecting device 8 to lower the tilling device 2A, as shown. Figure 10B As shown, the tilling claw 2g of the tilling device 2A is brought into contact with the soil K2 of the farmland to position it at the tilling operation position P1. Furthermore, the control device 60 uses the connecting device 8 to further lower the tilling device 2A, or uses the tilling device 2A to drive the tilling claw 2g deeper into the soil K2, thereby increasing the tilling depth of the farmland. Conversely, the control device 60 uses the connecting device 8 or the tilling device 2A to raise either the tilling device 2A or the tilling claw 2g, thereby decreasing the tilling depth of the farmland. Moreover, as... Figure 10A As shown, during the transport of the tilling device 2A, the control device 60 uses the connecting device 8 to raise the tilling device 2A, causing the tilling claw 2g to leave the soil K2 of the farmland and be positioned in a non-operating position P2 where tilling cannot be performed. That is, the control device 60 uses the connecting device 8 or the operating device 2 to change the lifting height of the operating device 2.

[0073] In the operating device 2 other than the tilling device 2A, the control device 60 also changes the lifting height of the operating device 2 using the connecting device 8 or the operating device 2 according to the content of the agricultural operation being performed. That is, the operating device 2 that changes the lifting height using the connecting device 8 is not limited to the tilling device 2A, but includes various operating devices such as harrowing devices, stubble removal devices, or sowing devices.

[0074] like Figure 2 As shown, an angle changing unit 8T is provided in the connecting device 8. The angle changing unit 8T changes the posture of the working device 2 installed on the traveling vehicle body 3. The angle changing unit 8T has a changing cylinder 8s composed of a hydraulic cylinder and a control valve 36b. The changing cylinder 8s is connected to a hydraulic pump via the control valve 36b. The control valve 36b is a solenoid valve or the like, which causes the changing cylinder 8s to extend and retract. The changing cylinder 8s connects the lifting arm 8a and the lower connecting rod 8b located on the right side of the traveling vehicle body 3.

[0075] Control device 60 ( Figure 1The control device 60 adjusts the oil pressure supplied to the changing cylinder 8s by electrically controlling the switching position or opening of the control valve 36b, causing the changing cylinder 8s to extend and retract. This results in different angles for the left and right lower connecting rods 8b, thereby changing the angle in the width direction of the working device 2 (the angle of the straight line connecting the lower connecting rods 8b 8b relative to the horizontal plane). In other words, the control device 60 can use the angle changing unit 8T to change the angle in the width direction (left and right direction) of the working device 2 (the angle of the straight line connecting the lower connecting rods 8b 8b relative to the horizontal plane, the so-called automatic horizontal adjustment angle). For example, the control device 60 uses the angle changing unit 8T to change the angle in the width direction of the working device 2 to be horizontal, parallel to the ground, or at a specified angle.

[0076] The operating device 62 includes an operating component (switch or dial, etc.) (not shown) that is operated to change the angle in the width direction of the working device 2 using the angle changing unit 8T. In addition to the lifting operating lever 62b, the operating device 62 may also include an operating component (switch or dial, etc.) for adjusting the tilling depth (the amount of soil penetration of the tilling claw 2g into the soil K2) of the working device 2 (tillage device 2A). As described above, the connecting device 8 can change the posture of the working device 2 (lifting height, automatic horizontal adjustment angle, or tilling depth, etc.).

[0077] The control device 60 controls the prime mover 4, transmission device 5, braking device 6, travel device 7, steering device 29, and connecting device 8 to automatically drive or steer the agricultural machinery 1 while simultaneously performing agricultural operations on the farmland using the working device 2. Specifically, the control device 60 performs automatic driving of the agricultural machinery 1 while simultaneously performing agricultural operations using the working device 2. Additionally, the control device 60 performs automatic steering of the agricultural machinery 1 while simultaneously allowing manual operation to control changes in its speed, thus enabling automatic steering (automatic steering) of the farmland using the working device 2 for agricultural operations.

[0078] Figure 1The positioning device 40 shown includes a receiver (not shown) and an inertial measurement unit (IMU). The receiver receives satellite signals (position, transmission time, correction information, etc.) transmitted by satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, and Quasi-Zenith Satellite Systems. The positioning device 40 detects its current position (e.g., latitude, longitude) based on the satellite signals received by the receiver. In other words, the positioning device 40 is a position detection unit that detects the position of the vehicle body 3 of the agricultural machinery 1. The inertial measurement unit includes an accelerometer and a gyroscope sensor. It detects the roll angle, pitch angle, yaw angle, etc., of the vehicle body 3. The alarm device 63 consists of a buzzer, speaker, or warning light installed on the vehicle body 3. The alarm device 63 outputs alarms and warnings to the surrounding area of ​​the vehicle body 3 via sound or light.

[0079] The detection device 64 includes a seat switch 64a, a height detection detector 64b, and a lifting operation detector 64c. The seat switch 64a is built into the seating portion of the driver's seat 10. When a user (driver, etc.) sits in the seating portion of the driver's seat 10, the seat switch 64a is in an ON state, outputting an ON signal to the control device 60. When the user is not sitting in the seating portion of the driver's seat 10, the seat switch 64a is in an OFF state, outputting an OFF signal to the control device 60. If an ON signal is received from the seat switch 64a, the control device 60 determines that the user is riding in the agricultural machinery 1 (riding state). Conversely, if an OFF signal is received from the seat switch 64a, the control device 60 determines that the user is not riding in the agricultural machinery 1 (non-riding state). The seat switch 64a is an example of the first detection unit of the present invention.

[0080] Furthermore, the first detection unit of the present invention is not limited to the aforementioned seat switch 64a. As another example, the control device 60 can also detect the user's riding or non-riding state relative to the agricultural machinery 1 based on images captured by a camera inside the cab 9. Alternatively, other sensors such as optical sensors, infrared sensors, biosensors (pulse sensors, etc.), or piezoelectric elements can be installed inside the cab 9, and the control device 60 can detect the user's riding or non-riding state relative to the agricultural machinery 1 based on the output signals from these sensors.

[0081] The lifting height detector 64b includes, for example, the detection Figure 2The lower link 8b shown is equipped with a potentiometer and other sensors to measure its swing angle. The lifting height detector 64b calculates the actual lifting height of the working device 2 based on the swing angle of the lower link 8b detected by this sensor. The lifting height detector 64b is an example of the second detection unit of the present invention.

[0082] Furthermore, the second detection unit of the present invention is not limited to the lifting height detector 64b. As another example, it may also use an output signal based on other sensors such as a rotation sensor or an optical sensor, or a control valve 36 (…). Figure 2 The second detection unit calculates the swing angle of the lower link 8b by means of the control signal or opening degree, and calculates the actual lifting height of the working device 2 based on the swing angle.

[0083] The lifting operation detector 64c includes, for example, a sensor such as a potentiometer that detects the swing angle of the swingable lifting operation lever 62b. The lifting operation detector 64c calculates the operating position of the lifting operation lever 62b based on the swing angle detected by the sensor. The lifting operation detector 64c is an example of the third detection unit of the present invention.

[0084] Furthermore, the third detection device of the present invention is not limited to the lifting operation detector 64c. As another example, a third detection unit that calculates the swing angle and operating position of the lifting operation lever 62b based on the output signals from other sensors such as rotation sensors or optical sensors may also be used. The control device 60 controls the connecting device 8 (or the working device 2) according to the operation (operating position) of the lifting operation lever 62b to change the lifting height of the working device 2.

[0085] In addition to the above, the detection device 64 also includes sensors, cameras, and circuitry for processing output signals from the sensors or cameras, all installed on various parts of the agricultural machinery 1 and the working device 2. Based on the output signals from these sensors, the detection device 64 detects the operational status (drive and stop status, operating position, etc.) of various parts of the agricultural machinery 1, including the transmission device 5, braking device 6, travel device 7, connecting device 8, steering device 29, and operating device 62. Furthermore, the detection device 64 detects the operational status of the working device 2 based on the output signals from the sensors. Additionally, the detection device 64 includes object detection sensors, such as LiDAR or ultrasonic sensors. These object detection sensors are installed at the front, rear, and left and right sides of the traveling vehicle body 3. The object detection sensors detect the presence of objects around the agricultural machinery 1 and the distance to those objects.

[0086] The portable terminal 50 is, for example, a tablet computer or a smartphone. The portable terminal 50 is carried and moved by the user to the outside of the agricultural machinery 1, or installed in a designated location within the cab 9 of the agricultural machinery 1. That is, the portable terminal 50 can be operated from outside or inside the agricultural machinery 1. Furthermore, the outside of the agricultural machinery 1 is not limited to the outside of the cab 9, but refers to any location, equipment, or device outside the agricultural machinery 1. This location, equipment, or device can be either near or far from the agricultural machinery 1.

[0087] The portable terminal 50 includes a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 is composed of a CPU (or microcomputer), volatile memory, and non-volatile memory. The control unit 51 controls the various parts of the portable terminal 50. A region setting unit 51b and a route generation unit 51c are provided in the control unit 51. In this example, the region setting unit 51b and the route generation unit 51c are composed of software programs, but as another example, they may also be composed of hardware such as semiconductor components or circuits like ASICs.

[0088] The display operation unit 52 is composed of a touch panel and displays various information on the screen. Furthermore, various inputs can be performed by performing prescribed operations on the display screen of the display operation unit 52. The display operation unit 52 comprises a display unit, an operation unit, and an input unit. Alternatively, a separate display unit and operation unit (input unit) may be provided in the portable terminal 50 instead of the display operation unit 52. Information indicating a prescribed warning is output by displaying it on the display operation unit 52. Alternatively, a sound, voice, or light indicating a prescribed warning may be output from the alarm device 63. The display operation unit 52 and the alarm device 63 are examples of the warning unit of the present invention.

[0089] The storage unit 53 is composed of a non-volatile memory or the like. The storage unit 53 stores information or data that assists in the movement of the agricultural machinery 1 and agricultural operations performed by the operating device 2 in a read-write manner. The communication unit 54 is composed of circuits or semiconductor elements for communicating with the communication device 66 or the control device 60. Specifically, when the portable terminal 50 is located outside the agricultural machinery 1, the communication unit 54 and the communication device 66 communicate wirelessly. Alternatively, when the portable terminal 50 is installed inside the cab 9 of the agricultural machinery 1 (within the agricultural machinery 1) and electrically connected to the vehicle network N1 via a cable or the like, the communication unit 54 and the control device 60 can also communicate wiredly.

[0090] After the portable terminal 50 is started, the user inputs information about farmland, agricultural machinery 1, or operating device 2, operating conditions for using agricultural machinery 1 and operating device 2 for agricultural operations in the farmland, or information for automatic driving of agricultural machinery 1, etc., into the portable terminal 50 by performing prescribed operations on the screen displayed on the display operation unit 52. Then, when the user confirms the above input content by performing the prescribed operations on the display operation unit 52, the area setting unit 51b sets a prescribed area on a map representing the farmland. In addition, the route generation unit 51c generates a travel route for agricultural machinery 1 on this map.

[0091] Figure 3 This diagram illustrates an example of a driving route L1 generated by the route generation unit 51c. (See diagram for example.) Figure 3 As shown, the area setting unit 51b ( Figure 1 For example, based on the location information of the farmland, the size information of the operating device 2, and the operating conditions, a central region C1 and a field-end turning area E1 are set in the farmland map MP2. More specifically, for example, the area setting unit 51b forms contours Hc, Hb, and Ha by shifting the farmland contour H1 inward by the same number of times as the number of field-end turning points, from the operating width of the operating device 2 minus the overlap of the field-end turning points. Then, the area setting unit 51b sets the area (central part) enclosed by the innermost contour Ha as the central region C1. In addition, the area setting unit 51b sets the frame-shaped area (outer frame part) located outside the central region C1 and inside the farmland contour H1 as the field-end turning area E1. In addition, in the field turning area area E1, the area between adjacent contours of contour H1 located in the farmland and contours Hc, Hb, Ha formed by offsetting contour H1 is set as field turning areas E2c, E2b, E2c.

[0092] Route generation unit 51c ( Figure 1 Based on the location information of the farmland, areas C1 and E1, the size information of agricultural machinery 1 and operating device 2, operating conditions, or automatic driving information, a driving route L1 is generated on the farmland map MP2. Specifically, the route generation unit 51c generates a driving route L1 by subtracting the overlap amount of the central portion included in the operating conditions from the operating width of the operating device 2, based on the operating direction (…). Figure 3 The end of one side of the central region C1, which is parallel to the vertical direction in the middle. Figure 3 Divide the central region C1 (at the right end of the middle section) to generate multiple unit work segments within the central region C1. Then, in the width direction of each unit work segment ( Figure 3The route generation unit 51c generates a straight route L1a for the vehicle body 3 to travel in a straight line along the centerline of the vehicle body 3 (in the left-right direction). Next, the route generation unit 51c generates a turning route L1b in the field end turning area E1 that connects the adjacent straight routes L1a to each other. The turning route L1b is one of the two adjacent straight routes L1a that runs towards the other. When generating the turning route L1b, the route generation unit 51c ensures sufficient turning space in the field end turning area E1 for the agricultural machinery 1 and the working device 2 to turn around.

[0093] exist Figure 3 The example shown is a simple semi-circular turning route L1b, but this shape is for ease of display on the display screen of the operation unit 52, or for easy visual confirmation of the driving route L1 on the display screen. In reality, when the vehicle body 3 and the working device 2 of the agricultural machinery 1 turn around to another straight route L1a after traveling on one straight route L1a, the vehicle body 3 and the like not only move forward, but also move backward or change direction, sometimes drawing a trajectory with a shape more complex than a semi-circular shape. That is, the turning route L1b is the route displayed on the operation unit 52, and the agricultural machinery 1 does not always turn based on the turning route L1b.

[0094] Control device 60 of agricultural machinery 1 Figure 1 When the vehicle body 3 travels along the straight route L1a, the connecting device 8 is used. Figure 2 The working device 2 is lowered to the working position P1, and ground-level operations are performed using the working device 2. Furthermore, when the control device 60 causes the traveling vehicle 3 to turn at a position corresponding to the turning route L1b, even if the traveling vehicle 3 turns from one straight route L1a to another, the connecting device 8 raises the working device 2 to the non-working position P2, stopping the ground-level operations of the working device 2. That is, the straight route L1a is the working route where the traveling vehicle 3 of the agricultural machinery 1 travels in automatic mode while the working device 2 performs ground-level operations. Additionally, the central area C1, where multiple straight routes L1a are generated, is the working area where the traveling vehicle 3 travels in automatic mode, moving straight and back and forth, while the working device 2 performs ground-level operations.

[0095] Furthermore, when the operating conditions are input, for example, that the operation is to be carried out in the central area C1 and the innermost U-turn area E2a, the route generation unit 51c generates a loop route L1c around the outer side of the central area C1 in the U-turn area E1, in addition to the straight route L1a and the turning route L1b. The loop route L1c is an operating route for performing ground operations using the working device 2 while the vehicle body 3 of the agricultural machinery 1 is driven in an automatic mode. The loop route L1c includes a plurality of generally straight straight routes L1s and turning routes L1r that curve at or above a specified radius of curvature. A plurality of straight routes L1s are generated on the center line of the U-turn area E2a in the width direction, corresponding to the straight sections of the outline H2a of the central area C1.

[0096] The turning route L1r is a route from one straight route L1s toward another straight route L1s that is adjacent to the extension direction of the first straight route L1s. The two straight routes L1s extend in different directions, but the end of one straight route L1s and the beginning of the other are connected by the turning route L1r. When generating the turning route L1r, the route generation unit 51c also ensures sufficient turning space within the field turning area E1 for the vehicle body 3 of the agricultural machinery 1 and the working device 2 to turn around.

[0097] exist Figure 3 For simplicity, a simple circular turning path L1b is shown as an example. However, in reality, when agricultural machinery 1 and the like turn from one straight path L1s to another, they not only move forward but also backward or change direction, sometimes tracing a trajectory with a shape more complex than a circular arc. That is, the turning path L1b is the path displayed on the display operation unit 52, and agricultural machinery 1 sometimes does not turn based on the turning path L1b.

[0098] After generating the loop route L1c, the route generation unit 51c generates routes at both ends of the central region C1. Figure 3 The end of the straight route L1a that is not connected to the turning route L1b at either end of the straight route L1a (left or right). Figure 3 The starting position Ps is set at the upper end of the straight route L1a on the right side, and at the end of the straight route L1a on the other side ( Figure 3 The lower end of the straight route L1a at the left end of the route is connected to the loop route L1c. Additionally, the route generation unit 51c sets the end position Pg at the end of the loop route L1c that is not connected to the straight route L1a. Then, the route generation unit 51c stores information representing regions C1 and E1, the travel route L1, the starting position Ps, the ending position Pg, and the turning space as route information in its internal memory.

[0099] After the route generation unit 51c generates the driving route L1, the control unit 51 displays route information such as the farmland map MP2, regions C1 and E1, driving route L1, starting position Ps, and ending position Pg in the display operation unit 52. Thereafter, the user performs a prescribed operation using the display operation unit 52, and the control unit 51... Figure 4 The driving control screen D8 shown is displayed on the display operation unit 52. In addition, the control unit 51 generates automatic driving data based on the setting information stored in the internal memory, and sends (outputs) the automatic driving data to the control device 60 of the agricultural machinery 1 through the communication unit 54.

[0100] The autonomous driving data includes route information, setting information for agricultural machinery 1, setting information for the working device 2, and autonomous driving information. The route information includes information indicating the location of the working routes L1a and L1s, but may not include information indicating the location of the turning routes L1b and L1r. Additionally, the setting information for agricultural machinery 1 and the working device 2 includes their dimensions and the type of agricultural operation being performed.

[0101] Figure 4 The driving control screen D8 shown is a display of the driving status of agricultural machinery 1 and the operating status of the working device 2 in automatic driving operation mode. Furthermore, in Figure 4 In the driving control screen D8, the driving and operating status of agricultural machinery 1 after a period of time following the initiation of automatic driving operation mode is displayed. Driving control screen D8 displays farmland map MP2, driving route L1, starting position Ps, ending position Pg, agricultural machinery marker X2, driving status of agricultural machinery 1, setting change key B20, status display key B21, operation trajectory key B15, and trajectory clear key B16. Control unit 51 uses communication unit 54 to acquire the actual position of the driving vehicle 3 detected by positioning device 40 at predetermined intervals, and displays agricultural machinery marker X2 at the corresponding location on farmland map MP2 corresponding to the position of the driving vehicle 3. That is, agricultural machinery marker X2 in driving control screen D8 indicates the actual position of the driving vehicle 3 of agricultural machinery 1.

[0102] For example, while watching the driving control screen D8, the user manually drives the agricultural machinery 1 to the starting position Ps, and then uses the mode switch 62a ( Figure 1The control device 60 performs the prescribed operation to switch to the automatic driving operation mode. As a result, the control device 60 switches to the automatic driving operation mode and starts the automatic driving of the agricultural machinery 1 based on the automatic driving data received from the portable terminal 50 and the position of the vehicle body 3 detected by the positioning device 40. While the vehicle body 3 is driving in an automatic driving mode, the working device 2 is used to perform ground operations.

[0103] In detail, the control device 60 first reads the route information contained in the automatic driving data, identifying areas C1 and E1, driving route L1 (operation routes L1a and L1s), starting position Ps, and ending position Pg. Then, the control device 60 simultaneously enables the vehicle 3 to drive automatically from the starting position Ps along a straight route L1a based on driving route L1, while utilizing the operation device 2 for ground-level operations. When the vehicle 3 (agricultural machinery 1) reaches the end of a straight route L1a, the control device 60 temporarily stops the ground-level operations of the operation device 2, raises the operation device 2, and causes the vehicle 3 to turn back towards the beginning of another adjacent straight route L1a. That is, the control device 60 causes the agricultural machinery 1 and the operation device 2 to turn back at a point corresponding to the turning route L1b. At this time, the control device 60 rotates the agricultural machinery 1 and the working device 2 based on the location information of areas C1 and E1, the location information of the straight route L1a, the size information of the agricultural machinery 1 and the working device 2, the position of the traveling vehicle 3 detected by the positioning device 40, and the detection results of the detection device 64.

[0104] Furthermore, if the vehicle body 3 reaches the beginning of another straight route L1a, the control device 60 lowers the working device 2. When the vehicle body 3 starts driving in automatic mode based on the other straight route L1a, the working device 2 resumes its ground-level operations. Thus, the vehicle body 3 travels back and forth in automatic mode in the central area C1, and uses the working device 2 to perform ground-level operations in the central area C1.

[0105] Subsequently, the control device 60 simultaneously enables the vehicle body 3 to drive automatically based on the circumferential route L1c and its position, while using the working device 2 to perform ground operations. At this time, the control device 60 enables the vehicle body 3 to drive automatically based on the straight route L1s, while using the working device 2 to perform ground operations. When the vehicle body 3 turns at a point corresponding to the turning route L1r, the working device 2 is raised, stopping its ground operations. During this turn, the control device 60 uses position information of areas C1 and E1, position information of the straight route L1s, size information of agricultural machinery 1 and working device 2, the position of the vehicle body 3 detected by the positioning device 40, and the detection results of the detection device 64 to turn agricultural machinery 1 and working device 2. Thus, the vehicle body 3 circumnavigates the outer side of the central area C1 in an automatic manner, while the working device 2 performs ground operations at the field end turning point E2a surrounding the central area C1. Figure 3 To carry out ground operations.

[0106] Figures 5A to 5D This diagram illustrates the automatic steering of agricultural machinery 1. In automatic driving mode, the control device 60 automatically drives the vehicle body 3 while calculating the deviation between the position of the vehicle body 3 detected by the positioning device 40 and the driving route L1 (operation routes L1a, L1s). If this deviation is less than a threshold (e.g., ...), ... Figure 5A ), control device 60 maintains steering shaft 31 ( Figure 1 The rotation angle of the vehicle body 3. When the deviation between the position of the vehicle body 3 and the driving route L1 is above a threshold and the vehicle body 3 is on the left side relative to the driving route L1 (e.g.) Figure 5B The control device 60 rotates the steering shaft 31 to make the steering direction of the vehicle body 3 to the right. This is when the deviation between the position of the vehicle body 3 and the travel path L1 is above a threshold and the vehicle body 3 is on the right side relative to the travel path L1 (e.g., Figure 5C The control device 60 rotates the steering shaft 31 to make the steering direction of the vehicle body 3 to the left. The above is an example of the automatic steering method of the agricultural machinery 1, and the automatic steering method of the agricultural machinery 1 is not limited to the above method.

[0107] In addition, when the control device 60 enables the vehicle body 3 to travel automatically based on the travel route L1, it calculates the actual speed of the vehicle body 3 based on the change in the position of the vehicle body 3. Then, it controls the drive of the transmission device 5, the braking device 6, and the prime mover 4 so that the actual speed is consistent with (or approximately consistent with) the speed associated with the straight route L1a, the turning route L1b, or the loop route L1c.

[0108] As described above, in the automatic driving operation mode of agricultural machinery 1, the control device 60 automatically changes the speed of the vehicle body 3 and automatically steers the vehicle body 3 based on the driving route L1 and the position of the vehicle body 3 (agricultural machinery 1). Additionally, the control device 60 automatically executes or stops the agricultural operations (ground operations) of the working device 2. Furthermore, in the automatic driving mode of agricultural machinery 1, the control device 60 controls the connecting device 8 or the working device 2 based on the driving route L1, automatically changing the lifting height of the working device 2. Moreover, in the automatic driving mode of agricultural machinery 1, the control device 60 controls the connecting device 8 or the working device 2 to change the lifting height of the working device 2 based on the user's prescribed operation using the display operation unit 52.

[0109] In detail, in the autonomous driving of agricultural machinery 1, the user... Figure 4 After selecting the setting change key B20 on the driving control screen D8, perform the prescribed operation on the display operation unit 52 to enable... Figure 6A The lifting operation screen D14 is displayed on the display operation unit 52. The lifting operation screen D14 is used to operate the lifting height of the working device 2. It is similar to the travel control screen D8. Figure 4 Similarly, the left side of the lifting operation screen D14 displays a farmland map MP2 and a driving route L1, while the right side of the lifting operation screen D14 displays a schematic diagram 80 indicating the lifting height of the working device 2, an instrument 81, a cursor 82, lifting operation keys B28 and B29, and a return key B8.

[0110] Schematic diagram 80 is a diagram showing the lifting height of the working device 2. In this example, the lifting height of the working device 2 is expressed as a percentage (%). That is, the lifting height is achieved by connecting the device 8, etc. Figure 2 The lower limit of the lifting height of the adjustable working device 2 is set to 0%, and the upper limit of the lifting height is set to 100%, allowing the lifting height of the working device 2 to be changed between 0% and 100%. Furthermore, the height equal to the lower end of the rear wheel 7R of the agricultural machinery 1 is considered the ground (soil surface of the farmland), and schematic diagram 80 shows this height as equivalent to 40%. For example, when the working device 2 is a tillage device 2A (… Figure 10B In the case of a soil turning device 2A, if the lifting height is less than 40%, the soil turning claw 2g enters the soil K2, thereby enabling the soil K2 to be turned.

[0111] Instrument 81 ( Figure 6AThe instrument 81 displays the adjustable range of the lifting height of the working device 2 (0-100%). Additionally, the actual lifting height of the working device 2 (shaded area) and the ground height (a horizontal line represented by a single-dot dash; 40%) are displayed on the instrument 81. The control unit 51 obtains information from the lifting height detector 64b via the communication unit 54 and the communication device 66 of the agricultural machinery 1. Figure 1 The actual lifting height of the working device 2 is detected, stored in the storage unit 53 and displayed on the instrument 81.

[0112] The lifting operation keys B28 and B29 are operation keys used to raise and lower the working device 2, thereby changing the lifting height of the working device 2. When the user operates the lifting operation key B28 (a temporary click operation or a touch operation for a specified time), as... Figure 6B As shown, the control unit 51 moves the cursor 82 upward within the range (0-100%) of the instrument 81 according to the operation of the up operation key B28, and calculates the position on the instrument 81 indicated by the cursor 82 as the input value of the lifting height of the working device 2.

[0113] Furthermore, when the user operates the down operation key B29 (a temporary click operation or a touch operation lasting more than a specified time), the control unit 51 moves the cursor 82 downwards within the range (0-100%) of the instrument 81 according to the operation of the down operation key B29 (illustration omitted), and calculates the position on the instrument 81 indicated by the cursor 82 as the input value for the lifting height of the working device 2. That is, the cursor 82 indicates the input value for the lifting height of the working device 2 based on the operation of the lifting operation keys B28 and B29. In addition, immediately after displaying the lifting operation screen D14, the cursor 82 indicates the input value (input initial value) for the lifting height of the working device 2 pre-stored in the storage unit 53.

[0114] As described above, when the user moves the cursor 82 using the lifting operation keys B28 and B29 to input the lifting height value (change value) of the working device 2 (for example...), Figure 6B When the input value changes to 35% and the return key B8 is pressed, the control unit 51 determines that the input value has been confirmed, stores the input value in the storage unit 53, and sends the input value to the control unit 60 via the communication unit 54 and the communication device 66 of the agricultural machinery 1.

[0115] As another example, a confirmation button can also be set in the lifting operation screen D14. In this case, when the user presses the confirmation button, the control unit 51 determines that the input value of the lifting height of the working device 2 indicated by the cursor 82 has been confirmed, stores the input value in the storage unit 53, and sends the input value to the control unit 60 via the communication unit 54 and the communication device 66 of the agricultural machinery 1. Furthermore, when the user presses the return button B8, indicating that the input value of the lifting height of the working device 2 indicated by the cursor 82 has been cancelled, the control unit 51 displays the driving control screen D8 on the display operation unit 52, replacing the setting change screen D10.

[0116] In another example, when the user uses the lifting operation keys B28 and B29 to move the cursor 82 to input the input value (change value) of the lifting height of the working device 2, the control unit 51 can also store the input value in the storage unit 53 and send the input value to the control unit 60 via the communication unit 54 and the communication device 66 of the agricultural machinery 1.

[0117] When the communication device 66 receives an input value for the lifting height of the working device 2, the control device 60 controls the connecting device 8 (or the working device 2) to change the lifting height of the working device 2 to correspond to the input value. That is, the control device 60 controls the connecting device 8, etc., to change the lifting height of the working device 2 according to the operation of the lifting operation keys B28 and B29. Furthermore, the control device 60 sends the actual lifting height of the working device 2 detected by the lifting height detector 64b to the portable terminal 50 via the communication device 66. Moreover, the control device 60 calculates a set value for the lifting height of the working device 2 corresponding to the operating position of the lifting operation lever 62b detected by the lifting operation detector 64c, and sends this set value to the portable terminal 50 via the communication device 66.

[0118] In the portable terminal 50, when the communication unit 54 receives the actual lifting height of the working device 2 sent from the control device 60, Figure 6C As shown, the control unit 51 updates the actual lifting height (shaded area) of the working device 2 indicated by the instrument 81 to correspond (match) with the input value indicated by the cursor 82 (the actual lifting height indicated by the instrument 81 is 35% = 35% of the input value). Alternatively, when the communication unit 54 receives the set value of the lifting height of the working device 2 sent from the control device 60, the control unit 51 updates the actual lifting height of the working device 2 indicated by the instrument 81 to correspond (match) with that set value. In addition, the control unit 51 can also change (update) the display of the working device 2 in the schematic diagram 80 by displaying the operation unit 52 to correspond with the actual lifting height of the working device 2.

[0119] Figure 7A and Figure 7B This is a flowchart illustrating an example of the operation of agricultural machinery 1. Figures 8A to 8C This is a flowchart illustrating an example of the operation of a portable terminal (terminal device) 50. Figure 9 This is a timing diagram illustrating an example of the changes in the lifting and lowering states of the automatic driving, riding, and operating devices 2 of agricultural machinery 1.

[0120] exist Figure 9 In the diagram, when the lifting lever 62b is operable and its operation is effective, the set value of the lifting height of the working device 2 corresponding to the operating position of the lever 62b is shown with a thick solid line. When the lever 62b is operable but its operation is ineffective, the set value is shown with a dashed line. Similarly, when the lifting operation keys B28 and B29 are operable and their operation is effective, the input value of the lifting height of the working device 2 corresponding to the operation of keys B28 and B29 is shown with a thick solid line. When keys B28 and B29 are operable but their operation is ineffective, the input value is shown with a dashed line. When keys B28 and B29 cannot be operated, the input value is not shown with a line. The on / off state of the seat switch 64a and the actual lifting height of the working device 2 are shown with thick solid lines.

[0121] Furthermore, the effective operation of the lifting lever 62b means that the user can operate the lifting lever 62b, and the control device 60 changes the lifting height of the working device 2 using the connecting device 8 or the working device 2 based on the operation of the lifting lever 62b (reflecting the operation of the lifting lever 62b). Conversely, the ineffective operation of the lifting lever 62b means that the user can operate the lifting lever 62b, but the control device 60 does not change the lifting height of the working device 2 using the connecting device 8 or the working device 2 based on the operation of the lifting lever 62b (not reflecting the operation of the lifting lever 62b).

[0122] Furthermore, the effective operation of lifting operation keys B28 and B29 means that the user can operate the lifting operation keys B28 and B29, and the control device 60 changes the lifting height of the working device 2 using the connecting device 8 or the working device 2 based on the operation of the lifting operation keys B28 and B29 (reflecting the operation of the lifting operation keys B28 and B29). Conversely, the ineffective operation of lifting operation keys B28 and B29 means that the user can operate the lifting operation keys B28 and B29, but the control device 60 does not change the lifting height of the working device 2 using the connecting device 8 or the like based on the operation of the lifting operation keys B28 and B29 (not reflecting the operation of the lifting operation keys B28 and B29).

[0123] For example, the control device 60 sets invalidation flags corresponding to the lifting lever 62b and lifting operation keys B28 and B29 in a designated storage area of ​​its internal memory. The control device 60 stores the invalidation of the lifting lever 62b and lifting operation keys B28 and B29 in the storage unit 53 by turning each of these invalidation flags to ON. Conversely, it records the valid operation of the lifting lever 62b and lifting operation keys B28 and B29 by turning each of these invalidation flags to OFF. Then, when the lifting lever 62b or lifting operation keys B28 and B29 are operated, the control device 60 determines whether the operation of the lifting lever 62b or lifting operation keys B28 and B29 is invalid or valid based on the ON / OFF state of the corresponding invalidation flag.

[0124] In agricultural machinery 1, when the automatic driving mode (automatic driving operation mode) of agricultural machinery 1 is started ( Figure 7A S1, Figure 9 At time T1, the control device 60 sends an automatic driving start notification via the communication device 66. Figure 7A (S2). Then, the control device 60 confirms the on / off state of the seat switch (SW) 64a, and determines whether the user is riding in the agricultural machinery 1 based on the confirmation result, and stores the determination result in the internal memory (S3a). At this time, if the seat switch 64a is on, the control device 60 determines that the user is riding in the agricultural machinery 1, and if the seat switch 64a is off, it determines that the user is not riding in the agricultural machinery 1. Next, the control device 60 reads the stored contents of the internal memory. If it confirms that the user is riding in the agricultural machinery 1 (S3b: Yes), it sets the operation of the lifting operation lever 62b set on the agricultural machinery 1 to be valid, sets the operation of the lifting operation keys B28 and B29 displayed on the portable terminal 50 to be invalid, and sends an invalid notification indicating the invalidity to the portable terminal 50 via the communication device 66 (S4).

[0125] Subsequently, for example, when a user riding in agricultural machinery 1 operates the lifting lever 62b to change the lifting height of the working device 2, the control unit 51 detects the operation of the lifting lever 62b based on the detection result of the lifting operation detector 64c (S5: Yes), and detects the operating position of the lifting lever 62b, and calculates the set value of the lifting height of the working device 2 corresponding to the operating position (S6). Then, the control device 60 controls the connecting device 8, etc., to change the lifting height of the working device 2 so that the calculated set value (the changed set value) corresponds to the actual lifting height of the working device 2 detected by the lifting height detector 64b (S7).

[0126] Furthermore, the correspondence between the set value of the lifting height of the working device 2 and the actual lifting height not only means that the set value and the actual lifting height are completely consistent (set value (%) = actual lifting height (%)), but also includes the case where the set value and the actual lifting height are approximately similar (set value (%) ≈ actual lifting height (%), i.e., roughly consistent) and the degree of similarity is such that the difference between the set value and the actual lifting height is less than a specified value. The relationship between the input value of the lifting height of the working device 2 and the aforementioned set value or actual lifting height, as described later, is similar.

[0127] On the other hand, if the user is not riding in agricultural machinery 1 (S3b: No), the control device 60 invalidates the operation of the lifting lever 62b, enables the operation of the lifting operation keys B28 and B29, and sends a notification indicating this validity to the portable terminal 50 via the communication device 66 (S8). Then, the control device 60 detects the operating position of the lifting lever 62b using the lifting operation detector 64c, calculates the set value of the lifting height of the working device 2 corresponding to the operating position (S9), and sends this set value to the portable terminal 50 via the communication device 66 (S10). At this time, the set value of the lifting height of the working device 2 based on the lifting lever 62b corresponds to the actual lifting height of the working device 2. Figure 9 Time T1: 30% of the set value = 30% of the actual lifting height.

[0128] In the portable terminal 50, the driving control screen D8 is displayed using the display operation unit 52. Figure 4 () Figure 8A If, in step S31, the communication unit 54 receives a notification from the control device 60 indicating that automatic driving has begun (S32), then the control unit 51 determines that the agricultural machinery 1 has started automatic driving. Then, if the communication unit 54 receives an invalid notification from the control device 60 (S33: Yes), then the control unit 51 stores the invalid operation of the lifting operation keys B28 and B29 in the storage unit 53 (S34). Conversely, if the communication unit 54 receives a valid notification from the control device 60 (S33: Yes), then the control unit 51 stores the valid operation of the lifting operation keys B28 and B29 in the storage unit 53 (S34).

[0129] Furthermore, if the communication unit 54 receives the set value of the lifting height of the working device 2 (S35: Yes), the control unit 51 stores the set value in the storage unit 53 and updates (changes) the input value (input initial value) of the lifting height of the working device 2 pre-stored in the storage unit 53 to correspond with the set value (S36, Figure 9 Time T1: Set value 30% = Input value 30%.

[0130] Furthermore, the lifting operation screen D14 is not displayed on the display operation unit 52. Figure 6A In the case of (etc.) Figure 8A S37: No), if the user performs the prescribed operation through the display operation unit 52 in the driving control screen D8 to input the lifting operation screen D14 ( Figure 6A If the control unit 51 receives the change instruction (S38a: Yes) for the lifting operation screen D14 (S39), the control unit 51 displays the lifting operation screen D14 in the display operation unit 52, and displays the input value of the lifting height of the working device 2 and the actual lifting height of the working device 2 in the lifting operation screen D14 (S40). At this time, the control unit 51 regards the set value of the lifting height of the working device 2 stored in the storage unit 53 as the actual lifting height of the working device 2, and displays the lifting height in the lifting operation screen D14 through the instrument 81. Based on the set value, the cursor 82 displays the input value (input initial value) of the lifting height of the working device 2 stored in the storage unit 53 in the lifting operation screen D14. Figure 6A wait).

[0131] Additionally, if the operation of the lift keys B28 and B29 is invalid, the information is stored in the storage unit 53. Figure 8B S41: No), such as Figure 6D As shown, the control device 60 displays the lifting operation keys B28 and B29 in an inoperable state on the lifting operation screen D14. Figure 8B (S42). Furthermore, if, for example, the user operation return key B8 of the lifting operation screen D14 is viewed from the outside of the agricultural machinery 1 (S43: Yes), the control unit 51 displays the driving control screen D8 on the display operation unit 52 instead of the lifting operation screen D14 (S55).

[0132] Additionally, for example, if the automatic driving stop status is received from the control device 60 via the communication unit 54 before the user presses the return button B8 (S43: No) (S44: Yes), the control unit 51 also displays the driving control screen D8 on the display operation unit 52 (S45). Furthermore, the control unit 51 displays the received automatic driving stop status on the display operation unit 52. Figure 8C (S57), waiting for the automatic driving interruption instruction or end instruction to be sent from the control unit 60.

[0133] In addition, Figure 8B In the case where the operation of the lift / lower keys B28 and B29 is valid and stored in the storage unit 53 (S41: Yes), such as Figure 6A As shown, the control device 60 displays the lifting operation keys B28 and B29 in an operable form on the lifting operation screen D14. Figure 8B(S46). Subsequently, for example, if the user does not operate the lift operation keys B28 and B29 (S47: No), but instead operates the return key B8 (S48: Yes), the control unit 51 displays the driving control screen D8 on the display operation unit 52 (S55).

[0134] Additionally, for example, if the automatic driving stop status is received from the control device 60 via the communication unit 54 before the user operates the lift operation keys B28, B29 or the return key B8 (S47: No, S48: No) (S49: Yes), the control unit 51 displays the driving control screen D8 on the display operation unit 52 (S50). Furthermore, the control unit 51 displays the received automatic driving stop status on the display operation unit 52. Figure 8C (S57) waits for an automatic driving interruption or termination instruction to be sent from the control device 60. Conversely, if the communication unit 54 does not receive a stop status notification for automatic driving from the control device 60 ( Figure 8B (S49: No), and execute the process that started from process S47 again.

[0135] When the lifting operation keys B28 and B29 are displayed in an operable form on the lifting operation screen D14 ( Figure 8B (S46), for example, the user operates the lifting operation keys B28 and B29 to change the lifting height of the working device 2. In this case, the control unit 51 detects the operation of the lifting operation keys B28 and B29 (S47: Yes, Figure 9 At time T2), the input value of the lifting height of the working device 2 corresponding to the operation is calculated, and the input value is displayed on the lifting operation screen D14 (S51) by the instrument 81 and the cursor 82.

[0136] Then, if the user presses the return key B8 to confirm the input value of the lifting height of the working device 2 displayed in the lifting operation screen D14 (S52: Yes), the control unit 51 updates the input value stored in the storage unit 53 using this input value (S53, Figure 9 After time T2: the input value changes from 30% to 20%, and the operation signal containing this input value is sent to the control device 60 of the agricultural machinery 1 via the communication unit 54. Figure 8B S54). Additionally, the control unit 51 displays the driving control screen D8 on the display operation unit 52 ( Figure 4 ), to replace the lifting operation screen D14 (S55).

[0137] In agricultural machinery 1, when an operation signal sent from portable terminal 50 is received via communication device 66 ( Figure 7AS11: Yes), the control device 60 controls the connecting device 8, etc., to change the lifting height of the working device 2, so that the input value of the lifting height of the working device 2 contained in the operation signal corresponds to the actual lifting height of the working device 2 detected by the lifting height detector 64b (S12, Figure 9 After time T2: the actual lifting height changes from 30% to 20%.

[0138] Furthermore, during the period when the automatic driving of agricultural machinery 1 (driving vehicle 3) does not stop ( Figure 7A S13: No), repeatedly execute the process starting from process S3b. In the portable terminal 50, an operation signal is sent based on the operation of the lift operation keys B28 and B29 ( Figure 8B After S54, the driving control screen D8 (S55) is displayed, and during the period when no stop status of the automatic driving is received from the control device 60 ( Figure 8C S56: No), repeatedly execute from Figure 8A The process begins with processing S38a. Furthermore, during processing S38a, the control unit 51 of the portable terminal 50 waits for input of a change instruction to the lifting operation screen D14 during the period when it does not receive a stop status from the control device 60 (S38b: No) (S38a: Yes).

[0139] Subsequently, for example, if a user riding in agricultural machinery 1 stops the machine via operating device 62, control device 60 stops the automatic driving of agricultural machinery 1. Figure 7A S13: Yes), and the stop status is notified to the portable terminal 50 via the communication device 66 (S14). In the portable terminal 50, if a stop status is received from the control device 60 via the communication unit 54 ( Figure 8C If (S56: Yes), then the control unit 51 displays the stopping status in the display operation unit 52 (S57). At this time, for example, information indicating that a stop operation of automatic driving has been performed in the agricultural machinery 1 is displayed in the display operation unit 52 (illustration omitted).

[0140] For example, upon seeing the above information, the user can perform a prescribed operation on the display operation unit 52 to input an instruction to the portable terminal 50 to interrupt the agricultural operation based on the automatic driving of the agricultural machinery 1. Figure 8C (S58: Yes). In this case, the control unit 51 sends an interruption instruction indicating that the automatic driving of the agricultural machinery 1 has been interrupted to the control device 60 via the communication unit 54 (S59). Then, the control unit 51 generates interruption data including the indication that the automatic driving of the agricultural machinery 1 has been interrupted, the interruption position (stop position) of the agricultural machinery 1 on the travel route L1, and the implementation status of agricultural operations, and stores the interruption data (saves) in the storage unit 53 (S60).

[0141] In agricultural machinery 1, when an interruption instruction is received from portable terminal 50 via communication device 66 ( Figure 7B S15: Yes), becomes a state where autonomous driving and agricultural operations are interrupted (S16, Figure 9 (Time T3). During the interruption of the automatic driving of agricultural machinery 1, other agricultural operations can be carried out by agricultural machinery 1 and working device 2.

[0142] Subsequently, in the portable terminal 50, the user performs a prescribed operation on the display operation unit 52 to input an instruction to the portable terminal 50 to restart the automatic driving and agricultural operations of the interrupted agricultural machinery 1. Figure 8C (S61). Therefore, based on the corresponding interruption data stored in the storage unit 53, the control unit 51 generates restart data for restarting the interrupted automatic driving and agricultural operations, and sends a restart instruction for automatic driving containing this restart data to the control device 60 via the communication unit 54 (S62). The restart data includes an indication that the agricultural machinery 1 will resume automatic driving and agricultural operations, the driving route L1 for performing this automatic driving, the interruption position (restart position) of the agricultural machinery 1, and the implementation status of the agricultural operations. Furthermore, the process is repeatedly executed from... Figure 8A The processing begins with S33.

[0143] In agricultural machinery 1, when a reopening instruction is received from portable terminal 50 via communication device 66 ( Figure 7B (S17: Yes), the control device 60 restarts the automatic driving and agricultural operations of the agricultural machinery 1 and the operating device 2 based on the restart data contained in the restart instruction (S18, Figure 9 At time T5). Then, the control device 60 confirms the on / off state of the seat switch 64a, and based on the confirmation result, determines whether the user is riding in the agricultural machinery 1, and stores the determination result in the internal memory ( Figure 7B (S19a). Next, the control device 60 reads the stored contents of the internal memory. If it confirms that the user is not riding in the agricultural machinery 1 (S19b: No), it disables the operation of the lifting lever 62b, enables the operation of the lifting keys B28 and B29, and sends a notification of effectiveness to the portable terminal 50. Figure 7A (S8). After that, the process starting from process S9 is executed repeatedly.

[0144] Then, for example in portable terminal 50, when the user operates the lifting operation keys B28 and B29 ( Figure 8B S47: Yes, Figure 9At time T6, the lifting height of the working device 2 is changed so that the input value of the lifting height of the working device 2 corresponding to the effective operation corresponds to the actual lifting height of the working device 2. Figure 7A S12, Figure 9 After time T6: the actual lifting height changes from 20% to 10%.

[0145] On the other hand, after resuming autonomous driving, the control device 60 reads the stored contents of the internal memory, and if it confirms that the user is riding in agricultural machinery 1 ( Figure 7B If S19b: Yes), then the operation of the lifting lever 62b is enabled, the operation of the lifting operation keys B28 and B29 displayed on the portable terminal 50 is disabled, and an invalid notification indicating this invalidity is sent to the portable terminal 50 via the communication device 66 (S20). Additionally, the control device 60 uses the lifting operation detector 64c to detect the operating position of the lifting lever 62b and calculates the set value of the lifting height of the working device 2 corresponding to that operating position (S21). Furthermore, the control device 60 uses the lifting height detector 64b to detect the actual lifting height of the working device 2 (S22). Then, the control device 60 confirms whether the set value of the lifting height of the working device 2 corresponds to the actual lifting height.

[0146] If the user is not seated in the agricultural machinery 1 during the interruption of its automatic driving, the invalid state of the lifting lever 62b continues, but the lifting lever 62b can still be operated. Therefore, for example, even if the user is not seated in the driver's seat 10 and operates the lifting lever 62b, although the operating position of the lifting lever 62b (and the corresponding setting value) is changed (…), Figure 9 At time T4: the set value changes from 30% to 25%, but the actual lifting height of the working device 2 will not be changed, and the input values ​​of the lifting height based on the lifting operation keys B28 and B29 will not be changed.

[0147] Therefore, when a user sits on agricultural machinery 1, after the seat switch 64a changes from the off state to the on state, and the interrupted automatic driving of agricultural machinery 1 resumes ( Figure 9 At time T9, the control device 60 confirmed that the set value of the lifting height of the working device 2 did not correspond to the actual lifting height of the working device 2. Figure 7B S23: No, Figure 9At time T9: the set value of 25% ≠ the actual lifting height of 10%. Then, the control device 60 outputs a warning via the alarm device 63, indicating that the set value of the lifting height of the working device 2 does not correspond to the actual lifting height of the working device 2, or outputs the warning by displaying the information indicating the warning on the display operation unit 52 of the portable terminal 50. Figure 7B (S24). As another example, the warning can also be displayed on the screen of another display device installed on the agricultural machinery 1. In addition, the control device 60 controls the connecting device 8, etc., to change the lifting height of the working device 2 so that the set value corresponds to the actual lifting height. Figure 7B The S25, Figure 9 After time T9: the set value is 25%, and the actual lifting height changes from 10% to 25%.

[0148] During the change of the lifting height of the working device 2 as described above, the control device 60 will not restart (execute) the automatic driving of the agricultural machinery 1. After confirming that the actual lifting height of the working device 2 detected by the lifting height detector 64b corresponds to the set value of the lifting height of the working device 2 based on the lifting operating lever 62b, the control device 60 restarts (executes) the automatic driving of the agricultural machinery 1 and the agricultural operations performed by the working device 2. Then, this process is repeated. Figure 7A The processing begins with S3b.

[0149] On the other hand, if the set value of the lifting height of the working device 2 corresponds to the actual lifting height of the working device 2 after the automatic driving restarts ( Figure 7B If S23 is true, then the lifting height of the working device 2 will not be changed, and the operation will be repeatedly executed from... Figure 7A The processing begins with S3b.

[0150] Subsequently, when the user transitions from a non-riding state to a riding state while riding in agricultural machinery 1 ( Figure 7A S3b: Yes, Figure 9 At time T8, the operation of the lifting lever 62b becomes valid and the operation of the lifting keys B28 and B29 becomes invalid, and an invalidation notification is sent to the portable terminal 50. Figure 7A S4, Figure 9 (Times T8 to T15). In this situation, when the lifting operating lever 62b is operated ( Figure 7A S5: Yes, Figure 9 At times T10 and T13, the lifting height of the working device 2 is changed so that the set value of the lifting height of the working device 2 corresponding to the effective operation corresponds to the actual lifting height of the working device 2. Figure 7A The S7, Figure 9After time T10: the actual lifting height changes from 25% to 15%; after time T13: the actual lifting height changes from 15% to 20%.

[0151] Additionally, later, for example, when the user gets off agricultural machinery 1 and changes from a riding state to a non-riding state ( Figure 7A S3b: No, Figure 9 At time T15, when automatic driving resumes, the operation of the lifting lever 62b becomes invalid and the operation of the lifting keys B28 and B29 becomes valid, and a valid notification is sent to the portable terminal 50. Figure 7A The S8, Figure 9 At time T16). Then, the control device 60 calculates the set value of the lifting height of the working device 2 corresponding to the operating position of the lifting lever 62b, and sends the set value to the portable terminal 50 ( Figure 7A S10). Therefore, the portable terminal 50 receives the set value of the lifting height of the working device 2 (S10). Figure 8A S35: Yes), update the input values ​​based on the lift operation keys B28 and B29 stored in the storage unit 53 of the portable terminal 50 to correspond to the setting value. Figure 8A S36, Figure 9 After time T16: Set value 20% = Input value 20%.

[0152] Then, in the portable terminal 50, when the lifting operation keys B28 and B29 are operated ( Figure 8B S47: Yes, Figure 9 At time T17, the operation signal corresponding to the valid operation will be sent to the control device 60. Figure 8B (S54). Therefore, the operation signal is received via communication device 66. Figure 7A S11: Yes), change the lifting height of the working device 2 so that the input value of the lifting height of the working device 2 contained in the operation signal corresponds to the actual lifting height of the working device 2. Figure 7A S12, Figure 9 After time T17: the actual lifting height changed from 20% to 15%.

[0153] Subsequently, for example, in autonomous driving, agricultural machinery 1 and operating device 2 reach the destination position Pg ( Figure 4 In the event of an accident, or when a user riding in agricultural machinery 1 stops the operation via operating device 62, control device 60 stops the automatic driving of agricultural machinery 1. Figure 7A S13: Yes), and the stop status is notified to the portable terminal 50 via the communication device 66. Figure 7BS14). In the portable terminal 50, if the automatic driving stop status is received via the communication unit 54 ( Figure 8C If (S56: Yes), then the control unit 51 displays the stop status on the display operation unit 52 (S57). At this time, for example, the display operation unit 52 displays information indicating that the agricultural machinery 1 and the working device 2 have reached the end position Pg, or information indicating that a stop operation has been performed in the agricultural machinery 1.

[0154] Upon seeing any of the above information, the user, through a prescribed operation in the display operation unit 52, inputs an instruction to the portable terminal 50 to end the agricultural operation based on the automatic driving of the agricultural machinery 1 (S63: Yes). In this case, the control unit 51 sends an end instruction indicating the intention to end automatic driving and agricultural operation to the control device 60 via the communication unit 54 (S64), and terminates a series of actions. In the agricultural machinery 1, when an end instruction is received from the portable terminal 50 via the communication device 66 ( Figure 7B S26: Yes), ending a series of actions.

[0155] In the above implementation methods, such as Figure 9 As shown, an example is illustrated where, if the on or off state of the seat switch 64a (i.e., the user's riding or non-riding state relative to the agricultural machinery 1) is switched during an interruption of the automatic driving of the agricultural machinery 1, the operation of the lifting lever 62b and the operation of the lifting keys B28 and B29 are switched to be active or inactive when the automatic driving of the agricultural machinery 1 is started or restarted. Figure 9 (Times T0, T8, T15). However, for example, if the on or off state of the seat switch 64a is switched during the interruption of the automatic driving of the agricultural machinery 1, the control device 60 can also immediately switch the operation of the lifting lever 62b and the operation of the lifting operation keys B28, B29 to active or inactive without waiting for the automatic driving to restart (restart instruction).

[0156] Furthermore, during the interruption of the automatic driving of agricultural machinery 1 and when the operation of the lifting control lever 62b is effective, if the lifting control lever 62b is operated, the control device 60 can also immediately change the lifting height of the working device 2 by means of the connecting device 8, etc., without waiting for the automatic driving to restart.

[0157] exist Figure 10A and Figure 10B The image shows an example of the working position P1 and the non-working position P2 of the working device 2 (tillage device 2A). However, for example, the working position and the non-working position of the working device 2 can also be appropriately set according to the type and specifications of the working device 2 or the type of agricultural operation.

[0158] In the above embodiment, the control device 60 sends an invalid or valid notification for the lifting operation keys B28 and B29 to the portable terminal 50 based on the on or off state of the seat switch 64a. Upon receiving an invalid notification, the portable terminal 50 sets the lifting operation keys B28 and B29 to be inoperable and does not send any operation signals corresponding to the operation of the lifting operation keys B28 and B29 to the control device 60. Alternatively, for example, if the control device 60 does not send an invalid or valid notification to the portable terminal 50, and receives an operation signal corresponding to the operation of the lifting operation keys B28 and B29 via the communication device 66, the control device 60 may not accept the operation signal if the seat switch 64a is in the on state. Furthermore, if the control device 60 receives an operation signal corresponding to the operation of the lifting operation keys B28 and B29 via the communication device 66, the control device 60 may accept the operation signal if the seat switch 64a is in the off state.

[0159] In the above-described embodiment, the operation of the lifting lever 62b or the lifting operation keys B28 and B29 is enabled or disabled depending on whether the user is riding or not relative to the agricultural machinery 1. Based on the enabled operation of the lifting lever 62b or the lifting operation keys B28 and B29, the lifting height of the working device 2 is changed using the connecting device 8 or the working device 2, but this is not limited to this. For example, operating components or operation keys that are operated to change the posture of the working device 2, such as the tilling depth or the automatic horizontal adjustment angle, may be respectively provided on the agricultural machinery 1 and the portable terminal 50, and the operation of these operating components may be enabled or disabled depending on whether the user is riding or not relative to the agricultural machinery 1. Then, based on the operation of the enabled operating component, the posture of the working device 2, such as the tilling depth or the automatic horizontal adjustment angle, can be changed using the connecting device 8 or the working device 2. In addition to the posture of the working device 2, for example, the driving and stopping of the working device 2, or the driving state such as the rotation speed of the rotating equipment of the working device 2, can be operated based on the enabled operation of the operating components respectively provided on the agricultural machinery 1 and the portable terminal 50.

[0160] Furthermore, the first operating unit provided on the agricultural machinery 1 is not limited to the operating lever 62b, but may also be composed of a switch, button, dial, key, or other operating component made of hardware, or a switch, button, slider, lever, or other key made of software. Alternatively, the first operating unit may be provided on a terminal device (display terminal, etc.) mounted on the agricultural machinery 1, which is different from the portable terminal 50.

[0161] Furthermore, the second operation unit provided in the portable terminal 50 is not limited to operation keys B28 and B29, but may also be composed of software-based switches, buttons, dials, or slide keys, or hardware-based switches, buttons, dials, keys, or other operating components. Alternatively, a fixed terminal device may be used instead of the portable terminal 50, and the second operation unit may be provided in that terminal device.

[0162] In the above-described embodiment, the control device 60 that performs automatic driving of the agricultural machinery 1 controls the connecting device 8 or the working device 2 to change the lifting height of the working device 2, etc. However, in addition, for example, a control device different from the control device that performs automatic driving of the agricultural machinery can be used to operate the working device according to the operation of the operating unit. In addition, besides the connecting device 8 that connects the agricultural machinery 1 and the working device 2, a drive device can also be provided for the working device 2 to perform actions such as lifting, swinging, or horizontal movement.

[0163] In the above-described embodiments, an example is shown where, in the case of agricultural machinery 1 being operated automatically (automatic driving operation mode), the operation of operating units 62b, B28, and B29 is enabled or disabled based on the user's seating position relative to the agricultural machinery 1, and the working device 2 is activated based on the enabled operation of operating units 62b, B28, and B29. However, in the case of agricultural machinery 1 being automatically steered and the speed change being handled manually (automatic steering operation mode), or in the case of agricultural machinery 1 being operated manually (manual driving mode), the operation of operating units 62b, B28, and B29 can also be enabled or disabled based on the user's seating position relative to the agricultural machinery 1, and the working device 2 can be activated based on the enabled operation of operating units 62b, B28, and B29. Furthermore, the input values ​​based on the second operating units B28 and B29 can be changed to correspond to the set values ​​corresponding to the operating position of the first operating unit 62b.

[0164] The agricultural operation assistance system 100 and agricultural machinery 1 of this embodiment described above have the following structure and achieve the following effects.

[0165] The agricultural operation assistance system 100 of this embodiment includes: a connecting device 8 for connecting the operation device 2 to the agricultural machinery 1; a control device 60 for automatically driving or steering the agricultural machinery 1 while using the operation device 2 to perform agricultural operations on the farmland; a first operating unit (lifting control lever) 62b provided on the agricultural machinery 1 for operating the operation device 2; second operating units (lifting control keys) B28 and B29 that can be operated from outside the agricultural machinery 1 to operate the operation device 2; and a first detection unit (seat switch) 64a for detecting whether the user is in a seated or non-seated state relative to the agricultural machinery 1; when the first detection unit 64a detects a seated state, the operation device 2 can operate according to the operation of the first operating unit 62b, and the operation of the second operating units B28 and B29 becomes invalid; when the first detection unit 64a detects a non-seated state, the operation device 2 can operate according to the operation of the second operating units B28 and B29, and the operation of the first operating unit 62b becomes invalid.

[0166] The agricultural machinery 1 of this embodiment includes: a vehicle body 3 capable of travel; a connecting device 8 connecting a working device 2 to the vehicle body 3; a control device 60 that automatically drives or steers the vehicle body 3 while performing agricultural operations on farmland using the working device 2; a first operation unit 62b operated to activate the working device 2; and a first detection unit 64a that detects whether the user is in a riding state or not in a riding state relative to the vehicle body 3. When the first detection unit 64a detects a riding state, the control device 60 can activate the working device 2 according to the operation of the first operation unit 62b, and disable the operation of the second operation units B28 and B29 used outside the agricultural machinery 1 to activate the working device 2. When the first detection unit 64a detects a non-riding state, the control device 60 can activate the working device 2 according to the operation of the second operation units B28 and B29, and disable the operation of the first operation unit 62b.

[0167] According to the above structure, the working device 2 is operated by one of the first operating unit 62b located on the agricultural machinery 1 and the second operating units B28 and B29, which can be operated from outside the agricultural machinery 1, depending on whether the user is in a riding or non-riding state relative to the agricultural machinery 1. It cannot be operated by both operating units simultaneously. Therefore, it prevents the operating state of the first operating unit 62b from being inconsistent with the operating state of the second operating units B28 and B29, or from being inconsistent with the actual operating state of the working device 2, thereby preventing confusion when the user operates the working device 2 using the operating units 62b, B28, and B29. Furthermore, for example, when the user is riding in the agricultural machinery 1 in automatic driving mode, even if someone else operates the second operating units B28 and B29 located outside the agricultural machinery 1 without the user's consent, the working device 2 will not operate accordingly, thus preventing user confusion. Moreover, since the working device 2 can be operated from inside the agricultural machinery 1 via the first operating unit 62b and from outside the agricultural machinery 1 via the second operating units B28 and B29, convenience is improved.

[0168] In this embodiment, the first operation unit 62b and the second operation units B28 and B29 are operated to change the posture of the working device 2. During automatic driving of the agricultural machinery 1 while simultaneously performing agricultural operations using the working device 2, the control device 60 changes the posture of the working device 2 based on the detection results of the first detection unit 64a, according to the operation of one of the first operation unit 62b and the second operation units B28 and B29, rather than based on the operation of the other. Therefore, in the automatic driving of the agricultural machinery 1, the posture of the working device 2 is operated using only one of the first operation unit 62b and the second operation units B28 and B29, depending on whether the user is in a riding or non-riding state relative to the agricultural machinery 1, instead of both operating simultaneously. This prevents confusion for the user when operating the posture of the working device 2 using the operation units 62b, B28, and B29, thereby improving convenience.

[0169] In this embodiment, the agricultural operation assistance system 100 includes a communication device 66, which is installed on the agricultural machinery 1 and communicates wirelessly with the terminal device 50. Second operation units B28 and B29 are installed on the terminal device 50. A connection device 8 can change the posture of the operating device 2. When the first detection unit 64a detects a non-riding state, the terminal device 50 sends an operation signal corresponding to the operation of the second operation units B28 and B29. The control device 60 receives this operation signal via the communication device 66 and, based on the operation signal, changes the posture of the operating device 2 via the connection device 8. When the first detection unit 64a detects a riding state, even if the second operation units B28 and B29 are operated, the terminal device 50 will not send an operation signal corresponding to that operation, or the control device 60 will not receive an operation signal. Therefore, by using either the first operation unit 62b or the second operation units B28 and B29 to operate the posture of the operating device 2 according to the user's riding or non-riding state relative to the agricultural machinery 1, it is possible to reliably prevent the simultaneous operation of the operating device 2 using both units.

[0170] Furthermore, in this embodiment, when the first detection unit 64a detects a change from a non-riding state to a riding state, the control device 60 sends an invalidation notification via the communication device 66, indicating that the operation of the second operation units B28 and B29 is invalidated. Upon receiving this invalidation notification, the terminal device 50 prevents the operation of the second operation units B28 and B29 from being performed. Therefore, when a user is riding in the agricultural machinery 1, they can operate the working device 2 using the first operation unit 62b of the agricultural machinery 1, thereby reliably preventing other users from operating the working device 2 using the second operation units B28 and B29 of the terminal device 50.

[0171] Furthermore, in this embodiment, the agricultural operation assistance system 100 has a second detection unit (lifting height detector) 64b that detects the actual posture of the operating device 2. When the first detection unit 64a detects a non-riding state, if the second operation units B28 and B29 are operated, the terminal device 50 calculates the input value of the posture of the operating device 2 corresponding to the operation and sends an operation signal containing the input value. When the operation signal is received through the communication device 66, the control device 60 changes the posture of the operating device 2 so that the input value contained in the operation signal corresponds to the actual posture of the operating device 2 detected by the second detection unit 64b. Thus, when the user is not riding on the agricultural machinery 1, the input value of the posture of the operating device 2 based on the second operation units B28 and B29 of the terminal device 50 corresponds to the actual posture of the operating device 2. Therefore, the posture of the operating device 2 can be operated appropriately and reliably using the second operation units B28 and B29.

[0172] Furthermore, in this embodiment, the agricultural operation assistance system 100 includes a third detection unit (lifting operation detector) 64c that detects the operating position of the first operating unit 62b. When the first detection unit 64a detects a riding state, if the first operating unit 62b is operated, the control device 60 calculates a setting value for the posture of the operating device 2 corresponding to the operating position of the first operating unit 62b detected by the third detection unit 64c, and changes the posture of the operating device 2 so that the setting value corresponds to the actual posture of the operating device 2 detected by the second detection unit 64b. Therefore, when the user rides on the agricultural machinery 1, the setting value for the posture of the operating device 2 corresponding to the operating position of the first operating unit 62b of the agricultural machinery 1 corresponds to the actual posture of the operating device 2. Thus, the posture of the operating device 2 can be operated appropriately and reliably using the first operating unit 62b.

[0173] Furthermore, in this embodiment, when the first detection unit 64a detects a non-riding state, if the second operation units B28 and B29 are operated, the terminal device 50 calculates the input value of the posture of the work device 2 corresponding to the operation and stores the input value in the storage unit 53. When the first detection unit 64a detects a change from a riding state to a non-riding state, the control device 60 calculates the setting value of the posture of the work device 2 corresponding to the operation position of the first operation unit 62b detected by the third detection unit 64c and sends the setting value through the communication device 66. When the terminal device 50 receives the setting value of the posture of the work device 2, it changes the input value of the posture of the work device 2 stored in the storage unit 53 to correspond to the setting value.

[0174] Based on the above, even if the setting value of the posture of the working device 2 corresponding to the operating position of the first operation unit 62b does not correspond to the input value of the posture of the working device 2 stored in the storage unit 53 of the terminal device 50, the input value can be updated to correspond to the setting value, and the updated input value can be set as the initial input value of the second operation units B28 and B29. Therefore, it is possible to prevent confusion when the user operates the posture of the working device 2 using the operation units 62b, B28, and B29, and also to prevent the working device 2 from changing to an unwanted posture.

[0175] In addition, in this embodiment, the agricultural operation assistance system 100 has warning units 63 and 52 (alarm device 63, display operation unit 52) ​​that output warnings. When the first detection unit 64a detects a change from a non-riding state to a riding state, the control device 60 calculates a setting value for the posture of the operation device 2 corresponding to the operating position of the first operation unit 62b detected by the third detection unit 64c. If the setting value does not correspond to the actual posture of the operation device 2 detected by the second detection unit 64b, a warning is output through the warning units 63 and 52, and the posture of the operation device 2 is changed so that the setting value corresponds to the actual lifting height.

[0176] Based on the above, even if the set value of the posture of the working device 2 corresponding to the operating position of the first operating unit 62b does not correspond to the actual posture of the working device 2, the posture of the working device 2 will automatically change to correspond to the set value. Therefore, it is possible to prevent confusion when the user operates the posture of the working device 2 using the first operating unit 62b. In addition, it is possible to prevent the working device 2 from changing to an undesirable posture. Moreover, when the posture of the working device 2 automatically changes to correspond to the set value, a warning is output by the warning units 63 and 52 to make the user aware that the working device 2 is operating in an undesirable posture, thereby preventing user confusion.

[0177] Furthermore, in this embodiment, when the first detection unit 64a detects a change from a non-riding state to a riding state, the control device 60 calculates a set value for the posture of the working device 2 corresponding to the operating position of the first operation unit 62b detected by the third detection unit 64c. If this set value does not correspond to the actual posture of the working device 2 detected by the second detection unit 64b, the automatic driving of the agricultural machinery 1 is not executed. Thus, in the automatic driving of the agricultural machinery 1, when the user operates the posture of the working device 2 through the operation units 62b, B28, and B29, the working device 2 is prevented from changing to an undesirable posture, thereby preventing user confusion. Additionally, agricultural operations can be performed stably by using the working device 2 in the user's desired posture.

[0178] Furthermore, in this embodiment, the control device 60 transmits the actual posture of the working device 2 detected by the second detection unit 64b via the communication device 66, and the terminal device 50 receives the actual posture of the working device 2. It also has a display unit (display operation unit) 52 that displays the actual posture and the input value of the posture of the working device 2 corresponding to the operation of the second operation units B28 and B29. Thus, the user can easily and reliably operate the posture of the working device 2 using the second operation units B28 and B29 while visually confirming the actual posture of the working device 2 displayed on the display unit 52 and the input value of the posture of the working device 2 corresponding to the operation of the second operation units B28 and B29, thereby improving convenience.

[0179] In addition, in this embodiment, the connecting device 8 can change the lifting height of the working device 2 by raising and lowering it. The first operation unit 62b is composed of an operation member (lifting operation lever 62b) operated by a user riding on the agricultural machinery 1 to change the lifting height of the working device 2 and to maintain an operation position corresponding to the operation. The second operation units B28 and B29 are provided on the terminal device 50 carried by the user and are composed of operation keys (lifting operation keys B28 and B29) operated to change the lifting height of the working device 2.

[0180] Based on the above, when the user is riding in the agricultural machinery 1, the lifting height of the working device 2 can be operated via the operating component 62b of the agricultural machinery 1. When the user is not riding in the agricultural machinery 1, the lifting height of the working device 2 can be operated via the operation keys B28 and B29 on the terminal device 50, which can be moved to any position, thereby improving convenience. In addition, when the user operates the lifting height of the working device 2 via the operating component 62b or the operation keys B28 and B29, the working device 2 can be prevented from moving to an unwanted lifting height, thereby preventing user confusion.

[0181] In this embodiment, the agricultural machinery 1 includes: a communication device 66 for wireless communication with the terminal device 50; and a second detection unit 64b for detecting the actual posture of the operating device 2. The connection device 8 can change the posture of the operating device 2. When the first detection unit 64a detects a non-riding state, and the communication device 66 receives an operation signal from the terminal device 50 based on the operation of the second operation units B28 and B29, the control device 60 changes the posture of the operating device 2 via the connection device 8 so that the input value of the posture of the operating device 2 corresponding to the operation of the second operation units B28 and B29 included in the operation signal corresponds to the actual posture of the operating device 2 detected by the second detection unit 64b. Therefore, when the user is not riding in the agricultural machinery 1, the input value of the posture of the operating device 2 based on the second operation units B28 and B29 of the terminal device 50 corresponds to the actual posture of the operating device 2, thereby enabling appropriate and reliable operation of the posture of the operating device 2 via the second operation units B28 and B29.

[0182] Furthermore, in this embodiment, the agricultural machinery 1 has a third detection unit 64c that detects the operating position of the first operating unit 62b. When the first detection unit 64a detects a change from a non-riding state to a riding state, the control device 60 calculates a setting value for the posture of the working device 2 corresponding to the operating position of the first operating unit 62b detected by the third detection unit 64c. If the setting value does not correspond to the actual posture of the working device 2 detected by the second detection unit 64b, a warning is output through the warning units 63 and 52, and the posture of the working device 2 is changed through the connecting device 8 so that the setting value corresponds to the actual lifting height.

[0183] As described above, even if the set value of the posture of the working device 2 corresponding to the operating position of the first operating unit 62b does not correspond to the actual posture of the working device 2, the posture of the working device 2 will automatically change to correspond to the set value, and a warning will be output through the warning units 63 and 52. Therefore, it is possible to prevent confusion when the user operates the posture of the working device 2 through the first operating unit 62b, and to prevent the working device 2 from becoming an unwanted posture.

[0184] The present invention has been described above, but the embodiments of the present invention should be considered exemplary and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than the foregoing description, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0185] Explanation of reference numerals in the attached figures:

[0186] 1: Agricultural machinery

[0187] 2: Working device

[0188] 2A: Tillage device (operating device)

[0189] 3: Vehicle body

[0190] 8: Connecting device

[0191] 50: Portable terminal device (portable terminal)

[0192] 52: Display Operation Unit (Warning Unit, Display Unit)

[0193] 53: Storage Department

[0194] 60: Control device

[0195] 62b: Lifting control lever (first operating section)

[0196] 63: Alarm device (warning unit)

[0197] 64a: Seat switch (First Inspection Department)

[0198] 64b: Lifting height detector (second detection unit)

[0199] 64c: Lifting Operation Detector (Third Detection Department)

[0200] 66: Communication device

[0201] 100: Agricultural Operation Assistance System

[0202] B28, B29: Lifting / lowering operation keys (second operation section)

Claims

1. An agricultural operation assistance system, wherein, have: A connecting device connects the working device to agricultural machinery and changes the posture of the working device; The control device automatically drives or steers the agricultural machinery while using the operating device to carry out agricultural operations on the farmland. A first operating unit is provided on the agricultural machinery and is operated to change the posture of the working device; The second operating unit is provided in a terminal device that can communicate wirelessly with the agricultural machinery and can be operated to change the posture of the operating device; The first detection unit detects the user's riding and non-riding states relative to the agricultural machinery. The second detection unit detects the actual posture of the working device; as well as The third detection unit detects the operating position of the first operation unit; When the first detection unit detects the riding state, the control device can change the posture of the working device according to the operation of the first operation unit, and invalidate the operation of the second operation unit. When the first detection unit detects the non-riding state, the control device can change the posture of the working device according to the operation of the second operation unit, and invalidate the operation of the first operation unit. When the first detection unit detects the riding state, if the first operation unit is operated, the control device calculates a set value representing the posture of the working device corresponding to the operation position of the first operation unit detected by the third detection unit, and changes the posture of the working device so that the posture of the working device represented by the set value corresponds to the actual posture of the working device detected by the second detection unit. When the first detection unit detects the non-riding state, if the second operation unit is operated, the terminal device calculates the input value representing the posture of the work device corresponding to the operation and stores the input value in the storage unit; When the first detection unit detects a change from the riding state to the non-riding state... The control device sends a set value representing the posture of the working device corresponding to the operating position of the first operating unit detected by the third detection unit to the terminal device. When the terminal device receives the set value, it changes the input value stored in the storage unit so that the posture of the working device represented by the input value corresponds to the posture of the working device represented by the set value.

2. The agricultural operation assistance system according to claim 1, wherein, In the process of performing automatic driving of the agricultural machinery while using the working device to perform agricultural operations, the control device changes the posture of the working device based on the judgment of whether the user is riding in the agricultural machinery by the first detection unit, and changes the posture of the working device according to the operation of one of the first operation unit and the operation of the second operation unit, but not according to the operation of the other.

3. The agricultural operation assistance system according to claim 1, wherein, The agricultural machinery is equipped with a communication device that communicates wirelessly with the terminal device. When the first detection unit detects the non-riding state... The terminal device sends an operation signal corresponding to the operation of the second operation unit. The control device receives the operation signal through the communication device, and changes the posture of the working device based on the operation signal through the connection device. When the first detection unit detects the riding state... Even if the second operation unit is operated, the terminal device will not send the operation signal corresponding to the operation, or the control device will not accept the operation signal.

4. The agricultural operation assistance system according to any one of claims 1 to 3, wherein, The agricultural machinery is equipped with a communication device that communicates wirelessly with the terminal device. When the first detection unit detects a transition from the non-riding state to the riding state. The control device sends an invalidation notification via the communication device, indicating that the operation of the second operation unit is invalidated. When the terminal device receives the invalid notification, it invalidates the operation of the second operation unit.

5. The agricultural operation assistance system according to claim 3, wherein, When the first detection unit detects the non-riding state... If the second operation unit is operated, the terminal device calculates the input value representing the posture of the working device corresponding to the operation, and sends the operation signal containing the input value. When the operation signal is received by the terminal device, the control device changes the posture of the working device so that the posture of the working device represented by the input value included in the operation signal corresponds to the actual posture of the working device detected by the second detection unit.

6. An agricultural operation assistance system, wherein, have: A connecting device connects the working device to agricultural machinery and changes the posture of the working device; The control device automatically drives or steers the agricultural machinery while using the operating device to carry out agricultural operations on the farmland. A first operating unit is provided on the agricultural machinery and is operated to change the posture of the working device; The second operating unit is provided in a terminal device that can communicate wirelessly with the agricultural machinery and can be operated to change the posture of the operating device; The first detection unit detects the user's riding and non-riding states relative to the agricultural machinery. The second detection unit detects the actual posture of the working device; The third detection unit detects the operating position of the first operation unit; as well as Warning unit, output warning; When the first detection unit detects the riding state, the control device can change the posture of the working device according to the operation of the first operation unit, and invalidate the operation of the second operation unit. When the first detection unit detects the non-riding state, the control device can change the posture of the working device according to the operation of the second operation unit, and invalidate the operation of the first operation unit. When the first detection unit detects a transition from the non-riding state to the riding state. The control device calculates a set value representing the posture of the work device corresponding to the operating position of the first operating unit detected by the third detection unit. If the posture of the work device represented by the set value does not correspond to the actual posture of the work device detected by the second detection unit, a warning is output through the warning unit, and the actual posture of the work device is changed so that the posture of the work device represented by the set value corresponds to the actual posture.

7. An agricultural operation assistance system, wherein, have: A connecting device connects the working device to agricultural machinery and changes the posture of the working device; The control device automatically drives or steers the agricultural machinery while using the operating device to carry out agricultural operations on the farmland. A first operating unit is provided on the agricultural machinery and is operated to change the posture of the working device; The second operating unit is provided in a terminal device that can communicate wirelessly with the agricultural machinery and can be operated to change the posture of the operating device; The first detection unit detects the user's riding and non-riding states relative to the agricultural machinery. The second detection unit detects the actual posture of the working device; as well as The third detection unit detects the operating position of the first operation unit; When the first detection unit detects the riding state, the control device can change the posture of the working device according to the operation of the first operation unit, and invalidate the operation of the second operation unit. When the first detection unit detects the non-riding state, the control device can change the posture of the working device according to the operation of the second operation unit, and invalidate the operation of the first operation unit. When the first detection unit detects a transition from the non-riding state to the riding state. The control device calculates a set value representing the posture of the working device corresponding to the operating position of the first operating unit detected by the third detection unit. If the posture of the working device represented by the set value does not correspond to the actual posture of the working device detected by the second detection unit, then automatic driving of the agricultural machinery while performing agricultural operations using the working device is not executed.

8. The agricultural operation assistance system according to claim 5, wherein, The control device sends a posture signal, representing the actual posture of the working device detected by the second detection unit, to the terminal device; The terminal device receives a posture signal representing the actual posture of the working device, and has a display unit that displays the actual posture and the input value of the posture of the working device corresponding to the operation of the second operation unit.

9. The agricultural operation assistance system according to any one of claims 1, 6, and 7, wherein, The connecting device can change the lifting height of the working device by raising and lowering it; The first operating unit is composed of an operating member that is operated by a user riding in the agricultural machinery to change the lifting height of the operating device and maintains the operating position corresponding to the operation; The second operation unit is provided on the terminal device carried by the user and consists of operation keys that are operated to change the lifting height of the working device.

10. An agricultural machine, wherein, have: The vehicle body is capable of movement; A connecting device connects the working device to the vehicle body, thereby changing the posture of the working device; The control device automatically drives or steers the vehicle while simultaneously using the work device to perform agricultural operations on the farmland. The first operating unit is operated by the user riding in the agricultural machinery in order to change the posture of the working device; A communication device that communicates wirelessly with a terminal device; The first detection unit detects the user's riding state and non-riding state relative to the moving vehicle body; The second detection unit detects the actual posture of the working device; The third detection unit detects the operating position of the first operation unit; as well as Warning unit, output warning; When the first detection unit detects the riding state, the control device can change the posture of the working device according to the operation of the first operation unit, and invalidate the operation of the second operation unit installed on the terminal device carried by the user and operated in order to change the posture of the working device; When the first detection unit detects the non-riding state, the control device can change the posture of the working device according to the operation of the second operation unit, and invalidate the operation of the first operation unit; When the first detection unit detects a transition from the non-riding state to the riding state. The control device calculates and represents a set value for the posture of the working device corresponding to the operating position of the first operating unit detected by the third detection unit. If the posture of the working device represented by the set value does not correspond to the actual posture of the working device detected by the second detection unit, a warning is output through the warning unit, and the posture of the working device is changed through the connection device so that the posture of the working device represented by the set value corresponds to the actual posture.

11. The agricultural machinery according to claim 10, wherein, In performing automated driving of agricultural operations by moving the vehicle body while using the working device, the control device changes the posture of the working device based on the detection results of the first detection unit and the operation of either the first operation unit or the second operation unit, but does not change the posture of the working device based on the operation of the other party.

12. The agricultural machinery according to claim 11, wherein, When the first detection unit detects the non-riding state... When the communication device receives an operation signal sent from the terminal device based on the operation of the second operation unit, the control device changes the posture of the working device through the connection device so that the input value of the posture of the working device corresponding to the operation of the second operation unit contained in the operation signal corresponds to the actual posture of the working device detected by the second detection unit.

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