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

Abstract

To improve convenience in generating a travel route (L1) of an agricultural machine (1). An agricultural work assistance system (100) has: an input unit (52) that inputs field information indicating an outline (H1) of a field, size information of the agricultural machine (1) or a work device (2) connected to the agricultural machine (1), and work conditions for performing agricultural work on the field with the agricultural machine (1) and the work device (2); a route generation unit (51c) that generates a travel route (L1) in which the agricultural machine (1) travels and ensures a turning space (G1, G2) in which the agricultural machine (1) turns, within a map (MP2) indicating the field, on the basis of the field information, the size information, and the work conditions; a turning amount calculation unit (51d) that calculates a turning amount (Z1, Z2) indicating a size of the turning space (G1, G2), and determines that the turning amount (Z1, Z2) is insufficient in a case where the turning amount (Z1, Z2) is smaller than a prescribed threshold value (Zt); and a notification unit (51g) that notifies of a position (Q1) at which the turning amount determined to be insufficient by the turning amount calculation unit (51d) exists.

Description

Technical Field

[0001] This invention relates to an agricultural operation assistance system, an agricultural operation assistance device, and agricultural machinery that assists agricultural machinery in carrying out agricultural operations while driving in farmland. Background Technology

[0002] Patent Document 1 discloses a technology that assists agricultural machinery in performing agricultural operations while driving automatically in a field using a work device connected to the machinery. The control device of the agricultural machinery disclosed in Patent Document 1 sets field ridge edge lines, field end turning lines, and work start and end lines based on the perimeter position data of the field and the lateral width of the agricultural machinery. Furthermore, the control device sets a plurality of parallel work travel lines at predetermined intervals in the central part of the field surrounded by the work start and end lines and the field end turning lines. Additionally, the control device sets a turning line between the work end position of one work travel line and the work start position of an adjacent work travel line. The agricultural machinery performs agricultural operations in the central part of the field while driving automatically based on the work travel lines, and turns around based on the turning lines. Furthermore, the agricultural machinery performs agricultural operations at field end turning points located around the central part of the field while driving based on the field ridge edge lines, work start and end lines, and field end turning lines.

[0003] Existing technical documents

[0004] Patent documents

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

[0006] The problem that the invention aims to solve

[0007] When generating routes (lines) for agricultural machinery using control devices, for example, considering situations where there are cliffs or walls around the farmland, it is necessary to include the turning space for the machinery within the farmland. However, if the turning space is included based on a combination of factors such as the farmland's outline, the size of the machinery, and various route setting conditions, it is sometimes impossible to ensure that the machinery and its operating devices have sufficient turning space for proper rotation. In such cases, users are unsure of how to proceed, which is very inconvenient.

[0008] Therefore, in view of the above problems, the object of the present invention is to improve the convenience of generating travel routes for agricultural machinery.

[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: an input unit for inputting farmland information representing the outline of farmland, size information of agricultural machinery or an operating device connected to the agricultural machinery, and operating conditions for performing agricultural operations on the farmland using the agricultural machinery and the operating device; a route generation unit for generating a travel route for the agricultural machinery to travel on within a map representing the farmland based on the farmland information, the size information, and the operating conditions, and ensuring a turning space for the agricultural machinery to turn around; a turning amount calculation unit for calculating a turning amount representing the size of the turning space, and determining that the turning amount is insufficient if the turning amount is less than a predetermined threshold; and a notification unit for notifying the location where the turning amount is determined to be insufficient by the turning amount calculation unit.

[0012] If the turning amount is less than the threshold, the turning amount calculation unit can invalidate the driving route; the notification unit can notify that the driving route cannot be generated because the width of a part where the turning amount is determined to be insufficient by the turning amount calculation unit is insufficient.

[0013] The agricultural operation assistance system may include a region setting unit, which sets a first region and a second region located inside the first region on the map based on the size information and the operating conditions; a route generation unit generates an operation route and a turning route as the travel route, the operation route is a route in which the agricultural machinery travels in at least one of the first region and the second region while performing operations using the operation device, and the turning route is a route in the first region that ensures the turning space and allows the agricultural machinery to turn around; the notification unit notifies the first region of insufficient width when the turning amount calculation unit determines that the turning amount is insufficient.

[0014] The agricultural operation assistance system may have a display unit that displays the map and the driving route. If the turning amount is determined to be insufficient by the turning amount calculation unit, the notification unit displays the location of the insufficient turning amount on the map displayed by the display unit, but does not display the driving route. If the turning amount is not determined to be insufficient by the turning amount calculation unit, the display unit displays the map and the driving route.

[0015] The agricultural operation assistance system may include: an output unit that outputs the travel route; a position detection unit that detects the position of the agricultural machinery; and an automatic control unit that, based on the position of the agricultural machinery detected by the position detection unit and the travel route output by the output unit, automatically drives the agricultural machinery to travel or steer while driving the operating device to perform the agricultural operation on the farmland; the output unit outputs the travel route to the automatic control unit when there is no insufficient rotation amount determined by the rotation amount calculation unit.

[0016] If the notification unit determines, by the rotation amount calculation unit, that there are multiple insufficient rotation amounts, it will connect the portion of the rotation amount with the largest difference from the threshold among these multiple rotation amounts to the ground. Figure 1 The difference is displayed in the display unit, and the largest difference is displayed in the display unit as an insufficient amount.

[0017] In order for the agricultural machinery to turn from a first route included in the travel route toward a second route whose direction of travel is different from that of the first route, the turning space can be calculated as the width of the turning space extended from the end of the first route to the end of the map located in the direction of travel of the first route, or the width of the turning space extended from the beginning of the second route to the end of the map located in the opposite direction of travel of the second route.

[0018] In the agricultural operation assistance system, when the agricultural machinery is a manned agricultural machine that can be operated by a driver sitting in the agricultural machinery, the slewing calculation unit can use the sum of the total length of the agricultural operation unit consisting of the agricultural machinery and the operation device connected to the agricultural machinery and a specified safety amount as the threshold.

[0019] When the agricultural machinery is an unmanned agricultural machinery capable of operating automatically in an unmanned manner, the rotation calculation unit can use the sum of the total length of the agricultural operation unit consisting of the agricultural machinery and the operation device connected to the agricultural machinery, the detection distance from the front end of the agricultural operation unit in the direction of travel to the position of the object located in the direction of travel that can be detected by the object detection unit installed on the agricultural machinery, and a predetermined safety amount as the threshold.

[0020] If the rotation amount calculation unit determines that the rotation amount is insufficient, the notification unit may issue a notification prompting a change in the operating conditions.

[0021] An agricultural machine according to one aspect of the present invention includes: a vehicle body capable of travel; a connecting part capable of connecting a working device to the vehicle body; an input part for inputting farmland information representing the outline of farmland, size information of the agricultural machine or the working device connected to the vehicle body, and working conditions for driving the vehicle body and using the working device to perform agricultural operations on the farmland; a route generation part for generating a travel route for driving the vehicle body and ensuring a turning space for turning the vehicle body based on the farmland information, the size information, and the working conditions; a turning amount calculation part for calculating a turning amount representing the size of the turning space, and determining that the turning amount is insufficient if the turning amount is less than a predetermined threshold; and a notification part for notifying the location where the turning amount is determined to be insufficient by the turning amount calculation part.

[0022] The agricultural machinery may include: a position detection unit for detecting the position of the vehicle body; an automatic control unit for automatically driving or steering the vehicle body and driving the working device to perform agricultural operations on the farmland based on the position of the vehicle body detected by the position detection unit and the driving route; and a display unit for displaying the map and the driving route; and a notification unit for displaying on the map displayed by the display unit the locations where the rotation amount is determined to be insufficient by the rotation amount calculation unit.

[0023] An agricultural operation assistance device according to one aspect of the present invention, which is included in the agricultural operation assistance system, comprises: an input unit for inputting farmland information representing the outline of farmland, size information of agricultural machinery or an operation device connected to the agricultural machinery, and operation conditions for performing agricultural operations on the farmland using the agricultural machinery and the operation device; a route generation unit for generating a travel route for the agricultural machinery to travel on within a map representing the farmland based on the farmland information, the size information, and the operation conditions, and ensuring a turning space for the agricultural machinery to turn around; a turning amount calculation unit for calculating a turning amount representing the size of the turning space, and determining that the turning amount is insufficient if the turning amount is less than a predetermined threshold; and a notification unit for notifying the location where the turning amount is determined to be insufficient by the turning amount calculation unit.

[0024] The agricultural operation assistance device may include: a display unit that displays the map and the driving route; and an output unit that outputs the driving route to the agricultural machinery; a notification unit that displays on the map displayed by the display unit a location where the turning amount is determined to be insufficient by the turning amount calculation unit; and an output unit that outputs the driving route to the automatic control unit when there is no turning amount determined to be insufficient by the turning amount calculation unit.

[0025] Invention Effects

[0026] According to the present invention, the convenience of generating travel routes for agricultural machinery can be improved. Attached Figure Description

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

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

[0029] Figure 3 This is an example of a main screen.

[0030] Figure 4 This is an example of a farmland registration screen.

[0031] Figure 5A This is a diagram used to illustrate the registration method for farmland.

[0032] Figure 5B This diagram illustrates another method for registering farmland.

[0033] Figure 5C This diagram illustrates another method for registering farmland.

[0034] Figure 6 This is an example of a screen showing the task selection process.

[0035] Figure 7A This is an example of a vehicle confirmation screen.

[0036] Figure 7B This is an example of a device selection screen.

[0037] Figure 7C This is an example of a device confirmation screen.

[0038] Figure 8 This is an example of a screen showing farmland selection.

[0039] Figure 9 This is an example of a route generation screen.

[0040] Figure 10A This is an example of a route generation screen.

[0041] Figure 10B This is an example of a route generation screen.

[0042] Figure 10C This is a diagram showing the notification for the route generation screen 2.

[0043] Figure 10DThis is another notification image showing the route generation screen 2.

[0044] Figure 11A This is a diagram used to illustrate how to set up areas and driving routes.

[0045] Figure 11B This is a diagram used to illustrate how to set up areas and driving routes.

[0046] Figure 11C This is a diagram used to illustrate how to set up areas and driving routes.

[0047] Figure 11D This is a diagram used to illustrate how to set up areas and driving routes.

[0048] Figure 12 This is a flowchart for determining and processing the amount of rotation.

[0049] Figure 13A This is a diagram showing the safety space of manned agricultural machinery.

[0050] Figure 13B It is a diagram showing the turning space and turning range of manned agricultural machinery.

[0051] Figure 13C This is a diagram showing another type of turning space and turning range for manned agricultural machinery.

[0052] Figure 14A This is a diagram showing the safety space of unmanned agricultural machinery.

[0053] Figure 14B This is a diagram showing the turning space and rotation range of unmanned agricultural machinery.

[0054] Figure 14C This is a diagram showing another turning space and turning range of unmanned agricultural machinery.

[0055] Figure 15A It is a diagram showing the turning space and turning range of manned agricultural machinery in an irregular farmland map.

[0056] Figure 15B It is a diagram showing the turning space and turning range of unmanned agricultural machinery in an irregular farmland map.

[0057] Figure 16 This is an example of a driving control screen.

[0058] Figure 17A This diagram illustrates the automatic driving of agricultural machinery.

[0059] Figure 17B This diagram illustrates the automatic driving of agricultural machinery.

[0060] Figure 17C This diagram illustrates the automatic driving of agricultural machinery.

[0061] Figure 17D This diagram illustrates the automatic driving of agricultural machinery.

[0062] Figure 18 This is a side view of agricultural machinery. Detailed Implementation

[0063] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0064] First, the agricultural machinery 1 of this embodiment will be described. Figure 18 This is a side view of agricultural machinery 1. 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 rice transplanters or combine harvesters, or other work vehicles other than tractors used for agricultural operations.

[0065] Agricultural machinery 1 includes a vehicle body 3, a prime mover 4, a transmission device 5, and a traveling device 7. The traveling device 7 has a front wheel 7F and a rear wheel 7R. The front wheel 7F can be tire-type or track-type. Similarly, the rear wheel 7R can also be 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 18 In the middle, the left side is the front of the traveling vehicle 3, and the right side is the rear of the traveling vehicle 3.

[0066] A cab 9 is installed on the vehicle body 3. A driver's seat 10 is installed inside the cab 9. A lifting device 8, consisting of a three-point suspension mechanism, is installed at the rear of the vehicle body 3. The lifting device 8 is equipped with connecting parts 8g and 8h for connecting a working device 2 used for agricultural operations. By connecting the working device 2 to the connecting parts 8g and 8h, the working device 2 is connected to the vehicle body 3 (agricultural machinery 1), thereby enabling the vehicle body 3 to tow the working device 2.

[0067] The operating device 2 performs on-site operations on the farmland. For example, the operating device 2 includes a tillage device (rotary tiller) for tilling the farmland, a stubble cultivator for stubble removal, a drive harrow for harrowing, a spreading device for spreading fertilizer or pesticides, a sowing device for seeding, a transplanting device for transplanting seedlings, and a harvesting device for harvesting.

[0068] 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 an agricultural operation assistance device 50. The agricultural operation assistance system 100 and the agricultural operation assistance device 50 assist agricultural machinery 1 in driving in the field while using the operation device 2 to perform agricultural operations.

[0069] 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 lifting device 8, a positioning device 40, an alarm device 63, and a detection device 64. 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, and detection device 64 are connected to the on-board network N1. All these components of agricultural machinery 1 are included in an agricultural operation assistance system 100.

[0070] 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. An automatic control unit 61 is provided in the control device 60 to control the actions of the driving and operating devices 2 of the agricultural machinery 1. The operating device 62 consists of switches, levers, pedals, and other keys that can be operated by a user such as a driver seated in the driver's seat 10 or an operator located near the agricultural machinery 1. The operating device 62 includes a mode switch 65. The mode switch 65 can switch the mode of the agricultural machinery 1.

[0071] 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.

[0072] The automatic control unit 61 controls the drive of the transmission device 5 by electrically controlling the switching position and opening degree of the control valve 37. The transmission device 5 transmits the driving force of the prime mover 4 to the travel device 7, causing the travel device 7 to operate and thus moving the vehicle body 3 forward and backward. In addition, for example, when the working device 2 is a ground-working device, the transmission device 5 transmits the driving force of the prime mover 4 to the working device 2. As a result, the operating force of the working device 2 increases.

[0073] Furthermore, the automatic control unit 61 communicates with the working device 2 via the vehicle network N1. Specifically, the working device 2 has a control unit 2a and a communication unit 2b. The automatic control unit 61 sends work commands to the working device 2 via the vehicle network N1. When the control unit 2a receives the work command from the communication unit 2b, it controls the operation of each part of the working device 2 based on the work command, thereby performing agricultural operations (ground operations). In addition, the control unit 2a uses the communication unit 2b to send information or data indicating the work status to the control unit 60 via the vehicle network N1. The automatic control unit 61 detects the work status of the working device 2 based on the information or data received from the working device 2 via the vehicle network N1.

[0074] The braking device 6 is connected to the control valve 38. The control valve 38 is a solenoid valve that operates based on a control signal sent from the control device 60. Working oil injected from the hydraulic pump 33 is supplied to the control valve 38. The automatic control unit 61 electrically controls the switching position and opening degree of the control valve 38 to activate the braking device 6 and apply brakes to the vehicle body 3.

[0075] 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.

[0076] The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is a solenoid valve that operates based on a control signal sent from the control device 60. Specifically, the control valve 34 is a three-position switching valve that can be switched by the movement of a valve stem, etc. Working oil injected from the hydraulic pump 33 is supplied to the control valve 34. The control device 60 adjusts the hydraulic pressure supplied to the steering cylinder 35 by electrically controlling the switching position and opening degree of the control valve 34, thereby causing the steering cylinder 35 to extend and retract. The steering cylinder 35 is connected to a steering knuckle (not shown) that changes the orientation of the front wheels 7F.

[0077] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operating state, thereby switching the switching position and opening degree of the control valve 34. The steering cylinder 35 extends or retracts to the left or right of the vehicle body 3 according to the switching position and opening degree of the control valve 34. Through the extension and retraction of the steering cylinder 35, the steering direction of the front wheels 7F is changed. Furthermore, the steering device 29 described above is only one example and is not limited to the structure described above.

[0078] The vehicle body 3 of the agricultural machinery 1 can be manually steered using a steering wheel 30 and automatically steered using an automatic control unit 61. Furthermore, the vehicle body 3 can move and stop by manually operating the transmission 5 or the braking device 6 via the throttle or brake components (neither shown in the figure) on the operating device 62. Moreover, the vehicle body 3 can move and stop automatically by controlling the transmission 5 and the braking device 6 using the automatic control unit 61.

[0079] Figure 2 This is a perspective view of the lifting device 8. The lifting device 8 includes a lifting arm 8a, a lower connecting rod 8b, an upper connecting rod 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end of the lifting arm 8a is supported on the upper rear part of the housing (gearbox) housing the transmission device 5, allowing it to swing upwards or downwards. The lifting arm 8a swings (lifts / lowers) 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 from the control device 60. Working oil injected from the hydraulic pump 33 is supplied to the control valve 36.

[0080] 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 18 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.

[0081] Figure 1 The automatic control unit 61 shown adjusts the direction of the control valve 36 by electrically controlling the switching position and opening degree. Figure 2 The hydraulic pressure supplied to the lifting cylinder 8e causes it to extend and retract. Through the extension and retraction of the lifting cylinder 8e, the lifting arm 8a is raised and lowered, and 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 uses the front part of the lower connecting rod 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum to swing (raise and lower) upwards or downwards.

[0082] Figure 1The positioning device 40 shown includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (position, transmission time, correction information, etc.) transmitted by satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, and Quasi-Zenith Satellite System. The positioning device 40 detects its current position (e.g., latitude, longitude) based on the satellite signals received by the receiving device 41. In other words, the positioning device 40 is a position detection unit that detects the position of the vehicle body 3 of the agricultural machinery 1. The inertial measurement unit 42 includes an accelerometer and a gyroscope sensor. The inertial measurement unit 42 detects the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.

[0083] The alarm device 63 consists of a buzzer, speaker, or warning light installed on the vehicle body 3. The alarm device 63 emits an alarm to the surroundings of the vehicle body 3 via sound or light. The detection device 64 consists of sensors (which may also include cameras) installed on various parts of the agricultural machinery 1 and the working device 2. Based on output signals from the sensors, the detection device 64 detects the operational status (drive and stop status, operating position, etc.) of various parts of the agricultural machinery 1, such as the transmission device 5, braking device 6, driving device 7, lifting device 8, steering device 29, and operating device 62. Additionally, the detection device 64 detects the operational status of the working device 2 based on output signals from the sensors. Furthermore, the detection device 64 includes an object detection unit 64a, a laser sensor such as LiDAR, and an ultrasonic sensor. The laser sensor and ultrasonic sensor are installed at the front, rear, and left and right sides of the vehicle body 3. The object detection unit 64a detects the presence of objects around the agricultural machinery 1 and the distance to those objects based on output signals from the laser sensor or ultrasonic sensor.

[0084] The agricultural operation assistance device 50 is, for example, a portable tablet terminal device. The agricultural operation assistance device 50 is, for example, mounted inside the cab 9 of the agricultural machinery 1 and can be loaded and unloaded relative to the agricultural machinery 1. That is, the agricultural machinery 1 includes the agricultural operation assistance device 50.

[0085] The agricultural operation assistance device 50 includes a control unit 51, a display and operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 consists of a CPU (or microcomputer), volatile memory, and non-volatile memory. The control unit 51 controls all parts of the agricultural operation assistance device 50. The control unit 51 includes a farmland registration unit 51a, a region setting unit 51b, a route generation unit 51c, a rotation calculation unit 51d, and a notification unit 51g. In this example, these parts are composed of software programs; however, as another example, they could also be composed of hardware such as semiconductor components or circuits, like ASICs.

[0086] The display operation unit 52 consists of a touch panel that displays various information on the screen. Furthermore, various inputs can be performed by controlling the display screen of the display operation unit 52 according to specified operations. The display operation unit 52 is both a display unit and an input unit. Alternatively, a separate display unit and operation unit (input unit) can be provided in the agricultural operation assistance device 50 to replace the display operation unit 52.

[0087] The storage unit 53 is composed of non-volatile memory or the like. Information or data assisting the driving and operation of the agricultural machinery 1 is stored in the storage unit 53 in a read-write manner. The communication unit 54 is composed of an interface for connecting to the vehicle network N1. The control unit 51 communicates with the control device 60, the operating device 62, the positioning device 40, the alarm device 63, the detection device 64, and the operating device 2 via the vehicle network N1 through the communication unit 54. The communication unit 54 is an output unit that outputs information and data to the control device 60 of the agricultural machinery 1.

[0088] The farmland registration unit 51a registers information related to the farmland where agricultural machinery 1 and the operating device 2 are used for agricultural operations. The area setting unit 51b sets a designated area in the farmland registered by the farmland registration unit 51a. The route generation unit 51c generates a travel route for the agricultural machinery 1 in the farmland registered by the farmland registration unit 51a. Additionally, the route generation unit 51c ensures sufficient turning space in the registered farmland for the agricultural machinery 1 and the operating device 2 to turn. The turning amount calculation unit 51d determines whether the turning amount, representing the size of the turning space ensured by the route generation unit 51c, is insufficient. The notification unit 51g notifies the user by displaying the specified information and data on the display operation unit 52. Alternatively, the notification unit 51g may also notify the user by outputting an audio signal representing the specified information and data from the speaker of the alarm device 63.

[0089] Next, the operation of each part of the agricultural operation assistance system 100 will be explained. When the agricultural operation assistance device 50 is activated, the control unit 51 will... Figure 3 The main screen D1 shown is displayed in the display operation unit 52. The data of the main screen D1 and the data of each screen, which will be described later, are stored in the storage unit 53. The control unit 51 reads data from the storage unit 53 as needed and displays the screen based on that data in the display operation unit 52.

[0090] The main screen D1 displays the agricultural machinery icon X1, the farmland button B1, the autopilot button B2a, the auto steering button B2b, the history button B3, and the setting button B0. The setting button B0 is used for various settings. By selecting (clicking) the setting button B0, specified items can be set and logged. These specified items include, for example, matters related to the agricultural machinery 1 equipped with the agricultural operation assistance device 50, the operating device 2 connected to the agricultural machinery 1, the agricultural operations performed using the agricultural machinery 1 and the operating device 2, the farmland where the agricultural operations are performed, and matters related to the display operation unit 52.

[0091] The history key B3 is used to display the operational history of agricultural machinery 1. The farmland key B1 is used to register farmland where agricultural machinery 1 is used for agricultural operations. The autopilot key B2a is used to set or predict the autopilot operation mode of agricultural machinery 1. The autosteering key B2b is used to set or predict the autosteering operation mode of agricultural machinery 1.

[0092] The automatic driving operation mode refers to a mode in which the vehicle body 3 of agricultural machinery 1 travels in an automatic driving mode while the working device 2 is used to perform agricultural operations (ground operations). The automatic driving mode of 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 steering of the vehicle body 3 is performed automatically while the working device 2 is used to perform agricultural operations (ground operations). When agricultural machinery 1 is in the automatic steering operation mode, the driver of agricultural machinery 1 operates the operating device 62 (… Figure 1 The throttle or brake components included in the vehicle body 3 change the speed of the vehicle body 3 according to the operation. That is, in the automatic steering mode, the speed of the vehicle body 3 is changed based on manual operation.

[0093] In addition, agricultural machinery 1 can also be driven manually, and during this driving, it can perform ground operations using the working device 2. Manual driving of agricultural machinery 1 refers to the driver changing the speed of the vehicle body 3 by operating the throttle or brake components of the operating device 62, and by operating the steering wheel 30 (…). Figure 1 ( ) to steer the vehicle body 3.

[0094] exist Figure 3 In the main screen D1, when the user selects the farmland button B1, the control unit 51 will... Figure 4The farmland registration screen D2 is displayed on the display operation unit 52. The farmland registration screen D2 displays a map MP1, the position Pv of the vehicle body 3 of the agricultural machinery 1, a new key B4, a registration key B5, a recall key B6, a cancel key B7, and a return key B8. The map MP1 displays an image of a map showing the surrounding area of ​​the location of the agricultural machinery 1. The data for this surrounding map is acquired by the control unit 51 via the positioning device 40, or pre-stored in the storage unit 53. Additionally, the map MP1 displays the farmland where the agricultural machinery 1 is performing agricultural operations, and associates it with location information such as latitude and longitude. The user can zoom in and out of the map displayed on the map MP1, or move the displayed portion of the map, by performing specified operations on the map MP1.

[0095] Figure 5A This is a diagram illustrating the registration method for farmland. For example, the user (the driver of agricultural machinery 1) in... Figure 4 In the farmland login screen D2 shown, select the "New" key B4 and manually drive the agricultural machinery 1 around the farmland. At this time, the lifting device 8 can be used to raise the working device 2, allowing agricultural operations to be performed without using the working device 2; alternatively, the lifting device 8 can be used to lower the working device 2, allowing agricultural operations to be performed using the working device 2. Agricultural operation auxiliary device 50 ( Figure 1 The control unit 51 acquires the position Pv detected by the positioning device 40 at predetermined intervals via the communication unit 54, records the detected position Pv in the internal memory at all times, and displays the detected position Pv on the map MP1 at all times. Figure 4 and Figure 5A (For convenience, only a portion of the location Pv is shown in the text.)

[0096] After the agricultural machinery 1 completes its circling of the farmland, the user selects the login button B5. The farmland login unit 51a then calculates the trajectory K1 of the vehicle 3 based on the recorded multiple detection positions Pv. Additionally, as... Figure 5A As shown, the control unit 51 displays the driving trajectory K1 on the map MP1. Figure 5A In the example, the line K1 that passes through multiple detection positions Pv in the detection order (acquisition order) and returns to the initially detected position Pv is taken as the driving trajectory of the vehicle body 3.

[0097] The detection position Pv is the GPS position of the positioning device 40, and the travel trajectory K1 is the trajectory of the GPS position movement. Therefore, the farmland registration unit 51a shifts the travel trajectory K1 outward by a predetermined amount, that is, from the GPS position on the agricultural machinery 1 to the outermost end of the working device 2 (in... Figure 5AIn the middle, since agricultural machinery 1 is driven on the right and circles the farmland, the same amount of horizontal spacing is used in the left-hand direction of the working device 2 to form line H1 between the travel trajectory K1 and the outline of map MP1.

[0098] In this example, the GPS position of the positioning device 40 is located at the center of the vehicle body 3, and the center of the vehicle body 3 in the lateral direction coincides with the center of the working device 2 in the lateral direction. Therefore, the aforementioned offset is taken as half the total width (length in the lateral direction) of the working device 2 or half the working width (length in the lateral direction) of the working device 2 capable of working on the ground. As another example, the offset can also be a value that is slightly smaller or slightly larger than the lateral distance from the GPS position of the agricultural machinery 1 to the outer edge of the working device 2, forming line H1 between the travel trajectory K1 and the outline of the map MP1. Alternatively, the user can input any offset by selecting the setting key B0 on ​​the main screen D1 and performing the prescribed input operation.

[0099] The farmland registration unit 51a uses the line H1 formed as described above as the outline (shape) of the farmland, and registers (stores) the farmland map MP2 (data representing the outline of the farmland) represented by the outline H1 in the storage unit 53. Additionally, at this time, the farmland registration unit 51a registers the name and identification information of the farmland in association with the farmland map MP2 in the storage unit 53. Furthermore, the farmland identification information can be assigned by the farmland registration unit 51a, input by the user through the operation display unit 52, or pre-stored in the storage unit 53. Multiple pieces of farmland information, such as the farmland map MP2, the name of the farmland, and the identification information, can be registered in the storage unit 53. When the farmland registration unit 51a registers farmland information, the control unit 51 displays the farmland map MP2 (the outline H1 of the farmland) included in the farmland information on the map MP1.

[0100] The above-mentioned method for registering farmland is just one example and is not the only one. As another example, such as... Figure 5B As shown, the farmland registration unit 51a calculates the inflection point based on the driving trajectory K1 of the vehicle body 3 and forms a line K2 passing through the inflection point. Then, the line K2 can be offset outward by the aforementioned offset amount to form a line H1 between the driving trajectory K1 and the outline of the map MP1. This line H1 is used as the outline H1 of the farmland and the farmland map MP2, and the farmland map MP2 is registered in the storage unit 53.

[0101] In addition, such as Figure 5CAs shown, when the agricultural machinery 1 is circling, the user can specify the end of the farmland by operating a predetermined switch or the like on the operating device 62. In this case, the farmland registration unit 51a forms a line K3 that passes through each end of the farmland in a predetermined order and returns to the initially specified end. Then, the line K3 can be offset outward by the aforementioned offset amount, forming a line H1 between the travel trajectory K1 and the outline of the map MP1. This line H1 serves as the outline H1 of the farmland and the farmland map MP2, and the farmland map MP2 is registered in the storage unit 53. Furthermore, the outline H1 of the farmland and the farmland map MP2 can be, for example, data represented by location (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), or data represented by other methods.

[0102] exist Figure 4 In the farmland registration screen D2 shown, when the user selects the recall key B6, the control unit 51 reads the data of a farmland map MP2 registered in the storage unit 53, and displays the farmland map MP2 on the farmland registration screen D2 based on this data. Furthermore, when the user selects the cancel key B7, the farmland registration unit 51a removes the position Pv of the driving vehicle 3 currently displayed on map MP1 and the farmland map MP2 (the outline H1 of the farmland), and this data is also removed from the storage unit 53. In other words, the registration of the farmland outline H1 and the farmland map MP2 is canceled.

[0103] After logging into the farmland, when the user selects the back button B8, control unit 51 will... Figure 3 The main screen D1 is displayed on the display operation unit 52. That is, the return key B8 is used to return the display screen of the display operation unit 52 to the previous screen. On the main screen D1, when the user selects the auto-drive key B2a, the control unit 51 will... Figure 6 The job selection screen D3 shown is displayed in the display operation unit 52.

[0104] The job selection screen D3 displays information showing the input operation steps. Additionally, the job selection screen D3 displays multiple job keys B31-B35, an up arrow key B41, a down arrow key B42, a next key B9, and a return key B8. Job keys B31-B35 indicate agricultural operations that can be performed using agricultural machinery 1 and the operating device 2 connected to it. Figure 6 The screen displays five operation keys B31, B32, B33, B34, and B35. However, if there are more than six agricultural operations that can be performed using agricultural machinery 1 and operating device 2, the user can select the up arrow key B41 or the down arrow key B42, and the control unit 51 will display operation keys representing other operations in the operation selection screen D3.

[0105] When the user selects one of the operation keys B31 to B35, the control unit 51 displays the selected operation key in a different manner than the other operation keys on the operation selection screen D3. Figure 6 In the example, only the selected tillage operation key B31 is marked with a black circle. When one of the operation keys B31, B32, B33, B34, or B35 is selected, and the user selects the next step key B9, the control unit 51 will... Figure 7A The vehicle confirmation screen D4a shown is displayed on the display operation unit 52. That is, the next button B9 is used to switch the display screen of the display operation unit 52 to the next screen. Furthermore, when the user selects the return button B8, the control unit 51 will... Figure 3 The main screen D1 is displayed in the display operation unit 52. That is, the return key B8 is used to return the display screen of the display operation unit 52 to the previous screen.

[0106] exist Figure 7A The vehicle confirmation screen D4a shows information indicating the input operation steps, the type of agricultural operation, the type of agricultural machinery 1, the UAV setting key B10, the manned machine setting key B11, the next key B9, and the return key B8. The type of agricultural operation shows the agricultural operation selected in the operation selection screen D3. The type of agricultural machinery 1 includes vehicle type and control type. Figure 7A In the middle, the vehicle confirmation screen D4a displays the type of agricultural machinery 1 that has been pre-registered (set).

[0107] In addition, users can select the main screen D1 (for example) Figure 3 By pressing the setting key B0 and performing the prescribed input operation on the display operation unit 52, the user can input the type of agricultural machinery 1. Additionally, the user can also input the name and dimensions of agricultural machinery 1 through the prescribed input operation. Furthermore, by performing the prescribed input operation, the control unit 51 stores the input type and specifications of agricultural machinery 1 in a designated area of ​​the storage unit 53 to register the type and specifications. By inputting the information of agricultural machinery 1 and operating device 2 (described later) in the same manner on the main screen D1, they can be registered (stored) in the storage unit 53.

[0108] Users can change the type of agricultural machinery 1 by selecting the UAV setting key B10 or the manned machine setting key B11 on the vehicle confirmation screen D4a and performing the prescribed input operations. When the user selects the next key B8 on the vehicle confirmation screen D4a, the control unit 51 stores the setting information (type of agricultural operation and type of agricultural machinery 1) displayed on the vehicle confirmation screen D4a in its internal memory and... Figure 7B The device selection screen D4b shown is displayed in the display operation unit 52.

[0109] The device selection screen D4b displays information showing the input operation steps, working device keys B36a-B36d, up arrow key B41, down arrow key B42, next key B9, and return key B8. Each working device key B36a-B36d displays representative inherent information about the pre-registered working device 2. This representative inherent information includes the name of the working device 2, whether there was a previous operation performed by the working device 2, and the working width. The working width refers to the width of the working area that can be operated in a horizontal plane perpendicular to the direction of travel of the working device 2. Figure 7B The screen displays four operation device keys B36a to B36d. However, if there are five or more operation devices 2 registered in the agricultural operation assistance device 50, the user can select the up arrow key B41 or the down arrow key B42, and the control unit 51 will display the operation device keys representing other operation devices 2 in the device selection screen D4b.

[0110] When the user selects one of the working device keys B36a to B36d, the control unit 51 displays the selected working device key in a different display mode than the other working device keys on the device selection screen D4b. Figure 7B In the example, only the selected work device key B36a is marked with a black circle. When one of the work device keys B36a to B36d is selected, and the user selects the next step key B9, the control unit 51 will... Figure 7C The device confirmation screen D4c shown is displayed on the display operation unit 52.

[0111] The device confirmation screen D4c displays information showing the input operation steps, and the device selection screen D4b ( Figure 7B The inherent information of the selected work device 2, setting keys B37-B39, next key B9, and return key B8 are displayed on the device selection screen D4b. The inherent information of work device 2 includes its name, whether it was previously used for a task, its dimensions, and its type. Specifically, the detailed specifications of the work device 2 selected on the device selection screen D4b are displayed on the device confirmation screen D4c. Figure 7B and Figure 7C In the middle, the inherent information of the pre-registered operating device 2 is displayed in screens D4b and D4c.

[0112] like Figure 7CAs shown, the dimensional information of the working device 2 includes the total width, working width, total length, and working position of the working device 2. The type of the working device 2 includes the speed gear of the auxiliary transmission (not shown) used to drive the working device 2, which is a tillage device, whether there is lifting of the working device 2 performed by the lifting device 8, and whether there is linkage with the PTO (Power Take-Off) of the agricultural machinery 1.

[0113] Setting keys B37 to B39 are used to set and change the size information or type of the working device 2. Specifically, by selecting the width setting key B37 and performing the prescribed input operation, the user can input and change the set values ​​for the total width and working width of the working device 2. Additionally, by selecting the length setting key B38 and performing the prescribed input operation, the user can input and change the set values ​​for the total length and working position of the working device 2. The total length of the working device 2 refers to the length from the lower connecting rod 8b of the lifting device 8 to the working device 2. Figure 1 , Figure 2 The working position of the working device 2 refers to the length from the position where the working device 2 is connected to the lower connecting rod 8b to the front end position where it can work on the ground (the end of the workable part on the side of the traveling vehicle 3).

[0114] Additionally, by selecting the type setting key B39 and performing the prescribed input operations, the user can input and change the low speed (L (low speed)) or medium speed (M (medium speed)) gear, which serves as the secondary transmission speed gear. In this example, the linkage between the operating device 2 and the PTO of the agricultural machinery 1, as well as the lifting operation performed by the lifting device 8, are both fixed as "Yes" and cannot be changed. As another example, for each of the linkage between the operating device 2 and the PTO of the agricultural machinery 1, and the lifting operation performed by the lifting device 8, either "Yes" or "No" can be selected.

[0115] In the device confirmation screen D4c, when the user selects the next button B9, the control unit 51 stores the setting information displayed in the device confirmation screen D4c into its internal memory, and... Figure 8 The farmland selection screen D5 is displayed in the display operation unit 52. The farmland selection screen D5 displays one or more farmland maps MP2 that are logged in, the up arrow key B41, the down arrow key B42, the next key B9, and the back key B8. Figure 8 Three farmland map MP2s are displayed. If four or more farmland map MP2s are pre-registered, the user can use the up arrow key B41 or the down arrow key B42 to display other farmland map MP2s in the farmland selection screen D5.

[0116] When a user selects a farmland map MP2, the control unit 51 displays the selected farmland map MP2 in a different display mode than other farmland map MP2s. Figure 8 In the selection screen D5, only the selected farmland map MP2 is enclosed by a thick border. Furthermore, the control unit 51 displays the date and time of the last agricultural operation performed on the selected farmland map MP2, as well as the area of ​​that farmland map MP2. When a farmland map MP2 is selected, and the user selects the next button B9, the control unit 51 reads the farmland information containing the selected farmland map MP2 from the storage unit 53 and stores it in the internal memory. Figure 9 The route generation screen D6 shown is displayed on the display operation unit 52. In the farmland information at this setting time, the information for farmland map MP2 includes the identification information, outline, and area of ​​farmland map MP2, and the information for the farmland corresponding to farmland map MP2 includes the identification information, location, and outline of the farmland. Additionally, this farmland information includes the date and time of the last operation.

[0117] exist Figure 9 The route generation screen D6 shows the selected farmland map MP2 (outline H1), agricultural machinery marker X1, information indicating the input operation steps, operation keys B43a, B43b, B44, next key B9, and return key B8. Operation keys B43a, B43b, and B44 are used to select the settings for generating the travel route of agricultural machinery 1 (described later). In other words, operation keys B43a, B43b, and B44 are used to set the operating conditions for using agricultural machinery 1 (vehicle body 3) and operating device 2 to perform agricultural operations on the farmland.

[0118] More specifically, as described later, the automatic central operation key B43a is used to select whether to perform agricultural operations using the working device 2 while the vehicle body 3 of the agricultural machinery 1 travels in automatic mode in the central area set in the farmland map MP2. As described later, the automatic field turnaround key B43b is used to select whether to perform agricultural operations using the working device 2 while the vehicle body 3 of the agricultural machinery 1 travels in automatic mode in the field turnaround area set in the farmland map MP2, or not to perform agricultural operations.

[0119] The job type key B44 is used to select the job status performed using the job device 2. In this embodiment, an example is given where... Figure 6 In the job selection screen D3, if the tilling job is selected, then... Figure 9 The job type key B44 is used to select whether the tillage job is an adjacent job or an indirect job. Figure 6 If other assignments are selected in the assignment selection screen D3, Figure 9 The job type key B44 is used to select the status of this other job.

[0120] exist Figure 9 The diagram shows a state where, using the automatic central operation key B43a, agricultural machinery 1 is driven in automatic mode while the operation device 2 is used to perform agricultural operations in the central area of ​​the farmland. It also shows a state where, using the automatic field-end turning operation key B43b, agricultural machinery 1 is driven in automatic mode while the operation device 2 is used to perform agricultural operations at the edge of the farmland. Furthermore, it shows a state where adjacent operations are selected as tillage operations using the operation type key B44. When the user selects the next step key B9, the control unit 51 stores the operation conditions displayed on the route generation 1 screen D6 (set by operation keys B43a, B43b, and B44) in its internal memory, and... Figure 10A The route shown is generated on screen D7 and displayed in the display operation unit 52.

[0121] The route generation 2 screen D7 displays the selected farmland map MP2, the agricultural machinery marker X1, information showing the input operation steps, multiple setting items and their value input fields, a recommendation key B12, a route generation key B13, a trajectory prediction key B14, a plus key B45, a minus key B46, a next key B9, and a return key B8. During the display of route generation 2 screen D7, the control unit 51 can use the communication unit 54 to obtain the actual position of the driving vehicle 3 detected by the positioning device 40, and display the agricultural machinery marker X1 at the corresponding location on the farmland map MP2 corresponding to the position of the driving vehicle 3.

[0122] The multiple settings in screen D7 of Route Generation 2 are the conditions for generating the driving route and the operating conditions for using agricultural machinery 1 and operating device 2 to perform agricultural operations on the farmland. These settings include the expected operating distance, the number of field-end turning points, the number of automatic driving field-end turning points, the operating direction, the overlap of field-end turning points, and the overlap in the central area. Values ​​can be input for items other than the expected operating distance. The number of field-end turning points refers to the number of field-end turning points set along the outline H1 (farmland map MP2) inside the registered farmland. The number of automatic driving field-end turning points refers to the number of field-end turning points among the set number that allow agricultural machinery 1 to drive in automatic mode while the operating device 2 performs agricultural operations.

[0123] The working direction refers to the direction in which the vehicle 3 moves back and forth in a straight line within the center of the field's end-turning point while performing operations using the working device 2. By entering a specified value (e.g., "1" to "4") in the working direction input field, the corresponding route is set to generate the up, down, left, and right directions of screen D7. The overlap amount of the field end-turning point refers to the amount by which the working width of the working device 2 exceeds the field end-turning point. The overlap amount in the center refers to the amount of overlap between the working widths when the vehicle 3 moves back and forth in a straight line within the center of the field while performing operations using the working device 2.

[0124] In the route generation 2 screen D7, the user can input values ​​into each input field by selecting the value input field for each setting item and pressing the plus key B45 or the minus key B46. Additionally, by selecting the recommendation key B12, the user causes the control unit 51 to read the recommended values ​​pre-stored in the storage unit 53 and compare them with those displayed in the job selection screen D3. Figure 6 Select the recommended values ​​for each set item corresponding to the selected agricultural operation, and input (display) these recommended values ​​into the corresponding numerical input fields.

[0125] If the user enters values ​​in the various settings items on the route generation screen D7 and then selects the route generation key B13, the control unit 51 stores the values ​​for each setting item in its internal memory. Additionally, if... Figure 10B As shown, the area setting unit 51b ( Figure 1 In the farmland map MP2, the central area (second area) C1 and the field-end turning area (first area) E1 are set. Furthermore, the route generation unit 51c ( Figure 1 Generate a driving route (pre-determined driving route) L1 in the farmland map MP2.

[0126] Figures 11A to 11D This diagram illustrates the method for setting areas C1, E1, and the driving route L1. When the user selects the route generation key B13, the area setting unit 51b first sets the central area C1 and the field end turning area area E1 based on farmland information, the size information of the operating device 2, the number of field end turning points entered in the route generation 2 screen D7, or the overlap of field end turning points. More specifically, for example... Figure 11A As shown, the area setting unit 51b forms contours Hc, Hb, and Ha by shifting the contour H1 of the farmland inward by the same number of times as the number of field end turns, after subtracting the overlap W2 of the field end turn from the working width W1 of the working device 2. Then, the area set by the area (central part) enclosed by the innermost contour Ha is set as the central area C1.

[0127] As another example, the area setting unit 51b can also calculate the outline in the following way: the outline H1 of the farmland is offset inward by the same number of times as the number of field turning points as the working width of the working device 2 (or the total width of the working device 2); and the area (central part) enclosed by the outline formed on the innermost side is set as the central area.

[0128] After setting the central region C1 as described above, the region setting unit 51b sets the frame-shaped region (outer frame portion) located outside the central region C1 and inside the outline H1 of the farmland as the field turning-off area E1. Furthermore, the region setting unit 51b sets the areas within the field turning-off area E1 between adjacent outlines of the farmland outline H1 and outlines Hc, Hb, and Ha that are offset from outline H1 as field turning-off areas E2c, E2b, and E2c. Then, the region setting unit 51b stores data indicating the positions of each region C1 and E1 (including field turning-off areas E2c, E2b, and E2c) in the storage unit 53.

[0129] The route generation unit 51c generates a driving route L1 based on farmland information, area C1, E1, the size information of agricultural machinery 1 and operating device 2, the operating direction input in the route generation 2 screen D7, the overlap of the field-end turning point, and the overlap of the central part. Specifically, firstly, as... Figure 11B As shown, the route generation unit 51c generates routes from the direction of operation ( Figure 11B The end of one side of the central region C1, which is parallel to the vertical direction in the middle. Figure 11B The right end of the work area (in the middle) is divided sequentially by the working width W1 of the work device 2, generating a plurality of unit work sections C2 within the central region C1. At this time, in the initially generated unit work section C2, the route generation unit 51c overlaps the working width W1 with the field end turning area E1 by an overlap amount W2. In addition, in the second and subsequent unit work sections C2 generated, the route generation unit 51c overlaps the working width W1 with the central overlap amount W3 of the previously generated unit work section C2.

[0130] Next, as Figure 11C As shown, the route generation unit 51c generates a straight route L1a for the vehicle body 3 to travel in a straight line for each unit work segment C2. At this time, the route generation unit 51c generates a straight route L1a for the vehicle body 3 to travel in a straight line in the width direction of the unit work segment C2. Figure 11C A straight route L1a is generated along the center line of the unit work section C2 (in the left-right direction) to connect the two ends of the unit work section C2 in the length direction. Furthermore, in the last generated unit work section C2 (in the left-right direction), a straight route L1a is generated to connect the two ends of the unit work section C2 in the length direction. Figure 11BIn the unit work section C2 located at the left end of the central area C1, if the straight route L1a generated in the unit work section C2 is generated outside the central area C1, the route generation unit 51c can also exclude the straight route L1a from the travel route L1.

[0131] Next, the route generation unit 51c generates a route L1b in the field turnaround area E1 that connects adjacent straight routes L1a to each other. This route L1b is a turning route that allows the agricultural machinery 1 (vehicle body 3) and the working device 2 to turn around from one of the two adjacent straight routes L1a to the other. When generating this turning route L1b, the route generation unit 51c ensures sufficient turning space in the field turnaround area E1 for the agricultural machinery 1 and the working device 2 to turn around. The turning space at this time will be explained in detail later.

[0132] exist Figure 11C The example shown is a simple semi-circular turning route L1b, but this shape is for ease of display on the display screen of the display 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 display operation unit 52, and the agricultural machinery 1 sometimes does not turn based on the turning route L1b. The route generation unit 51c can also generate turning routes L1b with shapes other than semi-circular shapes.

[0133] Control device 60 of agricultural machinery 1 Figure 1 When the vehicle body 3 is traveling along the straight route L1a, the lifting device 8 ( Figure 2 The working device 2 is lowered, and ground-level operations are performed using the working device 2. In addition, when the automatic control unit 61 causes the traveling vehicle 3 to turn at the position corresponding to the turning route L1b, even if the traveling vehicle 3 turns from one straight route L1a to another straight route L1a, the lifting device 8 raises the working device 2 to stop the ground-level operations of the working device 2.

[0134] That is, the straight route L1a is a work route in which the vehicle body 3 of the agricultural machinery 1 travels in an automatic driving mode while the working device 2 performs ground operations. Furthermore, the central area C1, where multiple straight routes L1a are generated, is a work area in which the vehicle body 3 travels in an automatic driving mode, moving straight and back and forth while the working device 2 performs ground operations. Moreover, the work route is not limited to a straight line like the straight route L1a; it can also be a curved route. Additionally, within the work area, it is sufficient to generate at least one of the two types of work routes: a straight route and a curved route.

[0135] For example, in Figure 9 In the route generation screen D6, use the automatic central operation key B43a to select operation in the central area C1, use the automatic field turn-around operation key B43b to select operation outside the field turn-around area, and use the operation type key B44 to select adjacent operation. In this case, such as Figure 11C As shown, the route generation unit 51c generates a travel route L1 consisting of a straight route L1a and a turning route L1b. Additionally, the route generation unit 51c generates a straight route L1a at the end of the straight route L1a located on both sides of the central region C1, on the side that is not connected to the turning route L1b. Figure 11C 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 11C The end point Pg is set at the lower end of the straight route L1a on the left side of the route. Then, the route generation unit 51c stores the information representing the region C1, E1, the travel route L1, the starting position Ps, the end point Pg, and the turning space as route information in the internal memory.

[0136] On the other hand, Figure 9 In the route generation screen D6, use the automatic central operation key B43a to select operation in the central area C1, use the automatic field turn-around operation key B43b to select operation at the field end, and use the operation type key B44 to select adjacent operation. In this case, such as Figure 11D As shown, in addition to the straight route L1a and the turning route L1b, the route generation unit 51c also generates a loop route L1c around the outer edge of the central area C1 in the field turn-off area E1. For example, as Figure 10A As shown, in route generation screen D7, when the number of autonomous driving U-turn points is set to 1 loop, the route generation unit 51c generates a loop route L1c from the closest U-turn point E2a to the central region C1 among the U-turn points E2a, E2b, and E2c that are set by the region setting unit 51b to the outside of the central region C1.

[0137] The circular route L1c is a work route in which the vehicle body 3 of the agricultural machinery 1 travels in an automatic driving mode while the working device 2 performs ground operations. The circular route L1c includes a plurality of generally straight straight routes L1s and a turning route L1r that curves at or above a specified radius of curvature. A plurality of straight routes L1s are generated along the centerline of the width direction of the field turning point E2a, corresponding to the straight sections of the outline Ha of the central region C1. The turning route L1r is a route that allows the agricultural machinery 1 (vehicle body 3) and the working device 2 to turn from one straight route L1s toward another straight route L1s adjacent to the extension direction of the first straight route L1s. The extension directions of one straight route L1s and the other straight route L1s are different, but the end of one straight route L1s and the beginning of the other straight route L1s are connected by the turning route L1r. When generating the turning route L1r, the route generation unit 51c also ensures sufficient turning space in the field turn-around area E1 for the traveling body 3 and the working device 2 of the agricultural machinery 1 to turn around. The turning space at this time will be explained in detail later.

[0138] exist Figure 11D For convenience, a simple circular arc-shaped turning path L1b is shown in the example. However, in reality, when agricultural machinery 1 turns from one straight path L1s to another, it not only moves forward but also backwards or changes direction, sometimes drawing a trajectory with a shape more complex than a circular arc. That is, the turning path L1r is the path displayed on the display operation unit 52, and agricultural machinery 1 sometimes does not turn based on the turning path L1r. The path generation unit 51c can also generate turning paths L1r with shapes other than circular arcs.

[0139] Furthermore, depending on the shape of the farmland's outline H1 (for example, in the case where the farmland's outline H1 is distorted), in addition to the straight route L1s and the turning route L1r, the loop route L1c may also include a gentle curve with a radius of curvature smaller than a predetermined radius (a curved route, not shown in the figure). In this case, when the vehicle 3 is traveling in automatic mode based on the straight route L1s or the gentle curve of the loop route L1c, the automatic control unit 61 can also use the work device 2 to perform ground-based operations. That is, the straight route L1s and the aforementioned gentle curve constitute the work route.

[0140] Furthermore, when the automatic control unit 61 causes the vehicle body 3 to turn at the position corresponding to the turning route L1r, even if the vehicle body 3 turns from one straight route L1s to another straight route L1s, the lifting device 8 raises the working device 2 to stop the ground operation of the working device 2. Additionally, when the automatic control unit 61 causes the vehicle body 3 to turn from one straight route L1a in the central area C1 to one straight route L1s in the field-end U-turn area E1, the lifting device 8 raises the working device 2 to stop the ground operation of the working device 2.

[0141] As described above, the U-turn point E2a at which the loop route L1c is generated is a work area where the vehicle body 3 performs ground operations while circling the outside of the central area C1 using the work device 2. As another example, the route generation unit 51c can also generate loop routes at other U-turn points E2b and E2c located outside of the U-turn point E2a. Additionally, a key can be provided in the route generation 2 screen D7 for inputting the number of U-turn points for generating the loop route.

[0142] Furthermore, the route generation unit 51c can also generate a loop route that circles multiple times within at least one of the plurality of field turn-off points E2a, E2b, and E2c, or it can generate a loop route by using both adjacent field turn-off points. That is, the route generation unit 51c can also generate a loop route around the central area C1 in the field turn-off area E1 with a number of loops exceeding the number of field turn-off points.

[0143] After generating the loop route L1c, the route generation unit 51c generates routes at both ends of the central region C1. Figure 11D The end of the straight route L1a that is not connected to the turning route L1b at either end of the straight route L1a (left or right). Figure 11D The starting position Ps is set at the upper end of the straight route L1a on the right side, and at the end of the straight route L1a on the other side ( Figure 11D The lower end of the straight route L1a at the left end of the route is connected to the loop route L1c. 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.

[0144] If the route generation unit 51c generates the travel route L1 as described above, the turn amount calculation unit 51d performs turn amount determination processing. The turn amount determination processing is used to determine whether the turn amount, which represents the size of the turn space, is insufficient. Figure 12This is a flowchart illustrating the steps involved in determining the amount of rotation.

[0145] exist Figure 12 First, the rotation amount calculation unit 51d acquires (reads) farmland information, agricultural machinery 1 information, operating device 2 information, and route information from the internal memory or storage unit 53 of the control unit 51 (S1). Next, the rotation amount calculation unit 51d extracts the rotation routes L1b and L1r from the starting position Ps along the travel route L1 contained in the route information (S2). Then, whenever the rotation routes L1b and L1r are extracted, the rotation amount calculation unit 51d determines the rotation space in which the rotation routes L1b and L1r are formed, and calculates the rotation amount representing the size of the determined rotation space (S3). At this time, the rotation amount calculation unit 51d calculates the rotation amount of the determined rotation space based on the size information of the agricultural machinery 1 and operating device 2 and the position information of the determined rotation space contained in the information acquired in step S1.

[0146] Figure 13A This is a diagram showing the safety space Va when the agricultural machinery 1 is a manned agricultural machinery 1A. Figure 13B This is a diagram showing the turning space G1 and turning amount Z1 used to generate the turning path L1b protruding from the central region C1 when the agricultural machinery 1 is a manned agricultural machinery 1A. Figure 13C This is a diagram showing the turning space G2 and turning amount Z2 for generating the turning route L1r contained in the surrounding route L1c when the agricultural machinery 1 is a manned agricultural machinery 1A.

[0147] In agricultural machinery 1, the driver is seated in the driver's seat 10 ( Figure 18 In the case of manned agricultural machinery 1A that is operated by the driver using the control device 62, for example, Figure 13A As shown, the route generation unit 51c generates the route by measuring the total width of the agricultural operation unit 12 (in... Figure 13A In the above, the imaginary width Y1a (Y1a = Y1 + A1 × 2) is calculated by expanding the total width Y1 of the working device 2 to the left and right by a predetermined first safety amount A1. Furthermore, the agricultural operation unit 12 refers to a unit consisting of agricultural machinery 1, 1A and the working device 2 connected to the agricultural machinery 1, 1A. Additionally, the route generation unit 51c calculates the imaginary length Y2a (Y2a = Y2 + A2) by expanding the total length Y2 of the agricultural operation unit 12 rearward by a predetermined second safety amount A2. Furthermore, the total length Y2 refers to the... Figure 13AIn this context, the length is measured from the front end of the traveling body 3 of the agricultural machinery 1 (the end of the traveling body 3 opposite to the working device 2) to the rear end of the working device 2 (the end of the working device 2 opposite to the traveling body 3) connected to the rear of the traveling body 3 via connecting parts 8h and 8g. The route generation unit 51c calculates a rectangular safety space Va determined by the imaginary width Y1a and the imaginary length Y2a. The safety space Va is the space that needs to be ensured between the agricultural working unit 12 and surrounding objects for safety (the same applies to the safety space Vb described later).

[0148] like Figure 13B As shown, when generating a turning route L1b from a straight route L1a generated in the central area C1 towards another straight route L1a, the route generation unit 51c configures a safety space Va from the end P1 of one straight route L1a towards the end P10 of the nearest farmland map MP2 located in the direction of travel of the straight route L1a. Additionally, the route generation unit 51c configures a safety space Va from the beginning P2 of the other straight route L1a towards the end P10 of the nearest farmland map MP2 located in the opposite direction of travel of the straight route L1a. Then, the route generation unit 51c ensures that at least one of the configured safety spaces Va, including the area inside the safety space Va and the range extending to the end P10 of the farmland map MP2, constitutes a turning space G1 (the shaded area). Thus, a turning space G1 is ensured in the field-end U-turn area E1. Furthermore, the route generation unit 51c generates a turning route L1b in the turning space G1, which is a turning route from one straight route L1a to another straight route L1a.

[0149] Then, the turning amount calculation unit 51d calculates the turning amount Z1 of the turning space G1 as either the width Z1a of the turning space G1 extending from the end P1 of a straight route L1a towards the direction of travel of that straight route L1a, or the width Z1b of the turning space G1 extending from the beginning P2 of another straight route L1a towards the opposite direction of travel of that other straight route L1a. Specifically, the turning amount calculation unit 51d calculates the widths Z1a and Z1b of the turning space G1 and the turning amount Z1 as the sum of the imaginary length Y2a of the safety space Va and the margin Y3, the distance from the turning space G1 to the end P10 of the farmland map MP2 (Z1a = Y2a + Y3 = Z1, Z1b = Y2a + Y3 = Z1). Figure 13B In the example, since the distance from the end P1 of a straight route L1a to the end P10 of the nearest farmland map MP2 is the same as the distance from the beginning P2 of another straight route L1a to the end P10 of the nearest farmland map MP2, the widths Z1a and Z1b of the turning space G1 are the same (Z1a = Z1b = Z1).

[0150] like Figure 13C As shown, in the loop route L1c generated in the field turnaround area E1, when a turning route L1r is generated from one straight route L1s to another straight route L1s, the route generation unit 51c configures a safety space Va from the end P11 of one straight route L1s toward the end P20 of the nearest farmland map MP2 located in the direction of travel of that straight route L1s. Additionally, the route generation unit 51c configures a safety space Va from the beginning P12 of the other straight route L1s toward the end P21 of the nearest farmland map MP2 located in the opposite direction of travel of that straight route L1s. Then, the route generation unit 51c ensures that at least one of the configured safety spaces Va, along with the range from that location to the ends P20 and P21 of the farmland maps MP2, constitutes a turning space G2 (shown in shaded area). Thus, a turning space G2 is ensured in the field turnaround area E1. Furthermore, the route generation unit 51c generates a turning route L1r in the turning space G2, which is a turning route L1r from one straight route L1s to another straight route L1s.

[0151] Then, the turning amount calculation unit 51d calculates the turning amount Z2 of the turning space G2 as either the width Z2a of the turning space G2 extending from the end P11 of one straight route L1s toward the direction of travel of that straight route L1s, or the width Z2b of the turning space G2 extending from the beginning P12 of another straight route L1s toward the opposite direction of travel of that other straight route L1s. Specifically, the turning amount calculation unit 51d calculates the widths Z2a and Z2b of the turning space G2 and the turning amount Z2 as the sum of the imaginary length Y2a of the safety space Va and the margin Y3a (the distance from the turning space G2 to the ends P20 and P21 of the farmland map MP2). (Z2a = Y2a + Y3a = Z2, Z2b = Y2a + Y3a = Z2). Figure 13C In the example, since the distance from the end P11 of a straight route L1s to the end P20 of the nearest farmland map MP2 is the same as the distance from the beginning P12 of another straight route L1s to the end P21 of the nearest farmland map MP2, the widths Z2a and Z2b of the turning space G2 are the same (Z2a = Z2b = Z2).

[0152] Figure 14A This is a diagram showing the safety space Vb when agricultural machinery 1 is an unmanned agricultural machinery 1B. Figure 14B This is a diagram showing the turning space G1 and the turning amount Z1 when the agricultural machinery 1 is an unmanned agricultural machinery 1B. Figure 14C This is a diagram showing another turning space G2 and turning amount Z2 when the agricultural machinery 1 is an unmanned agricultural machinery 1B.

[0153] In the case of agricultural machinery 1 being an unmanned and automatically operating unmanned agricultural machinery (autonomous agricultural machinery) 1B, for example... Figure 14A As shown, the route generation unit 51c calculates the imaginary width Y1b (Y1b = Y1 + A1b × 2) by expanding the total width Y1 of the agricultural operation unit 12 only to the left and right by a predetermined first safety amount A1b. Additionally, the route generation unit 51c calculates the imaginary length Y2b (Y2b = Y2 + A2b + A3) by expanding the total length Y2 of the agricultural operation unit 12 only to the rearward by a predetermined second safety amount A2b and only to the forward by a predetermined third safety amount A3.

[0154] The safety limits A1b and A2b of the unmanned agricultural machinery 1 are set to be greater than the safety limits A1 and A2 of the manned agricultural machinery 1A. The third safety limit A3 includes a distance from the front end of the unmanned agricultural machinery 1B to the object detection unit 64a located on the agricultural machinery 1B. Figure 1 The detection distance is capable of detecting the position of an object in the direction of travel (front) of the agricultural machinery 1B. Other safety parameters A1b and A2b may also include a detection distance from the left or right end or rear end of the unmanned agricultural machinery 1B to the object detection unit 64a, capable of detecting the position of an object to the left or right side or rear of the agricultural machinery 1B. The route generation unit 51c calculates a rectangular safety space Vb determined by the aforementioned imaginary width Y1b and imaginary length Y2b.

[0155] In such Figure 14B When generating the turning route L1b as shown, the route generation unit 51c allocates a safety space Vb from the end P1 of a straight route L1a toward the end P10 of a farmland map MP2 located in the direction of travel of the straight route L1a. Additionally, the route generation unit 51c allocates a safety space Vb from the beginning P2 of another straight route L1a toward the end P10 of a farmland map MP2 located in the opposite direction of travel of the straight route L1a. Then, the route generation unit 51c ensures that at least one of the allocated safety spaces Vb, including the area within the safety space Vb and the range up to the nearest end P10 of the farmland map MP2, constitutes a turning space G1 (the shaded area). The turning amount calculation unit 51d calculates the turning amount Z1 as either the width Z1a or the width Z1b of the turning space G1. In detail, the rotation amount calculation unit 51d calculates the width Z1a, Z1b and rotation amount Z1 of the rotation space G1 as the sum of the hypothetical length Y2b of the safety space Vb and the distance from the rotation space G1 to the end P10 of the farmland map MP2, i.e., the surplus Y3b (Z1a = Y2b + Y3b = Z1, Z1b = Y2b + Y3b = Z1).

[0156] In such Figure 14CWhen generating the turning route L1r as shown, the route generation unit 51c allocates a safety space Vb from the end P11 of a straight route L1s toward the end P20 of the farmland map MP2. Additionally, the route generation unit 51c allocates another safety space Vb from the beginning P12 of another straight route L1s toward the end P21 of the farmland map MP2. Then, the route generation unit 51c ensures that the range from at least one of the aforementioned safety spaces Va to the ends P20 and P21 of the farmland map MP2 constitutes a turning space G2 (shown in shaded area). The turning amount calculation unit 51d calculates the turning amount Z2 using either the width Z2a or the width Z2b of the turning space G2. In detail, the rotation amount calculation unit 51d calculates the width Z2a and Z2b of the rotation space G2 and the rotation amount Z2 as the sum of the hypothetical length Y2b of the safety space Vb and the distance from the ends P20 and P21 of the farmland map MP2, i.e. the surplus Y3c. (Z2a = Y2b + Y3c = Z2, Z2b = Y2b + Y3c = Z2).

[0157] In the example above, the route generation unit 51c hypothetically configures safety spaces Va and Vb between the terminals P1 and P11 of one of the adjacent straight routes L1a and L1s and the ends P10 and P20 of the farmland map MP2, and between the starting ends P2 and P12 of the other straight route L1a and L1s and the end P21 of the farmland map MP2. Alternatively, the route generation unit 51c may hypothetically configure safety spaces Va and Vb between either the terminals P1 and P11 of one straight route L1a and L1s and the ends P10 and P20 of the farmland map MP2, or between the starting ends P2 and P12 of the other straight route L1a and L1s and the end P21 of the farmland map MP2.

[0158] Furthermore, the route generation unit 51c can also ensure turning space by merging the safety spaces Va, Vb and the spaces from the safety spaces Va, Vb to the ends P10, P20, P21 of the farmland map MP2. In addition, the turning amount calculation unit 51d can also use the width of the turning space (i.e., either the width Z1a and width Z1b of the turning space for generating the turning route L1b, or either the width Z2a and width Z2b of the turning space for generating the turning route L1r) as the turning amount Z1, Z2 for calculation.

[0159] When the outline H1 of the farmland map MP2 (farmland) is not rectangular but irregular in shape, for example... Figure 15A and Figure 15B As shown, based on the generation direction of the driving route L1 ( Figure 10AThe route generation unit 51c sometimes generates a straight route L1a as an angle less than 90° relative to one side of the outline H1 of the farmland map MP2 (the direction of operation in screen D).

[0160] Figure 15A This is a diagram showing the turning space G1 and the turning amount Z1 in an irregularly shaped farmland map when the agricultural machinery 1 is a manned agricultural machinery 1A. Figure 15B This is a diagram showing the turning space G1 and the turning amount Z1 in an irregularly shaped farmland map when agricultural machinery 1 is an unmanned agricultural machinery 1B. Figure 15A and Figure 15B In the outline H1 of the farmland map MP2 (farmland) shown, one side is inclined at a specified angle relative to its adjacent side. For such an irregular farmland map MP2 (farmland), compared to... Figure 13A , Figure 13B , Figure 14A as well as Figure 14B Similarly, according to the description, the turning space G1 is ensured by the route generation unit 51c and the turning amount Z1 is calculated by the turning amount calculation unit 51d, depending on whether the agricultural machinery 1 is manned or unmanned.

[0161] However, in the above-described case, the first distance from the end P1 of one straight route L1a to the end P10 of the nearest farmland map MP2 is different from the second distance from the beginning P2 of another straight route L1a to the end P10 of the nearest farmland map MP2. Therefore, the width Z1a of the turning space G1 corresponding to the first distance is also different from the width Z1b of the turning space G1 corresponding to the second distance. In this case, the turning amount calculation unit 51d can, for example, calculate the turning amount Z1 using the smaller of the widths Z1a and Z1b of the turning space G1. Figure 15A In the example shown, since the width Z1b of the rotation space G1 is smaller than the width Z1a, the rotation amount calculation unit 51d calculates the width Z1b as the rotation amount Z1.

[0162] The above example illustrates the case of ensuring the turning space G1 and turning amount Z1 for generating the turning route L1b that bulges from the central region C1 of the irregular farmland map MP2. However, the case of ensuring the turning space G2 and turning amount Z2 for generating the turning route L1r in the field-end turning area E1 of the irregular farmland map MP2 is also consistent with... Figure 13C and Figure 14C Similarly, the route generation unit 51c ensures the rotation space G2, and the rotation amount calculation unit 51d calculates the rotation amount Z2 (details omitted).

[0163] As mentioned above, when the rotation amounts Z1 and Z2 of specific rotation spaces G1 and G2 are calculated... Figure 12 If the rotation amount calculation unit 51d compares the rotation amount Z1, Z2 and the predetermined threshold Zt, then the rotation amount calculation unit 51d compares the rotation amount Z1, Z2 and the predetermined threshold Zt. The threshold Zt is a value (ideal rotation amount) that is preset based on the results of design, experiment or simulation, etc., so that the agricultural machinery 1 and the working device 2 will not exceed the outline H1 of the farmland map MP2 (farmland) or will not be able to rotate.

[0164] Specifically, when agricultural machinery 1 is manned agricultural machinery 1A, such as Figure 13B and Figure 13C As shown, the sum of the hypothetical length Y2a of the safety space Va and the prescribed fourth safety quantity A4 is set as the threshold Zt (Zt = Y2a + A4 = Y2 + A2 + A4). In contrast, when agricultural machinery 1 is an unmanned agricultural machinery 1B, as... Figure 14B and Figure 14C As shown, the sum of the imaginary length Y2b of the safety space Vb and the prescribed fourth safety quantity A4b is set as the threshold Zt (Zt = Y2b + A4b = Y2 + A2 + A3 + A4b). The fourth safety quantities A4 and A4b are, for example, variable values ​​based on the total length of the agricultural machinery 1 (driving vehicle 3). In this example, the fourth safety quantities A4 and A4b are the same prescribed value (1m, etc.). As another example, the fourth safety quantity A4 can be set to different values ​​when the agricultural machinery 1 is a manned agricultural machinery 1A and when the agricultural machinery 1 is an unmanned agricultural machinery 1B.

[0165] like Figure 13B , Figure 13C , Figure 14B as well as Figure 14C As shown, the rotation quantities Z1 and Z2 are the sum of the hypothetical lengths Y2a and Y2b and the surplus quantities Y3, Y3a, Y3b, and Y3c from the safety spaces Va and Vb to the ends P10, P20, and P21 of the farmland map MP2. Therefore, the comparison between the rotation quantities Z1 and Z2 executed by the rotation quantity calculation unit 51d and the threshold Zt is essentially a comparison between the surplus quantities Y3, Y3a, Y3b, and Y3c and the fourth safety quantities A4 and A4b.

[0166] If the rotation amounts Z1 and Z2 are above the threshold Zt ( Figure 12 If S4: No), then the slewing calculation unit 51d searches for the next turning route L1b, L1r contained in the travel route L1. Then, if the next turning route L1b, L1r can be extracted (S7: No), the slewing calculation unit 51d repeatedly executes the steps starting from step S3.

[0167] On the other hand, if the turning amounts Z1 and Z2 are less than the threshold Zt (S4: Yes), the turning amount calculation unit 51d determines that the turning amounts Z1 and Z2 are insufficient, and calculates the difference ΔZ between the threshold Zt and the turning amounts Z1 and Z2 (ΔZ = Zt - Z1, or ΔZ = Zt - Z2) (S5). Then, the turning amount calculation unit 51d detects the position (location) of the insufficient turning amounts Z1 and Z2 on the farmland map MP2, and records the position and the calculated difference ΔZ in the internal memory of the control unit 51 (S6). Then, the turning amount calculation unit 51d searches for the next turning route L1b and L1r contained in the driving route L1. If the next turning route L1b and L1r can be extracted (S7: No), the steps starting from step S3 are repeated again.

[0168] Afterwards, if the determination of whether all the turning routes L1b and L1r contained in the driving route L1 are insufficient is completed, and the endpoint position Pg is extracted, then the turning amount calculation unit 51d determines that the next turning route L1b and L1r cannot be extracted (S7: Yes). Then, the turning amount calculation unit 51d refers to the stored contents in the internal memory of the control unit 51 to check whether there are any turning amounts Z1 and Z2 that are determined to be insufficient (a record of whether there are insufficient turning amounts Z1 and Z2).

[0169] If there are insufficient turning amounts Z1 and Z2 (S8: Yes), the turning amount calculation unit 51d invalidates the route information containing the travel route L1 and prohibits the output of the route information (S9). At this time, for example, the turning amount calculation unit 51d prohibits the output of the route information by deleting the route information from the internal memory of the control unit 51 and setting the route output prohibition flag (not shown) set in a predetermined storage area of ​​the internal memory to ON. In addition, the turning amount calculation unit 51d determines the turning amounts Z1 and Z2 that are determined to be insufficient and whose difference ΔZ from the threshold Zt is the largest (ΔZmax), and determines the maximum difference ΔZmax as the insufficient amount, and records the location of the determined turning amounts Z1 and Z2 and the insufficient amount ΔZmax in a predetermined area of ​​the internal memory of the control unit 51 (S10).

[0170] On the other hand, if there are no insufficient turning points Z1 and Z2 (S8: No), the turning point calculation unit 51d allows the output of route information including the travel route L1 (S11). At this time, for example, the turning point calculation unit 51d allows the output of route information by setting the above-mentioned route output prohibition flag to OFF.

[0171] After the turn rate determination process as described above is completed, if the route information is invalidated and the route information output is prohibited (the route output prohibition flag is on) (during execution) Figure 12In the cases of S9 and S10), the notification unit 51g reads the positions of the determined rotation amounts Z1 and Z2 and the insufficient amount ΔZmax recorded in the internal memory of the control unit 51. Then, as... Figure 10C As shown, notification unit 51g displays location Q1 (where definite turns Z1 and Z2 exist) on farmland map MP2 of route generation screen D7. Figure 10C The notification is sent via an "×" mark. Additionally, the notification unit 51g sends a notification by displaying the insufficient amount ΔZmax of the determined turning amounts Z1 and Z2, along with information M1 indicating that the driving route L1 cannot be generated due to insufficient turning amounts Z1 and Z2, on the route generation 2 screen D7. Figure 10C In the example, information M1 indicating that the width of the U-turn points E2a to E2c (U-turn area E1), which correspond to locations Q1 with defined turning amounts Z1 and Z2, is 120cm (=ΔZ) short, thus preventing the generation of driving route L1, is displayed in the route generation 2 screen D7. In this case, driving route L1 will not be displayed in the route generation 2 screen D7.

[0172] The user sees notifications Q1 and M1 displayed in the route generation 2 screen D7, indicating areas Q1 where the turning radius Z1 and Z2 are insufficient, and situations where the driving route L1 cannot be generated due to insufficient turning radius Z1 and Z2. Then, to regenerate the driving route L1 using the agricultural operation assistance device 50, the user may, for example, increase the value entered in the input field for the number of field turn-offs in the route generation 2 screen D7 to widen the width of the field turn-off area E1 (the interval between the outline Ha of the central area C1 and the outline H1 of the farmland map MP2). Besides increasing the number of field turn-offs, the user may also, for example, decrease the value entered in the input field for the overlap of field turn-offs in the route generation 2 screen D7, or in the previous screen D4a (… Figure 7A ), D4c ( Figure 7C The solution involves changing the size information of agricultural machinery 1 or operating device 2 in the process.

[0173] On the other hand, if the output of route information is allowed (route output disabled flag is off) (execution) Figure 12 In the case of S11), the control unit 51 reads the route information recorded in the internal memory, and as follows: Figure 10B As shown, the regions C1 and E1, the travel route L1, the starting position Ps, and the ending position Pg contained in the route generation 2 screen D7 are displayed. Furthermore, the route generation unit 51c calculates the estimated working distance for the vehicle 3 to perform ground operations using the work device 2 while traveling based on all the straight sections L1a and L1s contained in the travel route L1. Then, the control unit 51 displays the estimated working distance in the route generation 2 screen D7.

[0174] After displaying the driving route L1 in the route generation 2 screen D7, the user selects the trajectory prediction key B14. The control unit 51 then calculates and predicts the predicted work trajectory of the work unit 2, which involves the vehicle 3 driving autonomously based on the driving route L1 while performing ground-level work using the work unit 2. Furthermore, the control unit 51 displays the predicted work trajectory overlaid on the driving route L1 of the farmland map MP2 in the route generation 2 screen D7 (illustration omitted).

[0175] Additionally, after the driving route L1 is displayed on the route generation screen D7, if the user selects the next button B9, the control unit 51 will... Figure 16 The driving control screen D8 shown is displayed on the display operation unit 52. Furthermore, the control unit 51 generates automatic driving data based on setting information stored in its internal memory, and transmits (outputs) this automatic driving data to the control device 60 of the agricultural machinery 1 via the communication unit 54. The automatic driving data includes route information, the type of the working device 2, and automatic driving operation information. The route information includes information indicating the positions of the straight routes L1a and L1s, which serve as the working route, but may not include information indicating the positions of the turning routes L1b and L1r.

[0176] Figure 16 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 16 In the driving control screen D8, the driving and operating status of agricultural machinery 1 after a period of time following the start of automatic driving operation mode is displayed. Driving control screen D8 also displays the farmland map MP2, driving route L1, starting position Ps, ending position Pg, agricultural machinery marker X2, driving status of agricultural machinery 1, setting change key B20, status display key B21, operation trajectory key B15, and trajectory clear key B16.

[0177] The control unit 51 uses the communication unit 54 to acquire the actual position of the vehicle body 3 detected by the positioning device 40 at a predetermined period, and displays the agricultural machinery mark X2 at the corresponding part of the farmland map MP2 corresponding to the position of the vehicle body 3 at any time. That is, the agricultural machinery mark X2 in the driving control screen D8 indicates the actual position of the vehicle body 3 of the agricultural machinery 1.

[0178] For example, while watching the driving control screen D8, the user manually drives the agricultural machinery 1 to the starting position Ps, and then uses the mode switch 65 ( Figure 1 The automatic control unit 61 performs the prescribed operation for switching to the automatic driving operation mode. Therefore, the automatic control unit 61 ( Figure 1 The system switches to an automatic driving operation mode, where the vehicle body 3 drives automatically based on the automatic driving data received from the agricultural operation assistance device 50 and the position of the vehicle body 3 detected by the positioning device 40, while the operation device 2 is used to perform ground operations.

[0179] In detail, the automatic control unit 61 first reads the route information contained in the automatic driving data to determine the driving route L1 (operation routes L1a, L1s), the starting position Ps, and the ending position Pg. Then, while the automatic control unit 61 enables the vehicle body 3 to drive automatically from the starting position Ps along a straight route L1a based on the driving route L1, the automatic control unit 61 uses the working device 2 to perform ground operations. When the vehicle body 3 (agricultural machinery 1) reaches the end of a straight route L1a, the automatic control unit 61 temporarily stops the ground operations of the working device 2, raises the working device 2, and turns the vehicle body 3 back towards the beginning of another adjacent straight route L1a. That is, the automatic control unit 61 turns the agricultural machinery 1 and the working device 2 at a position corresponding to the turning route L1b. At this time, the automatic control unit 61 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.

[0180] Furthermore, if the vehicle body 3 reaches the beginning of another straight route L1a, the automatic control unit 61 lowers the working device 2. When the vehicle body 3 starts driving in automatic mode based on the other straight route L1a, the ground operation of the working device 2 resumes. 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 operations in the central area C1.

[0181] Subsequently, the automatic control unit 61 drives the vehicle 3 in automatic mode based on the circumferential route L1c and the position of the vehicle 3, while simultaneously performing ground operations using the working device 2. At this time, the automatic control unit 61 drives the vehicle 3 in automatic mode based on the straight route L1s, while simultaneously performing ground operations using the working device 2. When the vehicle 3 turns at a point corresponding to the turning route L1r, the working device 2 rises, stopping its ground operations. During this turn, the automatic control unit 61 turns the agricultural machinery 1 and the working device 2 based on the position information of areas C1 and E1, the position information of the straight route L1s, the size information of the agricultural machinery 1 and the working device 2, the position of the vehicle 3 detected by the positioning device 40, and the detection results of the detection device 64. Thus, the vehicle 3 circles the outer side of the central area C1 in automatic mode, and the working device 2 performs field-end turning points E2a (refer to...) surrounding the central area C1. Figure 11D (etc.) to carry out ground operations.

[0182] Figures 17A to 17D This diagram illustrates the automatic steering of agricultural machinery 1. In automatic driving operation mode, the automatic control unit 61 automatically drives the vehicle body 3 while calculating the deviation between the position of the vehicle body 3 detected by the positioning device 40 and the driving route L1 (operation routes L1a, L1s). If this deviation is less than a threshold (e.g., ...), ... Figure 17A Automatic control unit 61 maintains steering shaft 31 ( Figure 1 The rotation angle of the vehicle body 3. When the deviation between the position of the vehicle body 3 and the driving route L1 is above a threshold and the vehicle body 3 is on the left side relative to the driving route L1 (e.g.) Figure 17B The automatic control unit 61 rotates the steering shaft 31 to make the steering direction of the vehicle body 3 to the right. This is in the case where the deviation between the position of the vehicle body 3 and the travel 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 17C The automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is to the left.

[0183] In the example above, the steering angle of the steering device 29 is changed based on the deviation between the position of the vehicle body 3 and the driving route L1. However, as another example, it could also be based on... Figure 17DThe angle θg between the travel direction F1 of the vehicle body 3 and the travel path L1 is changed, and the steering angle of the steering device 29 is adjusted. In this case, for example, the automatic control unit 61 calculates the travel direction F1 of the vehicle body 3 based on the change in the position of the vehicle body 3, and then calculates the angle θg between the travel direction F1 and the travel path L1. Furthermore, if the angle θg is above a threshold, the automatic control unit 61 rotates the steering shaft 31 so that the travel direction F1 of the vehicle body 3 is aligned with the orientation of the travel path L1 (i.e., θg = "0°").

[0184] Alternatively, as another example, the automatic control unit 61 can calculate a first steering angle based on the deviation between the position of the vehicle body 3 and the travel route L1, and calculate a second steering angle based on the travel route L1 and the travel direction F1 of the vehicle body 3. Then, the automatic control unit 61 can also calculate a third steering angle based on the first and second steering angles, and rotate the steering shaft 31 based on the third steering angle.

[0185] Furthermore, when the automatic control unit 61 enables the vehicle body 3 to travel automatically based on the travel route L1, it calculates the actual speed of the vehicle body 3 based on the change in the position of the vehicle body 3. Then, it controls the drive of the transmission device 5, the braking device 6, and the prime mover 4 to make the actual speed consistent with the speed associated with the straight route L1a, the turning route L1b, or the loop route L1c.

[0186] As described above, in the automatic driving operation mode of agricultural machinery 1, the automatic control unit 61 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). In addition, the automatic control unit 61 automatically executes or stops the agricultural operations (ground operations) of the operating device 2.

[0187] If the user selects the work trajectory key B15, the control unit 51 calculates the actual work trajectory of the work device 2 when performing ground operations based on the position of the traveling vehicle 3 detected by the positioning device 40 and the working width of the work device 2. Then, as... Figure 16 As shown, the control unit 51 displays the actual work trajectory (the shaded portion) overlaid on the straight route (work route) L1a of the farmland map MP2. If the user selects the trajectory clear key B16, the control unit 51 clears the display of the actual work trajectory.

[0188] The automatic control unit 61 of the agricultural machinery 1 drives the vehicle body 3 in an automatic driving mode based on the driving route L1 and the position of the vehicle body 3, while simultaneously using the working device 2 to perform ground operations, thereby bringing the working device 2 to the destination position Pg. At this point, the automatic control unit 61 stops the automatic driving operation mode and brings the vehicle body 3 and the working device 2 to a stop. Thus, the agricultural operation based on the driving route L1 in the automatic driving operation mode of the agricultural machinery 1 and the working device 2 is completed.

[0189] In addition to the aforementioned automatic driving operation mode, the agricultural machinery 1 can also execute an automatic steering operation mode. In both automatic driving and automatic steering operation modes, the working device 2 performs ground-level operations automatically. Besides the automatic driving and automatic steering operation modes, the agricultural machinery 1 can also execute a manual driving operation mode. In manual driving operation mode, the user of the agricultural machinery 1 changes the speed of the vehicle body 3 by operating the throttle or brake components of the operating device 62, and steers the vehicle body 3 by operating the steering wheel 30. Furthermore, in manual driving operation mode, the execution and stopping of the ground-level operations of the working device 2 can be operated by the user through the operating device 62, or controlled by the automatic control unit 61 based on the position of the vehicle body 3 and the travel route L1. In addition to the modes described above, the agricultural machinery 1 may, for example, not automatically perform ground-level operations of the working device 2, but instead execute an automatic driving mode in which the vehicle body 3 travels in an automatic driving mode, or an automatic steering mode in which the vehicle body 3 is automatically steered.

[0190] For example, in Figure 3 In the main screen D1 shown, if the user selects the automatic steering key B2b, the same screens D3 to D9 as those for selecting the autopilot key B2a are sequentially displayed on the display operation unit 52. Furthermore, on each of these screens, the user can perform various settings for the automatic steering operation mode in the same way as settings for the automatic steering operation mode. Specifically, the control unit 51 stores the various setting information for the automatic steering operation mode in its internal memory, just as it does for the automatic steering operation mode. The route generation unit 51c generates a driving route for the automatic steering operation mode based on the various settings stored in the control unit 51's internal memory.

[0191] Then, the slewing amount calculation unit 51d calculates the slewing space and slewing amount used for the slewing route included in the travel route, determines whether the slewing amount is insufficient, and prohibits or allows the output of the travel route. If the output of the travel route is prohibited, the notification unit 51g notifies the user by displaying the location of the insufficient slewing amount, the amount of insufficient slewing amount, and indicating that the travel route for the autopilot operation mode cannot be generated due to the insufficient slewing amount in the display operation unit 52. Furthermore, in this case, the travel route for the autopilot operation mode will not be displayed in the display operation unit 52 or sent to the agricultural machinery 1, and the agricultural machinery 1 will not be used to execute the autopilot operation mode.

[0192] In contrast, when the output of the permitted driving route is enabled, the control unit 51 displays route information including the driving route in the display operation unit 52, generates autopilot data including route information, and sends (outputs) the autopilot data to the agricultural machinery 1 via the communication unit 54. When the autopilot data is received via the communication unit 54 of the agricultural machinery 1, the automatic control unit 61 of the control device 60 switches to autopilot operation mode. Based on the driving route and the position of the vehicle body 3 contained in the autopilot data, it automatically steers the vehicle body 3 while performing ground operations using the working device 2.

[0193] In the above embodiments, the safety spaces Va and Vb around the agricultural machinery 1 are changed depending on whether the agricultural machinery 1 is a manned agricultural machinery 1A or an unmanned agricultural machinery 1B. However, even if the agricultural machinery 1 is a manned agricultural machinery 1A, a safety space Vb including a third safety amount A3, which is the detection distance in front of the object detection unit 64a, can be used. Alternatively, the second safety amounts A2 and A2b, which expand the total length Y2 of the agricultural operation unit 12 backward, can be omitted when setting the safety space. Regarding the threshold Zt, in the case of the agricultural machinery 1 being a manned agricultural machinery 1A, the same value as in the case of the unmanned agricultural machinery 1B can be used, or a value with the second safety amounts A2 and A2b omitted can be used. When the second safety amounts A2 and A2b are omitted, the rotation calculation unit 51d, for example, determines the sum of the total length Y2 of the agricultural operation unit 12 and the fourth safety amount A4 as the threshold Zt for the manned agricultural machinery 1A (Zt = Y2 + A4). In addition, the rotation calculation unit 51d determines the sum of the total length Y2 of the agricultural operation unit 12, the third safety amount A3, and the fourth safety amount A4b as the threshold Zt of the unmanned agricultural machinery 1B (Zt = Y2 + A3 + A4b).

[0194] In the above-described embodiment, the notification unit 51g displays the location Q1 of the rotation amount Z1 and Z2 with the largest difference ΔZ from the threshold Zt on the farmland map MP2 of the route generation 2 screen D7. However, in addition, for example, the notification unit 51g may also display all locations of rotation amounts Z1 and Z2 that are determined by the rotation amount calculation unit 51d to be insufficient and less than the threshold Zt on the farmland map MP2 of the route generation 2 screen D7.

[0195] In addition, for example, Figure 10D As shown, in addition to the location Q1 where the rotation amounts Z1 and Z2 are determined to be insufficient by the rotation amount calculation unit 51d, the insufficient amount of the rotation amounts Z1 and Z2, and the information M1 indicating that the travel route L1 cannot be generated, the notification unit 51g can also notify the information M2 prompting a change in working conditions through the display operation unit 52 to eliminate the insufficiency of the rotation amounts Z1 and Z2. Figure 10D In the example, information M2 recommends increasing the number of field-end turning points as a change in operating conditions. Alternatively, information M2 can be displayed via the operation unit 52, prompting an increase in the operating width of the operating device 2 or a decrease in the overlap of field-end turning points.

[0196] In the above-described embodiment, an example is shown in which the farmland registration unit 51a, the area setting unit 51b, the route generation unit 51c, the turning amount calculation unit 51d, and the notification unit 51g are provided in the control unit 51 of the agricultural operation assistance device 50. However, in addition to this, at least one of the above-described units 51a, 51b, 51c, 51d, and 51g may also be provided in the control unit 60 of the agricultural machinery 1, or may be constituted by a device separate from the control unit 60.

[0197] In addition to the display operation unit 52, an input unit can be constructed using a communication circuit or input interface for inputting registration information such as farmland map MP2 (farmland), agricultural machinery 1, operating device 2, and operating conditions to the agricultural operation assistance device 50. Furthermore, besides the display operation unit 52 and communication unit 54 provided in the agricultural operation assistance device 50, an input unit, display unit, or output unit can be constructed using a communication circuit, input interface, display, touchpad, key, or output interface mounted on the agricultural machinery 1. Additionally, since the display operation unit 52 outputs information such as the travel route L1 in a visually perceptible manner, it can also be considered an output unit.

[0198] In addition to portable tablet terminals, the agricultural operation assistance device 50 can also be composed of, for example, a smartphone or a terminal device fixed to the agricultural machinery 1. Alternatively, it can be composed of an electronic device not installed on the agricultural machinery 1, such as a PC, such as a server located in the cloud. Furthermore, the agricultural operation assistance system can also include, for example, an application that can be obtained and installed from the cloud via a user's electronic device, replacing the agricultural operation assistance device. In this case, the application can be used to construct a farmland registration unit 51a, a zone setting unit 51b, a route generation unit 51c, a rotation calculation unit 51d, and a notification unit 51g, and notifications from the notification unit can be displayed on a display unit of the electronic device with the application installed or a display device connected to that electronic device. Alternatively, notifications from the notification unit can be converted into sound and output from the speaker of the agricultural machinery or the electronic device.

[0199] The agricultural operation assistance system 100, agricultural machinery 1, and agricultural operation assistance device 50 described above have the following structures and achieve the following effects.

[0200] The agricultural operation assistance system 100 of this embodiment includes: an input unit (display operation unit) 52, which inputs farmland information representing the outline H1 of the farmland, size information of the agricultural machinery 1 or the operation device 2 connected to the agricultural machinery 1, and operation conditions for performing agricultural operations on the farmland using the agricultural machinery 1 and the operation device 2; a route generation unit 51c, which generates a travel route L1 for the agricultural machinery 1 to travel on and a turning space G1, G2 for the agricultural machinery 1 to turn, based on the farmland information, the size information of the operation device 2, and the operation conditions; a turning amount calculation unit 51d, which calculates the turning amounts Z1, Z2 representing the size of the turning spaces G1, G2, and determines that the turning amounts Z1, Z2 are insufficient if the turning amounts Z1, Z2 are less than a predetermined threshold Zt; and a notification unit 51g, which notifies a location Q1 where the turning amounts Z1, Z2 are insufficient as determined by the turning amount calculation unit 51d.

[0201] The agricultural machinery 1 of this embodiment is an agricultural machinery that performs agricultural operations assisted by the agricultural operation assistance system 100, and includes: a vehicle body 3 capable of driving; connecting parts 8g and 8h capable of connecting the working device 2 to the vehicle body 3; an input unit 52 that inputs farmland information representing the outline H1 of the farmland, the size information of the agricultural machinery 1 or the working device 2 connected to the vehicle body 3, and operating conditions for driving the vehicle body 3 and using the working device 2 to perform agricultural operations on the farmland; a route generation unit 51c that, based on the farmland information, size information, and operating conditions, generates a driving route L1 for driving the vehicle body 3 in a map MP2 representing the farmland and ensures turning spaces G1 and G2 for turning the vehicle body 3; the aforementioned turning amount calculation unit 51d; and a notification unit 51g.

[0202] The agricultural operation assistance device 50 of this embodiment is an agricultural operation assistance device included in the agricultural operation assistance system 100, and has the above-described input unit 52, route generation unit 51c, rotation amount calculation unit 51d, and notification unit 51g.

[0203] According to the above structure, when generating the travel route L1 of agricultural machinery 1, if the turning amounts Z1 and Z2 of the turning spaces G1 and G2 ensured within map MP2 are insufficient, the location Q1 where such turning amounts Z1 and Z2 exist will be notified. Therefore, the user can easily address this deficiency by modifying farmland information, operating conditions, or the size information of agricultural machinery 1 and operating device 2, using the notification of the insufficient turning amounts Z1 and Z2 at location Q1 as a starting point. This improves the convenience of generating the travel route L1 of agricultural machinery 1.

[0204] In this embodiment, if the turning amount calculation unit 51d invalidates the travel route L1 when the turning amounts Z1 and Z2 are less than the threshold Zt, the notification unit 51g notifies that the width of the location Q1, which is determined by the turning amount calculation unit 51d to have insufficient turning amounts Z1 and Z2, is insufficient, and therefore the travel route L1 cannot be generated. Thus, by invalidating the travel route L1 when the turning amounts Z1 and Z2 are insufficient, the agricultural machinery 1 will not travel based on the travel route L1, thereby preventing the agricultural machinery 1 from failing to turn properly at the location Q1 where the turning amounts Z1 and Z2 are insufficient. Furthermore, the user can understand from the notification unit 51g that the travel route L1 was not generated because the width of the location Q1 on the map MP2 is insufficient, and can then regenerate the travel route L1 by appropriately adjusting the operating conditions, etc., to increase the width of the location Q1.

[0205] In addition, in this embodiment, the agricultural operation assistance system 100 has a region setting unit 51b. The region setting unit 51b sets a first region (field turning area) E1 and a second region (central region) C1 located inside the first region E1 in the map MP2 based on the size information of the operation device 2 and the operation conditions. The route generation unit 51c generates operation routes (straight routes) L1a and L1s and turning routes L1b and L1r as the driving route L1. The operation routes L1a and L1s are routes in which the agricultural machinery 1 travels in at least one of the first region E1 and the second region C1 while using the operation device 2 to perform operations. The turning routes L1b and L1r are routes in the first region E1 that ensure turning space G1 and G2 and allow the agricultural machinery 1 to turn. The notification unit 51g notifies that the width of the first region E1 is insufficient when the turning amount calculation unit 51d determines that the turning amount Z1 and Z2 is insufficient. Therefore, by changing the operating conditions and other measures, the user can expand the width of the first area E1, and the route generation unit 51c can regenerate the driving route L1.

[0206] In this embodiment, the agricultural operation assistance system 100 includes a display unit (display operation unit) 52 that displays a map MP2 and a driving route L1. When there are insufficient rotation amounts Z1 and Z2 as determined by the rotation amount calculation unit 51d, the notification unit 51g displays the location Q1 of the insufficient rotation amounts Z1 and Z2 on the map MP2 displayed by the display unit 52, but does not display the driving route L1. When there are no insufficient rotation amounts Z1 and Z2 as determined by the rotation amount calculation unit 51d, the display unit 52 displays both the map MP2 and the driving route L1. Thus, the user can visually confirm the location Q1 of the insufficient rotation amounts Z1 and Z2 displayed on the map MP2 used for agricultural operations and take appropriate measures to eliminate the deficiency. Furthermore, when there are no insufficient rotation amounts Z1 and Z2, the driving route L1 is displayed on the map MP2, allowing the user to visually confirm the driving route L1 and operate the agricultural machinery 1.

[0207] In this embodiment, the agricultural operation assistance system 100 includes: an output unit (communication unit) 54 that outputs a travel route L1; a position detection unit (position measuring device) 40 that detects the position of the agricultural machinery 1; and an automatic control unit 61 that, based on the position of the agricultural machinery 1 detected by the position detection unit 40 and the travel route L1 output from the output unit 54, automatically drives or steers the agricultural machinery 1 while driving the operating device 2 to perform agricultural operations on the farmland. The output unit 54 outputs the travel route L1 to the automatic control unit 61 when there are no insufficient rotational amounts Z1 or Z2 as determined by the rotational amount calculation unit 51d. Therefore, based on a travel route L1 without insufficient rotational amounts Z1 or Z2, the agricultural machinery 1 can be automatically driven or steered by the automatic control unit 61 while the operating device 2 is used to perform normal agricultural operations on the farmland. Furthermore, in the event of insufficient rotation Z1 and Z2, the automatic control unit 61 will not automatically drive or steer the agricultural machinery 1 based on the driving route L1, thereby preventing the agricultural machinery 1 from failing to rotate normally at the point Q1 where insufficient rotation Z1 and Z2 exist.

[0208] Furthermore, in this embodiment, when the turning amount calculation unit 51d determines that there are multiple insufficient turning amounts Z1 and Z2, the notification unit 51g displays the location Q1 of the turning amounts Z1 and Z2 with the largest difference ΔZ from the threshold Zt among these multiple turning amounts Z1 and Z2 in the display unit 52 along with the map MP2, and displays the largest difference ΔZ as the insufficient amount in the display unit 52. Thus, the user can visually confirm the location Q1 of the turning amounts Z1 and Z2 with the largest insufficient amount ΔZ and the insufficient amount ΔZ, and by changing the working conditions, size information, or farmland information, etc., to make the insufficient amount ΔZ of location Q1 become 0, the route generation unit 51c can regenerate the driving route L1.

[0209] In addition, in this embodiment, the turning amount calculation unit 51d calculates the turning amounts Z1 and Z2 as follows: in order for the agricultural machinery 1 to turn from the first route (straight route) L1a and L1s included in the travel route L1 toward the second route (straight route) L1a and L1s whose travel direction is different from that of the first route L1a and L1s, the turning space widths Z1a and Z2a of the turning space G1 and G2 extended from the end P1 and P11 of the first route L1a and L1s to the end P10 and P20 of the map MP2 located in the travel direction of the first route L1a and L1s, or the turning space widths Z1b and Z2b of the turning space G1 and G2 extended from the beginning P2 and P12 of the second route L1a and L1s to the end P10 and P21 of the map MP2 located in the opposite direction to the travel direction of the second route L1a and L1s. Therefore, the judgment result regarding whether the rotation amounts Z1 and Z2 are insufficient can be regarded as the judgment result regarding whether the size (widths Z1a, Z2a, Z1b, Z2b) of the rotation spaces G1 and G2 with rotation amounts Z1 and Z2 is sufficient to allow the agricultural machinery 1 and the working device 2 to rotate normally, that is, the judgment result regarding whether the rotation spaces G1 and G2 are appropriate. Therefore, by making appropriate changes such as altering the working conditions to expand the area Q1 where the rotation amounts Z1 and Z2 are insufficient, and regenerating the travel route L1, the user can expand the rotation spaces G1 and G2 to the aforementioned sufficient size.

[0210] Furthermore, in this embodiment, when the agricultural machinery 1 is a manned agricultural machinery 1A that can be operated by a driver sitting in the agricultural machinery 1, the rotation amount calculation unit 51d calculates the threshold Zt by adding the total length Y2 of the agricultural operation unit 12, which is composed of the agricultural machinery 1 and the operation device 2 connected to the agricultural machinery 1, and the prescribed safety amounts A2, A2b, A4, A4b (second safety amounts A2, A2b, and fourth safety amounts A4, A4b). Thus, in the case of a manned agricultural machinery 1A where the driver sitting in the agricultural machinery 1 can visually confirm the situation in front of and behind the agricultural machinery 1, by setting the threshold Zt as the total length Y2 of the agricultural operation unit 12 and the added safety amounts A4, A4b, A2, A2b in front of and behind the agricultural operation unit 12, it is possible to determine whether the rotation amounts Z1 and Z2 are insufficient relative to the threshold Zt.

[0211] Furthermore, in this embodiment, when the agricultural machinery 1 is an unmanned agricultural machinery 1B capable of automatic operation in an unmanned manner, the turning volume calculation unit 51d calculates the widths Z1a and Z2a of the turning space G1 and G2 from the ends P1 and P11 of the first routes L1a and L1s to the ends P10 and P20 of the map MP2 located in the direction of travel of the first routes L1a and L1s, or from the beginning P2 and P12 of the second routes L1a and L1s to the ends P10 and P21 of the map MP2 located in the opposite direction of travel of the second routes L1a and L1s. The widths Z1b and Z2b of the turning spaces G1 and G2 are used as the rotation amounts Z1 and Z2. The total length Y2 of the agricultural operation unit 12, which consists of the agricultural machinery 1 and the operating device 2 connected to the agricultural machinery 1, the detection distance (third safety amount) A3 from the front end of the agricultural operation unit 12 in the direction of travel to the position of the object detection unit 64a on the agricultural machinery 1 that can detect the object in the direction of travel, and the prescribed safety amounts A2, A2b, A4, A4b (second safety amounts A2, A2b, and fourth safety amounts A4, A4b) are added together as the threshold Zt. Thus, in the case of unmanned agricultural machinery 1B, by setting the threshold Zt as the sum of the total length Y2 of the agricultural operation unit 12, the detection distance A3 of the object detection unit 64a, and the safety amounts A4, A4b, A2, A2b added before and after the agricultural operation unit 12, it is possible to determine whether the rotation amounts Z1 and Z2 are insufficient relative to the threshold Zt.

[0212] Furthermore, in this embodiment, when the turning amount calculation unit 51d determines that the turning amounts Z1 and Z2 are insufficient, the notification unit 51g sends a notification (information) M2 prompting a change in the operating conditions. As a result, the user can change the operating conditions according to the content of the notification M2, and the route generation unit 51c can regenerate the driving route L1, thereby further improving convenience.

[0213] In this embodiment, the agricultural machinery 1 includes: a position detection unit (position measuring device) 40 that detects the position of the vehicle body 3; an automatic control unit 61 that, based on the position of the vehicle body 3 detected by the position detection unit 40 and the driving route L1, automatically drives or steers the vehicle body 3 while driving the working device 2 to perform agricultural operations on the farmland; and a display unit 52 that displays a map MP2 and the driving route L1; and a notification unit 51g that displays on the map MP2 displayed by the display unit 52 a location Q1 where insufficient rotation amounts Z1 and Z2 are determined by the rotation amount calculation unit 51d. Thus, the user can visually confirm the location Q1 of insufficient rotation amounts Z1 and Z2 displayed on the map MP2 during agricultural operations and take appropriate measures to eliminate the deficiency. Furthermore, when the driving route L1 is displayed on the map MP2, the user can visually confirm the driving route L1 and perform automatic driving, automatic steering, or manual driving of the agricultural machinery 1.

[0214] In this embodiment, the agricultural operation assistance device 50 includes: a display unit 52 displaying a map MP2 and a driving route L1; and an output unit 54 outputting the driving route L1 to the agricultural machinery 1; a notification unit 51g displaying on the map MP2 displayed by the display unit 52 a location Q1 where insufficient rotation amounts Z1 and Z2 are determined by the rotation amount calculation unit 51d; and the output unit 54 outputting the driving route L1 to the automatic control unit 61 when there are no insufficient rotation amounts Z1 and Z2 as determined by the rotation amount calculation unit 51d. Thus, the user can visually confirm the location Q1 where insufficient rotation amounts Z1 and Z2 are displayed on the map MP2 used for agricultural operations and take appropriate measures to eliminate the deficiency. Furthermore, based on the driving route L1 without insufficient rotation amounts Z1 and Z2, the agricultural machinery 1 can be automatically driven or steered by the automatic control unit 61, while the operation device 2 is used to perform normal agricultural operations on the farmland. Furthermore, in the event of insufficient rotation Z1 and Z2, the automatic control unit 61 will not automatically drive or steer the agricultural machinery 1 based on the driving route L1, thereby preventing the agricultural machinery 1 from failing to rotate normally at the point Q1 where insufficient rotation Z1 and Z2 exist.

[0215] 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.

[0216] Explanation of reference numerals in the attached figures:

[0217] 1: Agricultural machinery

[0218] 1A: Manned agricultural machinery

[0219] 1B: Unmanned agricultural machinery

[0220] 2: Working device

[0221] 3: Vehicle body

[0222] 8g, 8h: Connecting parts

[0223] 12: Agricultural Operation Unit

[0224] 40: Position measuring device (position detection unit)

[0225] 50: Agricultural operation auxiliary devices

[0226] 51b: Regional Setting Department

[0227] 51c: Route Generation Department

[0228] 51d: Rotation Calculation Unit

[0229] 51g: Notification Department

[0230] 52: Display Operation Unit (Input Unit, Display Unit)

[0231] 54: Communications Department (Output Department)

[0232] 61: Automatic Control Department

[0233] 64a: Object Inspection Department

[0234] 100: Agricultural Operation Assistance System

[0235] A2, A2b: Second safety margin

[0236] A3: Third safety margin (detection distance)

[0237] A4, A4b: Fourth safety margin

[0238] C1: Central Area (Second Area)

[0239] E1: Field Turnaround Area (Area 1)

[0240] G1, G2: Rotation space

[0241] H1: Outline of farmland

[0242] L1: Driving route

[0243] L1a, L1s: Straight routes (work routes, first routes, second routes)

[0244] L1b, L1r: Turning routes

[0245] MP2: Farmland Map (Map)

[0246] M1, M2: Notification

[0247] P1: Terminal

[0248] P2: Start End

[0249] P10, P20, P21: The edge of the farmland map (the edge of the map)

[0250] Q1: Locations with insufficient rotation.

[0251] Y2: Total length

[0252] Z1, Z2: Rotation

[0253] Z1a, Z2a, Z1b, Z2b: Width of the rotation space

[0254] Zt: Threshold

[0255] ΔZ: The difference between the rotation amount and the threshold.

[0256] ΔZmax: Maximum difference, insufficient quantity

Claims

1. An agricultural operation assistance system, wherein, have: The input unit accepts farmland information representing the outline of the farmland, size information of agricultural machinery or operating devices connected to the agricultural machinery, and operating conditions for carrying out agricultural operations on the farmland using the agricultural machinery and the operating devices. The route generation unit generates a travel route for the agricultural machinery to travel on a map representing the farmland, based on the farmland information, the size information, and the operating conditions, and ensures a turning space for the agricultural machinery to turn around. The rotation amount calculation unit calculates the rotation amount representing the size of the rotation space, and determines that the rotation amount is insufficient if the rotation amount is less than a predetermined threshold; and The notification department notifies the location where the rotation amount is determined to be insufficient by the rotation amount calculation department, and prompts a change in the operating conditions.

2. The agricultural operation assistance system according to claim 1, wherein, The rotation calculation unit invalidates the driving route if the rotation amount is less than the threshold. The notification unit indicates that the driving route cannot be generated because the width of a portion of the turning amount, which is determined by the turning amount calculation unit to be insufficient, is insufficient.

3. The agricultural operation assistance system according to claim 1, wherein, The system includes a region setting unit that, based on the size information and the operating conditions, sets a first region and a second region located inside the first region within the map. The route generation unit generates a work route and a turning route as the travel route. The work route is a route in which the agricultural machinery travels in at least one of the first area and the second area while performing work using the work device. The turning route is a route in the first area that ensures the turning space and allows the agricultural machinery to turn around. If the rotation amount calculation unit determines that the rotation amount is insufficient, the notification unit will notify that the width of the first area is insufficient.

4. The agricultural operation assistance system according to claim 1, wherein, It has a display unit that shows the map and the driving route; If the turning radius calculation unit determines that the turning radius is insufficient, the notification unit displays the location of the insufficient turning radius on the map displayed by the display unit, but does not display the driving route. If there is no turning amount that the turning amount calculation unit determines is insufficient, the display unit displays the map and the driving route.

5. The agricultural operation assistance system according to claim 4, wherein, have: The output unit outputs the driving route; The position detection unit detects the position of the agricultural machinery; as well as The automatic control unit, based on the position of the agricultural machinery detected by the position detection unit and the travel route output from the output unit, automatically drives or steers the agricultural machinery while driving the working device to perform agricultural operations on the farmland. If the output unit does not have a rotation amount that the rotation amount calculation unit determines is insufficient, the output unit outputs the driving route to the automatic control unit.

6. The agricultural operation assistance system according to claim 1, wherein, If the number of rotations that the rotation calculation unit determines to be insufficient exists in a plurality of cases, the notification unit displays the portion of the rotation that has the largest difference from the threshold among the plurality of rotations in the display unit along with the map, and displays the largest difference as the insufficient amount in the display unit.

7. The agricultural operation assistance system according to claim 1, wherein, In order for the agricultural machinery to turn from a first route included in the travel route toward a second route whose direction of travel is different from that of the first route, the turning space is calculated as the width of the turning space extended from the end of the first route to the end of the map in the direction of travel of the first route, or the width of the turning space extended from the beginning of the second route to the end of the map in the opposite direction of travel of the second route.

8. The agricultural operation assistance system according to claim 7, wherein, In the case where the agricultural machinery is a manned agricultural machine that can be operated by a driver sitting inside the machine. The rotation calculation unit calculates the threshold by adding the total length of the agricultural operation unit, which consists of the agricultural machinery and the operating device connected to the agricultural machinery, to a specified safety amount.

9. The agricultural operation assistance system according to claim 7, wherein, In the case that the agricultural machinery is an unmanned agricultural machinery capable of operating automatically without human intervention, The slewing calculation unit calculates the threshold by adding the total length of the agricultural operation unit consisting of the agricultural machinery and the operating device connected to the agricultural machinery, the detection distance from the front end of the agricultural operation unit in the direction of travel to the position of the object detection unit on the agricultural machinery that can detect the object in the direction of travel, and a specified safety amount.

10. An agricultural machine, wherein, have: The vehicle body is capable of movement; The connecting part enables the working device to be connected to the vehicle body; The input unit inputs farmland information representing the outline of the farmland, size information of the agricultural machinery or the working device connected to the vehicle body, and operating conditions for driving the vehicle body and using the working device to carry out agricultural operations on the farmland. The route generation unit generates a driving route for the vehicle to travel on a map representing the farmland, based on the farmland information, the size information, and the operating conditions, and ensures a turning space for the vehicle to turn around. The rotation amount calculation unit calculates the rotation amount representing the size of the rotation space, and determines that the rotation amount is insufficient if the rotation amount is less than a predetermined threshold; and The notification department notifies the location where the rotation amount is determined to be insufficient by the rotation amount calculation department, and prompts a change in the operating conditions.

11. The agricultural machinery according to claim 10, wherein, have: The position detection unit detects the position of the vehicle body. The automatic control unit, based on the position of the vehicle body and the driving route detected by the position detection unit, automatically drives or steers the vehicle body while driving the working device to carry out the agricultural operation on the farmland; as well as The display unit shows the map and the driving route; The notification unit displays on the map shown by the display unit the locations where the rotation amount is determined by the rotation amount calculation unit to be insufficient.

12. An agricultural operation auxiliary device, wherein, have: The input unit accepts farmland information representing the outline of the farmland, size information of agricultural machinery or operating devices connected to the agricultural machinery, and operating conditions for carrying out agricultural operations on the farmland using the agricultural machinery and the operating devices. The route generation unit generates a travel route for the agricultural machinery to travel on a map representing the farmland, based on the farmland information, the size information, and the operating conditions, and ensures a turning space for the agricultural machinery to turn around. The rotation amount calculation unit calculates the rotation amount representing the size of the rotation space, and determines that the rotation amount is insufficient if the rotation amount is less than a predetermined threshold; and The notification department notifies the location where the rotation amount is determined to be insufficient by the rotation amount calculation department, and prompts a change in the operating conditions.

13. The agricultural operation auxiliary device according to claim 12, wherein, have: The display unit shows the map and the driving route; as well as The output unit outputs the travel route to the agricultural machinery; The notification unit displays on the map shown by the display unit the locations where the rotation amount is determined by the rotation amount calculation unit to be insufficient; If the output unit does not have a rotation amount that the rotation amount calculation unit determines is insufficient, the output unit outputs the driving route to the automatic control unit.

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