Walking type working machine

Abstract

To provide a walking type working machine capable of providing appropriate work guidance to a worker.SOLUTION: A walking type working machine comprises: a machine body; wheels which are provided on the left and right sides of the machine body; a working device which is provided on the machine body; a gripping portion which is provided on the machine body and gripped by a worker; and a support device which assists the work by the working device on the basis of a traveling line in a work area. The support device includes: a setting unit which sets the traveling line; and a notification unit which acquires position information of the machine body and provides guidance to the worker for traveling along the traveling line on the basis of the position information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a walking work machine for performing work such as agricultural work in a field or the like.

Background Art

[0002] The walking type paddy field work machine disclosed in Patent Document 1 includes drive wheels on the left and right of the traveling machine body, and a control handle at the rear of the traveling machine body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology disclosed in Patent Document 1, since the operator himself / herself determines how to operate the work machine (paddy field work machine) while observing the work situation, the burden on the operator is large, and it is difficult to obtain the work result assumed by the operator. The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a walking work machine capable of providing appropriate work guidance to an operator.

Means for Solving the Problems

[0005] A walking work machine according to an aspect of the present invention includes a machine body, wheels provided on the left and right of the machine body, a work device provided on the machine body, a grip portion provided on the machine body and gripped by an operator, and a support device that supports the work by the work device based on a travel line in a work field. The support device includes a setting unit that sets the travel line, and a notification unit that acquires position information of the machine body and gives guidance to the operator for traveling along the travel line based on the position information.

[0006] The setting unit may define a driving reference line based on the position information and set the driving line along and parallel to the driving reference line. When the notification unit determines, based on the position information, that the aircraft deviates from the driving line by a deviation equal to or greater than a first predetermined value, the notification unit may provide guidance for the operation of the gripping unit to direct the aircraft toward the side opposite to the deviation direction.

[0007] The walking work machine includes a first left operating tool for operating the rotation of the left wheel and a first right operating tool for operating the rotation of the right wheel. When the notification unit determines, based on the position information, that the aircraft deviates from the driving line by a deviation equal to or greater than a second predetermined value, the notification unit may provide guidance for the operation of the first left operating tool or the first right operating tool to direct the aircraft toward the side opposite to the deviation direction.

[0008] The setting unit sets the start point and the end point of the driving route including the driving line, and the notification unit may provide guidance on the positional relationship between the aircraft and the start point and / or the end point based on the start point, the end point, and the position information. The walking work machine includes a second operating tool for operating the operation of the working device, and the notification unit may provide guidance for the operation of the second operating tool based on the driving line and the position information.

[0009] The walking work machine includes a second operating tool for operating the operation of the working device. The setting unit sets the start point and the end point of the driving line, and the notification unit may provide guidance for the operation of the second operating tool based on the start point or the end point and the position information. The walking work machine includes a second operating tool for operating the operation of the working device. The setting unit sets the start point and the end point of the driving route including the driving line, and the notification unit may provide guidance for the operation of the second operating tool based on the start point and / or the end point and the position information.

[0010] The setting unit sets the start point and the end point of the travel line, and the notification unit may provide guidance for an operation of lifting or lowering the working device to turn the aircraft based on the start point or the end point and the position information.

[0011] The walking-type working machine includes a first left operating tool for operating the rotation of the left wheel and a first right operating tool for operating the rotation of the right wheel. The setting unit sets the end point of the travel line, and the notification unit may provide guidance for an operation of the first left operating tool or the first right operating tool for turning the aircraft based on the end point of the travel line and the position information.

[0012] The setting unit sets the start point of the travel line, and the notification unit may provide guidance for an operation of the first left operating tool or the first right operating tool for turning the aircraft from the end point of the travel line to the start point of the next travel line to be traveled based on the end point of the travel line and the start point of the next travel line to be traveled and the position information.

[0013] The support device has a progress calculation unit that calculates the progress of work in the work site based on the position information, and the notification unit may provide guidance on the progress. The working device is any one of a seedling planting device for planting seedlings in a field, a tilling device for tilling the field, and a ridging device for forming ridges in the field. The notification unit may display information regarding guidance on a screen. The notification unit may output information regarding guidance as sound.

Advantages of the Invention

[0014] According to the above walking-type working machine, appropriate guidance for work can be provided to the operator.

Brief Description of the Drawings

[0015]

Figure 1

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Figure 20B

Mode for Carrying Out the Invention

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [First Embodiment] FIG. 1 is an overall view of a walking working machine 1. The walking working machine 1 includes a machine body 2, wheels 3 (left wheel 3L and right wheel 3R) provided on the left and right sides of the machine body 2, a working device 4 provided on the machine body 2, a handle (grip portion) 5 provided on the machine body 2 and gripped by an operator, and a support device 30 that supports the work by the working device 4 based on a travel line in the work field.

[0017] In this embodiment, a seedling planting device for planting seedlings in a field is exemplified as the working device 4. The working device 4 may be a tilling device for tilling the field or a ridging device for ridging the field. Further, the working device 4 (walking working machine 1) may be a device that performs work other than agricultural work at a work site other than the field.

[0018] Also, in the embodiment of the present invention, the direction in which the operator holding the handle 5 faces (the direction of arrow A1 in FIG. 1) is referred to as the front, and the direction of arrow A2 in the opposite direction is referred to as the rear. Also, the right side of the operator (the back side in FIG. 1) is referred to as the right, and the left side of the operator (the front side in FIG. 1) is referred to as the left. Further, the horizontal direction, which is the direction orthogonal to the front-rear direction of the machine body 2 (the direction of arrow A3 in FIG. 1), is referred to as the width direction.

[0019] The machine body 2 has an engine mount 6 and a transmission case 7 connected to the engine mount 6. The engine mount 6 supports the engine 8. Also, the machine body 2 is provided with a working device 4. The working device (seedling planting device) 4 has planting claws 9 and a seedling mounting table 10 at the rear. The output shaft of the engine 8 is interlocked and connected to the transmission devices of the traveling system and the working system in the transmission case 7 via a winding transmission body.

[0020] The working system transmission device in the transmission case 7 is interlocked and connected to the working device 4 via a transmission shaft inserted and supported in the central transmission case 11. The working system transmission device has a working clutch mechanism 20 (Figure 2). The working clutch mechanism 20 can switch between a state (clutch engaged state) of transmitting the power of the engine 8 to the working device 4 and a state (clutch disengaged state) of not transmitting the power of the engine 8 to the working device 4.

[0021] The traveling system transmission device in the transmission case 7 is interlocked and connected to drive shafts 12 (left drive shaft 12L and right drive shaft 12R) protruding outward to the left and right from the transmission case 7.

[0022] The walking type working machine 1 is provided with transmission cases 13 (left transmission case 13L and right transmission case 13R) that move up and down around the axis of the drive shafts 12 on the left and right sides of the machine body 2. The transmission cases 13 rotatably support the wheels 3. The wheels 3 rotate in conjunction with the drive shafts 12 via a winding transmission body provided in the transmission cases 13. Also, the transmission cases 13 are moved up and down by hydraulic lifting cylinders 14.

[0023] The traveling system transmission device is provided with a main clutch mechanism 21 (Fig. 2). The main clutch mechanism 21 can switch between a clutch-engaged state in which the power of the engine 8 is transmitted to the left and right wheels 3L and 3R, and a clutch-disengaged state in which the power of the engine 8 is not transmitted to the left and right wheels 3L and 3R. Further, the traveling system transmission device is provided with a steering clutch mechanism 22 (Fig. 2: left steering clutch mechanism 22L, right steering clutch mechanism 22R). The left steering clutch mechanism 22L can switch between a clutch-engaged state in which the power of the engine 8 is transmitted to the left wheel 3L, and a clutch-disengaged state in which the power of the engine 8 is not transmitted to the left wheel 3L. Similarly, the right steering clutch mechanism 22R can switch between a clutch-engaged state in which the power of the engine 8 is transmitted to the right wheel 3R, and a clutch-disengaged state in which the power of the engine 8 is not transmitted to the right wheel 3R.

[0024] As shown in Fig. 1, the walking type working machine 1 causes the wheels 3 to rotate on the plowing board Ga via the transmission case 13 to generate a driving force, and enables the float 15 provided on the machine body 2 to slide on the mud surface Gb, thereby enabling the machine to travel in paddy fields.

[0025] The walking type working machine 1 is provided with a position detection device 16. The position detection device 16 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or QZSS. That is, the position detection device 16 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude and longitude) of the walking type working machine 1, that is, the position of the machine body 2 based on the satellite signal. Note that the position detection device 16 only needs to be able to detect the position of the machine body 2 (walking type working machine 1), and is not limited to the above configuration.

[0026] The walking type working machine 1 is provided with a control unit 17 at the rear of the machine body 2. The control unit 17 mainly includes a pair of left and right support rods 18 standing upright in a rearward upward inclined state, a handle 5 installed and fixed at the upright ends of the support rods 18, and an operation box 19 in which a guide groove is formed.

[0027] Figure 2 shows a plan view of the control unit in the walking work machine 1. The operation box 19 is provided with a work clutch lever 23, and the work clutch lever 23 is connected and interlocked with the work clutch mechanism 20 via a wire 26. When the work clutch lever 23 is operated, the work clutch mechanism 20 switches between the clutch-engaged state and the clutch-disengaged state.

[0028] When the operator, for example, pushes down the work clutch lever 23, the work clutch mechanism 20 enters the clutch-engaged state, and the work device 4 starts operating (starts planting). When the operator, for example, pushes down the work clutch lever 23, the work clutch mechanism 20 enters the clutch-disengaged state, and the work device 4 stops operating (stops planting). Note that it is only necessary that the clutch-engaged state and the clutch-disengaged state of the work clutch mechanism 20 be switched by the operator's operation, and the operation method and the device for the operation are not limited to the above configuration.

[0029] The operation box 19 is also provided with a main clutch lever 24, and the main clutch lever 24 is linked and connected to the main clutch mechanism 21 via a wire 27. When the main clutch lever 24 is operated, the main clutch mechanism 21 switches between the clutch-engaged state and the clutch-disengaged state. When the operator, for example, pushes up the main clutch lever 24, the main clutch mechanism 21 enters the clutch-engaged state, and the walking work machine 1 starts running. When the operator, for example, pushes down the main clutch lever 24, the main clutch mechanism 21 enters the clutch-disengaged state, and the walking work machine 1 stops running. Note that it is only necessary that the clutch-engaged state and the clutch-disengaged state of the main clutch mechanism 21 be switched by the operator's operation, and the operation method and the device for the operation are not limited to the above configuration.

[0030] The steering wheel 5 has grip portions 29 (left grip portion 29L and right grip portion 29R) for the operator to hold at the left and right ends of the steering wheel 5, and steering clutch levers 25 (left steering clutch lever 25L and right steering clutch lever 25R). and,

[0031] The steering clutch levers 25 (left steering clutch lever 25L and right steering clutch lever 25R) are interlocked and connected to the steering clutch mechanisms 22 (left steering clutch mechanism 22L and right steering clutch mechanism 22R) via wires 28 (left wire 28L and left wire 28R). When the steering clutch lever 25 is operated, the steering clutch mechanism 22 switches between the clutch-engaged state and the clutch-disengaged state.

[0032] When an operator holds the left steering clutch lever 25L together with, for example, the left grip portion 29L, the left steering clutch mechanism 22L switches from the clutch-engaged state to the clutch-disengaged state, and the power transmission to the left wheel 3L is cut off. When the operator releases the left steering clutch lever 25L, the left steering clutch mechanism 22L switches from the clutch-disengaged state to the clutch-engaged state and transmits power to the left wheel 3L.

[0033] Similarly, when the operator holds the right steering clutch lever 25R together with the right grip portion 29R, the right steering clutch mechanism 22R switches from the clutch-engaged state to the clutch-disengaged state, and the power transmission to the right wheel 3R is cut off. When the operator releases the right steering clutch lever 25R, the right steering clutch mechanism 22R switches from the clutch-disengaged state to the clutch-engaged state and transmits power to the right wheel 3R.

[0034] The support device 30 is provided, for example, in the operation box 19 and supports the operation by the working device 4 based on the travel line in the work area (field). The support device 30 has a CPU, an electric and electronic circuit, a non-volatile memory, etc., and executes processing for supporting the operator. In the present embodiment, a tablet terminal is exemplified as the support device 30, and as the processing for supporting the operator, notification by screen display and / or voice output is executed.

[0035] FIG. 3 shows a functional block diagram of the walking work machine 1 (support device 30). The support device 30 includes a setting unit 31 that sets a travel line, a notification unit 33 that acquires position information of the machine body 2 and provides guidance to the operator for setting a travel line based on the position information, and a storage unit 34. Specifically, the setting unit 31 and the notification unit 33 are provided in the support device 30 and are composed of electrical and electronic components that operate based on a program or the like incorporated in the storage unit 34. The storage unit 34 is composed of a volatile or non-volatile memory.

[0036] The notification unit 33 includes, for example, a screen display unit 33a that displays information related to guidance on a screen. The notification unit 33 may also include, instead of or in addition to the screen display unit 33a, an audio output unit 33b that outputs information related to guidance as audio. In the present embodiment, a case where the notification unit 33 includes both the screen display unit 33a and the audio output unit 33b will be described as an example.

[0037] The position information of the machine body 2 is numerical information indicating the position of the machine body position P (FIG. 6A) acquired by the position information acquisition unit 32 using the position detection device 16. The position information may be latitude and longitude, or may be coordinate information indicating a relative position from a predetermined position in the work area. The position information of the machine body 2 may also be azimuth information indicating the azimuth of the machine body 2. The method for acquiring the position information and the arrangement of the position detection device are not limited.

[0038] The setting unit 31 defines a travel reference line L1 based on the position information of the machine body 2 and sets a travel line L2 parallel to the travel reference line L1. As shown in FIG. 4, when the machine body 2 (walking work machine 1) is traveling, the setting unit 31 defines a predetermined starting point Ps1 and a predetermined ending point Pg1, and uses the position information of the straight line passing through the starting point Ps1 and the ending point Pg1 as the travel reference line L1. The setting unit 31 stores the defined travel reference line L1 in the storage unit 34.

[0039] As shown in FIG. 2, the walking work machine 1 is provided with a registration switch 35. The registration switch 35 is an operable switch operating tool, for example, a push button switch. The registration switch 35 may be a swing-operable lever switch or an operable display image, and its configuration is not limited. As shown in FIG. 3, the registration switch 35 is connected to the support device 30 and can output an operation signal to the support device 30. The operator operates the registration switch 35 when defining the travel reference line L1. The setting unit 31 defines the start point Ps1 and the end point Pg1 based on the operation of the registration switch 35.

[0040] Specifically, when the operator operates the registration switch 35, the setting unit 31 acquires the start point Ps1 and the end point Pg1 of the travel reference line L1 in the field FM which is the work site, and defines the travel reference line L1 based on the acquired start point Ps1 and end point Pg1. Hereinafter, the relationship between the start point Ps1 and the end point Pg1 acquired by the setting unit 31 and the operation of the registration switch 35 will be described with reference to FIG. 5. When the operator operates the registration switch 35 (first operation), the setting unit 31 defines the position information of the current machine position P (machine body 2) acquired by the position information acquisition unit 32 as the start point Ps1 of the travel reference line L1. Further, when the operator operates the registration switch 35 (second operation) after the first operation, the setting unit 31 defines the position information of the current machine position P acquired by the position information acquisition unit 32 as the end point Pg1 of the travel reference line L1.

[0041] Specifically, when operating the registration switch 35 (first operation or second operation), the setting unit 31 associates and stores in the storage unit 34 the identification information indicating the start point Ps1 or the end point Pg1 and the position information of the machine position P at the time when the first operation or the second operation is performed, thereby registering the start point Ps1 or the end point Pg1 and defining the travel reference line L1. For example, the setting unit 31 stores the position information of the start point Ps1 and the end point Pg1 of the defined travel reference line L1 in the storage unit 34. When storing the travel reference line L1 in the storage unit 34, the setting unit 31 generates the first specific information which is the identification information of the travel reference line L1, and stores the first specific information in the storage unit 34 in association with the travel reference line L1.

[0042] Also, in the above-described embodiment, the storage unit 34 stores the position information of the start point Ps1 and the end point Pg1 of the travel reference line L1 as information indicating the travel reference line L1. However, the storage unit 34 may store data (azimuth or function) indicating the travel reference line L1 itself as the information. Note that even when the storage unit 34 stores data (azimuth or function) indicating the travel reference line L1 itself, it stores the position information of the start point Ps1 and the end point Pg1 of the defined travel reference line L1.

[0043] As shown in FIG. 4, the setting unit 31 sets a travel line L2 along parallel to the travel reference line L1 based on the travel reference line L1 stored in the storage unit 34. As shown in FIGS. 2 and 3, the walking working machine 1 includes a guidance switch 36. The guidance switch 36 is a switch operating tool that can be manually operated by an operator, for example, a push button switch. The guidance switch 36 may be a lever switch that can be swung or an operable display image, and its configuration is not limited. The guidance switch 36 is connected to the support device 30 and can output an operation signal to the support device 30. The operator operates the guidance switch 36.

[0044] The setting unit 31 defines the travel line L2 in response to an operation (third operation) of the guidance switch 36. When the guidance switch 36 is operated (third operation) with the travel reference line L1 stored in the storage unit 34, the setting unit 31 acquires the position information of the current machine position P where the guidance switch 36 is operated. The setting unit 31 uses the position information of the current machine position P as the start point Ps2, and sets the travel line L2 by shifting the travel reference line L1 in parallel based on the start point Ps2 and the start point Ps1 of the travel reference line L1.

[0045] The notification unit 33 provides guidance (straight travel guidance) for operating the steering wheel 5 to travel straight so that the walking work machine 1 follows the travel line L2. When the notification unit 33 determines, based on the position information of the machine body 2, that the machine body 2 (machine body position P) is deviated from the travel line L2 by a deviation of a first predetermined value or more, the notification unit 33 provides guidance for operating the steering wheel 5 to direct the machine body 2 toward the side opposite to the deviation direction.

[0046] Specifically, the notification unit 33 guides the operator to perform the following operations. As shown in FIG. 6A, when the deviation (position deviation) between the machine body 2 (machine body position P) and the travel line L2 is equal to or greater than the first predetermined value and the machine body position P is located on the left side of the travel line L2 (deviated to the left direction), the notification unit 33 guides the operator to turn the steering wheel so that the machine body 2 faces the right side, which is the side opposite to the deviation direction, i.e., the left side.

[0047] As shown in FIG. 6B, when the deviation (position deviation) between the machine body 2 (machine body position P) and the travel line L2 is equal to or greater than the first predetermined value and the machine body position P is located on the right side of the travel line L2 (deviated to the right direction), the notification unit 33 guides the operator to turn the steering wheel so that the machine body 2 faces the left side, which is the side opposite to the deviation direction, i.e., the right side.

[0048] In addition, in FIGS. 6A and 6B described above, examples of the position deviation between the machine body position P and the travel line L2 are shown, but guidance may also be provided based on the deviation between the orientation of the travel line L2 and the orientation of the machine body. That is, the first predetermined value, which is the threshold value for providing guidance for steering wheel operation, may be a value for the deviation of the orientation. FIG. 6C shows a state in which the orientation of the travel line L2 is different from the orientation (machine body orientation) F1 of the traveling direction (travel direction) of the walking work machine 1 (machine body 2). When the angle θ between the machine body orientation F1 with respect to the travel line L2 is equal to or greater than a predetermined value (the first predetermined value for the orientation deviation), the notification unit 33 guides the operator to turn the steering wheel 5 in the direction in which the angle θg becomes zero (the machine body orientation F1 coincides with the orientation of the travel line L2).

[0049] As described above, when the notification unit 33 determines, based on the position information of the aircraft body 2, that the aircraft body 2 (the position or orientation of the aircraft body 2) is deviated from the travel line L2 by a deviation of a first predetermined value or more, the notification unit 33 guides the operation of the steering wheel 5 for turning the aircraft body 2 toward the side opposite to the deviation direction.

[0050] Further, the notification unit 33 guides the operation of the steering clutch lever (straight travel guidance) for straight travel so that the walking type working machine 1 travels along the travel line L2. When the notification unit 33 determines, based on the position information of the aircraft body 2, that the aircraft body 2 (the aircraft body position P) is deviated from the travel line L2 by a deviation of a second predetermined value or more, the notification unit 33 guides the operation of the steering clutch lever 25 (the left steering clutch lever 25L and the right steering clutch lever 25R) for turning the aircraft body 2 toward the side opposite to the deviation direction.

[0051] Specifically, the notification unit 33 guides the operator to perform the following operations. When the deviation between the aircraft body 2 (the aircraft body position P) and the travel line L2 is equal to or greater than the second predetermined value and the aircraft body position P is located on the left side of the travel line L2 (deviated to the left direction), the notification unit 33 guides the operator to perform an operation of gripping the right steering clutch lever 25R (an operation of disengaging the clutch for the right wheel 3R). When the deviation between the aircraft body 2 (the aircraft body position P) and the travel line L2 is equal to or greater than the second predetermined value and the aircraft body position P is located on the right side of the travel line L2 (deviated to the right direction), the notification unit 33 guides the operator to perform an operation of gripping the left steering clutch lever 25L (an operation of disengaging the clutch for the left wheel 3L).

[0052] Note that the guidance regarding the operation of the steering clutch lever 25 as described above may be performed based on the deviation between the orientation of the travel line L2 and the orientation of the aircraft body. That is, the second predetermined value, which is a threshold value for performing the guidance of the steering clutch operation, may be a value regarding the deviation of the orientation.

[0053] ​As described above, when the notification unit 33 determines that the aircraft 2 (the position or orientation of the aircraft 2) deviates from the travel line L2 by a deviation equal to or greater than a second predetermined value based on the position information of the aircraft 2, the notification unit 33 guides the operation of either the left or right steering clutch lever to direct the aircraft 2 toward the side opposite to the deviation direction. Note that the first predetermined value, which is the criterion for guiding the operation of the steering wheel 5, and the second predetermined value, which is the criterion for guiding the operation of the steering clutch lever 25, may be the same value or different values.

[0054] Further, as shown in FIG. 6D, an operation guidance table T1 is stored in advance in the storage unit 34. The operation guidance table T1 includes the conditions of the aircraft position P and the travel line L2 and the guidance (notification message) corresponding to the conditions. The notification unit 33 refers to the condition items of the operation guidance table T1 based on the position information of the aircraft 2 and the travel line L2, and outputs the corresponding notification message on the screen and / or as an audio output. Note that the notification message only needs to be one that enables the operator to understand the operation for traveling the aircraft 2 along the travel line L2, and the language is not specified.

[0055] Hereinafter, with reference to FIGS. 5 and 7, the definition of the travel reference line L1 by the setting unit 31 will be described in detail. The operator moves the walking-type working machine 1 to a predetermined position in the farm field FM. As shown in FIGS. 5 and 7, the setting unit 31 checks whether the registration switch 35 has been operated (first operation) (S1). Specifically, the setting unit 31 checks whether the first operation has been performed based on the operation signal output from the registration switch 35 to the support device 30.

[0056] When the setting unit 31 confirms that the registration switch 35 has been operated (first operation) (S1, Yes), it defines the current position information of the machine body 2 acquired by the position detection device 16, that is, the latest position information, as the starting point Ps1 of the travel reference line L1 (S2). Specifically, when the setting unit 31 performs the first operation of the registration switch 35, it associates the identification information indicating that it is the starting point Ps1 with the position information of the machine body position P detected by the position detection device 16 at the time when the first operation is performed, and stores the same in the storage unit 34. Note that the operator operates the registration switch 35 (S1, Yes), and when the setting unit 31 defines the starting point Ps1 (S2), for example, the walking type working machine 1 is moved in the direction of A4.

[0057] When the setting unit 31 defines the starting point Ps1 of the travel reference line L1 (S2), it checks whether the registration switch 35 has been operated (second operation) (S3). Specifically, the setting unit 31 checks whether the second operation has been performed based on the operation signal output from the registration switch 35 to the support device 30.

[0058] When the setting unit 31 confirms that the registration switch 35 has been operated (second operation) (S3, Yes), it defines the current position information of the machine body 2 acquired by the position detection device 16, that is, the latest position information, as the end point Pg1 of the travel reference line L1 (S4). Specifically, when the setting unit 31 performs the second operation of the registration switch 35, it associates the identification information indicating that it is the end point Pg1 with the position information of the machine body position P detected by the position detection device 16 at the time when the second operation is performed, and stores the same in the storage unit 34. Thereby, the setting unit 31 can define the straight line or azimuth connecting the starting point Ps1 and the end point Pg1 as the travel reference line L1 by defining the starting point Ps1 and the end point Pg1 of the travel reference line L1.

[0059] Next, with reference to FIGS. 5 and 8, the setting of the travel line L2 based on the travel reference line L1 by the setting unit 31 will be described in detail. The operator moves (turns) the walking type working machine 1 to a predetermined position in the farm field FM. As shown in FIG. 8, the setting unit 31 stores the travel reference in the storage unit 34. Check whether the line L1 is stored (S11). When the setting unit 31 confirms that the travel reference line L1 is stored in the storage unit 34 (S11, Yes), the setting unit 31 acquires the travel reference line L1 from the storage unit 34 (S12). Specifically, the setting unit 31 acquires, as the travel reference line L1, position information of a straight line connecting the starting point Ps1 and the ending point Pg1, or data (azimuth or function) indicating the travel reference line L1 itself.

[0060] When the setting unit 31 acquires the travel reference line L1 from the storage unit 34 (S12), the setting unit 31 checks whether the guidance switch 36 has been operated (third operation) (S13). Specifically, the setting unit 31 checks whether the guidance switch 36 has been operated (third operation) based on an operation signal output from the guidance switch 36 to the support device 30.

[0061] When the setting unit 31 confirms that the guidance switch 36 has been operated (S13, Yes), the setting unit 31 defines the travel line L2 (S14). Specifically, the setting unit 31 acquires, for example, the position information of the current aircraft 2, i.e., the latest position information, as the starting point Ps2 of the travel line L2, and defines a travel line L2 that extends parallel to the travel reference line L1 from the starting point Ps2, or defines a travel line L2 that is based on the current aircraft position P and has the same azimuth as the travel reference line L1. In addition, the setting unit 31 holds the starting point Ps2 in the storage unit 34.

[0062] When the setting unit 31 defines the travel line L2 (S14), the notification unit 33 provides guidance (straight-ahead travel guidance) to the operator so that the walking work machine 1 travels straight along the travel line L2 (S15). Details of step S15 will be described later.

[0063] The setting unit 31 checks whether the guidance switch 36 has been operated (fourth operation) (S16). Specifically, the setting unit 31 checks whether the guidance switch 36 has been operated (fourth operation) based on an operation signal output from the guidance switch 36 to the support device 30.

[0064] When the setting unit 31 does not confirm that the guidance switch 36 has been operated (fourth operation) (S16, No), the notification unit 33 continues the straight-line travel guidance in step S15. When the setting unit 31 confirms that the guidance switch 36 has been operated (fourth operation) (S16, Yes), the notification unit 33 ends the straight-line travel guidance in step S15.

[0065] Subsequently, with reference to FIGS. 9A and 9B, the straight-line travel guidance in step S15 by the notification unit 33 will be described. FIG. 9A is a flowchart of the straight-line travel guidance by the operation of the steering wheel 5. The notification unit 33 checks whether the deviation between the position information of the aircraft position P acquired by the position information acquisition unit 32 and the travel line L2 is equal to or greater than a first predetermined value (S20).

[0066] When the notification unit 33 confirms that the deviation between the position information of the latest aircraft position P acquired by the position information acquisition unit 32 and the travel line L2 is equal to or greater than the first predetermined value (S20, Yes), it checks whether the aircraft position P is located on the left side of the travel line L2 (S21).

[0067] When the notification unit 33 confirms that the aircraft position P is located on the left side of the travel line L2 (S21, Yes), it performs guidance for an operation of turning the steering wheel 5 to the right (S22). Specifically, the notification unit 33 refers to the operation guidance table T1 and notifies the operator of a notification message corresponding to the conditions between the aircraft position P and the travel line L2. For example, as shown in FIG. 10A, the notification unit 33 (screen display unit 33a) displays a guidance screen G1 including a pop-up window Wa. On the pop-up window Wa, "Please turn the steering wheel to the right" is displayed.

[0068] The notification unit 33 determines that the aircraft position P is not located on the left side of the travel line L2, that is, the aircraft position When it is confirmed that P is located on the right side of the travel line L2 (S21, No), guidance for the operation of turning the steering wheel 5 to the left is provided (S23). Specifically, the notification unit 33 refers to the operation guidance table T1 and displays the notification message "Please turn the steering wheel to the left", which corresponds to the condition between the aircraft position P and the travel line L2, on the pop-up window Wa. Note that the notification in step S22 and step S23 may also be voice output by the voice output unit 33b. In this case, the voice output unit 33b outputs, for example, the voice "Please turn the steering wheel to the right".

[0069] Figure 9B is a flowchart of the straight-line travel guidance by the operation of the steering clutch lever 25. The notification unit 33 checks whether the deviation between the position information of the aircraft position P acquired by the position information acquisition unit 32 and the travel line L2 is equal to or greater than a second predetermined value (S24). When the notification unit 33 confirms that the deviation between the position information of the latest aircraft position P acquired by the position information acquisition unit 32 and the travel line L2 is equal to or greater than the second predetermined value (S24, Yes), it checks whether the aircraft position P is located on the left side of the travel line L2 (S25).

[0070] When the notification unit 33 confirms that the aircraft position P is located on the left side of the travel line L2 (S25, Yes), it provides guidance for the operation of the right steering clutch lever (S26). Specifically, the notification unit 33 refers to the operation guidance table T1 and notifies the operator of the notification message corresponding to the condition between the aircraft position P and the travel line L2. For example, as shown in FIG. 10B, the notification unit 33 (screen display unit 33a) displays a guidance screen G1 including the pop-up window Wa. On the pop-up window Wa, "Please hold the right clutch lever" is displayed.

[0071] When the notification unit 33 confirms that the aircraft position P is not located on the left side of the travel line L2, that is, when it is confirmed that the aircraft position P is located on the right side of the travel line L2 (S25, No), it guides the operation of the left steering clutch lever (S27). Specifically, the notification unit 33 refers to the operation guidance table T1 and displays a notification message (for example, "Please hold the left clutch lever") corresponding to the condition of the aircraft position P and the travel line L2 on the pop-up window Wa. Note that the notification in step S26 and step S27 may also be voice output by the voice output unit 33b.

[0072] Also, in the above embodiment, when the setting unit 31 defines the travel line L2 based on the starting point Ps2 (the current position of the aircraft 2) acquired when the guidance switch 36 is operated, it does not define a predetermined end point Ps2 including the starting point Ps2. That is, in the present embodiment, the end point Pg2 shown in FIG. 4 is not set in advance as the end point of the travel line L2, but is merely the position of the aircraft 2 at the time when the guidance switch 36 is operated (the fourth operation), which is consequently set as the end point Pg2. That is, in the present embodiment, the starting point Ps2 that is the starting point of the work along the travel line L2 and the end point Pg2 that is the end point of the work mean the position where the operator actually started the work and the position where the operator actually ended the work based on his or her own judgment.

[0073] However, when the setting unit 31 acquires the starting point Ps2 and defines the travel line L2, it may also define a predetermined end point Pg2 corresponding to the starting point Ps2. That is, when the setting unit 31 acquires the starting point Ps2, it may define a travel line L2 that extends from the starting point Ps2 parallel to the travel reference line L1 to a predetermined end point Pg2 defined corresponding to the starting point Ps2.

[0074] In addition, in the second embodiment described later, the start point and the end point of the travel line are set based on a travel route set in advance in the field, and when the aircraft 2 approaches the start point or the end point, guidance is provided regarding the positional relationship between the aircraft 2 and the start point or the end point. Although this configuration is included, it is also possible to adapt and execute the above-described straight-line travel guidance in an embodiment in which the start point and the end point of the travel line are set in advance. In this case, when the operator attempts to place the aircraft 2 at the start point or the end point of the travel line L2, the operator receives guidance regarding the positional relationship between the aircraft 2 and the start point or the end point, the raising and lowering of the aircraft 2, the turning direction, etc., and while the aircraft 2 is traveling for work along the travel line L2, the operator can receive the above-described straight-line travel guidance.

[0075] As a method for defining a predetermined end point Pg2 when defining the travel line L2, for example, an imaging device such as a camera or LiDAR capable of acquiring an image of the work site (field) is provided on the walking work machine 1, and when the setting unit 31 acquires the start point Ps2 and defines the travel line L2, any point on the travel line L2 may be set as the end point Pg2 in consideration of the image information acquired by the imaging device.

[0076] In addition, in the description of the second embodiment described later, in addition to the configuration in which guidance regarding the turning direction is provided based on the positional relationship between the end point of the travel route including the travel line and the aircraft 2 as described above, a configuration in which guidance regarding the turning direction of the aircraft 2 is provided based on an image acquired by the imaging device is described. The setting unit 31 may set a predetermined end point Pg2 of the travel line L2 as described above using the imaging device used in the said configuration in the second embodiment. In this case, during the work travel of the walking work machine 1 until it reaches the end point Pg2 set based on the image captured by the imaging device, the operator receives the above-described straight-line travel guidance, and when the aircraft 2 reaches the end point Pg2, the operator receives guidance regarding the turning direction determined based on the image captured by the imaging device.

[0077] [Second Embodiment] The setting unit 31 of the first embodiment sets the travel reference line L1 and the travel line L2 for straight travel in the field which is the workplace. However, in the second embodiment, in addition to the straight travel of the walking work machine 1, the setting unit 31 sets a travel line (travel route) Ln on the field, and the notification unit 33 gives guidance to the operator for traveling on the travel route Ln. Regarding the configuration similar to that of the first embodiment, the same reference numerals are given and the description thereof is omitted.

[0078] Hereinafter, the details of the definition of the travel route Ln by the setting unit 31 will be described. As shown in FIG. 11, the setting unit 31 includes a map registration unit 31a. The map registration unit 31a is composed of electrical and electronic components and the like that operate based on a program or the like incorporated in the support device 30. The map registration unit 31a registers in the storage unit 34 the contour of a predetermined field, for example, the positions corresponding to the contour of a predetermined field.

[0079] After the operator performs a predetermined operation on the registration switch 35 or / and the guidance switch 36 and then circulates the machine body 2 (walking work machine 1) in the field, the map registration unit 31a sets the field map MP1. The predetermined operation is, for example, an operation of pressing and holding the registration switch 35 and the guidance switch 36 simultaneously. Specifically, when the setting unit 31 confirms that the operation signal output from the registration switch 35 to the support device 30 and the operation signal output from the registration switch 35 to the support device 30 are output simultaneously, the map registration unit 31a starts registering the field map MP1.

[0080] The field map MP1 includes field identification information for identifying the field and a contour H1 indicating the shape of the field. The map registration unit 31a uses the travel trajectory obtained from a plurality of machine positions P when the machine body 2 circulates as the contour H1 and stores it in the storage unit 34 together with the field identification information. The above-described method for setting the field map is an example and is not limited. Also, the contour H1 indicating the shape of the field may be data indicated by a position (latitude, longitude), data indicated by coordinates (X-axis, Y-axis), or data indicated by other expressions.

[0081] The support device 30 can create a travel route Ln for a predetermined farm field. The support device 30 has a route creation unit 31b that creates the travel route Ln. The route creation unit 31b is an electrical and electronic component that operates based on a program or the like incorporated in the support device 30 and the like.

[0082] As shown in FIG. 12, when an operator performs a predetermined operation on the support device 30, the notification unit 33 (screen display unit 33a) displays a route setting screen G2. The route setting screen G2 has a farm field input unit 80 and a route display unit 85. The farm field input unit 80 can input farm field identification information such as a farm field name and a management number of the farm field. The route display unit 85 displays a farm field map MP1 showing a predetermined farm field corresponding to the farm field identification information input to the farm field input unit 80. That is, the route creation unit 31b requests the memory unit 34 for the farm field map MP1 corresponding to the farm field identification information input to the farm field input unit 80, and causes the route display unit 85 to display the farm field map MP1 transmitted from the memory unit 34. Further, the route display unit 85 displays the travel route Ln set on the farm field map MP1.

[0083] The route setting screen G2 has a headland width input unit 82 for inputting a headland width W1, a start point input unit 81 for inputting a start point PS, an end point input unit 83 for inputting an end point PG, and a working width input unit 88 for inputting a working width W2.

[0084] After the headland width W1 is input to the headland width input unit 82 and the decision button 99 is selected, the route creation unit 31b displays a working area A2 excluding the headland area A1 on the farm field map MP1 displayed on the route display unit 85. For example, the route creation unit 31b sets, as the working area A2, an area surrounded by a contour H2 formed by offsetting the contour H1 of the farm field map MP1 inward by a distance of the headland width W1. In the route setting screen G2, the working area A2 may be set on the farm field map MP1 by designating the position of the contour of the working area A2 using a pointer or the like on the farm field map MP1 displayed on the route display unit 85.

[0085] As shown in FIG. 12, the start point input unit 81 and the end point input unit 83 are set by designating a position in the work area A2 displayed on the route display unit 85 using a pointer or the like. The route creation unit 31b sets the travel route Ln such that the start point PS is the starting point and the end point PG is the arrival point.

[0086] Also, after the work width W2 is input to the work width input unit 88 and the decision button 99 is selected, the route creation unit 31b creates a plurality of unit work sections A3n (n: number of unit work sections) in a predetermined farm field, that is, the farm map MP1, based on the work width W2. Specifically, as shown in FIG. 13, the route creation unit 31b creates a plurality of unit work sections A3n for working with the work device 4 in the work area A2 by dividing the work area A2 in the vertical or horizontal direction by the work width W2. That is, the route creation unit 31b creates a plurality of unit work sections A3n having the same width as the work width W2 in the work area A2.

[0087] As described above, when the walking work machine 1 (work device 4) is caused to travel, the route creation unit 31b sets the minimum unit area in which the work is performed on the farm field by the work device 4 as the unit work section A3n.

[0088] When the setting of the unit work section A3 is completed, the route creation unit 31b creates the travel route Ln. The route creation unit 31b creates a plurality of travel routes as the travel route Ln on the farm map MP1. The travel route Ln includes a straight section Lna, a turning section Lnb, a connection point Pn connecting the straight section Lna and the turning section Lnb, a start point PS of the travel route Ln, and an end point PG of the travel route Ln. Hereinafter, the travel line may be described as the straight section Lna. As shown in FIG. 14, the route creation unit 31b creates a straight section (straight travel route) Lna (n = 1, 2, 3 ···). The route creation unit 31b creates a straight section Lna connecting both longitudinal ends in each of the plurality of unit work sections A3n (n = 1, 2, 3 ···).

[0089] In addition, the route creation unit 31b creates connection points Pn (n = 1, 2, 3 ···) at both ends of the straight section Lna. The route creation unit 31b associates position information (XPn, YPn) associated with the position (latitude, longitude) of the field map MP1 with the connection point Pn.

[0090] The route creation unit 31b creates a turning section (turning route) Lnb (n = 1, 2, 3 ···) where the walking work machine 1 turns. The route creation unit 31b creates a turning section Lnb on the arc connecting the connection points Pn of adjacent straight sections Lna among the plurality of straight sections Lna in the headland area A1.

[0091] The route creation unit 31b determines the traveling directions of the straight section Lna and the turning section Lnb. As shown in FIG. 14, the route creation unit 31b sets the traveling directions of the straight section Lna and the turning section Lnb in the direction where the previously set starting point PS is the starting point and the end point PG is the arrival point.

[0092] In addition, the route creation unit 31b sets the passing order of the straight section Lna, the turning section Lnb, and the connection point Pn along the determined traveling direction, and stores it in the storage unit 34. Specifically, for example, as shown in FIG. 15, the route creation unit 31b creates a list D1 in which identification information capable of identifying the straight section Lna, the turning section Lnb, and the connection point Pn is concatenated, and stores it in the storage unit 34. The connection point Pn includes position information (XPn, YPn) associated with the position (latitude, longitude) of the field map MP1.

[0093] The route creation unit 31b associates the operation type of the walking work machine 1 with the connection point Pn. The operation type is a starting point (work start point) for starting work in the field, an end point (work end point) for ending work in the field, a planting start point for starting the operation of the seedling planting device (working device) 4, a planting end point for stopping the operation of the seedling planting device (working device) 4, a turning start point for starting turning, and a turning end point for ending turning.

[0094] Specifically, the route creation unit 31b associates the work start point and the planting start point with the operation type item of the connection point P1 (start point PS), which is the head of the list D1, and stores it in the storage unit 34. The route creation unit 31b associates the turning start point and the planting end point with the operation type of the connection point Pn that is connected in the order of the straight section Lna, the connection point Pn, and the turning section Lnb, and stores it in the storage unit 34. The route creation unit 31b associates the turning end point and the planting start point with the operation type item of the connection point Pn that is connected in the order of the turning section Lnb, the connection point Pn, and the straight section Lna, and stores it in the storage unit 34. The route creation unit 31b associates the planting end point and the work end point with the operation type item of the connection point Pn (end point PG), which is the tail of the list D1, and stores it in the storage unit 34.

[0095] The route creation unit 31b associates the field map MP1 with the travel route Ln. Specifically, as shown in FIG. 15, the route creation unit 31b associates the identification information D2 of the field map MP1 with the previously created list D1 and stores it in the storage unit 34.

[0096] The route creation unit 31b calculates the planned work area and the planned required time. Specifically, the route creation unit 31b calculates the total area of the unit work sections A3n, and stores the result as the planned work area D3 in the storage unit 34. Further, the route creation unit 31b calculates the work time of the travel route Ln based on the total distance of the straight section Lna and the turning section Lnb and the predetermined speed of the walking type work machine 1, and stores it in the storage unit 34 as the planned required time D4. Note that the planned work area may be the planned travel distance. Through the above processing, the route creation unit 31b sets the travel route Ln and the start point PS and the end point PG of the travel route Ln.

[0097] Subsequently, the guidance for traveling the travel route Ln performed by the notification unit 33 will be described. When the operator performs a predetermined operation on the guidance switch 36, the notification unit 33 calls the travel route Ln stored in the storage unit 34 and provides guidance for traveling the travel route Ln This is performed for the operator. As described with reference to FIGS. 9A and 9B in the first embodiment, the notification unit 33 performs straight-line travel guidance for traveling on the straight section Lna included in the travel route Ln.

[0098] The setting unit 31 sets the start point PS and the end point PG of the travel route Ln including the travel line (straight section Lna). The notification unit 33 guides the positional relationship between the aircraft 2 and the start point PS and / or the end point PG based on the start point PS, the end point PG, and the position information of the aircraft 2. Specifically, the notification unit 33 guides the operator to operate toward the start point PS of the travel route Ln. When the aircraft 2 (aircraft position P) reaches the start point PS, the notification unit 33 guides that the aircraft 2 has reached the start point PS. Further, when the aircraft 2 (aircraft position P) reaches the end point PG, the notification unit 33 guides the operator that the aircraft 2 has reached the end point PG.

[0099] The notification unit 33 guides the operation of the work clutch lever 23 based on the travel route Ln and the position information of the aircraft 2. The setting unit 31 sets the start point and the end point of the travel line (straight section Lna). The notification unit 33 guides the operation of the work clutch lever 23 based on the start point or the end point and the position information of the aircraft 2.

[0100] Specifically, for example, as shown in FIG. 14, when the aircraft 2 (aircraft position P) reaches the connection point P1 that is the start point of the straight section L1a included in the travel route Ln, the notification unit 33 guides the operator to start the operation of the work device 4 (start planting) with the work clutch lever 23 in the clutch-engaged state. Further, when the aircraft 2 (aircraft position P) reaches the connection point P2 that is the end point of the straight section L1a, the notification unit 33 guides the operator to stop the operation of the work device 4 (stop planting) with the work clutch lever 23 in the clutch-disengaged state.

[0101] The setting unit 31 sets the start point PS and the end point PG of the travel route Ln including the travel line (straight travel section Lna), and the notification unit 33 guides the operation of the work clutch lever 23 based on the start point PS and / or the end point PG and the position information of the aircraft 2. Specifically, when the aircraft 2 (aircraft position P) reaches the start point PS, the notification unit 33 guides the operator to perform an operation of starting the operation of the work device 4 (starting planting) by setting the work clutch lever 23 to the clutch-on state. Further, when the aircraft 2 (aircraft position P) reaches the end point PG, the notification unit 33 guides the operator to perform an operation of stopping the operation of the work device 4 (stopping planting) by setting the work clutch lever 23 to the clutch-off state.

[0102] The notification unit 33 performs turning travel guidance for traveling the turning section Lnb included in the travel route Ln. In other words, the setting unit 31 sets the start point Pn and the end point Pn of the travel line (straight travel section Lna), and the notification unit 33 guides the operation of lifting or lowering the work device 4 to turn the aircraft 2 based on the start point Pn or the end point Pn and the position information of the aircraft 2. Specifically, when the turning section Lnb turns to the right, the notification unit 33 guides the operator to perform an operation of lifting the work device 4 and turning to the right. Further, when the turning section Lnb turns to the left, the notification unit 33 guides the operator to perform an operation of lifting the work device 4 and turning to the left. When the aircraft 2 reaches the end of the turning section Lnb, the notification unit 33 guides the operator to perform an operation of lowering the work device 4.

[0103] Further, the setting unit 31 sets the end point of the travel line (straight travel section Lna), and the notification unit 33 guides the operation of the left steering clutch lever 25L or the right steering clutch lever 25R for turning the aircraft 2 based on the end point of the travel line (straight travel section Lna) and the position information of the aircraft 2. Specifically, as shown in FIG. 14, the setting unit 31 sets the end point P2 of the straight travel section L1a of the travel line as the turning start point, and the notification unit 33 guides the operation of the left steering clutch lever 25L or the right steering clutch lever 25R for turning the aircraft 2 when the aircraft 2 reaches the turning start point P2 or the vicinity thereof.

[0104] Further, the setting unit 31 sets the starting point of the traveling line (straight traveling part Lna), and the notification unit 33, based on the end point of the traveling line (straight traveling part Lna) and the starting point of the next traveling line (straight traveling part Ln+1a) to be traveled, and the position information of the aircraft 2, guides the operation of the left steering clutch lever 25L or the right steering clutch lever 25R for turning the aircraft 2 from the end point of the traveling line to the starting point of the next traveling line to be traveled. Specifically, as shown in FIG. 14, the setting unit 31 sets the starting point (P3) of the traveling line (straight traveling part L2a) to be traveled next to the traveling line (straight traveling part L1a) as the turning end point, and when the aircraft 2 reaches the turning end point P3 or the vicinity thereof, the notification unit 33 guides the operation of the left steering clutch lever 25L or the right steering clutch lever 25R for turning the aircraft 2.

[0105] Specifically, when the aircraft 2 (aircraft position P) reaches the connection point Pn that is the starting point (turning start point) of the turning part Lnb included in the traveling route Ln, and the connection point Pn of the traveling end point (turning end point) of the turning part Lnb is on the right side, the notification unit 33 guides the operator to perform an operation of gripping the right steering clutch lever 25R to bring the aircraft 2 closer to the right side (an operation of disengaging the clutch for the right wheel 3R). Further, when the aircraft 2 (aircraft position P) reaches the connection point Pn that is the starting point (turning start point) of the turning part Lnb included in the traveling route Ln, and the connection point Pn of the traveling end point (turning end point) of the turning part Lnb is on the left side, the notification unit 33 guides the operator to perform an operation of gripping the left steering clutch lever 25L to bring the aircraft 2 closer to the left side (an operation of disengaging the clutch for the left wheel 3L).

[0106] As shown in FIG. 11, the support device 30 has a progress calculation unit 37 that calculates the progress status of the work in the work site (field) based on the position information of the aircraft 2, and the notification unit 33 guides the progress status. The progress calculation unit 37 guides the straight traveling part Lna and the turning part Lnb that the walking type working machine 1 has traveled on the traveling route Ln. Further, the progress calculation unit 37 calculates the area of the field where the work has been completed and the elapsed time since the start of the work, and guides the progress status of the work in the field.

[0107] Next, with reference to FIG. 16, the details of the guidance for traveling on the travel route Ln by the notification unit 33 will be described. Note that the notification by the screen display of the screen display unit 33a in this flow may be voice output by the voice output unit 33b, and the same applies to FIGS. 17, 18, and 19.

[0108] The notification unit 33 checks whether the travel route Ln is stored in the storage unit 34 (S30). When the notification unit 33 confirms that the travel route Ln is stored in the storage unit 34 (S30, Yes), the travel route Ln is acquired from the storage unit 34 (S31). When the notification unit 33 acquires the travel route from the storage unit 34 (S31), the setting unit 31 checks whether the guidance switch 36 has been operated (third operation) (S13).

[0109] When the setting unit 31 confirms that the guidance switch 36 has been operated (S13, Yes), the notification unit 33 acquires the position information of the aircraft 2 (aircraft position P) by the position information acquisition unit 32, and associates the identification information for identifying the aircraft position P, the position information of the aircraft position P, and the time when the position information of the aircraft position P was acquired, and stores them in the storage unit 34. (S32) The notification unit 33 checks whether the acquired current aircraft position P is the start point PS of the travel route Ln (S33). Specifically, the notification unit 33 determines that the current aircraft position P has reached the start point PS or the vicinity of the start point PS if the result of calculating the deviation between the position information of the aircraft position P and the position information of the start point PS is equal to or less than a predetermined value.

[0110] When the notification unit 33 confirms that the current aircraft position P is at the starting point PS (S33, Yes), it guides the start of the operation (S34). Specifically, the notification unit 33 notifies that the aircraft 2 has reached the starting point (operation start point). Also, by collating the conditions of the operation guidance table T1, it notifies the operator of the notification message corresponding to the case where the aircraft position P is at the starting point. For example, as shown in FIG. 20A, the notification unit 33 (screen display unit 33a) displays a guidance screen G1 including a pop-up window Wa. On the pop-up window Wa, "This is the starting point. Please press the planting clutch lever" is displayed.

[0111] When the notification unit 33 determines that the current aircraft position P is not at the starting point PS (S33, No), it guides the operator to perform an operation towards the starting point (S35) and returns to step S32. Specifically, the notification unit 33 defines an operation line that linearly connects the position information of the current aircraft position P and the position information of the starting point PS, and notifies the deviation between the orientation of the operation line and the orientation of the aircraft position P.

[0112] The notification unit 33 guides the operator to travel along the travel route Ln (S36). In this step S36, the notification unit 33 performs at least one or more of the straight-line travel guidance for traveling along the straight section Lna, the operation guidance for the operation of the seedling planting device (working device) 4, the turning travel guidance for traveling along the turning section Lnb, and the progress status guidance for the work in the field. Each guidance is executed in parallel. Details of each guidance will be described later.

[0113] The notification unit 33 checks whether the current aircraft position P is at the end point PG of the travel route Ln (S37). Specifically, the notification unit 33 determines that the current aircraft position P has reached the end point PG or the vicinity of the end point PG if the result of calculating the deviation between the position information of the aircraft position P and the position information of the end point PG is equal to or less than a predetermined value.

[0114] When the notification unit 33 determines that the current aircraft position P is at the end point PG (S37, Yes), it guides the end of the operation (S39). Specifically, the notification unit 33 notifies that the aircraft 2 has reached the end point (operation end point). The notification unit 33 (screen display unit 33a) collates the conditions of the operation guidance table T1, and when the aircraft position P is at the end point PG, it displays a notification message corresponding thereto (for example, "This is the end point. Please raise the planting clutch lever") in the pop-up window Wa to notify the operator.

[0115] When the notification unit 33 determines that the current aircraft position P is not at the end point PG (S37, No), the setting unit 31 checks whether the guidance switch 36 has been operated (fourth operation) (S16). When the setting unit 31 does not confirm that the guidance switch 36 has been operated (fourth operation) (S16, No), the notification unit 33 associates the identification information for identifying the aircraft position P, the position information of the aircraft position P, and the time when the position information of the aircraft position P was acquired, and stores them in the storage unit 34 (S38), and continues step S36. When the setting unit 31 confirms that the guidance switch 36 has been operated (fourth operation) (S16, Yes), the notification unit 33 guides the end of the operation (S39).

[0116] Next, with reference to FIG. 17, the operation guidance of the working device 4 performed by the notification unit 33 in step S36 will be described in detail. The notification unit 33 checks whether the acquired current aircraft position P is the planting start point (S40). The notification unit 33 calculates the deviation between the position information of the aircraft position P and the position information of the connection point Pn whose operation type is the planting start point, and if the result is equal to or less than a predetermined value, it determines that the current aircraft position P has reached the connection point Pn which is the planting start point or the vicinity of the connection point Pn.

[0117] When the notification unit 33 determines that the current aircraft position P has reached the connection point Pn which is the planting start point (S40, Yes), it guides the operating operation of the working device 4 (S41). Specifically The notification unit 33 collates the conditions of the operation guidance table T1 and notifies the operator of a notification message corresponding to the case where the aircraft position P is at the planting start point. For example, the notification unit 33 (screen display unit 33a) displays a pop-up window Wa "Please press down the planting clutch lever" on the guidance screen G1.

[0118] If the notification unit 33 determines that the current aircraft position P has not reached the connection point Pn which is the planting start point (S40, No), it checks whether the acquired current aircraft position P is the planting end point (S42). Specifically, the notification unit 33 calculates the deviation between the position information of the aircraft position P and the position information of the connection point Pn whose operation type is the planting end point, and if the result is less than or equal to a predetermined value, it determines that the current aircraft position P has reached the connection point Pn which is the planting end point or the vicinity of the connection point Pn.

[0119] If the notification unit 33 determines that the current aircraft position P has reached the connection point Pn which is the planting end point (S42, Yes), it guides the stop operation of the working device 4 (S43). Specifically, the notification unit 33 collates the conditions of the operation guidance table T1 and notifies the operator of a notification message corresponding to the case where the aircraft position P is at the planting end point. For example, the notification unit 33 (screen display unit 33a) displays a pop-up window Wa "Please raise the planting clutch lever" on the guidance screen G1. If the notification unit 33 determines that the current aircraft position P has not reached the connection point Pn which is the planting end point (S42, No), it ends the operation guidance of the working device 4 and returns to step S37 in FIG. 16.

[0120] Next, with reference to FIG. 18, the details of the turning travel guidance for the turning unit Lnb that the notification unit 33 performs in step S36 will be described. The notification unit 33 checks whether the acquired current aircraft position P is the turning start point (S50). The notification unit 33 calculates the deviation between the position information of the aircraft position P and the position information of the connection point Pn whose operation type is the turning start point, and if the result is less than or equal to a predetermined value, it determines that the current aircraft position P has reached the connection point Pn which is the turning start point or the vicinity of the connection point Pn.

[0121] When the notification unit 33 confirms that the current aircraft position P has reached the connection point Pn which is the turning start point (S50, Yes), it guides the operation of lifting the working device 4 (S51). Specifically, the notification unit 33 collates the conditions of the operation guidance table T1 and notifies the operator of the notification message corresponding to the case where the aircraft position P is at the turning start point. For example, the notification unit 33 (screen display unit 33a) displays a pop-up window Wa "Please lift the steering wheel" on the guidance screen G1.

[0122] Next, the notification unit 33 checks whether the position information of the connection point Pn of the next turning end point to be passed is on the right side of the current aircraft position P (S52). When the notification unit 33 confirms that the turning end point is located on the right side of the aircraft position P (S52, Yes), it guides the operation of the right steering clutch lever 25R (S53). Specifically, the notification unit 33 collates the conditions of the operation guidance table T1 and notifies the operator of the notification message corresponding to the case where the turning end point is on the right side of the aircraft position P. For example, the notification unit 33 (screen display unit 33a) displays a pop-up window Wa "Please hold the right clutch lever" on the guidance screen G1. In other words, the notification unit 33 guides the operation of approaching the aircraft 2 to the right side where the turning end point is located.

[0123] When the notification unit 33 confirms that the turning end point is not located on the right side of the aircraft position P, that is, the turning end point is located on the left side of the aircraft position P (S52, No), it guides the operation of the left steering clutch lever 25L (S54). Specifically, the notification unit 33 collates the conditions of the operation guidance table T1 and notifies the operator of the notification message corresponding to the case where the turning end point is on the left side of the aircraft position P. For example, as shown in FIG. 20B, the notification unit 33 (screen display unit 33a) displays a pop-up window Wa "Please hold the left clutch lever" on the guidance screen G1. In other words, the notification unit 33 guides the operation of approaching the aircraft 2 to the left side where the turning end point is located. the aircraft 2 approaches.

[0124] When the notification unit 33 determines that the current aircraft position P has not reached the connection point Pn which is the turning start point (S50, No), it checks whether the acquired current aircraft position P is the turning end point (S55). Specifically, the notification unit 33 calculates the deviation between the position information of the aircraft position P and the position information of the connection point Pn whose operation type is the turning end point. If the result is equal to or less than a predetermined value, it is determined that the current aircraft position P has reached the connection point Pn which is the turning end point or the vicinity of the connection point Pn.

[0125] When the notification unit 33 confirms that the current aircraft position P has reached the connection point Pn which is the turning end point (S55, Yes), it guides the operation of lowering the working device 4 (S56). Specifically, the notification unit 33 collates the conditions of the operation guidance table T1 and notifies the operator of the notification message corresponding to the case where the aircraft position P is at the turning end point. For example, the notification unit 33 (screen display unit 33a) displays a pop-up window Wa "Please release the clutch lever and lower the steering wheel" on the guidance screen G1. When the notification unit 33 determines that the current aircraft position P has not reached the connection point Pn which is the turning end point (S55, No), it ends the turning travel guidance and returns to step S37 in FIG. 16.

[0126] Next, with reference to FIG. 19, the details of the progress status guidance of the work in the field performed by the notification unit 33 in step S36 will be described. The notification unit 33 calculates the elapsed time since the start of the work (S60). For example, the notification unit 33 refers to the storage unit 34 and calculates the elapsed time from the difference between the time when the aircraft position P passed the work start point and the current time.

[0127] The notification unit 33 calculates the working area (S61). For example, the notification unit 33 calculates the area ΔS where the work has been completed from the travel distance calculated from the difference in the position information between the current aircraft position P and the previously acquired aircraft position P and the working width W2. The notification unit 33 integrates the area ΔS calculated since the start of the work to calculate the working area S where the work has been completed.

[0128] The notification unit 33 calculates the progress status (S62). For example, the notification unit 33 refers to the planned working area D3 associated with the traveling route Ln stored in the storage unit 34, and calculates the progress status based on the ratio between the planned working area D3 and the working area S. Note that the calculation methods for the elapsed time, the working area, and the progress status are just examples. For example, the working area may be calculated based on the traveling distance calculated from a sensor that measures the rotation speed of the wheel 3, and is not limited to the methods described above.

[0129] The notification unit 33 guides the progress status (S63). For example, as shown in FIGS. 20A and 20B, the notification unit 33 displays a pop-up window Wb on the guidance screen G1, and displays the elapsed time, the working area S, and the progress status on the pop-up window Wb.

[0130] Also, the notification unit 33 displays an icon 70 indicating the traveling position of the aircraft 2 and a curve 71 imitating the traveling route Ln on the progress display unit G3. The curve 71 includes a traveled route 71a and an untraveled route 71b that the aircraft 2 (the walking type working machine 1) has passed through. The traveled route 71a indicates straight sections Lna and Lnb between the starting point and the connection point Pn confirmed to have been reached by the aircraft 2. The traveled route 71a and the untraveled route 71b have different display forms. For example, as shown in FIG. 20B, the traveled route 71a is displayed as a dashed line, and the untraveled route 71b is displayed as a solid line. Note that the traveled route 71a and the untraveled route 71b may be displayed in a predetermined color, and the display form is not limited to the example described above. Thereby, the operator can grasp the progress status of the work in the field by checking the pop-up window Wb and the progress display unit G3.

[0131] In the present embodiment, the working device 4 is a seedling planting device, but may be a tilling device that tills the field or a ridging device that forms ridges in the field.

[0132] In addition, in this embodiment, the support device 30 sets the travel route (turn start point, turn end point) of the aircraft 2 before the start of work, and the notification unit 33 guides the operator in the left and right turning directions along the travel route. However, the identification of the turning direction may be performed by other methods.

[0133] For example, as shown in FIG. 5, the setting unit 31 calculates which side (left or right) the aircraft 2 has turned based on the position information of the end point Pg1 of the travel reference line L1 (the position where the operator performed the second operation on the registration switch 35) and the position information of the start point Ps2 of the travel line L2 (the position where the operator performed the third operation on the guidance switch 36), and stores the determination result in the storage unit 34. The notification unit 33 acquires the turning direction (right or left) by referring to the storage unit 34 at the end point Pg2 of the travel line L2 (the position where the operator performed the fourth operation on the guidance switch 36). The setting unit 31 sets the position shifted in the turning direction based on the current position information as the turn end point. The notification unit 33 guides the operator to perform an operation to turn the aircraft 2 toward the side approaching the turn end point.

[0134] Further, the setting unit 31 may estimate the working status in the farm field FM based on an image acquired from an imaging device such as a camera capable of imaging the surroundings of the aircraft 2 during travel in the farm field FM, and identify the direction (right turn, left turn) in which the aircraft 2 turns as the direction to travel (work) next in the direction where the work is not completed.

[0135] For example, the setting unit 31 checks from an image capturing the status of the farm fields on the left and right sides as viewed from the aircraft 2 during work travel whether the work (seedling planting) of the work device 4 has been completed on either the left or right side of the aircraft 2. The notification unit 33 guides an operation to turn in the direction where the work is not completed. Specifically, the setting unit 31 determines whether there is a feature amount that matches "seedlings planted on paddy fields" in the image. The direction in which an image without the feature amount of "seedlings planted on paddy fields" is captured is the side where the seedling planting work will be performed next. Therefore, the setting unit 31 estimates the direction of the image determined to have no feature amount of "seedlings planted on paddy fields" as the next turning direction. During turning, the notification unit 33 guides the operator to perform an operation in the estimated turning direction.

[0136] In this way, the setting unit 31 can estimate the turning direction of the aircraft 2 based on the situation of the aircraft 2 during flight. As a result, the notification unit 33 can guide the operator to operate in the estimated turning direction.

[0137] A preferred embodiment of the present invention provides a walking type working machine 1 described in the following items.

[0138] (Item 1) A walking type working machine 1 including an aircraft 2, wheels 3 (left wheel 3L and right wheel 3R) provided on the left and right of the aircraft 2, a working device 4 provided on the aircraft 2, and a gripping part 5 (handle 5) provided on the aircraft 2 and gripped by an operator, and an assisting device 30 that assists the work by the working device 4 based on a travel line L2 in a work site (field FM). The assisting device 30 includes a setting unit 31 that sets the travel line L2, and a notification unit 33 (a screen display unit 33a and an audio output unit 33b) that acquires position information of the aircraft 2 and gives guidance to the operator to travel along the travel line L2 based on the position information.

[0139] According to the walking type working machine 1 according to this Item 1, the walking type working machine 1 can perform appropriate work guidance. Further, the operator can easily perform appropriate work in the work site by operating the walking type working machine 1 according to the guidance. For example, if the working device 4 included in the walking type working machine 1 is a seedling planting device, seedlings can be planted in a uniform distribution throughout the field, leading to an increase in yield.

[0140] (Item 2) The setting unit 31 defines a travel reference line L1 based on the position information of the aircraft 2, The walking type working machine 1 according to Item 1 that sets a travel line L2 parallel to the travel reference line L1. According to the walking type working machine 1 according to this Item 2, guidance for the aircraft 2 to travel straight and parallel in the work site can be performed.

[0141] (Item 3) The notification unit 33 performs guidance on the operation of the gripping unit 5 for turning the machine body 2 toward the side opposite to the deviation direction when it is determined based on the position information of the machine body 2 that the machine body 2 is deviated from the travel line L2 by a deviation of a first predetermined value or more. The walking type working machine 1 described in Item 1 or 2.

[0142] According to the walking type working machine 1 according to this Item 3, when the position of the machine body 2 and the travel line L2 is deviated, it is possible to notify the operator of the operation for the machine body 2 to travel along the travel line L2. The operator can easily return the machine body 2 onto the travel line L2 by operating the gripping unit 5 according to the guidance. In other words, the operator can easily perform straight travel of the walking type working machine 1 at the work site.

[0143] (Item 4) A first left operating tool 25L (left steering clutch lever) for operating the rotation of the left wheel 3L and a first right operating tool 25R (right steering clutch lever) for operating the rotation of the right wheel 3R are provided. The notification unit 33 performs guidance on the operation of the first left operating tool 25L or the first right operating tool 25R for turning the machine body 2 toward the side opposite to the deviation direction when it is determined based on the position information of the machine body 2 that the machine body 2 is deviated from the travel line L2 by a deviation of a second predetermined value or more. The walking type working machine 1 described in any one of Items 1 to 3.

[0144] According to the walking type working machine 1 according to this Item 4, when the position of the machine body 2 and the travel line L2 is deviated, it is possible to notify the operator of the operation for the machine body 2 to travel along the travel line L2. The operator can easily return the machine body 2 onto the travel line L2 by operating the first left operating tool 25L and the first right operating tool 25R according to the guidance. In other words, the operator can easily perform straight travel of the walking type working machine 1 at the work site.

[0145] (Item 5) The setting unit 31 sets the start point PS and the end point PG of the travel route Ln including the travel line (straight-ahead section Lna). The notification unit 33 provides guidance on the positional relationship between the aircraft 2 and the start point PS and / or the end point PG based on the start point PS, the end point PG, and the position information for the walking type working machine 1 described in any one of Items 1 to 4. According to the walking type working machine 1 according to this Item 5, the operator can easily grasp whether the aircraft 2 operated by the operator is at the start point (departure point) and the end point (arrival point) for performing work in the field.

[0146] (Item 6) The walking type working machine 1 described in any one of Items 1 to 5 is provided with a second operating tool (working clutch lever) 23 for operating the operation of the working device 4, and the notification unit 33 provides guidance on the operation of the second operating tool 23 based on the travel line (straight-ahead section Lna) and the position information. According to the walking type working machine 1 according to this Item 6, the operator can easily perform the work of the working device 4 along the travel line at the work site by operating the second operating tool 23 in accordance with the guidance of the walking type working machine 1.

[0147] (Item 7) The walking type working machine 1 described in any one of Items 1 to 5 is provided with a second operating tool (working clutch lever) 23 for operating the operation of the working device 4. The setting unit 31 sets the start point and the end point of the travel line (straight-ahead section Lna), and the notification unit 33 provides guidance on the operation of the second operating tool 23 based on the start point, the end point, and the position information. That is, when the aircraft position P reaches the connection point Pn that is the start point of the straight-ahead section Lna, the notification unit 33 provides guidance to the operator on the operation to start the operation of the working device 4. Further, when the aircraft position P reaches the connection point Pn that is the end point of the straight-ahead section Lna, the notification unit 33 provides guidance to the operator on the operation to stop the operation of the working device 4. According to the walking type working machine 1 according to this Item 7, the operator can easily perform the work of the working device 4 along the travel line at the work site by operating the second operating tool 23 in accordance with the guidance of the walking type working machine 1.

[0148] (Item 8) A second operating tool (working clutch lever) 23 for operating the operation of the working device 4 is provided. The setting unit 31 sets a starting point PS and an ending point PG of a traveling route Ln including a traveling line (straight-ahead part Lna). The notification unit 33 gives guidance on the operation of the second operating tool 23 based on the starting point PS and / or the ending point PG and the position information. The walking type working machine 1 described in any one of Items 1 to 7. According to the walking type working machine 1 according to this Item 8, the operator can easily perform the work when the machine body 2 operated by the operator is at the starting point (departure point) and the ending point (arrival point) in the work area by operating the second operating tool 23 according to the guidance of the walking type working machine 1.

[0149] (Item 9) The setting unit 31 sets a starting point Pn and an ending point Pn of a traveling line (straight-ahead part Lna). The notification unit 33 gives guidance on the operation of lifting or lowering the working device 4 to turn the machine body 2 based on the starting point or the ending point and the position information. The walking type working machine 1 described in any one of Items 1 to 8. According to the walking type working machine 1 according to this Item 9, the operator can easily turn the machine body 2 along the traveling route Ln by operating according to the guidance of the walking type working machine 1.

[0150] (Item 10) The walking type working machine 1 includes a first left operating tool (left steering clutch lever) 25L for operating the left wheel 3L and a first right operating tool (right steering clutch lever) 25R for operating the right wheel 3R. The setting unit 31 sets the ending point of the traveling line (straight-ahead part Lna). The notification unit 33 gives guidance on the operation of the first left operating tool 25L or the first right operating tool 25R for turning the machine body 2 based on the ending point of the traveling line (straight-ahead part Lna) and the position information. The walking type working machine 1 described in any one of Items 1 to 9.

[0151] According to the walking type working machine 1 according to this Item 10, the operator can easily turn to the traveling line for the next work and move the machine body 2 by operating the first left operating tool or the first right operating tool according to the guidance of the walking type working machine 1.

[0152] (Item 11) The setting unit 31 sets the starting point of the travel line (straight section Lna), and the notification unit 33, based on the ending point of the travel line (straight section Lna) and the starting point of the next travel line (straight section Lna) to be traveled, and the position information, guides the operation of the first left operating tool 25L or the first right operating tool 25R for turning the aircraft 2 from the ending point of the travel line (straight section Lna) to the starting point of the next travel line (straight section Lna). The walking type working machine 1 described in Item 10. According to the walking type working machine 1 according to this Item 11, the operator can know which of the left and right operating tools should be operated to turn the aircraft 2 toward the next travel line, and can easily move the aircraft to the travel line for performing the next operation.

[0153] (Item 12) The support device 30 has a progress calculation unit 37 that calculates the progress status of the work in the work site based on the position information, and the notification unit 33 guides the progress status. The walking type working machine 1 described in any one of Items 1 to 11.

[0154] According to the walking type working machine 1 according to this Item 12, the operator can easily grasp the progress status of the work in the work site.

[0155] (Item 13) The working device 4 is any one of a seedling planting device for planting seedlings in a field, a tilling device for tilling the field, and a ridging device for forming ridges in the field. The walking type working machine 1 described in any one of Items 1 to 12. According to the walking type working machine 1 according to this Item 13, the operator can easily perform various operations (seedling planting, tilling, ridging) in the field along the travel line (travel route) by following the guidance of the walking type working machine 1.

[0156] (Item 14) The notification unit 33 (screen display unit 33a) displays information related to guidance on the screen. The walking type working machine 1 described in any one of Items 1 to 13. According to the walking type working machine 1 according to this Item 14, the operator can visually grasp the guidance of the support device 30.

[0157] (Item 15) The notification unit 33 (voice output unit 33b) outputs voice information regarding guidance for the walking work machine 1 described in any of Items 1 to 13. According to the walking work machine 1 related to this Item 15, an operator can grasp the guidance of the support device 30 by hearing.

[0158] As described above, the present invention has been explained. However, it should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims are included.

Explanation of Signs

[0159] 1: Walking work machine 2: Machine body 3: Wheels 3L: Left wheel 3R: Right wheel 4: Working device 5: Gripping part (handle) 25L: First left operating tool (left steering clutch lever) 25R: First right operating tool (right steering clutch lever) 23: Second operating tool (working clutch lever) 30: Support device 31: Setting unit 33: Notification unit 33a: Screen display unit 33b: Voice output unit 37: Progress calculation unit FM: Work site (field) L1: Travel reference line L2: Travel line Ln: Travel route PG: End point PS: Start point Lna: Straight section (travel line) Lnb: Turning section Pn: Connection point P2: Connection point (end point) P3: Connection point (start point)

Claims

1. A machine body, Wheels provided on the left and right sides of the machine body, A working device provided on the machine body, A gripping part provided on the machine body and gripped by an operator, And a support device that supports the work by the working device based on a travel line in a work site. The support device includes A setting part that sets the travel line, A notification part that acquires position information of the machine body and gives guidance to the operator for traveling along the travel line based on the position information. A walking type working machine having the above.

2. The walking type working machine according to claim 1, wherein the setting part defines a travel reference line based on the position information and sets the travel line along and parallel to the travel reference line.

3. The walking type working machine according to claim 1, wherein when the notification part determines, based on the position information, that the machine body is deviated from the travel line by a deviation of a first predetermined value or more, the notification part gives guidance on the operation of the gripping part for turning the machine body to the side opposite to the deviation direction.

4. A first left operating tool for operating the rotation of the left wheel, A first right operating tool for operating the rotation of the right wheel. The walking type working machine according to claim 1, wherein When the notification part determines, based on the position information, that the machine body is deviated from the travel line by a deviation of a second predetermined value or more, the notification part gives guidance on the operation of the first left operating tool or the first right operating tool for turning the machine body to the side opposite to the deviation direction.

5. The setting part sets a start point and an end point of a travel route including the travel line, The walking type working machine according to claim 1, wherein the notification part gives guidance on the positional relationship between the machine body and the start point and / or the end point based on the start point, the end point, and the position information.

6. A second operating tool for operating the operation of the working device is provided. The walking type working machine according to claim 1, wherein The notification part gives guidance on the operation of the second operating tool based on the travel line and the position information.

7. A second operating tool for operating the operation of the working device is provided. The walking type working machine according to claim 1, wherein The setting part sets a start point and an end point of the travel line, The notification part gives guidance on the operation of the second operating tool based on the start point or the end point and the position information.

8. A second operating tool for operating the operation of the working device is provided. ​ The setting unit sets the start point and the end point of the travel route including the travel line. The notification unit performs guidance for the operation of the second operating tool based on the start point and / or the end point and the position information. The walking work machine according to claim 1.

9. The setting unit sets the start point and the end point of the travel line. The notification unit performs guidance for an operation of lifting or lowering the work device to turn the machine body based on the start point or the end point and the position information. As described in claim 1 The walking work machine described.

10. A first left operating tool for operating the rotation of the left wheel; A first right operating tool for operating the rotation of the right wheel, and The setting unit sets the end point of the travel line. The notification unit performs guidance for the operation of the first left operating tool or the first right operating tool for turning the machine body based on the end point of the travel line and the position information. The walking work machine according to claim 1.

11. The setting unit sets the start point of the travel line. The notification unit turns the machine body from the end point of the travel line to the start point of the next travel line to be traveled based on the end point of the travel line and the start point of the next travel line to be traveled and the position information. Guidance for the operation of the first left operating tool or the first right operating tool is performed. The walking work machine according to claim 10.

12. The support device has a progress calculation unit that calculates the progress of work in the work site based on the position information. The notification unit performs guidance for the progress status. The walking work machine according to claim 1.

13. The work device is any one of a seedling planting device for planting seedlings in a field, a tilling device for tilling the field, and a ridging device for forming ridges in the field. The walking work machine according to claim 1.

14. The notification unit displays information regarding guidance on a screen. The walking work machine according to any one of claims 1 to 13.

15. The notification unit outputs information regarding guidance as voice. The walking work machine according to any one of claims 1 to 13.

Images