Work assistance apparatus, working machine, and work assistance method

Abstract

To appropriately move a working machine from an automatic traveling path where the working machine performs automatic traveling to a proper position in an appropriate direction.SOLUTION: A work assistance apparatus comprises: an input device which accepts the input of information settings; and a first control device which acquires information accepted by the input device and information about a field where an automatically drivable working machine performs work. The first control device defines guidance information, on the basis of the acquired information, including position information of a guidance point for guiding the working machine from an automatic traveling path in which the working machine performs the automatic traveling in the field to a predetermined position and azimuth information specifying the direction of the working machine at the guidance point, and outputs the guidance information to the working machine.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work support device, a work machine, and a work support method for supporting the work of a work machine such as a tractor.

Background Art

[0002] The work vehicle disclosed in Patent Document 1 includes a traveling vehicle body, a control unit that autonomously travels the traveling vehicle body along an autonomous work path set in a field, and a remote operation device that transmits an instruction to the control unit. While receiving a travel instruction from the remote operation device, the control unit remotely travels the traveling vehicle body along a preset remote operation travel path from the end stop position of the autonomous work path toward the edge of the field.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the work vehicle of Patent Document 1, by the operator operating the remote operation device, the traveling vehicle body moves to the edge of the field, so the distance for the operator to walk to and board the stopped work vehicle can be shortened.

[0005] However, the remote operation travel path is recorded in advance in the recording unit of the control unit, and depending on the state of the work vehicle, the direction in which the work vehicle traveling along the remote operation travel path stops may not be preferable with respect to the field.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a work support device, a work machine, and a work support method capable of moving the work machine from an automatic travel path on which the work machine performs automatic travel to an appropriate position in an appropriate direction.

Means for Solving the Problem

[0007] The work support device according to one aspect of the present invention includes an input device that receives an input of information setting, and a first control device that acquires the information received by the input device and information on a field where a work machine capable of autonomous driving performs work. The first control device defines guidance information including position information of a guidance point for guiding the work machine from an autonomous driving route on which the work machine performs the autonomous driving in the field to a predetermined position, and azimuth information specifying the direction of the work machine at the guidance point, and outputs the guidance information to the work machine.

[0008] The work machine according to one aspect of the present invention includes the above work support device and a second control device for controlling the autonomous driving. The first control device outputs the guidance information to the second control device.

[0009] The work support method according to one aspect of the present invention is a work support method for a work machine including a work support device having an input device that receives an input of information setting, and a first control device that acquires the information received by the input device and information on a field where work is performed, and a second control device for controlling autonomous driving. The method includes a step in which the first control device acquires information, a step in which the first control device defines guidance information including position information of a guidance point for guiding the work machine from an autonomous driving route on which the work machine performs the autonomous driving in the field to a predetermined position, and azimuth information specifying the direction of the work machine at the guidance point based on the acquired information, and a step in which the first control device outputs the guidance information to the second control device.

Advantages of the Invention

[0010] According to the above work support device, work machine, and work support method, the work machine can be moved from an autonomous driving route on which autonomous driving is performed to an appropriate position in an appropriate direction.

Brief Description of the Drawings

[0011]

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MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [First Embodiment] FIG. 1 shows a first embodiment of a support system 200 for a work machine 1 including the work machine 1 and a work support device 30. The work machine 1 is an automatically travelable work machine equipped with a work device 2 for performing work, and the work support device 30 supports the travel and work of the work machine 1. Hereinafter, the work machine 1 will be described.

[0013] Figure 2 is a side view of the working machine 1. As shown in Figure 2, in the case of the first embodiment, the working machine 1 is a tractor (working vehicle) equipped with a working device 2 (implement). Note that the working machine 1 is not limited to a tractor, and it may be any working machine that is equipped with a working device 2 for working in a field H or the like and is capable of automatic traveling, such as a rice transplanter or a combine harvester. Hereinafter, for the sake of explanation, the case where the working machine 1 is a tractor equipped with the working device 2 will be described as an example, and the description of other working machines will be omitted. Also, in the following description, the front side (in the direction of arrow AR1 in Figure 2) of the operator sitting in the driver's seat 10 of the working machine 1 is defined as the front, the rear side (in the direction of arrow AR2 in Figure 2) of the operator is defined as the rear, the left side of the operator is defined as the left (the front side in Figure 2), and the right side of the operator is defined as the right (the back side in Figure 2). Also, the horizontal direction, which is the direction orthogonal to the front-rear direction of the working machine 1, will be described as the width direction.

[0014] As shown in Figures 1 and 2, the working machine 1 includes a vehicle body 3 (machine body), a prime mover 4, a transmission 5, and a traveling device 7. The vehicle body 3 supports various devices (on-vehicle devices) provided on the working machine 1. For example, the vehicle body 3 is provided with a driver's seat 10 and a protection mechanism (such as a cab, a canopy, or a rollover protective structure (ROPS)) for protecting the driver's seat 10. Also, a working device 2 for working in the field H is connected to the vehicle body 3. Specifically, a connecting device 3a to which the working device 2 can be connected is provided at the front part and / or the rear part of the vehicle body 3.

[0015] In the example shown in Figure 2, the connecting device 3a is provided at the rear part of the vehicle body 3, and the working device 2 is connected to the rear part of the vehicle body 3. The connecting device 3a is composed of, for example, a three-point link mechanism and is a lifting device capable of lifting the connected working device 2. The connecting device 3a is operated by a hydraulic cylinder, which is a hydraulic actuator, to lift the connected working device 2. Therefore, by connecting the working device 2 to the connecting device 3a, the working device 2 is equipped on the working machine 1.

[0016] The working device 2 includes a tilling device for tilling, a ridging device for forming ridges, a fertilizer spreading device for spreading fertilizers, a pesticide spraying device for spraying and controlling pesticides, a seeding and spreading device for seeding operations, a transplanter for planting crops (seedlings), a harvesting device for harvesting crops, a mowing device for mowing forage grass, etc., a spreading device for spreading forage grass, etc., a grass gathering device for gathering forage grass, etc., a forming device for forming forage grass, etc. That is, the operator can select various types of working devices 2 as described above and connect the selected working device 2 to the connecting device 3a.

[0017] Note that the working device 2 may be operated by the power transmitted from the PTO shaft 5a described later, may have a hydraulic device driven by the hydraulic oil discharged by a hydraulic pump, and may be operated by the hydraulic device. Further, the working device 2 may have an electric motor driven by the supplied electric power and may be operated by the electric motor.

[0018] FIG. 3A and FIG. 3B are plan views of the working machine 1. As shown in FIG. 3A, there is a case where the central portion in the width direction of the working device 2 connected to the connecting device 3a coincides with the central portion in the width direction of the vehicle body 3 (working vehicle) in the width direction, and as shown in FIG. 3B, there is a case where the central portion in the width direction of the working device 2 connected to the connecting device 3a is offset (displaced) from the central portion in the width direction of the vehicle body 3 in the width direction.

[0019] As shown in FIG. 3A, when the central portion in the width direction of the working device 2 coincides with the central portion in the width direction of the vehicle body 3 in the width direction, the length a from one end in the width direction of the working device 2 (or the working range of the working device 2) to the central portion in the width direction is equal to the length b from the other end in the width direction of the working device 2 (or the working range of the working device 2) to the central portion in the width direction (a = b). As shown in FIG. 3B, when the central portion in the width direction of the working device 2 is offset from the central portion in the width direction of the vehicle body 3, the length a from one end in the width direction of the working device 2 (or the working range of the working device 2) to the central portion in the width direction is different from the length b from the other end in the width direction of the working device 2 (or the working range of the working device 2) to the central portion in the width direction (a ≠ b).

[0020] The prime mover 4 is a power source that outputs power. The prime mover 4 is an engine (e.g., a diesel engine) or an electric motor, etc.

[0021] The transmission 5 can switch the driving force of the traveling device 7 by shifting gears and can also switch between forward and reverse of the traveling device 7. The transmission 5 has a plurality of gears for transmitting power, a shifter for changing the connection of the gears, a clutch for switching the transmission and disconnection of power, etc. By means of the gears, shifter, clutch, etc., the driving force of the traveling device 7 is switched, and forward and reverse are switched. Thereby, the power generated by the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, so that the vehicle body 3 travels back and forth (forward AR1, backward AR2).

[0022] Also, as shown in FIG. 2, the transmission 5 is provided with a PTO shaft 5a for transmitting (outputting) the power output by the prime mover 4 to the outside. The transmission 5 can switch the driving and stopping of the PTO shaft 5a by means of a clutch, for example, and the working device 2 connected to the PTO shaft 5a is driven by the power transmitted from the PTO shaft 5a.

[0023] The traveling devices 7 are provided in a pair in the width direction and support the vehicle body 3 so that it can travel. The traveling devices 7 are provided with front wheels 7F and rear wheels 7R. In the example shown in FIG. 2, the front wheels 7F and the rear wheels 7R are of the tire type, but they may also be of the crawler type. Further, the working machine 1 is provided with a braking device 8 for braking the traveling device 7. The braking device 8 is a disc-type braking mechanism and can be switched between a braking state for braking and a release state for releasing the braking.

[0024] As shown in FIG. 1, the working machine 1 includes a second control device 20, a second storage device 21, an operation device 22, a steering device 23, a second communication device 24, a detection device 25, an internal sensor unit 26, and an external sensor unit 27.

[0025] The second control device 20 is a processing circuit including one or more processors. The second control device 20 is a controller of the working machine 1 and performs various controls related to the working machine 1. The second control device 20 is communicably connected to various in-vehicle devices (such as the prime mover 4 and the transmission 5, etc.) mounted on the working machine 1 via an in-vehicle network N such as CAN, ISOBUS, LIN, FlexRay, etc. For example, the second control device 20 performs control processing (operations) on the prime mover 4, the transmission 5, etc. based on a signal (operation signal) input from the operation device 22. For example, the second control device 20 controls the driving, stopping, and rotational speed of the prime mover 4. The second control device 20 controls the transmission 5 to switch the operating speed and operating direction of the traveling device 7, change the vehicle speed of the working machine 1 (the vehicle body 3), and switch between forward and reverse of the working machine 1. Further, when the working device 2 connected to the coupling device 3a is transmitted power from the PTO shaft 5a, the second control device 20 controls the transmission 5 to change the drive of the PTO shaft 5a, thereby controlling the working device 2.

[0026] In addition, when an electronic control unit is provided in the working device 2 connected to the coupling device 3a, the electronic control unit can communicate with the second control device 20, and the electronic control unit controls the operations of each part of the working device 2 based on the work command received from the second control device 20 to perform agricultural work.

[0027] The second control device 20 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by the one or more processors. The second control device 20 can read a software program from the one or more memories by the one or more processors and execute various processes based on the software program. Note that the second control device 20 may be able to execute various processes based on a predetermined logic circuit by the one or more processors.

[0028] The processor is, for example, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or the like.

[0029] Note that the second control device 20 may execute various processes by a plurality of physically separated processors cooperating with each other, and its configuration is not limited to the configuration described above. In such a case, the plurality of processors are respectively mounted on one or more computers physically separated from the working machine 1, and these processors are communicably connected by a network such as an in-vehicle network N, LAN, WAN, and the Internet.

[0030] Also, the software program may be stored in a recording medium (non-volatile memory such as HDD, SSD, CD-ROM, DVD-ROM) communicably connected to the second control device 20 or an external server device 100 connected via the above network, and may be configured to be installed from these into the above memory.

[0031] The second storage device 21 stores various information and data related to the working machine 1 in a readable and writable manner. The second storage device 21 includes a non-volatile memory or the like. The second storage device 21 is communicably connected to the second control device 20, and the second control device 20 can acquire various information and data stored in the second storage device 21.

[0032] The operating device 22 includes switches, levers, pedals, and other keys that can be operated by an operator seated in the driver's seat 10 or a worker near the working machine 1.

[0033] The steering device 23 includes a steering shaft and a power steering mechanism, and the steering shaft and the power The steering mechanism changes the direction of the front wheels 7F of the traveling device 7 to steer the vehicle body 3. The work machine 1 can perform manual steering in which the steering device 23 steers the vehicle body 3 in response to an operation of the steering wheel 23a, and automatic steering in which the second control device 20 steers the vehicle body 3 by controlling the steering device 23.

[0034] Also, in response to a manual operation of an accelerator member or a brake pedal provided in the operation device 22, the prime mover 4, the transmission 5, or the brake device 8 operates, so that the work machine 1 can travel and stop by the operation of the traveling device 7. Further, the second control device 20 controls the prime mover 4, the transmission 5, and the brake device 8, and the work machine 1 can automatically travel and stop by operating the traveling device 7.

[0035] That is, in the work machine 1, manual driving in which the operator performs a traveling operation and a steering operation, and automatic traveling (also referred to as automatic driving or autonomous driving) in which the second control device 20 automatically performs traveling and steering are possible. In the following description, a mode in which the work machine 1 is driven and steered manually by the operator is referred to as a manual mode, and a mode in which traveling and steering are automatically performed by the second control device 20 is referred to as an automatic mode. The work machine 1 (the second control device 20) can be switched between the manual mode and the automatic mode, for example, by a mode changeover switch provided in the operation device 22. Note that the second control device 20 may be automatically switchable between the manual mode and the automatic mode based on predetermined conditions.

[0036] The second communication device 24 is a communication interface of the work machine 1 and includes a communication circuit. The second control device 20 communicates with at least the work support device 30 wirelessly or by wire, and inputs and outputs (transmits and receives) various information, data, signals, and the like. Note that the second communication device 24 only needs to be able to communicate with the work support device 30, and may be able to communicate wirelessly with the server device 100 via a public communication network such as the Internet, or may be able to communicate with the work support device 30 via the server device 100.

[0037] The detection device 25 detects the vehicle body position VP and the vehicle body orientation VD of the working machine 1. The vehicle body position VP and the vehicle body orientation VD detected by the detection device 25 are respectively the current vehicle body position VP and the vehicle body orientation VD of the working machine 1. The vehicle body position VP is positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X-axis, Y-axis). The vehicle body position VP is, for example, the position of the detection device 25 itself or the position obtained by correcting the position of the detection device 25 itself to a predetermined position of the working machine 1. The detection device 25 detects the vehicle body position VP and the vehicle body orientation VD of the working machine 1 by means of a satellite positioning system.

[0038] In addition, the detection device 25 has an inertial measurement unit (IMU) including an acceleration sensor, a gyro sensor, etc. The detection device 25 detects the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3 by means of the inertial measurement unit. The second control device 20 automatically performs running and steering based on the vehicle body position VP detected by the detection device 25 and a pre-defined path for automatic running (automatic running path R1), and runs the working machine 1 in the automatic mode along the automatic running path R1. The automatic running path R1 is a path for automatically running the working machine 1, and is data indicated by latitude and longitude, or data indicated by coordinates (X-axis, Y-axis), etc. For example, the second control device 20 changes the running speed at the straight running part where the working machine 1 goes straight and the turning part where the working machine 1 turns in the automatic running path R1.

[0039] FIG. 4 is a diagram for explaining the automatic traveling of the work machine 1. As shown in the upper diagram of FIG. 4, when the vehicle body position VP is located on the automatic traveling route R1, the second control device 20 maintains the steering angle of the steering device 23. As shown in the middle diagram of FIG. 4, when the vehicle body position VP deviates from the automatic traveling route R1 (when the position deviation between the automatic traveling route R1 and the vehicle body position VP is equal to or greater than a predetermined value), the second control device 20 changes the steering angle of the steering device 23 so that the vehicle body position VP approaches the automatic traveling route R1 (so that the position deviation approaches zero). That is, when the vehicle body position VP deviates to the left of the automatic traveling route R1, the second control device 20 controls the steering device 23 to change the steering direction to the right. When the vehicle body position VP deviates to the right of the automatic traveling route R1, the second control device 20 controls the steering device 23 to change the steering direction to the left.

[0040] Note that, as shown in the lower diagram of FIG. 4, the second control device 20 may automatically perform traveling and steering based on the vehicle body orientation VD and the automatic traveling route R1, instead of or in addition to the vehicle body position VP detected by the detection device 25. In such a case, when the orientation deviation between the automatic traveling route R1 and the vehicle body orientation VD is less than a predetermined value, the second control device 20 maintains the steering angle of the steering device 23. When the orientation deviation is equal to or greater than a predetermined value, the second control device 20 changes the steering angle of the steering device 23 so that the orientation deviation approaches zero. When the second control device 20 in the automatic mode satisfies a predetermined condition such as when it acquires an instruction from the operator by the work support device 30 or when the work machine 1 arrives at the start point of the automatic traveling route R1, the second control device 20 starts automatic traveling along the automatic traveling route R1. Further, when the second control device 20 determines that the vehicle body position VP is located at the end of the automatic traveling route R1, the second control device 20 controls the prime mover 4, the transmission 5, and the brake device 8 to stop the traveling by the traveling device 7.

[0041]

[0042] In the above-described example, the detection device 25 detects the vehicle body position VP and the vehicle body orientation VD of the working machine 1 by means of a satellite positioning system. However, the vehicle body position VP and the vehicle body orientation VD of the working machine 1 may be detected by other methods without relying on the satellite positioning system. For example, based on the results sensed by each of the sensing devices described later and a field map M indicating the field H (a map showing the position information of the field H, data indicated by latitude and longitude, or data indicated by coordinates (X-axis, Y-axis), etc.), the detection device 25 may be configured to detect the current vehicle body position VP and the vehicle body orientation VD.

[0043] Also, in the above-described example, the case where the working machine 1 is provided with the detection device 25 has been described as an example. However, the detection device 25 only needs to be able to detect the vehicle body position VP and the vehicle body orientation VD of the working machine 1, and it does not necessarily have to be provided on the working machine 1. For example, the detection device 25 may be provided on another terminal (for example, a work support device 30 or a mobile terminal possessed by an operator) that can communicate with the second control device 20, and a configuration may be adopted in which the vehicle body position VP and the vehicle body orientation VD are transmitted from the other terminal to the second control device 20.

[0044] The internal sensor unit 26 includes a plurality of sensors installed in each part of the working machine 1. The plurality of sensors detect the state of the in-vehicle devices provided on the working machine 1. Therefore, the second control device 20 can detect an abnormality (error) occurring in the in-vehicle devices (for example, the working device 2, the prime mover 4, the transmission 5, the braking device 8, the traveling device 7, the coupling device 3a, the steering device 23, and the operating device 22, etc.) provided on the working machine 1, in other words, an abnormality occurring in the working machine 1, based on the output signals from the plurality of sensors of the internal sensor unit 26. When the second control device 20 cannot accurately read the output signal from the sensor or when the value indicated by the output signal indicates an abnormal numerical value (when the value indicated by the output signal is outside the normal range), the second control device 20 detects that an abnormality has occurred in the device to which the sensor is attached.

[0045] For example, when the internal sensor unit 26 includes a sensor (water temperature sensor) that detects the temperature of the cooling water of the prime mover 4, when the temperature of the cooling water is equal to or higher than a predetermined value based on the output signal from the water temperature sensor, the second control device 20 detects that an abnormality has occurred in the prime mover 4.

[0046] Also, when the internal sensor unit 26 includes a sensor (oil temperature sensor) that detects the temperature of the hydraulic oil, when the temperature of the hydraulic oil is equal to or higher than a predetermined value based on the output signal from the oil temperature sensor, the second control device 20 detects that an abnormality has occurred in the hydraulic system of the work machine 1.

[0047] In addition, when an abnormality occurs in the in-vehicle device provided in the work machine 1 and the degree of the abnormality is relatively high, the second control device 20 in the automatic mode controls the prime mover 4, the transmission 5, and the brake device 8 to stop the travel by the traveling device 7 (interrupt the automatic travel). For example, when the second control device 20 detects from the output signal of the water temperature sensor that the temperature of the cooling water is equal to or higher than a predetermined value (first threshold value) and less than a second threshold value, it detects that an abnormality has occurred in the prime mover 4 but the degree of the abnormality is relatively low. On the other hand, when the second control device 20 detects from the output signal of the water temperature sensor that the temperature of the cooling water is equal to or higher than the second threshold value, it detects that the degree of the abnormality is relatively high and stops the travel by the traveling device 7.

[0048] In the first embodiment, when an abnormality occurs in the in-vehicle device provided in the work machine 1 and the degree of the abnormality is relatively high, the second control device 20 in the automatic mode stops the travel by the traveling device 7. However, even when an abnormality occurs in the in-vehicle device provided in the work machine 1, the automatic travel may be continued regardless of the degree of the abnormality. Also, even when an abnormality occurs in the in-vehicle device provided in the work machine 1, the second control device 20 in the automatic mode may stop the travel by the traveling device 7 regardless of the degree of the abnormality. Further, the second control device 20 in the automatic mode may control the transmission 5 and the brake device 8 according to the degree of the abnormality and decrease the travel speed as the degree of the abnormality increases. travel may be stopped. Further, the second control device 20 in the automatic mode may control the transmission 5 and the brake device 8 according to the degree of the abnormality and decrease the travel speed as the degree of the abnormality increases.

[0049] Further, the second control device 20 can detect whether external replenishment is required for the in-vehicle device provided in the working machine 1 based on the output signals from the plurality of sensors of the internal sensor unit 26. When the prime mover 4 is an engine, the in-vehicle device provided in the working machine 1 and requiring external replenishment is, for example, a fuel tank 4a provided in the working machine 1 and storing fuel to be supplied to the engine. The internal sensor unit 26 includes a detection unit (fuel level sensor) that detects the remaining amount of the fuel tank 4a, and the second control device 20 detects that external fuel replenishment (refueling) is necessary when the remaining amount of fuel is less than a predetermined amount based on the output signal from the remaining amount sensor.

[0050] Also, when the prime mover 4 is an electric motor, the in-vehicle device provided in the working machine 1 and requiring external replenishment is, for example, a battery unit that is provided in the working machine 1 and stores electric power to be supplied to the electric motor. The internal sensor unit 26 includes a detection unit (for example, a BMU (battery management unit) that monitors and controls the battery unit) that detects the remaining capacity of the battery unit, and the second control device 20 detects that external power replenishment (charging) is necessary when the remaining capacity of the power is less than a predetermined amount based on the output signal from the detection unit.

[0051] Furthermore, the in-vehicle device provided in the working machine 1 and requiring external replenishment is a working device 2 that requires replenishment of materials (such as agricultural chemicals, fertilizers, seeds, and crops to be applied to the field H) from the outside, such as a fertilizer spreader, a pesticide sprayer, a seeding spreader, and a transplanter. The internal sensor unit 26 includes a detection unit (for example, an ultrasonic sensor that detects the height of the materials in the tank or hopper or a strain sensor that detects the weight of the materials) that detects the remaining amount of these materials, and the second control device 20 detects that external material replenishment (refilling) is necessary when the remaining amount of the materials is less than a predetermined amount based on the output signal from the detection unit.

[0052] Further, in the automatic mode, when the on-vehicle device provided in the working machine 1 requires external replenishment and the necessity (urgency) of such replenishment is relatively high, the second control device 20 controls the prime mover 4, the transmission 5, and the brake device 8 to stop the running by the traveling device 7 (interrupt the automatic running). For example, when the prime mover 4 is an engine as in the first embodiment, the second control device 20 detects that when the remaining amount of fuel is less than a predetermined value (third threshold) and equal to or more than the fourth threshold, replenishment of fuel is necessary but the urgency is relatively low, and when the remaining amount of fuel is less than the fourth threshold, it detects that the necessity of replenishment is relatively high.

[0053] In the first embodiment, the second control device 20 in the automatic mode stops the running by the traveling device 7 when the urgency of replenishment is relatively high. However, even when it is detected that external replenishment is necessary, the automatic running may be continued regardless of the urgency of replenishment. Further, the second control device 20 in the automatic mode may stop the running by the traveling device 7 regardless of the urgency of replenishment when it is detected that external replenishment is necessary. Furthermore, the second control device 20 may control the transmission 5 and the brake device 8 according to the urgency of replenishment to lower the running speed as the urgency increases.

[0054] The external sensor unit 27 includes a sensing device such as a laser sensor like LiDAR, an ultrasonic sensor, and a camera. Each sensing device is installed at the front, rear, and left and right sides of the vehicle body 3. Each sensing device detects the presence or absence of an object around the working machine 1 and the distance to the object. The second control device 20 controls the transmission 5, the brake device 8, the steering device 23, etc. based on the output signals from the respective sensing devices. For example, when an object exists in the traveling direction of the working machine 1 and the distance from the working machine 1 to the object is less than a predetermined value, the second control device 20 controls the transmission 5 and the brake device 8 to decelerate or stop the traveling device 7.

[0055] The work support device 30 is a portable information processing device (computer), such as a tablet-type terminal device or the like. The work support device 30 is mounted, for example, around the driver's seat 10 of the work machine 1 and is detachable from the work machine 1. In other words, the work machine 1 is equipped with a detachable work support device 30. When the operator boards the work machine 1 in manual mode and manually operates the work machine 1, the work support device 30 is attached to the work machine 1. On the other hand, when the work machine 1 in automatic mode performs automatic travel and the operator does not board the work machine 1, it is preferable for the operator to remove the work support device 30 from the work machine 1 and carry it with him / her.

[0056] As shown in FIG. 1, the work support device 30 includes a first control device 31, an input device 32, a first storage device 33, and a first communication device 34. The first control device 31 is a processing circuit including one or more processors. The first control device 31 is a controller of the work support device 30 and performs various controls related to the work support device 30. The first control device 31 includes one or more memories, various analog circuits, various digital circuits, and the like. The one or more memories store (memorize) software programs and various data to be executed by the one or more processors. The first control device 31 can read a software program from the one or more memories by the one or more processors and execute various processes based on the software program.

[0057] Note that, as described for the second control device 20, the first control device 31 may execute various processes based on a predetermined logic circuit by one or more processors. Also, as described for the second control device 20, the first control device 31 may execute various processes by a plurality of physically separated processors cooperating with each other, and its configuration is not limited to the configuration described above.

[0058] The input device 32 is an input interface that accepts the input of information settings. In the first embodiment, the input device 32 is a display operation device that displays various information on the screen and accepts operations on the information displayed on the screen. The input device 32 is a touch panel display. When an operator performs a predetermined operation on the input device 32, the input of various information settings or instructions is accepted. That is, the input device 32 is a user interface and also serves as the display device and output device (output interface) of the work support device 30. The settings of the information received by the input device 32 are acquired by the first control device 31, and the first control device 31 uses them for various processes or stores them in the first storage device 33. The control of the screen of the input device 32 is performed by the first control device 31.

[0059] Note that, although a display operation device that is a touch panel display has been described as an example of the input device 32, the input device 32 only needs to be able to accept at least the input of information settings, and is not limited to a display operation device, and may be configured independently of the display device and output device that display various information.

[0060] The first storage device 33 stores various information and data in a readable and writable manner. The first storage device 33 includes a non-volatile memory and the like. The first storage device 33 is communicably connected to the first control device 31, and the first control device 31 can acquire various information and data stored in the first storage device 33.

[0061] The first communication device 34 is a communication interface of the work support device 30 and includes a communication circuit. The first communication device 34 can communicate with the second communication device 24 of the work machine 1 wirelessly or via a wire. In the first embodiment, the first communication device 34 can communicate with the second communication device 24 wirelessly. For example, it is a communication device that performs wireless communication according to Bluetooth (registered trademark) Low Energy in the Bluetooth (registered trademark) specification of the communication standard IEEE802.15.1 series, WiFi (registered trademark) of the communication standard IEEE802.11.n series, or the like. Thereby, the first control device 31 communicates with the second control device 20 of the work machine 1 via the first communication device 34 and the second communication device 24. Further, the first communication device 34 may be able to communicate wirelessly with the server device 100 via a public communication network such as the Internet. Thereby, the first communication device 34 can input / output (transmit / receive) information, data, signals, etc. to / from the work machine 1 and the server device 100. Note that the first communication device 34 may be able to communicate with the work machine 1 via the server device 100.

[0062] The first control device 31 acquires at least the information received by the input device 32 for setting input and the information (field information) of the field H where the work machine 1 performs work. Specifically, for example, when the operator operates the input device 32, the input device 32 receives the input of setting various information, and the first control device 31 acquires the information. Further, when various information for which setting input has been made by another information processing device is stored in the server device 100, the first control device 31 may acquire this information from the server device 100 via the first communication device 34. The first control device 31 stores these various information in the first storage device 33 or the memory of the first control device 31.

[0063] The field information includes information indicating the identification information, location, area of field H, and the field map M showing field H, etc. The field information is information defined in association with each field H. In the field map M, the contour OL of field H and the position information of various regions set in field H are shown. The location, area, and field map M of field H are defined based on map information acquired from an external device such as the server device 100 by the first control device 31 or an information processing device different from the first control device 31, or defined based on a plurality of vehicle body positions VP periodically detected by the detection device 25 while the work machine 1 is traveling along the ridge of field H. Further, the field information may include a prohibited area BE where the travel of the work machine 1 is prohibited, the use of field H, the crops to be cultivated, and the cultivation plan (schedule) of the crops, etc. The prohibited area BE is, for example, the position information of an area in field H where the work machine 1 cannot travel, and is, for example, the position information of obstacles such as trees and rocks in field H or the position information of an area arbitrarily set by the operator to restrict the entry of the work machine 1.

[0064] In addition to the field information, the first control device 31 acquires work information related to agricultural work in field H, machine information related to the work machine 1, and device information related to the work device 2.

[0065] The work information includes information related to the agricultural work planned to be carried out in field H. The work information is information defined in association with each field H. The work information includes, for example, work conditions, the planned use of the work machine 1 and the work device 2, and the work plan, etc. Further, as work conditions, the work information may include the number of headlands (headland number) to be formed in field H and the lap width by which the work device 2 overlaps in adjacent work. Note that the headland is, for example, an area where the work machine 1 turns and is defined at the outer edge of field H (around the ridge, etc.). Whether to cultivate crops in the headland is at the discretion of the farmer.

[0066] The machine information includes information indicating the identification information, type, dimensions, specifications, etc. of the working machine 1. Specifically, the machine information is information regarding the working machine 1 and excludes information regarding the working device 2. The machine information may also be stored in the memory of the second control device 20 of the working machine 1.

[0067] The device information includes information indicating the identification information, type, dimensions, specifications, working width (lateral width of the working range), etc. of the working device 2. In addition to the above, the device information may include the offset amount of the central portion of the working device 2 in the width direction with respect to the central portion of the vehicle body 3 in the width direction. Note that a memory may be provided in the working device 2, and the device information may also be stored in the memory.

[0068] Further, the first control device 31 acquires state information indicating the state of the working machine 1. The state information includes information detected by the detection device 25 provided on the working machine 1, and includes at least the vehicle body position VP detected by the detection device 25. In the first embodiment, the state information includes the vehicle body orientation VD in addition to the vehicle body position VP. The first control device 31 acquires the state information from the second control device 20 at predetermined time intervals via the first communication device 34 and the second communication device 24. Thereby, the first control device 31 can acquire the vehicle body position VP and the vehicle body orientation VD of the working machine 1. The first control device 31 associates the identification information of the working machine 1 with the vehicle body position VP of the working machine 1 and stores it in the first storage device 33 for a predetermined period. Thereby, the first control device 31 can detect the movement locus of the working machine 1.

[0069] Note that the state information may include the information detected by the internal sensor unit 26 and the external sensor unit 27 in addition to the information detected by the detection device 25. In such a case, the first control device 31 can detect the state and working conditions (progress of work) of the working machine 1 in more detail based on the information included in the state information. For example, the first control device 31 is based on the vehicle body position VP, device information, information on the lifting position of the coupling device 3a, and operation information of the working device 2 (drive information of the PTO shaft 5a and control information of the hydraulic oil supplied to the working device 2) included in the state information. etc., the results of work performed by the working machine 1 (the position information of the worked area where the work by the working device 2 has been completed report, hereinafter sometimes referred to as the worked area CE) can be detected.

[0070] For example, when the working device 2 is a tilling device, the first control device 31 acquires the working width of the tilling device from the device information, and based on the movement trajectory of the working machine 1 based on the vehicle body position VP, the working width, the lifting position of the coupling device 3a (whether the tilling device is in contact with the ground), and the drive information of the PTO shaft 5a, the area tilled by the tilling device can be detected. Further, when the working device 2 is a spraying device, the first control device 31 acquires the working width (spraying width) of the spraying device from the device information, and based on the movement trajectory of the working machine 1 based on the vehicle body position VP, the spraying width, and the drive information of the PTO shaft 5a, the area sprayed by the spraying device can be specified. Note that the first control device 31 stores the detected worked area CE in the first storage device 33 in association with the field H and the working date and time.

[0071] The first control device 31 (work support device 30) executes a support process for supporting the traveling and work of the working machine 1 based on the acquired information. Specifically, the first control device 31 has a route generation unit 31a. The route generation unit 31a is, for example, a software program installed in the first control device 31. As another example, the route generation unit 31a may be configured by hardware such as semiconductor elements and electric circuits and provided in the work support device 30.

[0072] The route generation unit 31a generates a route R1 (automatic driving route) along which the work machine 1 performs automatic driving (first support process). Specifically, the route generation unit 31a generates, as the automatic driving route R1, a virtual route along which the work machine 1 performs automatic driving while the work implement 2 performs agricultural work. The route generation unit 31a generates the automatic driving route R1 while simulating the agricultural work by the work implement 2 and the automatic driving by the work machine 1.

[0073] FIG. 5A is a flowchart showing an example of the process of generating the automatic driving route R1 executed by the work support device 30. Each step in FIG. 5A is executed by the first control device 31 according to a software program stored in the memory or the first storage device 33.

[0074] For example, by the operator operating the input device 32, the field H, the agricultural work, the work machine 1 to be used, and the work implement 2 are specified (input), and an instruction to generate the automatic driving route R1 is given (S1). The route generation unit 31a acquires the field information, work information, machine information of the work machine 1, and device information of the work implement 2 corresponding to the specified field H from at least one of the memory and the storage device 53, or from the server device 100 by the first communication device 34 (S2). That is, the first control device 31 acquires the field information, work information, machine information, and device information from at least one of the memory of the work support device 30 and the memory of the server device 100.

[0075] Next, the route generation unit 31a specifies the working width and the offset amount of the work implement 2 from the device information of the work implement 2 (S3). The route generation unit 31a generates the automatic driving route R1 based on the acquired information (S4). At this time, the route generation unit 31a generates the automatic driving route R1 with the goals of (P1) the work machine 1 avoiding traveling in the worked area CE as much as possible, (P2) avoiding the setting of the turning part where the turning operation of the work machine 1 is required as much as possible, (P3) minimizing the non-working distance, which is the distance that the work machine 1 travels without performing the work by the work implement 2, etc. Note that these goals are just examples, and at least one of them is emphasized. Also, there may be cases where goals other than the above (P1) to (P3) are emphasized.

[0076] FIG. 6 is a diagram showing an example of the automatic travel route R1 generated on the field map M. As shown in FIG. 6, for example, as the automatic travel route R1, the route generation unit 31a generates a headland route LO for performing work on the headland (headland area A1) of the field H and an inner route LU for performing work on the inside (inner area A2) of the headland area A1. In the example shown in FIG. 6, the headlands are generated so as to extend from the outline OL of the field H toward the inside of the field H, and the headland route LO includes one or a plurality of travel lines (circular lines LO1) along which the work machine 1 circulates in the headland area A1. Further, the number of circular lines LO1 of the headland route LO corresponds to the number of headlands (number of headlands) formed in the field H. The route generation unit 31a generates the headland route LO on the field map M included in the field information based on the number of headlands included in the acquired work information, the working width included in the device information, and the relative position.

[0077] For example, inside the field H, the route generation unit 31a sequentially shifts by a predetermined width W1 (for example, a width calculated from the working width and the lap width) from the outermost circular line LO1 (reference line), and generates the number of circular lines LO1 corresponding to the number of headlands. That is, the separation width between adjacent circular lines LO1 is the predetermined width W1. Then, the route generation unit 31a generates the headland area A1 and the inner area A2 based on the innermost circular line LO1 and the working width. After generating the headland area A1 and the inner area A2, the route generation unit 31a generates the inner route LU. Specifically, as the inner route LU, the route generation unit 31a generates a plurality of straight lines LU1 that connect both longitudinal ends and are separated from each other by a predetermined width W1, and generates a curved line LU2 that connects adjacent straight lines LU1 in the headland area A1. That is, in the example shown in FIG. 6, the headland route LO is a route along which the work machine 1 circulates around the headland (headland area A1) of the field H, and the inner route LU is a route along which the work machine 1 reciprocates inside the headland (inner area A2).

[0078] After generating the headland area A1 and the inner area A2, the route generation unit 31a generates the inner route LU. Specifically, as the inner route LU, the route generation unit 31a generates a plurality of straight lines LU1 that connect both longitudinal ends and are separated from each other by a predetermined width W1, and generates a curved line LU2 that connects adjacent straight lines LU1 in the headland area A1. That is, in the example shown in FIG. 6, the headland route LO is a route along which the work machine 1 circulates around the headland (headland area A1) of the field H, and the inner route LU is a route along which the work machine 1 reciprocates inside the headland (inner area A2).

[0079] Note that the automatic driving route R1 generated by the above-described route generation unit 31a and its generation method are merely examples, and the automatic driving route R1 and its generation method are not limited to the above-described examples. For example, when working is not performed on the headland, the route generation unit 31a generates, as the automatic driving route R1 that does not perform working on the headland, the automatic driving route R1 that is only the inner route LU without the headland route LO. Further, although the route generation unit 31a generates the headland area A1 and the inner area A2 based on the innermost turning line LO1 and the predetermined width W1, the position information of the headland area A1 and the inner area A2 may be included in the farm field information in advance.

[0080] As shown in FIG. 1, the first control device 31 has an information definition unit 31b. The information definition unit 31b is, for example, a software program installed in the first control device 31. As another example, the information definition unit 31b may be configured by hardware such as a semiconductor element and an electric circuit and provided in the work support device 30.

[0081] Based on the information acquired by the first control device 31, the information definition unit 31b defines guidance information for guiding the work machine 1 from the automatic driving route R1 on which the work machine 1 automatically drives in the farm field H to a predetermined position (guidance point IP). The guidance point IP is a position that is at least different from the points on the automatic driving route R1, and the work machine 1 is guided to a position different from the points on the automatic driving route R1 by the guidance information. FIG. 7 is a diagram for explaining the automatic driving route R1 and the guidance point IP. As shown in FIG. 7, the work machine 1 moves (is guided) from the automatic driving route R1 to the guidance point IP based on the guidance information.

[0082] FIG. 5B is a flowchart showing the definition of guidance information by the work support device 30. Each step in FIG. 5B is executed by the first control device 31 and the second control device 20 according to a software program. As shown in FIG. 5B, the first control device 31 acquires information (S11), the first control device 31 (information definition unit 31b) defines guidance information based on the acquired information (S12), and the first control device 31 outputs the guidance information to the second control device 20 (S13). The guidance information is defined for each field H. When a predetermined condition (guidance condition) is satisfied, the first control device 31 outputs the guidance information to the second control device 20 (working machine 1) via the first communication device 34 and the second communication device 24. The information definition unit 31b, the second control device 20 automatically performs traveling and steering based on the guidance information (S14). Specifically, the second control device 20 moves the working machine 1 (vehicle body 3) to the guidance point IP and stops it facing a predetermined direction.

[0083] The predetermined guidance condition is, for example, at least any one of the first to third conditions (hereinafter referred to as each guidance condition) described below. The first condition is that the working machine 1 has moved to the end of the automatic travel route R1. For example, when the second control device 20 determines based on the automatic travel route R1 and the vehicle body position VP that the vehicle body position VP is located at the end of the automatic travel route R1, the second control device 20 outputs a signal (arrival signal) indicating that the working machine 1 has moved to the end of the automatic travel route R1 to the first control device 31 via the second communication device 24 and the first communication device 34. When the first control device 31 acquires the arrival signal from the second control device 20, the first control device 31 determines that the working machine 1 has moved to the end of the automatic travel route R1.

[0084] The second condition is that at least an abnormality has occurred in the in-vehicle device provided in the working machine 1 while the working machine 1 is automatically traveling on the automatic travel route R1. The second control device 20, based on the output signals from the plurality of sensors of the internal sensor unit 26, the in-vehicle device provided in the working machine 1 Detect an abnormality occurring in the vehicle-mounted device, and when the degree of the abnormality is equal to or greater than a predetermined level, output a signal (abnormality signal) indicating the content of the abnormality to the first control device 31 via the second communication device 24 and the first communication device 34. The abnormality signal may include information indicating which device an abnormality has occurred in (for example, device identification information). The second control device 20 outputs an abnormality signal to the first control device 31 when the degree of the abnormality occurring in the vehicle-mounted device provided in the working machine 1 is relatively high. In other words, in the first embodiment, when the degree of the abnormality is relatively high and the second control device 20 interrupts the automatic driving and the working machine 1 is stopped, an abnormality signal is output to the first control device 31.

[0085] Note that the second control device 20 may output an abnormality signal to the first control device 31 at least when an abnormality has occurred in the vehicle-mounted device provided in the working machine 1, and may also output an abnormality signal to the first control device 31 even when the degree of the abnormality is relatively low. In such a case, while the working machine 1 is continuing the automatic driving, the second control device 20 may output an abnormality signal to the first control device 31.

[0086] When the first control device 31 acquires an abnormality signal from the second control device 20, it determines that an abnormality has occurred in the vehicle-mounted device provided in the working machine 1. The abnormality signal includes identification information for identifying the vehicle-mounted device in which the abnormality has occurred and identification information for identifying the content of the abnormality.

[0087] The first storage device 33 stores a first management table in which the identification information of the vehicle-mounted device that can be detected for an abnormality by a plurality of sensors of the internal sensor unit 26, the position of the vehicle-mounted device in the working machine 1, and the identification information of the content of the abnormality that can occur in each vehicle-mounted device are associated with each other. Therefore, the first control device 31 can acquire the content of the abnormality, the vehicle-mounted device in which the abnormality has occurred, and the position of the vehicle-mounted device in the working machine 1 from the first storage device 33 based on the acquired abnormality signal and the first management table.

[0088] For example, when the second control device 20 detects that the temperature of the cooling water of the prime mover 4 is equal to or higher than a predetermined value based on the output signal from the water temperature sensor, the second control device 20 outputs an abnormal signal indicating that the temperature of the cooling water is abnormal to the first control device 31. When the first control device 31 acquires the abnormal signal, the first control device 31 refers to the first management table in the first storage device 33 to acquire that the temperature of the cooling water is equal to or higher than a predetermined value, that an abnormality has occurred in the prime mover 4, and the position of the prime mover 4 in the working machine 1 (in the first embodiment, the front part of the vehicle body 3).

[0089] The third condition is that the working machine 1 requires external replenishment. When the second control device 20 detects based on the output signals from the plurality of sensors in the internal sensor unit 26 that at least the in-vehicle device provided in the working machine 1 requires external replenishment, the second control device 20 outputs a signal (request signal) indicating that the replenishment is requested to the first control device 31 via the second communication device 24 and the first communication device 34. The abnormal signal may include information indicating which in-vehicle device requires replenishment (for example, the identification information of the in-vehicle device). When the urgency of replenishment to the in-vehicle device provided in the working machine 1 is relatively high, the second control device 20 outputs a request signal to the first control device 31. In other words, in the first embodiment, when the urgency of replenishment is relatively high and the second control device 20 interrupts the automatic driving and the working machine 1 stops, the second control device 20 outputs a request signal to the first control device 31.

[0090] Note that when the second control device 20 detects that at least the in-vehicle device provided in the working machine 1 requires external replenishment, the second control device 20 may output a request signal to the first control device 31. Even when the urgency of replenishment is relatively low, the second control device 20 may output a request signal to the first control device 31. In such a case, while the working machine 1 is continuing the automatic driving, the second control device 20 may output a request signal to the first control device 31.

[0091] The first storage device 33 stores a second management table in which identification information of in-vehicle devices that can be detected by a plurality of sensors of the internal sensor unit 26 as to whether replenishment is necessary is associated with the positions in the working machine 1 of the in-vehicle devices. Therefore, based on the acquired request signal and the second management table, the first control device 31 can acquire from the first storage device 33 the in-vehicle devices that require replenishment and the positions of the in-vehicle devices in the working machine 1. Note that the request signal may include information indicating a state in which replenishment is detected as necessary (for example, when it is detected that fuel replenishment is necessary the remaining amount of the fuel).

[0092] For example, when the second control device 20 detects that the fuel of the prime mover 4 (engine) is less than a predetermined level based on an output signal from the fuel level sensor, the second control device 20 outputs a request signal indicating that fuel replenishment is necessary to the first control device 31. When the first control device 31 acquires the request signal, the first control device 31 refers to the second management table in the first storage device 33 and acquires that fuel replenishment is necessary for the fuel tank 4a and the position of the fuel filler port 4a1 of the fuel tank 4a in the working machine 1 (in the first embodiment, it is the left part of the vehicle body 3 and the left front of the driver's seat 10).

[0093] Note that each guiding condition is an example, and other guiding conditions may be adopted. For example, instead of or in addition to each guiding condition, when an operator performs a predetermined operation (instruction operation) on the input device 32 to arbitrarily start automatic traveling based on guiding information (the fourth condition), the first control device 31 may output the guiding information to the second control device 20 (the working machine 1) via the first communication device 34 and the second communication device 24.

[0094] Also, in the above-described example, the case where the second control device 20 outputs an arrival signal, an abnormal signal, and a request signal to the first control device 31 has been described. However, the first control device 31 may determine whether the first to third conditions are satisfied based on information acquired from the second control device 20 (such as the vehicle body position VP and output signals from a plurality of sensors of the internal sensor unit 26).

[0095] In the following description, the case where the first control device 31 outputs guidance information to the second control device 20 when any of the respective guidance conditions is satisfied will be described. However, the first control device 31 only needs to be able to output guidance information to the second control device 20 based on any of the respective guidance conditions and cause the work machine 1 to automatically travel. The conditions may be only the first condition, only the third condition, or other guidance conditions.

[0096] Specifically, the guidance information includes position information of a guidance point IP for guiding the work machine 1 to a predetermined position in the field H (a position different from a point on the automatic travel route R1), and azimuth information for designating the direction of the work machine 1 at the guidance point IP. The position information of the guidance point IP is positioning information such as data indicated by latitude and longitude or data indicated by coordinates (X-axis, Y-axis).

[0097] Hereinafter, the definition of the position information and azimuth information of the guidance point IP by the information definition unit 31b will be described in detail. In the first embodiment, the information definition unit 31b defines the position information of the guidance point IP based on the information acquired by the first control device 31 and the manual operation of the operator. For example, before the work machine 1 performs automatic travel, the information definition unit 31b defines the position information of the guidance point IP in advance and stores the defined position information of the guidance point IP in the first storage device 33. Also, in the first embodiment, the information definition unit 31b defines azimuth information (the azimuth of the work machine 1 at the guidance point IP) based on the manual operation of the operator in the same manner as the definition of the position information of the guidance point IP in the first definition process.

[0098] Note that the position information and / or azimuth information of the guidance point IP defined by the information definition unit 31b may be different or common for each guidance condition. In the first embodiment, the case where the position information and azimuth information of the guidance point IP defined by the information definition unit 31b in the first definition process are common for each guidance condition will be described as an example.

[0099] The input device 32 receives the input of setting the position and orientation of the guiding point IP. As the position of the guiding point IP, the input device 32 receives the input of setting an arbitrary position from the inside of the field H where the working machine 1 performs work and near the contour OL of the field H (the edge of the field H, for example, a ridge). In other words, the input device 32 does not receive the input of setting a position outside the field H or inside the field H closer to the contour OL of the field H as the position of the guiding point IP. For this reason, the guiding point IP is set at the edge of the field H.

[0100] Note that the area indicating the edge of the field H is included in advance in the field map M of the field information. The edge of the field H may be arbitrarily set by the operator, or another terminal may receive the input of the width of the area and automatically set it based on the width.

[0101] Specifically, the first control device 31 causes the input device 32 to display a first setting screen D1 for setting the position information and orientation information of the guiding point IP. FIG. 8 is a diagram showing an example of the first setting screen D1. The first setting screen D1 has a first field display unit 40 showing the field map M and a first confirmation button 41. The first field display unit 40 shows the field map M based on the field information acquired by the first control device 31. Also, on the field map M, a first icon 40a is displayed which indicates the position of the guiding point IP and can be operated by the operator to set the position of the guiding point IP and the orientation of the working machine 1 at the guiding point IP.

[0102] The first icon 40a can be moved in the vertical, horizontal, and lateral directions on the field map M of the first field display unit 40 and can also be rotated. The first icon 40a is, for example, an arrow-shaped pointer or an aerial image showing the working machine 1. In the example shown in FIG. 8, the first icon 40a is an aerial image showing the working machine 1. The first control device 31 displays the first icon 40a by reflecting the type of the working machine 1, the type of the working device 2 connected to the working machine 1, and the offset amount based on the acquired machine information and device information. That is, when the central portion in the width direction of the working device 2 coincides with the central portion in the width direction of the working machine 1 in the width direction, the central portion in the width direction of the working device 2 in the first icon 40a also coincides with the central portion in the width direction of the working machine 1 and is displayed in the width direction. On the other hand, when the central portion in the width direction of the working device 2 is offset from the central portion in the width direction of the working machine 1 in the width direction, the central portion in the width direction of the working device 2 in the first icon 40a is also offset from the central portion in the width direction of the working machine 1 and is displayed in the width direction.

[0103] The first icon 40a can be moved inside the field H and near the contour OL of the field H on the first field display unit 40. The first control device 31 sets the movable range of the first icon 40a based on the reference position of the first icon 40a (when the first icon 40a is arrow-shaped, the position indicated by the arrow; when the first icon 40a is an aerial image showing the working machine 1, the vehicle body position VP of the working machine 1 in the aerial image) and the end of the field H.

[0104] Note that the first icon 40a may be movable to a position inside the field H and near the contour OL of the field H and where the working machine 1 can move. In such a case, the first control device 31 may calculate the contour ML of the working machine 1 in plan view based on the acquired machine information and device information, and set the movable range of the first icon 40a based on the contour ML of the working machine 1 and the contour OL (end) of the field H.

[0105] When the operator attempts to move the first icon 40a outside the farm field H or inside the vicinity of the contour OL of the farm field H, the first control device 31 returns the first icon 40a to its position before the movement. Note that when the operator attempts to move the first icon 40a outside the farm field H or inside the vicinity of the contour OL of the farm field H, the first control device 31 may move the first icon 40a to the position closest to the position where the operator attempted to move the first icon 40a, inside the farm field H and in the vicinity of the contour OL of the farm field H.

[0106] Further, when the position information of the prohibited area BE is included in the farm field information, the first control device 31 may display whether the setting of the position of the guiding point IP can be accepted based on the prohibited area BE when the input device 32 accepts the setting of the position of the guiding point IP on the first setting screen D1. For example, in addition to the edge of the farm field H, based on the prohibited area BE included in the farm field information, the first control device 31 sets the movable range of the first icon 40a in the area inside the farm field H and in the vicinity of the contour OL of the farm field H that is outside the prohibited area BE, and may display whether the setting of the position of the guiding point IP can be accepted. In such a case, when the operator attempts to move the first icon 40a to the prohibited area BE, the first control device 31 returns the first icon 40a to its position before the movement to indicate that the setting of the position of the guiding point IP cannot be accepted.

[0107] Also, when the input device 32 accepts the setting of the position of the guiding point IP, the first control device 31 only needs to be able to display whether the setting of the position of the guiding point IP can be accepted based on the prohibited area BE. Instead of setting the movable range of the first icon 40a in the area outside the prohibited area BE, when the operator attempts to move the first icon 40a to the prohibited area BE, a configuration may be adopted in which a pop-up window or the like indicating that the guiding point IP cannot be set on the prohibited area BE is displayed. Further, the prohibited area BE may be displayed on the farm field map M of the first field display unit 40.

[0108] When an operator operates the first confirmation button 41, the input device 32 receives an input for setting the position on the farm map M where the first icon 40a is located at the time of the operation of the first confirmation button 41 as the position of the guiding point IP. Further, the input device 32 receives an input for setting the orientation of the working machine 1 at the guiding point IP based on the orientation of the first icon 40a with respect to the farm map M at the time of the operation of the first confirmation button 41. The input device 32 outputs the position (position information) of the guiding point IP for which the input of the setting has been received and the orientation information of the working machine 1 to the information definition unit 31b. The information definition unit 31b acquires the position information and the orientation information of the guiding point IP from the input device 32 and stores them in the first storage device 33 in association with the identification information of the farm H.

[0109] In the above-described example, the case where the input device 32 receives an input for setting the orientation of the working machine 1 at the guiding point IP based on the orientation of the first icon 40a with respect to the farm map M at the time of the operation of the first confirmation button 41 has been described. However, the method for setting the orientation of the working machine 1 is not limited to the above-described example. For example, the input device 32 may receive an input for setting the orientation of the working machine 1 by receiving a selection of the direction of the working machine 1 located at the guiding point IP with respect to the end of the farm H (the direction of the working machine 1 with respect to the portion of the outline OL of the farm H that is closest to the working machine 1). In such a case, the input device 32 may receive a selection of any of the front, rear, left, and right directions as the direction of the working machine 1 located at the guiding point IP with respect to the end of the farm H, or may receive the angle of the working machine 1 with respect to the guiding point IP. FIGS. 9A to 9D are diagrams for explaining the direction of the working machine 1 located at the guiding point IP with respect to the end of the farm H. FIG. 9A shows a state in which the front of the working machine 1 is directed toward the end of the farm H. FIG. 9B shows a state in which the left side of the working machine 1 is directed toward the end of the farm H. FIG. 9C shows a state in which the right side of the working machine 1 is directed toward the end of the farm H. FIG. 9D shows a state in which the rear of the working machine 1 is directed toward the end of the farm H. Further, the first icon 40a may be automatically moved so as to be inside the farm H and close to the end of the farm H according to the selected direction.

[0110] Further, the information definition unit 31b acquires the vehicle body position VP of the working machine 1 in the field H where automatic driving is performed, and based on the vehicle body position VP, the position information of the guiding point IP, and the azimuth information, generates a guiding path R2 for automatically driving the working machine 1, and defines the guiding path R2 as guiding information. FIG. 10 is a diagram showing an example of the guiding path R2 generated on the field map M. As shown in FIG. 10, the guiding path R2 is a path for automatically driving the working machine 1 from the automatic driving path R1 to the guiding point IP, and is data indicated by latitude and longitude, or data indicated by coordinates (X-axis, Y-axis), etc.

[0111] In the following description, the working machine 1 automatically driving along the guiding path R2 may be referred to as "guided driving". Specifically, the information definition unit 31b, based on the current vehicle body position VP and vehicle body azimuth VD of the working machine 1 that satisfy each guiding condition, and the position information and azimuth information of the guiding point IP, generates a guiding path R2 that satisfies each guiding condition and moves the working machine 1 located on the automatic driving path R1 (in the first embodiment, the working machine 1 stopped on the automatic driving path R1) to the guiding point IP.

[0112] When any of the guiding conditions is satisfied, the information definition unit 31b refers to the vehicle body position VP and vehicle body azimuth VD acquired from the second control device 20, and acquires the current vehicle body position VP and vehicle body azimuth VD of the working machine 1 that satisfy the guiding condition. For example, when an arrival signal, an abnormal signal, and a request signal are output from the second control device 20, the information definition unit 31b refers to the vehicle body position VP and vehicle body azimuth VD acquired by the first control device 31 at predetermined time intervals.

[0113] Note that the information definition unit 31b only needs to be able to acquire the current vehicle body position VP and vehicle body azimuth VD of the working machine 1 that satisfy each guiding condition. When the second control device 20 outputs any of the arrival signal, the abnormal signal, and the request signal to the first control device 31, the vehicle body position VP and vehicle body azimuth VD may be associated with the signal and output to the first control device 31.

[0114] The information definition unit 31b generates a guidance path R2 on the field map M based on the acquired field information, the current vehicle body position VP and vehicle body orientation VD of the working machine 1, and the position information and orientation information of the guidance point IP. The information definition unit 31b (P11) avoids setting a switching unit that requires a switching operation of the working machine 1 as much as possible, (P12) when setting the switching unit, preferentially sets the switching unit in the inner area A2 inside the headland area A1 of the field H rather than the headland area A1 of the field H to do so, (P13) avoids passing through a prohibited area BE where the running of the working machine 1 is prohibited, and (P14) the running distance (the running distance from when the working machine 1 travels along the guidance path R2 until the working machine 1 moves from the current position to the guidance point IP) and / or the running time (the time from when the working machine 1 travels along the guidance path R2 until the working machine 1 moves from the current position to the guidance point IP) are minimized as much as possible. The guidance path R2 is generated while simulating the movement of the working machine 1 within the field H.

[0115] Note that the information definition unit 31b may adopt the guidance path R2 with the worked area CE as the prohibited area BE instead of or in addition to the prohibited area BE included in the field information. The information definition unit 31b acquires the worked area CE stored by the first control device 31 from the first storage device 33 and adopts the worked area CE as the prohibited area BE.

[0116] At this time, the information definition unit 31b may adopt or not adopt the worked area CE as the prohibited area BE according to the work content of the working device 2 connected to the connecting device 3a. Specifically, when the working device 2 connected to the connecting device 3a is such as a hay rake or a forming device, and the work content of the working device 2 may travel through the worked area CE, the information definition unit 31b does not adopt the worked area CE as the prohibited area BE. In such a case, the information definition unit 31b acquires in advance the type of the working machine 1 included in the device information and determines whether to adopt the worked area CE as the prohibited area BE. Note that the method for the information definition unit 31b to determine whether to adopt the worked area CE as the prohibited area BE is not limited to the method described above. The operator may operate the input device 32 to set whether to adopt the worked area CE as the prohibited area BE, and the information definition unit 31b may make a determination based on the setting information.

[0117] Also, in the first embodiment, when setting the switching part as the target of (P12) above, the information definition unit 31b preferentially sets the switching part in the inner area A2 rather than the headland area A1. However, in order to achieve the goals such as (P13) and (P14), there may be a case where the switching part is set in the headland area A1. In such a case, the information definition unit 31b refers to the headland area A1 from the headland area A1 generated by the route generation unit 31a or the acquired field information, and determines whether it is possible to set the switching part in the headland area A1. For example, when the width of the headland area A1 (the width in the direction from the inner area A2 to the outside of the field H) is relatively narrow and the switching part cannot be set, the information definition unit 31b does not set the switching part.

[0118] Also, in the first embodiment, the information definition unit 31b generates a guidance path R2 (first guidance path R2a) with the goal of minimizing the travel distance as the goal of (P14) above, and a guidance path R2 (second guidance path R2b) with the goal of minimizing the travel time as the goal of (P14) above. At this time, the information definition unit 31b may simulate the travel time in consideration of the travel speed of the work machine 1 and the time (stop time) required for switching between forward and reverse. In the first embodiment, the work machine 1 automatically travels at a lower travel speed when traveling backward than when traveling forward. Also, the work machine 1 automatically travels at a lower travel speed when turning than when traveling straight. Note that the information definition unit 31b calculates the travel distance and travel time of each of the first guidance path R2a and the second guidance path R2b. Information such as these travel speeds and stop times is stored in advance in the first storage device 33.

[0119] Also, these goals are just examples, and there may be cases where goals other than the above are emphasized. For example, in the case where the work device 2 connected to the connecting device 3a is relatively large, such as a forming device, and cannot be lifted by the connecting device 3a, the information definition unit 31b may generate a guidance path R2 that does not include reverse travel. In such a case, the information definition unit 31b acquires in advance the type of the work machine 1 included in the device information and determines whether to emphasize the goal of (P15). Note that the method for the information definition unit 31b to determine whether to emphasize the goal of (P15) is not limited to the method described above, and the operator may operate the input device 32 to set the permission or restriction of reverse travel in the guidance path R2, and the information definition unit 31b may determine whether to emphasize the goal of (P15) based on the setting information.

[0120] In the example shown in FIG. 10, the first guidance path R2a avoids, as much as possible, setting a turning section where the turning operation of the work machine 1 is required (P11), and is inside the headland area A1 of the field H (P12). The turning-back section is set with priority given to the side area A2, avoiding passing through the prohibited area BE where the travel of the work machine 1 is prohibited (P13), and in order to make the travel distance as short as possible (P14), after the turning-back, it is the guiding path R2 that moves to the guiding point IP while moving backward.

[0121] Also, in the example shown in FIG. 10, the second guiding path R2b avoids setting the turning-back section that requires the turning-back operation of the work machine 1 as much as possible, and without setting the turning-back section, avoids passing through the prohibited area BE where the travel of the work machine 1 is prohibited (P13), and aiming to make the travel time as short as possible (P14), it is the guiding path R2 that moves around the periphery of the prohibited area BE and moves to the guiding point IP.

[0122] When the information definition unit 31b generates the guiding path R2, the first control device 31 causes the input device 32 to display a confirmation screen D2 for the operator to confirm the guiding path R2. FIG. 11 is a diagram showing an example of the confirmation screen D2. As shown in FIG. 11, the confirmation screen D2 has a second field display unit 50 showing the field map M, a selection button 51, and a second confirmation button 52.

[0123] The second field display unit 50 shows the field map M based on the field information acquired by the first control device 31. On the field map M, the positions of the guiding point IP and the guiding path R2 defined by the information definition unit 31b and the current position of the work machine 1 based on the vehicle body position VP of the work machine 1 acquired from the second control device 20 are displayed. Also, when the information definition unit 31b generates both the first guiding path R2a and the second guiding path R2b, at least one of the first guiding path R2a and the second guiding path R2b is displayed on the field map M.

[0124] The information definition unit 31b defines the guidance path R2, which has received settings by the input device 32, as guidance information from among the first guidance path R2a and the second guidance path R2b. Specifically, in the example shown in FIG. 11, when the information definition unit 31b generates both the first guidance path R2a and the second guidance path R2b, the confirmation screen D2 displays both the first guidance path R2a and the second guidance path R2b on the field map M as an initial display. In the example shown in FIG. 11, a prohibited area BE is displayed on the field map M of the second field display unit 50. Note that the travel distance and travel time of each guidance path R2 calculated by the information definition unit 31b may be displayed near the first guidance path R2a and the second guidance path R2b displayed on the field map M.

[0125] The selection button 51 is an operating tool for selecting either one of the guidance paths R2 when the information definition unit 31b generates both the first guidance path R2a and the second guidance path R2b. When an operator operates the selection button 51 to select either the first guidance path R2a or the second guidance path R2b, the display form on the field map M is changed between the guidance path R2 selected by the selection button 51 and the unselected guidance path R2. For example, the first control device 31 maintains the display of the guidance path R2 selected by the selection button 51 and makes the unselected guidance path R2 non-displayed.

[0126] Note that in the example shown in FIG. 11, when the information definition unit 31b generates both the first guidance path R2a and the second guidance path R2b, the confirmation screen D2 displays both the first guidance path R2a and the second guidance path R2b on the field map M as an initial display, but it may be configured to display either the first guidance path R2a or the second guidance path R2b. Further, when the information definition unit 31b generates only one of the first guidance path R2a and the second guidance path R2b, the input device 32 does not accept an operation of the selection button 51, and the generated one guidance path R2 is in a selected state.

[0127] When the operator operates the second confirmation button 52, the input device 32 accepts an input of setting with the guidance path R2 selected by the operation of the second confirmation button 52 as guidance information. Further, when the input device 32 accepts an input of setting with the guidance path R2 as guidance information in response to the operation of the second confirmation button 52, the information definition unit 31b defines (confirms) the guidance path R2 as guidance information. When the information definition unit 31b defines it as guidance information, the defined guidance information is output to the second control device 20 (working machine 1) via the first communication device 34 and the second communication device 24. When the second control device 20 is output with guidance information from the first control device 31 (information definition unit 31b), it starts automatic driving based on the guidance path R2 and the vehicle body position VP, and determines whether the vehicle body position VP is located at the guidance point IP and whether the azimuth corresponding to the azimuth information matches the vehicle body azimuth VD. When the vehicle body position VP is located at the guidance point IP and the azimuth corresponding to the azimuth information matches the vehicle body azimuth VD, the second control device 20 controls the transmission 5, the brake device 8, the steering device 23, etc. to stop the working machine 1. Thereby, the working machine 1 can automatically travel along the guidance path R2, move to the guidance point IP, and stop facing the azimuth corresponding to the azimuth information at the guidance point IP. For this reason, the working machine 1 can stop close to the edge at the guidance point IP.

[0128] In addition, when any of the respective guidance conditions is satisfied, when the guidance point IP for which the input device 32 has accepted an input of setting is located in the prohibited area BE, or when any path connecting the generated guidance path R2, that is, the current vehicle body position VP and the guidance point IP passes through the prohibited area BE, the information definition unit 31b performs a re - setting process of the guidance point IP. That is, the information definition unit 31b performs a re - setting process of the guidance point IP when it cannot generate a guidance path R2 that avoids passing through the prohibited area BE.

[0129] The information definition unit 31b performs, as a reset process, a process (first process) that prompts the operator to reset the guiding point IP and a process (second process) that resets the guiding point IP. As the first process, the information definition unit 31b instructs the input device 32 to display a screen for prompting the reset of the guiding point IP. Further, the information definition unit 31b instructs the input device 32 to accept re-entry of the setting of the guiding point IP, and based on the information accepted by the input device 32 for re-entry of the setting, the information definition unit 31b performs the reset of the guiding point IP.

[0130] Specifically, when the information definition unit 31b cannot generate a guiding path R2 that avoids passing through the prohibited area BE, as the first process and the second process, the information definition unit 31b causes the input device 32 to display a second setting screen D3 for resetting the position information and orientation information of the guiding point IP. FIG. 12 is a diagram showing an example of the second setting screen D3. The second setting screen D3 serves as both a screen for prompting the operator to reset the guiding point IP and a screen for resetting the position information and orientation information of the guiding point IP. As shown in FIG. 12, the second setting screen D3 has a third field display unit 60 that shows the field map M and a third confirmation button 61.

[0131] In the present embodiment, the second setting screen D3 is the same as the first setting screen D1. The third field display unit 60 corresponds to the first field display unit 40, and the third confirmation button 61 corresponds to the first confirmation button 41. Therefore, on the second setting screen D3, the input device 32 accepts the input of the setting of the position information and orientation information of the guiding point IP by moving and rotating a second icon 60a displayed on the third field display unit 60 in the same manner as on the first setting screen D1. For this reason, detailed descriptions of the third field display unit 60 and the third confirmation button 61 of the second setting screen D3 are omitted.

[0132] Note that in the example shown in FIG. 12, unlike the first field display unit 40, the third field display unit 60 displays the current position of the working machine 1 and the prohibited area BE including the worked area CE on the field map M.

[0133] When the operator operates the third confirmation button 61, the input device 32 accepts the input of setting the position information and orientation information of the guiding point IP based on the state (position and orientation on the field map M) of the second icon 60a when the third confirmation button 61 is operated. The input device 32 outputs the position (position information) of the guiding point IP for which the setting input has been accepted and the orientation information of the working machine 1 to the information definition unit 31b. The information definition unit 31b generates a guiding path R2 based on the position information and orientation information of the re-set guiding point IP, the acquired field information, the current vehicle body position VP and vehicle body orientation VD of the working machine 1, and the position information and orientation information of the guiding point IP.

[0134] If the information definition unit 31b can generate a guiding path R2 that avoids passing through the prohibited area BE based on the position information and orientation information of the guiding point IP after re-setting, the first control device 31 causes the input device 32 to display a confirmation screen D2. On the other hand, if the information definition unit 31b (the first control device 31) cannot generate a guiding path R2 that avoids passing through the prohibited area BE even with the position information and orientation information of the guiding point IP after re-setting, the first control device 31 (information definition unit 31b) causes the input device 32 to display the second setting screen D3 again.

[0135] In the above-described first embodiment, the case where the information definition unit 31b defines the position information and orientation information of the guiding point IP in advance before the working machine 1 performs automatic driving has been described as an example. However, for the operation When the machine 1 performs automatic driving along the automatic driving route R1 and any of the respective guiding conditions is satisfied, that is, after the start of the automatic driving along the automatic driving route R1 and before performing the automatic driving based on the guiding route R2 (hereinafter sometimes simply referred to as before the guiding driving), the information definition unit 31b may be configured to define the position information and the orientation information of the guiding point IP and generate the guiding route R2 based on the position information and the orientation information of the guiding point IP. In such a case, when any of the respective guiding conditions is satisfied, the first control device 31 causes the input device 32 to display the second setting screen D3, and the input device 32 accepts the input of the setting of the position information and the orientation information of the guiding point IP. At this time, an information display unit that displays the content of each guiding condition (when the second condition is satisfied, the in-vehicle device in which an abnormality has occurred and the content of the abnormality thereof, etc.) may be displayed on the second setting screen D3.

[0136] Further, the information definition unit 31b may be configured to define in advance the position information and the orientation information of the guiding point IP when some of the respective guiding conditions are satisfied before the machine 1 performs automatic driving, and define the position information and the orientation information of the guiding point IP when other guiding conditions are satisfied before the guiding driving. For example, the information definition unit 31b may define the position information and the orientation information of the guiding point IP when the first condition is satisfied before the machine 1 performs automatic driving, and define the position information and the orientation information of the guiding point IP when other guiding conditions are satisfied before the guiding driving. In other words, the information definition unit 31b may define the position information and the orientation information of the guiding point IP when the first condition is satisfied before the machine 1 performs automatic driving, and perform the re-setting process of the guiding point IP when other guiding conditions are satisfied. [Second Embodiment] In the above-described first embodiment, the case where the information definition unit 31b defines the position information and orientation information of the guiding point IP based on the manual operation of the operator has been described. However, the information definition unit 31b may automatically define the position information and orientation information of the guiding point IP without depending on the manual operation of the operator. In such a case, when the working machine 1 automatically travels along the automatic travel route R1 and any of the respective guiding conditions is satisfied, that is, before the guiding travel, the information definition unit 31b automatically defines the position information and orientation information of the guiding point IP based on the information acquired by the first control device 31.

[0137] For example, the information definition unit 31b acquires the current vehicle body position VP, and defines the position information of the guiding point IP based on the end portion of the farm field H included in the farm field information and the vehicle body position VP. The information definition unit 31b defines the position information of the guiding point IP such that the position of the guiding point IP is inside the farm field H and in the vicinity of the contour OL of the farm field H, and the distance from the vehicle body position VP is closer.

[0138] In addition, the information definition unit 31b defines the orientation information based on the direction of the in-vehicle device provided in the working machine 1 with respect to the end portion of the farm field H where the working machine 1 performs work. Specifically, the information definition unit 31b defines the orientation information so that a predetermined in-vehicle device provided in the working machine 1 faces the end portion of the farm field H, or so that the in-vehicle device is moved away from the end portion of the farm field H. More specifically, the information definition unit 31b defines the orientation information so that the predetermined in-vehicle device faces the portion of the contour OL of the farm field H that is closest to the working machine 1, or so that the predetermined in-vehicle device is moved away from the portion of the contour OL of the farm field H that is closest to the working machine 1. FIGS. 13A to 13D are diagrams for explaining the definition of the orientation information of the guiding point IP in the second embodiment.

[0139] For example, as shown in FIG. 13A, the information definition unit 31b may define the orientation information so that the boarding and alighting opening 10a of the working machine 1 among the in-vehicle devices provided in the working machine 1 faces the end portion of the farm field H. At this time, the working machine 1 stops with the boarding and alighting opening 10a facing the outside of the farm field H at the guiding point IP (edge).

[0140] Further, as shown in FIG. 13B, the information definition unit 31b may define the azimuth information so that the direction opposite to the direction in which the working device 2 is offset with respect to the vehicle body 3 is directed toward the end of the field H based on the position of the working device 2 that is attached to the vehicle body 3 of the working machine 1 with an offset in the width direction (so that the offset working device 2 is moved away from the end of the field H). At this time, the working machine 1 stops with the side opposite to the offset direction of the working device 2 facing outside the field H at the guiding point IP (field edge).

[0141] Furthermore, as shown in FIG. 13C, the information definition unit 31b may define the azimuth information so that the in-vehicle device in which an abnormality has occurred among the in-vehicle devices provided in the working machine 1 is directed toward the end of the field H (FIG. 13C shows a case where an abnormality has occurred in the prime mover 4). At this time, the working machine 1 stops with the in-vehicle device in which an abnormality has occurred facing outside the field H at the guiding point IP (field edge).

[0142] Then, as shown in FIG. 13D, the information definition unit 31b may define the azimuth information so that the supply unit 11 that receives supply from the outside is directed toward the end of the field H. At this time, the working machine 1 stops with the supply unit 11 facing outside the field H at the guiding point IP (field edge). The supply unit 11 varies depending on the in-vehicle device that requires supply from the outside. For example, when the in-vehicle device that requires supply is the fuel tank 4a, the supply unit 11 is the fuel filler port 4a1. When the in-vehicle device that requires supply is the battery unit, the supply unit 11 is the charging socket. When the in-vehicle device that requires supply is the working device 2, the supply unit 11 is the supply port of the tank or hopper.

[0143] The first storage device 33 stores a third management table that associates each in-vehicle device provided in the working machine 1 with the position (arrangement) of each in-vehicle device in the working machine 1. The information definition unit 31b selects a predetermined in-vehicle device and refers to the third management table to acquire the arrangement of the predetermined in-vehicle device. Thereby, the information definition unit 31b can specify the arrangement of the selected in-vehicle device in the working machine 1 and define the azimuth information so that the device is directed toward the end of the field H.

[0144] The in-vehicle device directed towards the end of the field H is defined according to each guiding condition. For example, when the first condition is satisfied, the information defining unit 31b defines the orientation information so that the boarding and alighting opening 10a of the working machine 1 faces the end of the field H. In such a case, the information defining unit 31b refers to the third management table, specifies the arrangement of the boarding and alighting opening 10a of the working machine 1, and defines the orientation information so that the boarding and alighting opening 10a faces the end of the field H. Incidentally, when the boarding and alighting openings 10a of the working machine 1 are arranged on one side (left side) and the other side (right side) in the width direction of the working machine 1, the information defining unit 31b only needs to define the orientation information so that either one of the two boarding and alighting openings 10a faces the end of the field H as the orientation information.

[0145] Also, when the second condition is satisfied, the information defining unit 31b defines the orientation information so that the in-vehicle device in which an abnormality has occurred faces the end of the field H. At this time, the information defining unit 31b acquires the in-vehicle device in which an abnormality has occurred from the abnormality signal, and specifies the arrangement in the working machine 1 of the in-vehicle device from the third management table. Thereby, the information defining unit 31b defines the orientation information so that the in-vehicle device in which the abnormality has occurred faces the end of the field H.

[0146] Also, when the third condition is satisfied, the information defining unit 31b defines the orientation information so that the supply unit 11 faces the end of the field H. At this time, the information defining unit 31b acquires the in-vehicle device requiring supply from the request signal, and specifies the arrangement in the working machine 1 of the supply unit 11 corresponding to the in-vehicle device from the third management table. Thereby, the information defining unit 31b defines the orientation information so that the supply unit 11 faces the end of the field H.

[0147] Incidentally, the combination of each of the above-described guiding conditions and the method of defining the orientation information based on the direction of the device with respect to the field H is an example and is not limited to the above-described combination.

[0148] For example, when the first condition is met and the work implement 2 is not offset relative to the vehicle body 3, the information definition unit 31b may define the orientation information so that the boarding / exiting entrance 10a of the work implement 1 is directed toward the edge of the field H, and when the first condition is met and the work implement 2 is offset relative to the vehicle body 3, the information definition unit 31b may define the orientation information so that the opposite direction to the direction in which the work implement 2 is offset relative to the vehicle body 3 is directed toward the edge of the field H.

[0149] In setting the position of the guidance point IP, the information definition unit 31b of the second embodiment prioritizes directing the on-vehicle device corresponding to each guidance condition toward the edge of the field H over bringing the guidance point IP closer to the current vehicle body position VP. In other words, the information definition unit 31b sets the position of the guidance point IP to a position that is closer to the current vehicle body position VP among positions inside the field H and in the vicinity of the contour OL of the field H, and at which the on-vehicle device corresponding to each guidance condition can be directed toward the edge of the field H.

[0150] Specifically, when defining the position information and direction information of the guidance point IP, the information definition unit 31b generates a guidance route R2 while simulating the movement of the work implement 1 in the field H, and sets the position of the guidance point IP. The position information, orientation information, and guidance route R2 of the guidance point IP are set while simulating the movement of the work machine 1 within the field H and generating a guidance route R2, with the goals of (P22) setting the position of the guidance point IP at a position where the on-board device corresponding to the guidance conditions can be directed toward the edge of the field H, (P23) setting the position of the guidance point IP at a position closer to the current vehicle position VP, (P24) avoiding setting a turning section where a turning operation of the work machine 1 is required as much as possible, (P25) when setting the turning section, setting the turning section by giving priority to the inner area A2 over the headland area A1 of the field H, (P26) avoiding passing through the prohibited area BE where the travel of the work machine 1 is prohibited, and (P27) shortening the travel distance and / or travel time as much as possible.

[0151] Note that these goals are just examples, and goals other than the above may also be emphasized. For example, as in (P15), the information definition unit 31b may generate a guidance path R2 that does not include a backward path.

[0152] Also, similar to the first embodiment, the information definition unit 31b of the second embodiment may adopt the worked area CE as the prohibited area BE instead of or in addition to the prohibited area BE included in the field information for the guidance path R2. The information definition unit 31b acquires the worked area CE from the first storage device 33 and adopts the worked area CE as the prohibited area BE. At this time, the information definition unit 31b may adopt or not adopt the worked area CE as the prohibited area BE according to the work content of the working device 2 connected to the connecting device 3a.

[0153] Also, in the second embodiment as well, the information definition unit 31b generates at least one of the first guidance path R2a and the second guidance path R2b as the above (P27) goal. When creating the first guidance path R2a and the second guidance path R2b, the information definition unit 31b may define the position information and orientation information of different guidance points IP, respectively. Also, when the information definition unit 31b defines the position information and orientation information of a single guidance point IP, if there is a guidance path R2 that cannot generate a path that does not pass through the prohibited area BE among the first guidance path R2a and the second guidance path R2b, it is sufficient to generate one of the guidance paths R2.

[0154] When the information definition unit 31b generates the guidance path R2, similar to the first embodiment, the first control device 31 causes the input device 32 to display a confirmation screen D2 for the operator to confirm the guidance path R2. Therefore, in the second embodiment, the description after the confirmation screen D2 and the input device 32 display the confirmation screen D2 is omitted.

[0155] In the above description, the information definition unit 31b defines the direction of the in-vehicle device provided in the working machine 1 with respect to the field H where the working machine 1 performs work as the orientation information. However, regardless of the position of the in-vehicle device, as shown in FIG. 13E, the orientation information may be defined such that the traveling direction of the working machine 1 faces the entrance / exit EX of the field H. Specifically, for example, when the first condition is satisfied, the information definition unit 31b defines the orientation information such that the traveling direction of the working machine 1 faces the entrance / exit EX of the field H. In such a case, the information definition unit 31b refers to the field information and acquires the position information of the entrance / exit EX of the field H from the field map M included in the field information. Also, the traveling direction of the working machine 1 is, for example, the front direction.

[0156] At this time, the information definition unit 31b sets the position of the guiding point IP (P21) inside the field H and near the contour OL of the field H, (P28) sets the position of the guiding point IP at a position where the traveling direction (front) of the working machine 1 can be directed toward the entrance / exit EX of the field H, (P23) sets the position of the guiding point IP at a position closer to the current vehicle body position VP, (P24) avoids setting a turning section where the turning operation of the working machine 1 is necessary as much as possible, (P25) when setting the turning section, preferentially sets the turning section in the inner area A2 rather than the headland area A1 of the field H, (P26) avoids passing through the prohibited area BE where the traveling of the working machine 1 is prohibited, (P27) while simulating the movement of the working machine 1 within the field H and generating the guiding path R2 with the goal of making the traveling distance and / or traveling time as short as possible, etc., sets the position information of the guiding point IP, the orientation information, and the guiding path R2.

[0157] Further, in addition to or instead of the first condition, when the information definition unit 31b satisfies the second condition, depending on the abnormal content (degree of abnormality) of the second condition, the orientation information may be defined such that the traveling direction of the working machine 1 faces the entrance / exit EX of the field H. In such a case, when the degree of abnormality is relatively high, the information definition unit 31b may define the orientation information such that the traveling direction of the working machine 1 faces the entrance / exit EX of the field H, rather than the device in which the abnormality has occurred. However, when the degree of abnormality is relatively low, the information definition unit 31b may define the orientation information such that the traveling direction of the working machine 1 faces the entrance / exit EX of the field H, rather than the in-vehicle device in which the abnormality has occurred. The method of defining the orientation information of the guiding point IP according to the abnormal content is not limited to the above-described example.

[0158] Further, when the information definition unit 31b satisfies the second condition, depending on the abnormal content of the second condition, the orientation information may be defined such that the boarding / gangway 10a of the working machine 1 faces the end of the field H, rather than the device in which the abnormality has occurred.

[0159] Also, in the above-described second embodiment, the case where the information definition unit 31b defines the orientation information according to the positional relationship between the in-vehicle device provided in the working machine 1 and the end of the field H according to each guiding condition, or defines the orientation information according to the positional relationship between the traveling direction of the working machine 1 and the entrance / exit EX of the field H has been described. However, a configuration may be adopted in which the orientation information is simply defined based on the direction of the working machine 1 with respect to the field H. In such a case, the input device 32 receives a selection of the direction of the working machine 1 located at the guiding point IP with respect to the end of the field H, and receives an input for setting the orientation of the working machine 1. The input device 32 may receive a selection of any of the front, rear, left, and right directions (states as shown in FIGS. 9A to 9D) as the direction of the working machine 1 located at the guiding point IP with respect to the end of the field H, or may receive the angle of the working machine 1 with respect to the guiding point IP. Note that the input device 32 may receive the setting of the direction of the working machine 1 with respect to the field H before the automatic traveling or before the guiding traveling.

[0160] At this time, the information definition unit 31b sets the position of the guiding point IP inside the field H and near the contour OL of the field H (P21), sets the position of the guiding point IP at a position where the working machine 1 can be directed toward the end of the field H based on the direction of the working machine 1 with respect to the field H received by the input device 32 (P29), sets the position of the guiding point IP at a position close to the current vehicle body position VP (P23), avoids setting a turning part that requires the turning operation of the working machine 1 as much as possible (P24), when setting the turning part, preferentially sets the turning part in the inner area A2 rather than the headland area A1 of the field H (P25), avoids passing through the prohibited area BE where the travel of the working machine 1 is prohibited (P26), and sets the position information, azimuth information, and guiding path R2 of the guiding point IP while simulating the movement of the working machine 1 in the field H and generating the guiding path R2 with the goal of minimizing the travel distance and / or travel time as much as possible (P27).

[0161] Before automatic driving, when the input device 32 receives the setting of the direction of the working machine 1 with respect to the field H and the information definition unit 31b cannot set the guiding path R2, the information definition unit 31b instructs the input device 32 to re-set the direction of the working machine 1 with respect to the field H as a re-setting process, and the operator performs the operation of re-setting the direction of the working machine 1 with respect to the field H. At this time, the information definition unit 31b determines the direction of the working machine 1 with respect to the field H that can generate the guiding path R2 while simulating the movement of the working machine 1 in the field H and generating the guiding path R2 so as to achieve the above-mentioned goals (P21), (P29), (P23) to (P27). The input device 32 does not accept the selection of the direction of the working machine 1 with respect to the field H that cannot be set and displays that the selection of the direction is not possible.

[0162] Also, when the input device 32 receives the setting of the direction of the working machine 1 with respect to the field H before guiding travel, it does not accept the selection of the direction of the working machine 1 with respect to the field H that cannot be set and displays that the selection of the direction is not possible.

[0163] Also, in the above-described second embodiment, unlike the first embodiment, the position information and orientation information of the guiding point IP are automatically defined without manual operation by the operator. However, the work support device 30 of the first embodiment and the work support device 30 of the second embodiment may be appropriately combined. For example, the information defining unit 31b defines the position information and orientation information of the guiding point IP based on manual operation before automatic traveling as in the first embodiment. When an abnormality occurs in the work machine 1, the guiding point IP may be automatically reset before guiding traveling as in the second embodiment. [Third Embodiment] In the above-described first embodiment, the case where the information defining unit 31b defines the position information and orientation information of the guiding point IP based on manual operation by the operator has been described. In the above-described second embodiment, the case where the information defining unit 31b automatically defines the position information and orientation information of the guiding point IP without manual operation by the operator has been described. However, the information defining unit 31b may be manually operated by the operator in advance to set the conditions for defining the position information of the guiding point IP, and based on the conditions, automatically define the position information and orientation information of the guiding point IP before guiding traveling. In such a case, the input device 32 receives input of a predetermined partial setting of the outline OL of the field H where the work machine 1 performs work. The information defining unit 31b defines the position information of the guiding point IP so that the position of the guiding point IP is set in the vicinity of a part of the outline OL for which the input device 32 has received the input of the setting.

[0164] Note that the information defining unit 31b of the third embodiment only needs to automatically define the orientation information of the guiding point IP. The definition method may be, as described in the second embodiment, to define the orientation information so that the in-vehicle device provided in the work machine 1 faces the end of the field H, or to define the orientation information based on the traveling direction of the work machine 1 and the entrance / exit EX of the field H, or to define the orientation information based on the direction of the work machine 1 with respect to the field H set by the input device 32. Therefore, in the following description, the definition of the orientation information will be omitted in detail, and the definition of the position information will be described in detail.

[0165] In the information definition unit 31b of the third embodiment, among the vicinity of a part of the outline OL for which the input device 32 has received an input of a setting, the position closest to the entrance / exit EX, or the position with the shortest travel distance and / or travel time from the current vehicle position VP is defined as the guiding point IP. The information definition unit 31b may define the position of the guiding point IP according to each guiding condition. FIGS. 14A and 14B are diagrams for explaining the definition of the position information of the guiding point IP in the third embodiment. FIG. 14A shows an example in which the information definition unit 31b defines the position of the guiding point IP when the first state is satisfied, and FIG. 14B shows an example in which the information definition unit 31b defines the position of the guiding point IP when the second state and the third state are satisfied. FIGS. 14A and 14B show cases where the prohibited area BE and the current vehicle position VP are the same in the same field H. In FIGS. 14A and 14B, a part of the outline OL for which the input device 32 has received an input of a setting is shown with a thicker line width than other parts.

[0166] For example, when the first condition is satisfied, as shown in FIG. 14A, the information definition unit 31b defines the position of the guiding point IP at the position closest to the entrance / exit EX among the vicinity of a part of the outline OL for which the input device 32 has received an input of a setting. Also, when the second condition or the third condition is satisfied, as shown in FIG. 14B, the position with the shortest travel distance and / or travel time from the current vehicle position VP among the vicinity of a part of the outline OL for which the input device 32 has received an input of a setting is defined as the guiding point IP. Hereinafter, for convenience of explanation, the explanation of the definition of the guiding point IP by the information definition unit 31b when the third condition is satisfied is omitted.

[0167] Note that the combination of the above-described induction conditions and the setting of the position of the induction point IP is merely an example, and for example, the position of the induction point IP may be changed according to the abnormal content (degree of abnormality). In such a case, when the degree of abnormality is relatively high, the information definition unit 31b may define the position of the induction point IP not at the position where the travel distance and / or travel time from the current vehicle body position VP is the shortest among the vicinity of a part of the contour OL for which the input device 32 has received the input of the setting, but at the position closest to the entrance / exit EX. However, when the degree of abnormality is relatively low, the information definition unit 31b may define the position of the induction point IP not at the position where the travel distance and / or travel time from the current vehicle body position VP is the shortest among the vicinity of a part of the contour OL for which the input device 32 has received the input of the setting, but at the position closest to the entrance / exit EX, or the method of defining the position of the induction point IP according to the abnormal content is not limited to the above-described example.

[0168] In the third embodiment, the input device 32 receives, as a predetermined part, the selection of one or a plurality of sides S of the contour OL of the field H in which the working machine 1 performs work. Specifically, the first control device 31 causes the input device 32 to display a third setting screen D4 for selecting one or a plurality of sides S of the contour OL of the field H. FIG. 15 is a diagram showing an example of the third setting screen D4. As shown in FIG. 15, the third setting screen D4 has a fourth field display unit 70 and a fourth confirmation button 71. The fourth field display unit 70 shows a field map M based on the field information acquired by the first control device 31. Further, among the field map M, the contour OL of the field H may be highlighted compared to other displays, and each side S of the contour OL can be selected. The operator can switch between the selected state and the deselected state of each side S by performing a selection operation on each side S. The side S in the selected state and the side S in the deselected state have different display forms. For example, the side S in the selected state, unlike the side S in the deselected state, blinks (in the example of FIG. 15, the side S in the selected state is described by a solid line, and the side S in the deselected state is described by a dashed line).

[0169] When the operator operates the fourth confirmation button 71, the input device 32 receives an input for setting the side S that is in the selected state at the time of the operation of the fourth confirmation button 71 among the outlines OL of the field H as the selected side S. The information definition unit 31b acquires the information (identification information) of the one or more sides S selected from the input device 32 and stores it in the first storage device 33 in association with the identification information of the field H.

[0170] In the above-described example, the case where the input device 32 receives an input for setting (selecting) one or more sides S based on the side S that is in the selected state at the time of the operation of the fourth confirmation button 71 has been described. However, the method for selecting each side S of the outline OL of the field H is not limited to the above-described example. For example, the input device 32 may be configured to display each side S of the outline OL of the field H as a list on the third setting screen D4, and the operator may perform a selection operation on one or more sides S from the list.

[0171] The information definition unit 31b acquires the position information of the entrance / exit EX of the field H from the field information, acquires the arrival signal, and when the work machine 1 determines the completion of the work in the field H, among the vicinity of the one or more sides S for which the input device 32 has received an input for setting, defines the position closest to the entrance / exit EX as the guiding point IP. Further, the information definition unit 31b acquires the current vehicle body position VP (the vehicle body position VP of the work machine 1 performing automatic travel in the field H), and when an abnormal signal is acquired (when an abnormality occurs in the work machine 1), among the one or more sides S for which the input device 32 has received an input for setting, defines the position with the shortest travel distance and / or travel time from the vehicle body position VP at the time when the abnormality occurs as the guiding point IP. In such a case, the information definition unit 31b defines the position information and azimuth information of the guiding point IP based on the acquired field information, the current vehicle body position VP and vehicle body azimuth VD of the work machine 1, and the position information of the selected one or more sides S.

[0172] Specifically, when defining the position information and orientation information of the guiding point IP, the information defining unit 31b generates the guiding path R2 while simulating the movement of the working machine 1 in the field H, and sets the position of the guiding point IP. Specifically, when the information defining unit 31b satisfies the (P31) first condition, it sets the position of the guiding point IP at a position in the vicinity of the selected one or more sides S and closer to the entrance / exit EX of the field H. When the second condition is satisfied, it sets the position of the guiding point IP at a position in the vicinity of the selected one or more sides S and closer to the current vehicle body position VP of the working machine 1. (P32) Set the position of the guiding point IP at a position where the device corresponding to the guiding condition can be directed towards the end of the field H. (P33) Avoid setting the turning section where the turning operation of the working machine 1 is required as much as possible. (P34) When setting the turning section, give priority to setting the turning section in the inner region A2 rather than the headland region A1 of the field H. (P35) Avoid passing through the prohibited area BE where the running of the working machine 1 is prohibited. (P36) While simulating the movement of the working machine 1 in the field H and generating the guiding path R2 with the goal of making the running distance and / or running time as short as possible, set the position information, orientation information, and guiding path R2 of the guiding point IP.

[0173] Note that these goals are just examples, and other goals may be emphasized in some cases. For example, as in (P15), the information defining unit 31b may generate a guiding path R2 that does not include reverse movement.

[0174] Also, similar to the first embodiment, the information defining unit 31b of the third embodiment may adopt the worked area CE as the prohibited area BE instead of or in addition to the prohibited area BE included in the field information for the guiding path R2. The information defining unit 31b acquires the worked area CE from the first storage device 33 and adopts the worked area CE as the prohibited area BE. At this time, the information defining unit 31b may adopt or not adopt the worked area CE as the prohibited area BE according to the working content of the working device 2 connected to the connecting device 3a.

[0175] Also, in the third embodiment, the information definition unit 31b generates at least one of the first guiding path R2a and the second guiding path R2b as the above-mentioned (P36) target. When creating the first guiding path R2a and the second guiding path R2b, the information definition unit 31b may define the position information and orientation information of different guiding points IP, respectively. Further, when the information definition unit 31b defines the position information and orientation information of a single guiding point IP, if there is a guiding path R2 that cannot generate a path that does not pass through the prohibited area BE among the first guiding path R2a and the second guiding path R2b, one of the guiding paths R2 may be generated.

[0176] In addition, when the information definition unit 31b cannot generate a guiding path R2 that avoids passing through the prohibited area BE, the first control device 31 causes the input device 32 to display a fourth setting screen D5 in order to reselect (reset) the side S of the contour OL of the field H so that the guiding path R2 can be generated. FIG. 16 is a diagram showing an example of the fourth setting screen D5.

[0177] As shown in FIG. 16, the fourth setting screen D5 is a screen for reselecting the side S of the field H, and has a fifth field display unit 80 that shows the field map M and a fifth confirmation button 81. In the present embodiment, the fourth setting screen D5 is the same as the third setting screen D4. The fifth field display unit 80 corresponds to the fourth field display unit 70, and the fifth confirmation button 81 corresponds to the fourth confirmation button 71. Therefore, on the fourth setting screen D5, the input device 32 accepts the input of the setting of each side S of the field H by performing a selection operation on each side S of the field H displayed on the fifth field display unit 80 in the same manner as on the third setting screen D4. At this time, the information definition unit 31b determines the side S of the field H where the induction point IP capable of generating the induction path R2 can be set while simulating the movement of the working machine 1 in the field H by the working machine 1 so as to achieve the goals of (P31) to (P36) and generating the induction path R2. The input device 32 does not accept the selection of the side S of the field H that cannot be selected, and displays that the selection in that direction is not possible. When the operator operates the fifth confirmation button 81, the input device 32 accepts the input of the setting with the side S that is in the selected state at the time of the operation of the fifth confirmation button 81 among the outlines OL of the field H as the selected side S. Thereby, the information definition unit 31b defines the position information, azimuth information, and induction path R2 of the induction point IP capable of achieving the goals of (P31) to (P36).

[0178] Note that, in the example shown in FIG. 16, unlike the fourth field display unit 70, the fifth field display unit 80 displays the current position of the working machine 1 and the prohibited area BE including the worked area CE on the field map M.

[0179] When the information definition unit 31b generates the induction path R2, similar to the first embodiment, the first control device 31 causes the input device 32 to display a confirmation screen D2 for the operator to confirm the induction path R2. Therefore, in the third embodiment, the description of the confirmation screen D2 and the input device 32 after the confirmation screen D2 is displayed is omitted.

[0180] The preferred embodiments (the first to third embodiments) of the present invention provide the work support device 30, the working machine 1, and the work support method described in the following items. (Item 1) An input device 32 that receives an input of information setting, and a first control device 31 that acquires the information received by the input device 32 and the information of the field H where the working machine 1 capable of automatic travel performs work. The first control device 31 defines, based on the acquired information, position information of a guiding point IP for guiding the working machine 1 from an automatic travel route R1 in which the working machine 1 performs the automatic travel in the field H to a predetermined position, and guiding information including azimuth information specifying the direction of the working machine 1 at the guiding point IP, and outputs the guiding information to the working machine 1. A work support device 30.

[0181] According to the work support device 30 according to this Item 1, not only can the working machine 1 that is in the middle of automatic travel or the working machine 1 that has performed automatic travel be moved to a desired position, but it can also be directed in a desired azimuth. For this reason, the operator can perform appropriate processing on the working machine 1. (Item 2) The position information of the guiding point IP is the work support device 30 according to Item 1 that guides the working machine 1 to a position different from the point on the automatic travel route R1.

[0182] According to the work support device 30 according to this Item 2, not only can the working machine 1 be moved from the automatic travel route R1 to a desired position, but it can also be directed in a desired azimuth. For this reason, the operator can perform appropriate processing on the working machine 1. (Item 3) The input device 32 is the work support device 30 according to Item 1 or 2 that receives an input of setting the position of the guiding point IP.

[0183] According to the work support device 30 according to this Item 3, the operator can set an arbitrary position as the guiding point IP. (Item 4) The input device 32 is the work support device 30 according to Item 3 that receives an input of setting an arbitrary position from among the inside of the field H where the working machine 1 performs work and near the contour OL of the field H as the guiding point IP.

[0184] According to the work support device 30 related to this item 4, the operator can move the working machine 1 that is in the middle of automatic driving or the working machine 1 that has completed automatic driving to the vicinity of the contour OL of the farm field H. Therefore, regardless of the travel route of the automatic driving of the working machine 1, the operator can move to the working machine 1 without moving within the farm field H. (Item 5) The first control device 31 acquires a prohibited area BE in the farm field H where the travel of the working machine 1 is prohibited, and when the input device 32 accepts the setting of the position of the guiding point IP, based on the prohibited area BE, it displays whether the acceptance of the setting of the position of the guiding point IP is possible. The work support device 30 according to item 3 or 4.

[0185] According to the work support device 30 related to this item 5, the operator can surely grasp whether the guiding point IP can be set, and can suppress the working machine 1 from entering the prohibited area BE. (Item 6) The first control device 31 acquires a prohibited area BE in the farm field H where the travel of the working machine 1 is prohibited. When the guiding point IP received by the input device 32 is located in the prohibited area BE, the first control device 31 performs a reset process for the guiding point IP. The work support device 30 according to item 3 or 4.

[0186] According to the work support device 30 related to this item 6, the working machine 1 can be suppressed from entering the prohibited area BE. (Item 7) The first control device 31 acquires a prohibited area BE in the farm field H where the travel of the working machine 1 is prohibited, and acquires the vehicle body position VP of the working machine 1 in the farm field H that performs the automatic driving. When any path connecting the vehicle body position VP and the guiding point IP passes through the prohibited area BE, the first control device 31 performs a reset process for the guiding point IP. The work support device 30 according to item 3 or 4.

[0187] According to the work support device 30 related to this item 6, the working machine 1 can be suppressed from entering the prohibited area BE. (Item 8) The first control device 31 acquires the vehicle body position VP of the work machine 1 in the field H where the automatic driving is performed, and when an abnormality occurs in the work machine 1, it is the work support device 30 described in item 3 or 4 that performs the resetting process of the guiding point IP. (Item 9) When the first control device 31 performs the resetting process, it instructs the input device 32 to accept re-input of the setting of the guiding point IP, and based on the information received by the input device 32 for re-input, it is the work support device 30 described in any one of items 6 to 8 that performs the resetting process.

[0188] According to the work support device 30 according to this item 9, the operator can appropriately reset the guiding point IP. perform it. (Item 10) When the first control device 31 performs the resetting process, instead of the guiding point IP received by the input device 32, among the inside of the field H where the work machine 1 performs work and near the contour OL of the field H, the position where the running distance and / or running time from the vehicle body position VP at the time of the occurrence of the abnormality is the shortest is updated as a new guiding point IP, and the guiding information based on the updated guiding point IP is redefined, which is the work support device 30 described in item 8.

[0189] According to the work support device 30 according to this item 10, it is possible to more reliably suppress the work machine 1 from moving a relatively long distance while the abnormality occurs. (Item 11) The input device 32 accepts input of a predetermined part of the contour OL of the field H where the work machine 1 performs work. The first control device 31 acquires the vehicle body position VP of the work machine 1 in the field H where the automatic driving is performed. When the work machine 1 determines the completion of work in the field H, among the vicinity of the part of the contour OL received by the input device 32, the position where the running distance and / or running time from the vehicle body position VP at the time when the work machine 1 completes work is the shortest is defined as the guiding point IP, which is the work support device 30 described in item 1.

[0190] According to the work support device 30 related to this item 11, when moving the work machine 1 that has completed the work from the field H, the operator can appropriately move it manually without leaving it to automatic driving. (Item 12) The input device 32 receives the input of a predetermined partial setting among the outlines OL of the field H where the work machine 1 performs work. The first control device 31 acquires the vehicle body position VP of the work machine 1 in the field H that performs the automatic driving. When an abnormality occurs in the work machine 1, among the vicinity of the part of the outline OL that the input device 32 has received the input, the position where the travel distance and / or travel time from the vehicle body position VP at the time of the occurrence of the abnormality is the shortest is defined as the guiding point IP. The work support device 30 according to item 1.

[0191] According to the work support device 30 related to this item 12, it is possible to suppress the work machine 1 from continuing the work while an abnormality has occurred. (Item 13) The first control device 31 acquires the vehicle body position VP of the work machine 1 in the field H that performs the automatic driving, and based on the vehicle body position VP, the position information of the guiding point IP, and the azimuth information, generates a guiding path R2 for automatically driving the work machine 1, and defines the guiding path R2 as the guiding information. The work support device 30 according to any one of items 1 to 12.

[0192] According to the work support device 30 related to this item 13, the work machine 1 can move to an appropriate position and in an appropriate direction by automatically driving along the guiding path R2. (Item 14) The first control device 31 generates at least one of a first guidance route R2a aimed at minimizing the travel distance from the vehicle body position VP to the guidance point IP based on the vehicle body position VP, the position information of the guidance point IP, and the azimuth information, and a second guidance route R2b aimed at minimizing the travel time from the vehicle body position VP to the guidance point IP, and defines the guidance route R2 set by the input device 32 among the first guidance route R2a and the second guidance route R2b as the guidance information in item 13 of the work support device 30 described above.

[0193] According to the work support device 30 according to this item 14, the operator can arbitrarily select either the first guidance route R2a that prioritizes the travel distance or the second guidance route R2b that prioritizes the travel time by operating the input device 32. Therefore, the versatility of the work support device 30 can be improved. (Item 15) The input device 32 receives an input of setting the direction facing the end of the field H of the work machine 1 located at the guidance point IP, and the first control device 31 defines the azimuth information based on the direction received by the input device 32. The work support device 30 according to any one of items 1 to 14 described above. According to the work support device 30 according to this item 15, the operator can arbitrarily select the direction in which the work machine 1 faces the end. As a result, when the work machine 1 moves to the guidance point IP, it can face the appropriate direction desired by the operator.

[0194] According to the work support device 30 according to this item 15, the operator can arbitrarily select the direction in which the work machine 1 faces the end. As a result, when the work machine 1 moves to the guidance point IP, it can face the appropriate direction desired by the operator. (Item 16) The first control device 31 defines the azimuth information so that the boarding and alighting port 10a of the work machine 1 faces the end of the field H. The work support device 30 according to any one of items 1 to 14 described above.

[0195] According to the work support device 30 according to this item 16, the operator can suppress trampling the inside of the field H when boarding and alighting the work machine 1 that has moved to the guidance point IP. (Item 17) The first control device 31 is the work support device 30 according to any one of Items 1 to 14 that defines the orientation information so that the direction opposite to the direction in which the work device 2 is offset with respect to the vehicle body 3 is directed toward the end of the field H, based on the position of the work device 2 that is attached to the vehicle body 3 of the work machine 1 with an offset in the width direction.

[0196] According to the work support device 30 according to this Item 17, when performing maintenance on the work machine 1 that has moved to the induction point IP, getting on and off the work machine 1, etc., the operator can suppress trampling and damaging the inside of the field H. (Item 18) The first control device 31 is the work support device 30 according to any one of Items 1 to 14 that defines the orientation information so that the traveling direction of the work machine 1 faces the entrance / exit EX of the field H.

[0197] According to the work support device 30 according to this Item 18, the work machine 1 that has moved to the induction point IP can easily exit the field H and avoid performing a turning operation when exiting, so that it is also possible to suppress unnecessarily damaging the field H. (Item 19) The first control device 31 is the work support device 30 according to any one of Items 1 to 14 that defines the orientation information so that the supply unit 11 provided in the work machine 1 and receiving external supply is directed toward the end of the field H.

[0198] According to the work support device 30 according to this Item 19, fuel, materials, etc. can be easily supplied to the work machine 1 that has moved to the induction point IP. Also, when supplying, it is possible to suppress the operator from trampling and damaging the inside of the field H. (Item 20) The work machine 1 includes the work support device 30 according to any one of Items 1 to 19 and a second control device 20 for controlling the automatic traveling, and the first control device 31 outputs the induction information to the second control device 20.

[0199] In the work machine 1 according to this Item 20, it is possible to realize the work machine 1 having the above-described advantageous effects. (Item 21) An input device 32 that accepts input of information setting, and a first control device 31 that acquires the information accepted by the input device 32 and information on a field H where work is performed. A work support method for a work machine 1 including a work support device 30 and a second control device 20 for controlling automatic travel, wherein the first control device 31 includes: a step of acquiring information; and based on the acquired information, a position of a guiding point IP for guiding the work machine 1 from an automatic travel route R1 where the work machine 1 performs the automatic travel in the field H to a predetermined position, and a guiding information including azimuth information designating a direction of the work machine 1 at the guiding point IP. And a step of the first control device 31 outputting the guiding information to the second control device 20.

[0200] According to the work support method according to this item 21, not only can the work machine 1 that is in the middle of performing automatic travel or the work machine 1 that has performed automatic travel be moved to a desired position, but also a desired orientation can be set. Therefore, the operator can perform appropriate processing on the work machine 1.

[0201] As described above, the present invention has been described. 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 shown 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. For example, in the first to third embodiments described above, after the route generation unit 31a generates the automatic travel route R1, the information definition unit 31b defines the position information and azimuth information of the guiding point IP. However, when defining the position information and / or azimuth information of the guiding point IP before automatic travel, a configuration may be adopted in which these information are defined before the route generation unit 31a generates the automatic travel route R1.

Explanation of reference numerals

[0202] 1: Work machine 2: Working device 3: Vehicle body 10a: Entrance and exit 11: Supply unit 20: Second control device 30: Work support device 31: First control device 32: Input device A1: Ground contact area BE: Prohibited area EX: Entrance and exit H: Field IP: Induction point OL: Outline R1: Route R2: Guidance route VP: Vehicle body position

Claims

1. An input device that receives an input for setting information, a first control device that acquires the information received by the input device and the information of the field where the work machine capable of autonomous driving performs work, and comprising, based on the acquired information, the first control device defines guidance information including position information of a guidance point for guiding the work machine from an autonomous driving route on which the work machine performs the autonomous driving in the field to a predetermined position, and orientation information specifying the direction of the work machine at the guidance point, and outputs the guidance information to the work machine. A work support device.

2. The work support device according to claim 1, wherein the position information of the guidance point guides the work machine to a position different from a point on the autonomous driving route.

3. The work support device according to claim 2, wherein the input device receives an input for setting the position of the guidance point.

4. The work support device according to claim 3, wherein the input device receives an input for setting an arbitrary position from inside the field where the work machine performs work and near the contour of the field as the guidance point.

5. The first control device acquires a prohibited area in the field where the running of the work machine is prohibited, and when the input device receives the setting of the position of the guidance point, based on the prohibited area, the work support device according to claim 3 that displays whether the setting of the position of the guidance point can be received.

6. The first control device acquires a prohibited area in the field where the running of the work machine is prohibited, and when the guidance point received by the input device is located in the prohibited area, the work support device according to claim 3 that performs a re-setting process of the guidance point.

7. The first control device acquires a prohibited area in the field where the running of the work machine is prohibited, acquires the vehicle body position of the work machine in the field that performs the autonomous driving, and when any route connecting the vehicle body position and the guidance point passes through the prohibited area, the work support device according to claim 3 that performs a re-setting process of the guidance point.

8. The first control device acquires the vehicle body position of the work machine in the field that performs the autonomous driving, and when an abnormality occurs in the work machine, the work support device according to claim 3 that performs a re-setting process of the guidance point.

9. When performing the reset process, the first control device instructs the input device to accept re-entry of the setting of the guiding point, and performs the reset process based on the information re-entered by the input device. The work support device according to any one of claims 6 to 8.

10. When performing the reset process, the first control device updates, as a new guiding point, the position in the inner part of the field where the work machine works and near the contour of the field, which has the shortest travel distance and / or travel time from the vehicle body position at the time when the abnormality occurs, instead of the guiding point received by the input device, and redefines the guiding information based on the updated guiding point. The work support device according to claim 8.

11. The input device accepts input of a setting of a predetermined part of the contour of the field where the work machine works and accepts, The first control device acquires the vehicle body position of the work machine in the field during the automatic driving, and when determining that the work of the work machine in the field is completed, defines, as the guiding point, the position in the vicinity of the part of the contour received by the input device, which has the shortest travel distance and / or travel time from the vehicle body position at the time when the work machine completes the work. The work support device according to claim 1.

12. The input device accepts input of a setting of a predetermined part of the contour of the field where the work machine works, The first control device acquires the vehicle body position of the work machine in the field during the automatic driving, and when an abnormality occurs in the work machine, defines, as the guiding point, the position in the vicinity of the part of the contour received by the input device, which has the shortest travel distance and / or travel time from the vehicle body position at the time when the abnormality occurs. The work support device according to claim 1.

13. The first control device acquires the vehicle body position of the work machine in the field during the automatic driving, and generates a guiding path for automatically driving the work machine based on the vehicle body position, the position information of the guiding point, and the orientation information, and defines the guiding path as the guiding information. The work support device according to claim 1.

14. The first control device Based on the vehicle body position, the position information of the guiding point, and the orientation information, generate at least one of a first guiding route aimed at minimizing the traveling distance from the vehicle body position to the guiding point as much as possible, and a second guiding route aimed at minimizing the traveling time from the vehicle body position to the guiding point as much as possible. The work support device according to claim 13, wherein among the first guiding route and the second guiding route, the guiding route set by the input device is defined as the guiding information.

15. The input device receives an input for setting the direction of the work implement located at the guiding point with respect to the end of the field. The work support device according to claim 1, wherein the first control device defines the orientation information based on the direction received by the input device.

16. The work support device according to claim 1, wherein the first control device defines the orientation information so that the boarding and alighting opening of the work implement faces the end of the field.

17. The work support device according to claim 1, wherein the first control device defines the orientation information so that the end of the field faces the direction opposite to the direction in which the work device is offset with respect to the vehicle body based on the position of the work device attached to the vehicle body of the work implement with an offset in the width direction.

18. The work support device according to claim 1, wherein the first control device defines the orientation information so that the traveling direction of the work implement faces the entrance and exit of the field.

19. The work support device according to claim 1, wherein the first control device defines the orientation information so that the replenishment unit provided in the work implement and receiving replenishment from the outside faces the end of the field.

20. The work support device according to claim 1, and a second control device for controlling the automatic driving, wherein the first control device outputs the guiding information to the second control device.

21. A work support method for a work implement including a work support device having an input device for receiving an input of information setting, a first control device for acquiring the information received by the input device and information on a field where work is performed, and a second control device for controlling automatic driving, wherein the first control device performs a step of acquiring information. The step in which the first control device defines guidance information including position information of a guidance point for guiding the work machine to a predetermined position from an automatic travel route on which the work machine performs the automatic travel in the field based on the acquired information, and azimuth information specifying the direction of the work machine at the guidance point; The step in which the first control device outputs the guidance information to the second control device; A work support method comprising the above.

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