Support method, work vehicle, and support system

Abstract

To provide a support method, a work vehicle, and a support system capable of setting a creatable area in such a manner that a residual area of work is not generated.SOLUTION: A work vehicle such as a combine 1 comprises a portable terminal 40, and the portable terminal 40 includes a control device 41 and a display unit 44. The control device 41 functions as: an outline setting unit 50 which sets a field outline 60; a creatable area setting unit 51 which sets a creatable area 63 which is located inside the field outline 60, and in which an automatic travel route 64 can be created; and a work area determination unit 52 which determines a worked area 62 where work has been performed in the field and an unworked area 61 where work has not been performed. The display unit 44 displays the field outline 60, the worked area 62, and the creatable area 63. Furthermore, the display unit 44 displays in a distinguishable manner an unworked portion where the worked area 62 has not yet reached the creatable area 63.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a method for assisting a work vehicle that automatically travels in a field, a work vehicle, and an assistance system. [Background technology]

[0002] Conventionally, some work vehicles, such as combine harvesters, are capable of performing automatic reaping travel, which creates an automatic travel route within a predetermined area in a field and performs reaping work while automatically traveling along the automatic travel route. In order to create the automatic travel route, the work vehicle needs to grasp the outline of the field and also grasp the area within the field where an automatic travel route can be created (creatable area).

[0003] For example, Patent Document 1 discloses an automated driving system using a driving speed control device. The automated driving system uses a tractor as a work vehicle and includes an automated driving unit and a mobile communication terminal. The mobile communication terminal is equipped with a terminal electronic control unit having various control programs and the like. The terminal electronic control unit has a working area setting unit that sets a working area within the driving area in which the tractor will perform predetermined work, and a driving path setting unit that sets a target driving path. The working area set by the working area setting unit is an area in which the predetermined work will be performed while the tractor is automatically traveling. The working area setting unit sets the working area inside the driving area in a state in which a desired amount of space is secured inside the periphery of the driving area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-176094 Summary of the Invention [Problem to be solved by the invention]

[0005] When the work area of ​​Patent Document 1 is applied to a work vehicle such as a combine harvester that works from the periphery of a field, it is necessary to perform work travel, such as manual mowing, along the periphery of the field (travel area) to the target area (work area), and create an automatic travel path for unworked land remaining within the target area. The combine then performs automatic mowing along the automatic travel path within the target area. However, when the combine performs manual mowing around the target area, it may not be able to travel along the periphery of the target area, which may result in unworked land remaining outside the target area. If automatic mowing is performed in the target area under such conditions, some land will be left uncut, or in other words, an area will remain unworked.

[0006] An object of the present invention is to provide an assistance method, work vehicle, and assistance system that can set a preparable area so that no remaining work area is generated. [Means for solving the problem]

[0007] In order to solve the above problems, the assistance method of the present invention is a method of assistance when a work vehicle drives automatically in a field, and includes an outline setting process for setting the field outline, a createable area setting process for setting a createable area that is located inside the field outline and allows the creation of an automatic driving route, a work area determination process for determining already worked areas in the field where work has been done and unworked areas where work has not been done, and a display process for displaying the field outline, the already worked areas, and the createable area, and is characterized in that the display process displays in an identifiable manner the unworked parts where the already worked areas have not reached the createable area.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that drives automatically in a field, and has an outline setting unit that sets the outline of the field, a createable area setting unit that is provided inside the outline of the field and sets a createable area in which an automatic driving route can be created, a work area determination unit that determines which areas in the field have already been worked on and which areas have not yet been worked on, and a display unit that displays the outline of the field, the work area, and the createable area, and is characterized in that the display unit identifiably displays the unworked parts where the work area has not yet reached the createable area.

[0009] In addition, in order to solve the above-mentioned problems, the assistance system of the present invention is an assistance system for a work vehicle that drives automatically in a field, and comprises: an outline setting unit that sets the field outline; a createable area setting unit that is located inside the field outline and sets a createable area in which an automatic driving route can be created; a work area determination unit that determines worked areas in the field where work has been done and unworked areas where work has not been done; and a display unit that displays the field outline, the worked areas, and the createable area, wherein the display unit identifiably displays unworked areas where the worked areas have not reached the createable area. [Effects of the Invention]

[0010] According to the present invention, there are provided an assistance method, a work vehicle, and an assistance system that can set a region that can be created so that no remaining work region is generated. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. [Figure 2] 1 is a block diagram of a combine harvester according to an embodiment of the present invention. FIG. [Figure 3] FIG. 10 is a plan view showing a work screen on a combine harvester according to an embodiment of the present invention, which shows an overview of an example of a farm field. [Figure 4]FIG. 10 is a plan view showing a work screen on which another example of a farm field is schematically displayed in the combine harvester according to the embodiment of the present invention. [Figure 5] FIG. 10 is a block diagram of a mobile terminal in a combine harvester according to another embodiment of the present invention. [Figure 6] FIG. 10 is a block diagram of a mobile terminal in a combine harvester according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] A combine harvester 1 according to an embodiment of the present invention will be described with reference to FIG. 1 and other figures. The combine harvester 1 is an example of a work vehicle that performs work while manually or automatically traveling along a predetermined work route. The combine harvester 1 travels through a work field by automatic or manual operation and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation in which steering is controlled by automatic operation and traveling speed is controlled in response to manual operation, or unmanned operation in which steering and traveling speed are controlled by automatic operation, and can travel, turn, and work autonomously within the field.

[0013] The combine harvester 1 harvests multiple rows of stalks while traveling along a straight line with a harvesting width (working width) of a predetermined number of rows within the number of harvestable rows. The combine harvester 1 can be set to either a manual driving mode or an automatic driving mode. When the manual driving mode is set, the combine harvester 1 is configured to be driven manually in response to the operator's operation of the control unit 9.

[0014] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic reaping travel, performing reaping work while automatically traveling along an automatic travel route set in the field. For example, the combine harvester 1 sets an area for automatic reaping travel, i.e., an area where an automatic travel route can be created (a createable area), in an area of ​​the field where uncut stalks are present (hereinafter referred to as an "unworked area"). Then, the combine harvester 1 creates an automatic travel route so that, in the createable area, the combine harvester 1 can perform automatic reaping travel with a travel pattern such as back-and-forth reaping, which involves traveling back and forth along multiple straight routes, or circular reaping, which involves repeatedly traveling around a straight route along the inner periphery of the unworked area while shifting toward the center.

[0015] Before performing automatic reaping travel along the automatic travel route, the combine harvester 1 performs perimeter reaping travel, traveling around the perimeter of the field while reaping, to form a headland area in the field. At this time, the combine harvester 1 performs perimeter reaping travel, aiming to reach the perimeter of the area that can be created. The combine harvester 1 may perform perimeter reaping travel either manually or automatically.

[0016] As shown in Figure 1, the combine harvester 1 is a so-called head-feeding combine harvester, and includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9. The combine harvester 1 travels on the traveling section 2, threshers the stalks harvested by the reaping section 3 in the threshing section 4, sorts the grain in the sorting section 5, and stores it in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 using power supplied by the power section 8.

[0017] Traveling unit 2 is provided below machine frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). Traveling unit 2 rotates the crawlers of crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from engine 27 of power unit 8, causing combine 1 to travel in the forward / backward direction and turn left and right. The transmission transmits the power (rotational power) of power unit 8 to crawler-type traveling devices 11 and can also change the speed of the rotational power.

[0018] The reaping unit 3 is provided in front of the traveling unit 2 and performs reaping work on rows within the number of reaping rows. The reaping unit 3 is equipped with a divider 13, a raising device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the stalks in the field row by row and guides a predetermined number of stalks within the number of reaping rows to the raising device 14. The raising device 14 raises the stalks guided by the divider 13. The cutting device 15 cuts the stalks raised by the raising device 14. The conveying device 16 conveys the stalks cut by the cutting device 15 to the threshing unit 4.

[0019] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the transport device 16 of the reaping unit 3 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stalks transported by the feed chain 18.

[0020] The sorting section 5 is provided below the threshing section 4. The sorting section 5 comprises an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 6. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 outside the machine.

[0021] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 comprises a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to any desired location.

[0022] The straw waste processing section 7 is located behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine.

[0023] The power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6. The power unit 8 is equipped with an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0024] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the body of the combine harvester 1 to turn, and a main speed change lever and an auxiliary speed change lever for instructing changes in the forward and backward speed of the combine harvester 1, around the driver's seat where the operator sits. The manual travel of the combine harvester 1 is performed by the travel unit 2, which receives operation of the handle, main speed change lever, and auxiliary speed change lever of the control unit 9. The control unit 9 also has mechanisms for operating the reaping operation by the reaping unit 3, the threshing operation by the threshing unit 4, the discharge operation by the discharge device 25 of the storage unit 6, etc.

[0025] The combine harvester 1 is equipped with a positioning unit 28 that uses a satellite positioning system such as GPS to acquire the vehicle position of the combine harvester 1. The positioning unit 28 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 28, i.e., the vehicle position of the combine harvester 1, based on the positioning signal.

[0026] Next, the control device 30 of the combine harvester 1 will be described with reference to Figure 2. The control device 30 is composed of a computer such as a CPU, and is connected to a storage unit 31 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 32 that communicates with external devices.

[0027] The memory unit 31 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the memory unit 31. The control device 30 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, for example.

[0028] The communication unit 32 is capable of wireless communication with external devices such as a mobile terminal 40 held by the worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the mobile terminal 40 and transmits and receives various information to and from the mobile terminal 40.

[0029] The control device 30 also operates as a mowing / travel control unit 35 (working / traveling control unit) by executing a program stored in the memory unit 31. The mowing / travel control unit 35 realizes the mowing / traveling process (working / traveling process) of the assistance method according to the present invention.

[0030] The reaping travel control unit 35 is an example of a work travel control unit that controls the work travel of the combine harvester 1, and in this embodiment, when the automatic travel mode is set, it controls the automatic reaping travel of the combine harvester 1 in the field. For example, the reaping travel control unit 35 acquires field information and an automatic travel route set for the field from the mobile terminal 40. When automatic reaping travel begins, the reaping travel control unit 35 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, travel unit 2, and reaping unit 3 so that the combine harvester 1 performs automatic reaping travel along the automatic travel route based on the vehicle position, the field information, and the automatic travel route.

[0031] The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal with a touch panel or a laptop personal computer. Note that an operation device similar to the mobile terminal 40 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 40 form a support system.

[0032] 2, the mobile terminal 40 includes a control device 41 configured by a computer such as a CPU, and the control device 41 is connected to a storage unit 42 such as a ROM, RAM, hard disk drive, or flash memory, and a communication unit 43 that communicates with external devices. The mobile terminal 40 also includes a display unit 44 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0033] The memory unit 42 stores programs and data for controlling the various components and functions of the mobile terminal 40, and the control device 41 controls the various components and functions of the mobile terminal 40 by executing calculations based on the programs and data stored in the memory unit 42. The memory unit 42 stores field information and an automatic travel route for the field on which the combine harvester 1 is to work.

[0034] For example, as shown in Figures 3 and 4, a field has, within a field outline 60 along the periphery of the field, unworked areas 61 where work such as harvesting has not yet been carried out, and worked areas 62 where work has already been completed. A creation area 63 for creating an automatic driving route 64 is set within the field outline 60, and the automatic driving route 64 is created within the creation area 63. Note that Figures 3 and 4 show a work screen 70 that displays the field outline 60, unworked areas 61, worked areas 62, creation area 63, and automatic driving route 64, with the unworked areas 61 indicated by hatching sloping downward to the left and the worked areas 62 indicated by hatching sloping downward to the right. The field information includes, for example, information such as the shape, size and location information (coordinates, etc.) of the field outline 60, the shape, size and location information (coordinates, etc.) of the unworked area 61 and the worked area 62, and the shape, size and location information (coordinates, etc.) of the area that can be created 63.

[0035] The communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The control device 41 controls the communication unit 43 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0036] The control device 41 of the mobile terminal 40 executes a program stored in the memory unit 42 to operate as an outline setting unit 50, a creatable area setting unit 51, a work area determination unit 52, a range modification unit 53, an automated driving route creation unit 54 (work route creation unit), and a display control unit 55. The outline setting unit 50, the creatable area setting unit 51, the work area determination unit 52, the range modification unit 53, and the display control unit 55 realize the outline setting step, the creatable area setting step, the work area determination step, the range modification step, and the display step of the support method according to the present invention. The automated driving route creation unit 54 realizes the automated driving route creation step (work route creation step) of the support method according to the present invention.

[0037] The contour setting unit 50 manually or automatically selects a field to be the work target for the autonomous driving vehicle, sets the outer peripheral shape of the field, i.e., the field contour 60, and stores it in the memory unit 42. For example, the contour setting unit 50 displays a field selection screen (not shown) on the display unit 44 for selecting the field to be worked on. On the field selection screen, if field information including the field contour 60 has already been stored in the memory unit 42, the field corresponding to the field information can be selected. When a field is manually selected on the field selection screen, the contour setting unit 50 selects the selected field as the work target. Then, the contour setting unit 50 reads out the field information corresponding to the selected field from the memory unit 42, and sets the field contour 60 included in the read field information as the work target.

[0038] The field selection screen also allows the creation of a new field. When the creation of a new field is selected on the field selection screen, the contour setting unit 50 selects the new field at the vehicle position of the combine harvester 1 as the work target. Then, when the combine harvester 1 performs periphery mowing by circling along the outer periphery shape of the new field, the contour setting unit 50 receives from the combine harvester 1 the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1, and records position information on the outer periphery shape of the new field and position information on the route of the periphery mowing. The contour setting unit 50 creates a field contour 60 of the new field based on the position information acquired during the periphery mowing, creates field information including the field contour 60, and stores it in the memory unit 42. Then, the contour setting unit 50 sets the created field contour 60 as the work target.

[0039] The creatable area setting unit 51 pre-defines a creatable area 63, which is an area inside the field outline 60 set as the work target by the outline setting unit 50 and which allows automatic reaping travel along the automatic travel route 64, i.e., allows the automatic travel route 64 to be created, and stores the pre-defines the creatable area 63 in the storage unit 42. The creatable area setting unit 51 sets the creatable area 63 so that its periphery is formed by multiple sides (target sides). Note that the target sides of the creatable area 63 indicate a shape extending in the extension direction of the field and are not limited to a single straight line, but may include two or more straight lines or curves. For example, based on the field outline 60, the creatable area setting unit 51 sets a headland area 65 that is several laps (e.g., one or two laps) in the working width of the combine harvester 1 inside the field outline 60 along the periphery of the field, and sets the creatable area 63 inside the headland area 65. Before performing automatic reaping travel, the combine harvester 1 performs periphery reaping travel by manual travel or automatic travel, aiming at the periphery of the production possible area 63 and leaving an unworked area 61.

[0040] The work area determination unit 52 determines whether the field is an unworked area 61 or a worked area 62, and stores information about the unworked area 61 and the worked area 62 as field information in the memory unit 42 based on the determination result. Before work in the field begins, the unworked area 61 is set over the entire field, and the worked area 62 is not set. As the combine harvester 1 performs mowing in the field, whether manually or automatically, the work area determination unit 52 records the travel path of the mowing travel in the field based on the vehicle position of the combine harvester 1, sequentially records and updates areas based on the travel path of the mowing travel and the working width of the combine harvester 1 as worked areas 62, and deletes areas set as worked areas 62 from the unworked area 61 to update it.

[0041] The range change unit 53 changes the range of the creation possible area 63 set for the field automatically in accordance with predetermined conditions or in accordance with manual operation by the operator. The range change unit 53 can change the range of the creation possible area 63, for example, after performing perimeter mowing travel and before creating the automatic travel route 64.

[0042] The range change unit 53 automatically changes the range of the creatable area 63 based on the difference between the outer periphery of the unworked area 61 (the inner periphery of the worked area 62) recorded for the field and the outer periphery of the set creatable area 63, as a predetermined condition. For example, the range change unit 53 determines whether the distance from the creatable area 63 to the worked area 62 is less than a predetermined distance threshold. If the distance is less than the predetermined distance threshold, the range change unit 53 changes the range of the creatable area 63 so that it extends to the worked area 62. The predetermined distance threshold is set in advance based on the working width of the combine harvester 1. For example, it may be set to half the working width of the combine harvester 1, or it may be set arbitrarily by the operator. Note that when automatically expanding the range of the creatable area 63, the range change unit 53 may notify the operator of the expansion by display or sound in advance, or may notify the operator of the expansion by display or sound after the automatic expansion.

[0043] Specifically, the range modification unit 53 compares each of the multiple target edges constituting the outer periphery of the creatable area 63 with the corresponding edge of the inner periphery of the already-worked area 62 (hereinafter referred to as the already-worked edge). Note that the already-worked edge of the already-worked area 62 indicates a shape extending in the extension direction of the field, and is not limited to a single straight line, but may include two or more straight lines or curves. In comparing each target edge of the creatable area 63 with the already-worked edge of the already-worked area 62 corresponding to the target edge, the range modification unit 53 calculates the distance from the already-worked edge to the target edge in the direction perpendicular to the target edge, which is the distance away from the target edge (towards the field outline 60), and determines whether the calculated distance is less than a predetermined distance threshold.

[0044] Then, the range change unit 53 automatically changes the range of the creatable area 63 so as to enlarge a target edge of the creatable area 63 whose separation distance is less than a predetermined distance threshold by translating it by a predetermined change distance. The predetermined change distance may be set to, for example, the separation distance from the already worked edge to the target edge, or may be set to a predetermined distance, or may be arbitrarily set by the worker. On the other hand, the range change unit 53 does not automatically enlarge the range of the creatable area 63 for a target edge of the creatable area 63 whose separation distance is equal to or greater than the predetermined distance threshold, because perimeter mowing travel is often continued.

[0045] For example, as shown in FIG. 3 , when the combine harvester 1 performs perimeter mowing along one target edge of the creatable area 63 to form a headland area 65 in a farm field, if the combine harvester 1 is unable to turn near the edge of the target edge or if an error occurs during manual operation, the combine harvester 1 may move away from the target edge while mowing. When the combine harvester 1 moves away from the target edge, the combine harvester 1 returns to perimeter mowing along the target edge, resulting in a previously worked area 62 along the target edge with a gap (remaining area 66) of unworked land 61 between the combine harvester 1 and the creatable area 63. In FIG. 3 , the dashed line shows a travel path 62a when the previously worked area 62 is formed by perimeter mowing along the target edge. Because the combine harvester 1 basically performs mowing in a straight line, the remaining area 66 forms a corner with a vertex 66a that is spaced apart from the creatable area 63. In contrast, in this embodiment, if the distance from the target edge of the createable area 63 to the vertex 66a of the remaining area 66 is less than a predetermined distance threshold, the range change unit 53 changes the range of the createable area 63 to expand it to the already worked area 62, so that the createable area 63 includes the remaining area 66 of the unworked area 61, making it possible to perform automatic mowing without eliminating the remaining area 66.

[0046] Although the above describes an example in which the range modification unit 53 translates and enlarges the target edge by a predetermined modification distance when the distance from the already-worked edge to the target edge is less than a predetermined distance threshold, the present invention is not limited to this example. For example, the range modification unit 53 may modify the target edge to a line that is parallel to a line connecting one end of the target edge to the other end and passes through a point on the already-worked edge that is farthest from the target edge.

[0047] Furthermore, the range modification unit 53 may determine whether the already-worked area 62 has reached each of the multiple target edges of the creatable area 63, and may modify the range of the creatable area 63 by adding the result of the determination to a predetermined condition. For example, for one of the already-worked edges of the already-worked area 62, if the positional information of each point of the already-worked edge is within the range of the creatable area 63 (i.e., on the periphery of the creatable area 63 or inside the creatable area 63), the range modification unit 53 determines that the already-worked area 62 has reached the target edge of the creatable area 63 corresponding to the already-worked edge. In this case, the already-worked area 62 has been sufficiently formed with the creatable area 63 as the target, so the range modification unit 53 does not automatically expand the range of the creatable area 63.

[0048] Furthermore, if the position information of each point of the already worked edge is not within the range of the creatable area 63, the range change unit 53 determines that the already worked area 62 has not reached the target edge of the creatable area 63 corresponding to the already worked edge. In this case, since perimeter mowing travel is often continued, the range change unit 53 does not automatically expand the range of the creatable area 63. Note that if the position information of each point of the already worked edge is not within the range of the creatable area 63, the range change unit 53 may automatically expand the range of the creatable area 63 to the already worked area 62 in response to manual operation by the worker, even if the already worked area 62 has not reached the creatable area 63.

[0049] Furthermore, when the positional information of some points of the already worked edge is within the range of the creatable area 63 but the positional information of some points of the already worked edge is not within the range of the creatable area 63, the range change unit 53 determines that the already worked area 62 contains a mixture of reached and unreachable portions with respect to the target edge of the creatable area 63 corresponding to the already worked edge. In this case, the range change unit 53 calculates the distance from each point of the already worked edge to the target edge, and automatically expands the range of the creatable area 63 to the already worked area 62 if the longest distance is less than a predetermined distance threshold. On the other hand, when the longest distance from each point of the already worked edge to the target edge is equal to or greater than the predetermined distance threshold, the range change unit 53 does not automatically expand the range of the creatable area 63 because perimeter mowing travel will often continue.

[0050] Furthermore, the range modification unit 53 may modify the range of the creatable area 63 based on the outer periphery of the creatable area 63 set for the field as a predetermined condition. For example, if the target side of the creatable area 63 includes an obtuse angle midway, the range modification unit 53 automatically modifies the range of the creatable area 63 so as to translate and enlarge the target side by a predetermined modification distance. The predetermined modification distance may be set, for example, based on the distance from the apex of the obtuse angle of the target side to a line connecting one end of the target side in a direction perpendicular to the line, or may be set to a predetermined distance, or may be arbitrarily set by the operator.

[0051] To determine whether the target edge contains an obtuse angle, the range modification unit 53 calculates the angle between two adjacent line segments when the target edge is not composed of a single straight line but includes two or more straight lines or curves, and determines whether the calculated angle is an obtuse angle, thereby detecting an obtuse angle from the target edge. Alternatively, the range modification unit 53 calculates the distance from each point on the target edge to a line connecting one end of the target edge in a direction perpendicular to the line, detects the point on the target edge where the longest distance is less than a predetermined distance threshold as a vertex, calculates the angle between the line from the vertex to one end of the target edge and the line from the vertex to the other end of the target edge, and determines whether the calculated angle is an obtuse angle, thereby detecting an obtuse angle from the target edge. When an obtuse angle is detected from the target edge, the range modification unit 53 automatically changes the range of the creation possible area 63 to expand the target edge, either automatically or in response to manual operation by the operator.

[0052] For example, as shown in FIG. 4, the target edge of the creatable area 63 in a field may be set to protrude outward. When the field outline 60 of the field protrudes outward, the creatable area 63 is set based on the field outline 60. FIG. 4 shows an example in which the target edge is composed of two straight lines, with a vertex 67a between the two straight lines protruding outward and forming an obtuse angle between them. When the combine harvester 1 performs periphery mowing along this target edge to form a headland area 65 in the field, it first travels straight along one straight line of the target edge to mow, then manually makes a slight turn, and then travels straight along the other straight line of the target edge to mow. Therefore, near the vertex 67a of the target edge, the combine harvester 1 makes a slight turn and moves away from the target edge while mowing, resulting in a worked area 62 along the target edge with a gap (remaining area 67) of unworked land 61 between the creatable area 63 and the workable area 63. In FIG. 4, the dashed line shows the travel path 62a when the workable area 62 is formed by periphery mowing along the target edge. In contrast, in this embodiment, if the target edge of the workable area 63 contains an obtuse angle, the range change unit 53 changes the range of the workable area 63 to expand the target edge. This means that the workable area 63 includes the remaining area 67 of unworked land 61, enabling automatic mowing without eliminating the remaining area 67.

[0053] Although the above describes an example in which the range modification unit 53 translates and enlarges the target side by a predetermined modification distance when the target side includes an obtuse angle, the present invention is not limited to this example. For example, the range modification unit 53 may modify the target side to a straight line connecting one end and the other end of the target side, or a straight line that is parallel to this straight line and passes through the vertex 67a of the obtuse angle of the target side.

[0054] Furthermore, the range modification unit 53 may automatically modify the range of the creatable area 63 based on the inner periphery of the already-worked area 62 (the outer periphery of the unworked area 61) recorded for the field as a predetermined condition. For example, if the already-worked edge of the already-worked area 62 includes an obtuse angle, the range modification unit 53 automatically modifies the range of the creatable area 63 so as to translate and enlarge the target edge corresponding to the already-worked edge by a predetermined modification distance. The predetermined modification distance may be set, for example, based on the distance from the apex of the obtuse angle of the already-worked edge to the line connecting one end of the already-worked edge in the direction perpendicular to the line, or may be set to a predetermined distance, or may be set arbitrarily by the operator.

[0055] To determine whether the completed edge contains an obtuse angle, the range modification unit 53 calculates the angle between two adjacent line segments when the completed edge is not composed of a single line but includes two or more lines or curves, and determines whether the calculated angle is an obtuse angle. Alternatively, the range modification unit 53 calculates the distance from each point on the completed edge to the line connecting one end and the other end of the completed edge in a direction perpendicular to the line. The range modification unit 53 detects the point on the completed edge where the longest distance is less than a predetermined distance threshold as a vertex. Then, the range modification unit 53 calculates the angle between the line from the vertex to one end of the completed edge and the line from the vertex to the other end of the completed edge. The range modification unit 53 then automatically modifies the range of the creation possible area 63 to expand the target edge when an obtuse angle is detected from the completed edge, or automatically modifies the range of the creation possible area 63 in response to manual operation by the operator.

[0056] Although the above describes an example in which the range modification unit 53 translates and enlarges the target side by a predetermined modification distance when the worked side includes an obtuse angle, the present invention is not limited to this example. For example, the range modification unit 53 may modify the target side to a line that is parallel to a line connecting one end of the target side and the other end of the target side and that passes through the vertex of the obtuse angle of the worked side.

[0057] The range change unit 53 may also change the range of the creatable area 63 in response to manual operation by the operator. For example, when a work screen 70 (described later) is displayed on the display unit 44 of the mobile terminal 40 and an overview of the field outline 60, the unworked area 61, the already-worked area 62, and the creatable area 63 is displayed on the work screen 70, the range change unit 53 changes the creatable area 63 to enlarge or reduce it in response to manual operation using the work screen 70. In this case, the range change unit 53 can enlarge or reduce each of the multiple target edges that make up the creatable area 63. For example, when the operator visually confirms areas in the field where rice plants are not planted or areas where rice plants have fallen, if these areas are within the creatable area 63, the operator changes the creatable area 63 so that these areas are not included in the creatable area 63 in order to exclude these areas from the automatic reaping travel.

[0058] The range change unit 53 applies the above-mentioned distance threshold and other restrictions to expand and change the creation possible area 63 only when a back-and-forth mowing travel pattern is set for the combine harvester 1, whereas when a circular mowing travel pattern is set for the combine harvester 1, the range change unit 53 may expand and change the creation possible area 63 without imposing restrictions on the distance threshold and other restrictions. Furthermore, when a back-and-forth mowing travel pattern is set for the combine harvester 1 and the direction in which the creation possible area 63 is expanded is perpendicular to the back-and-forth direction, the range change unit 53 may expand and change the creation possible area 63 without imposing restrictions on the distance threshold and other restrictions.

[0059] The automatic travel path creation unit 54 creates an automatic travel path 64 for automatic reaping travel in a field that is the target of automatic travel, stores it in the memory unit 42, and transmits it to the combine harvester 1 via the communication unit 43. Particularly in this embodiment, the automatic travel path creation unit 54 creates the automatic travel path 64 so that the combine harvester 1 performs automatic reaping travel within the range of the creatable area 63 after the creatable area setting unit 51 sets the creatable area 63 and, in some cases, the range change unit 53 changes the range of the creatable area 63. The automatic travel path 64 includes travel information related to automatic travel and work information related to work such as automatic reaping. The travel information includes not only the travel position in the field but also the direction of travel and the set vehicle speed at each travel position. The work information includes information related to the work, such as whether reaping is started or stopped at each travel position, the reaping speed, and the reaping height. The automatic driving path creation unit 54 creates multiple straight paths for mowing while traveling forward in the field, depending on the driving pattern (reciprocating mowing or circular mowing) selected by operating the mobile terminal 40, and creates an automatic driving path 64 by combining the multiple straight paths with multiple turning paths connecting each straight path.

[0060] 3 and 4, the display control unit 55 controls the display unit 44 to display a work screen 70 that displays the field outline 60 of the field to be worked, the unworked area 61, the already worked area 62, and the area that can be created 63. The work screen 70 includes a map field 71, and the display control unit 55 displays an overview of the field outline 60 of the field, the unworked area 61, the already worked area 62, and the area that can be created 63 in the map field 71, and further displays a vehicle marking 72 for the combine harvester 1 at the vehicle position of the combine harvester 1 determined by the positioning unit 28 of the combine harvester 1.

[0061] The work screen 70 may be a screen for checking the area 63 that can be created in the field and the automatic travel route 64, or a screen for setting the area 63 that can be created and the automatic travel route 64, or a screen for performing peripheral mowing travel or automatic mowing travel. The display control unit 55 updates and displays the position of the vehicle marking 72 and the range of the unworked area 61 and the worked area 62 in accordance with the progress of the mowing travel of the combine harvester 1.

[0062] For example, after the creatable area 63 is set by the creatable area setting unit 51, the display control unit 55 displays the field outline 60, the unworked area 61, the worked area 62, and the creatable area 63 on the work screen 70. The display control unit 55 allows the work screen 70 to accept a manual operation for changing the range of the creatable area 63 set by the creatable area setting unit 51, for example, a manual operation for changing each target edge that constitutes the creatable area 63. Furthermore, when the range change unit 53 changes the range of the creatable area 63, the display control unit 55 may allow the work screen 70 to accept a manual selection of whether or not to change the creatable area 63, and at this time, may display the creatable area 63 before the change and the creatable area 63 after the change in a distinguishable manner. Furthermore, after the range change unit 53 changes the range of the creatable area 63, the display control unit 55 may allow the work screen 70 to accept a manual operation for returning the creatable area 63 to its pre-change state.

[0063] Furthermore, after the range of the creatable area 63 is changed by the range change unit 53, the display control unit 55 updates and displays the creatable area 63 after the change on the work screen 70. Furthermore, after the automatic driving route creation unit 54 creates the automatic driving route 64, the display control unit 55 displays the automatic driving route 64 on the work screen 70, superimposed on the field outline 60, the unworked area 61, the already worked area 62, and the creatable area 63.

[0064] The display control unit 55 distinguishably displays the field outline 60, unworked area 61, already-worked area 62, and area that can be created 63 of the field by changing the line type, line color, background color, etc. Furthermore, during perimeter mowing travel or before the start of automatic mowing travel, the display control unit 55 highlights areas other than already-worked area 62 that are outside the range of the area that can be created 63 in the field (areas of unworked area 61) by using the line type, line color, background color, etc. to distinguish them as remaining perimeter mowing areas 66 and 67. Note that when such remaining perimeter mowing areas 66 and 67 occur, the display control unit 55 may highlight the remaining areas 66 and 67 and their surrounding areas by enlarging them, etc.

[0065] As described above, according to this embodiment, a work vehicle such as the combine harvester 1 is equipped with a portable terminal 40, and the portable terminal 40 is equipped with a control device 41. The control device 41 functions as an outline setting unit 50 that sets the field outline 60, a createable area setting unit 51 that is provided inside the field outline 60 and sets a createable area 63 in which an automatic travel route 64 can be created, and a range changing unit 53 that changes the range of the createable area 63.

[0066] In other words, in the present invention, the support method for setting an area in which a work vehicle such as a combine harvester 1 will automatically travel in a field includes an outline setting process for setting the field outline 60, a createable area setting process for setting a createable area 63 that is located inside the field outline 60 and enables the creation of an automatic travel route 64, and a range change process for changing the range of the createable area 63.

[0067] As a result, the range of the createable area 63 in which automatic travel is performed can be changed automatically or manually depending on the work status, such as mowing, so that the createable area 63 can be set so that no unworked land 61 remains, and automatic travel can be performed. For example, even if the combine harvester 1 performs peripheral mowing travel around the createable area 63 and the unworked land 61 remains outside the createable area 63, the range of the createable area 63 can be changed to include the remaining unworked land 61, so that automatic mowing travel can be performed so that no uncut land (remaining work areas 66 and 67) remains. Furthermore, if an area where automatic travel is not required occurs within the createable area 63, the combine harvester 1 can change the range of the createable area 63 to exclude that area.

[0068] Furthermore, even if the combine harvester 1 is configured to control not to create the automatic travel route 64 within the createable area 63 when it determines that the already-worked area 62 does not reach the createable area 63 (the unworked area 61 extends beyond the createable area 63), if the distance from the createable area 63 to the already-worked area 62 is less than a predetermined distance threshold, or in response to an arbitrary operation by the operator, the range of the createable area 63 is expanded to the already-worked area 62, making it possible to create the automatic travel route 64. Furthermore, by expanding the createable area 63 in this manner, the combine harvester 1 can create the automatic travel route 64 in the expanded createable area 63 and perform automatic reaping travel, without having to return to the part that does not reach the createable area 63 and perform reaping travel so that the already-worked area 62 reaches the createable area 63.

[0069] According to this embodiment, in the combine harvester 1, the control device 41 of the mobile terminal 40 functions as a work area determination unit 52 that determines the already worked area 62 where work has been done in the field, and a display control unit 55 that displays the field outline 60, the already worked area 62, and the area that can be created 63.

[0070] This allows the worker to carry out work while checking the area 63 in the field that can be created and checking the already worked area 62 that has been worked on with the area 63 that can be created as a target, and to change the range of the area 63 that can be created while checking the part of the area 62 that has not yet reached the area 63 that can be created. This allows automatic travel by setting the area 63 that can be created so that no unworked area 61 remains.

[0071] Furthermore, the display control unit 55 highlights areas other than the already worked area 62 that are outside the range of the creatable area 63 (areas of the unworked area 61) as identifiable remaining areas 66 and 67, allowing the worker to work while recognizing the portions that extend beyond the creatable area 63. If the creatable area 63 can be enlarged by the worker's optional operation, the worker can enlarge the creatable area 63 while viewing the display. Even if the combine harvester 1 is configured to control the combine harvester not to create the automatic driving route 64 within the creatable area 63 when it determines that the already worked area 62 does not reach the creatable area 63 (the unworked area 61 extends beyond the creatable area 63), the worker can determine, by referring to the highlighting of the remaining areas 66 and 67, which areas need to be cut to enable the automatic driving route 64 to be created, and can also determine which areas need to be enlarged into the creatable area 63 to enable the automatic driving route 64 to be created.

[0072] According to this embodiment, the range change unit 53 expands the range of the createable area 63 to the already worked area 62 when the distance from the createable area 63 to the already worked area 62 is less than a predetermined distance threshold.

[0073] As a result, if a remaining area 66 or 67 that is less than the distance threshold occurs between the creation possible area 63 and the already worked area 62, the creation possible area 63 can be changed to include the remaining area 66 or 67. In this case, since the change of the creation possible area 63 is limited to less than the distance threshold, it is possible to prevent the headland area 65 around the creation possible area 63 from being narrowed more than necessary.

[0074] According to this embodiment, the creatable area setting unit 51 sets the creatable area 63 so that its perimeter is formed by a plurality of sides (target sides). The range change unit 53 determines whether the already-worked area 62 reaches each of the plurality of sides of the creatable area 63, and based on the determination result, when an unworked portion where the already-worked area 62 reaches an edge of the creatable area 63 and an already-worked portion where the already-worked area 62 does not reach are mixed, if the longest distance from the edge to the already-worked area 62 is less than a predetermined distance threshold, the range change unit 53 expands the range of the creatable area 63 to the already-worked area 62.

[0075] As a result, if the already worked area 62 is separated from the edge of the creatable area 63 at multiple positions, the distance from the most distant position is referenced, and the creatable area 63 can be changed to include the remaining areas 66 and 67 that include all the distant positions.

[0076] According to this embodiment, the range change unit 53 sets the predetermined distance threshold based on the working width of the work vehicle such as the combine harvester 1.

[0077] As a result, if the distance between the area that can be created 63 and the already worked area 62 is too wide compared to the working width of the work vehicle, the area that can be created 63 will not be changed to expand, and the vehicle can be encouraged to continue mowing the perimeter.

[0078] Furthermore, according to this embodiment, the range modification unit 53 determines whether one of the sides (target side) that make up the creation area 63 has an obtuse angle, and if it does, expands and modifies the range of the creation area 63.

[0079] As a result, when one side of the creation area 63 has an obtuse angle, the creation area 63 is expanded in advance, assuming that the combine 1 will make a slight turn around the obtuse angle, thereby reducing the burden on the worker when traveling around the obtuse angle and the burden on the worker who performs changes to the creation area 63.

[0080] Alternatively, according to this embodiment, the range change unit 53 determines whether one side (already worked side) that constitutes the already worked area 62 where work has been done in the field has an obtuse angle, and if it does, expands and changes the range of the creation possible area 63.

[0081] As a result, when one side of the existing work area 62 has an obtuse angle, the area 63 that can be created is expanded in advance, assuming that the combine 1 will make a slight turn around the obtuse angle, thereby reducing the burden on the worker when traveling around the obtuse angle and the burden on the worker who performs the operation to change the area 63 that can be created.

[0082] In another embodiment, in the combine harvester 1, the control device 41 of the mobile terminal 40 executes a program stored in the memory unit 42, and as shown in Fig. 5, operates as a row direction determination unit 56 and an enlarged direction notification unit 57 in addition to an outline setting unit 50, a creation possible area setting unit 51, a work area determination unit 52, a range change unit 53, an automatic driving route creation unit 54, and a display control unit 55. The row direction determination unit 56 and the enlarged direction notification unit 57 realize the row direction determination step and the enlarged direction notification step of the support method according to the present invention.

[0083] In a state where stalks are planted in a predetermined row direction in a field, when an automatic travel path 64 is created in a creation-possible area 63 with a travel pattern of reciprocating mowing that travels back and forth along multiple straight paths along the row direction as shown in Figures 3 and 4, if the creation-possible area 63 is expanded in the row direction, the headland area 65 may become narrow, and it may become impossible to turn and travel in the headland area 65. Therefore, the row direction determination unit 56 and the expansion direction notification unit 57 are configured to notify the operator when the creation-possible area 63 is expanded in the row direction.

[0084] The row direction determination unit 56 determines the row direction of culms planted in multiple rows in a field. For example, the row direction when a rice transplanter (not shown) transplants seedlings in the field may be included in field information and stored in a server (not shown) or the mobile terminal 40, and the row direction determination unit 56 may read the row direction from the field information from the server or the mobile terminal 40 to make the determination. Alternatively, the row direction determination unit 56 may determine the row direction based on the results of photographing the field using a camera (not shown) or the like provided on the combine harvester 1. Alternatively, the mobile terminal 40 may be configured to allow any row direction to be set for the field, and the row direction determination unit 56 may read the set row direction to make the determination.

[0085] When the range change unit 53 expands the creatable area 63, the expansion direction notification unit 57 determines whether the expansion direction of the creatable area 63 is the stripe direction, and if the expansion direction is the stripe direction, notifies the worker that the expansion direction of the creatable area 63 is the stripe direction. For example, the expansion direction notification unit 57 notifies the worker that the expansion direction of the creatable area 63 is the stripe direction on the work screen 70 or another screen displayed on the display unit 44 by the display control unit 55, and preferably, the stripe direction in the unworked area 61 is identifiable along with the creatable area 63. Alternatively, the expansion direction notification unit 57 may notify the worker that the expansion direction of the creatable area 63 is the stripe direction by sound, a lamp, or the like. Furthermore, the expansion direction notification unit 57 may accept a manual selection of whether to expand and change the creatable area 63 on the work screen 70 or another screen, and may further display the creatable area 63 before the change and the creatable area 63 after the change in an identifiable manner. The expansion direction notification unit 57 may also notify that the headland area 65 will become narrower as a result of the expansion of the creation possible area 63, or that it will become impossible to turn during automatic traveling.

[0086] As described above, in another embodiment, when the combine harvester 1 expands the creation area 63 in the row direction, it notifies the operator of this, so that the operator can decide in advance whether or not to perform automatic mowing driving in the expanded creation area 63.

[0087] Furthermore, in another embodiment, in the combine harvester 1, the control device 41 of the portable terminal 40 executes a program stored in the memory unit 42, and as shown in Fig. 6, operates as a turning determination unit 58 and a turning impossibility notification unit 59 in addition to an outer shape setting unit 50, a creation possible area setting unit 51, a work area determination unit 52, a range change unit 53, an automatic driving path creation unit 54, and a display control unit 55. The turning determination unit 58 and the turning impossibility notification unit 59 realize the turning determination step and the turning impossibility notification step of the support method according to the present invention.

[0088] If the creation-possible area 63 is expanded in the field, the headland area 65 will become narrower, and there is a possibility that turning by automatic traveling will not be possible in the headland area 65. Therefore, the turning determination unit 58 and the turning impossibility notification unit 59 are configured to notify the operator that, if turning by automatic traveling will not be possible in the headland area 65 when the creation-possible area 63 is expanded, this fact will be notified to the operator.

[0089] The combine harvester 1 allows for selection of a turning type when turning in the headland area 65 during automatic reaping travel from a standard type in which the minimum turning radius is the minimum turning radius at which the combine harvester 1 can normally turn, a tight turning type in which the minimum turning radius is smaller than the standard type, and a soft type in which the minimum turning radius is the minimum turning radius at which the combine harvester 1 can safely turn in adverse conditions (such as mud) with a turning radius larger than the standard type, and the mobile terminal 40 can accept a selection operation for the turning type. Alternatively, the combine harvester 1 may allow for selection of the turning type from a plurality of stages with different turning radii. Note that the mobile terminal 40 may also allow for input of the turning radius when turning in the headland area 65 during automatic reaping travel.

[0090] The creatable area setting unit 51 sets a headland area 65 in the field where turning travel is possible according to the turning type or turning radius set as described above, and also sets a creatable area 63 inside the headland area 65. When the combine harvester 1 performs automatic reaping travel along the automatic travel route 64 created in the creatable area 63, it performs turning travel with a turning radius according to a preset turning type or a turning type selected by the mobile terminal 40, or with a preset turning radius or a turning radius input by the mobile terminal 40.

[0091] The turning determination unit 58 determines whether or not the combine harvester 1 can turn during automatic travel based on the turning radius set for the combine harvester 1. For example, after the createable area 63 is set by the createable area setting unit 51 and the range of the createable area 63 is changed by the range change unit 53, the turning determination unit 58 references the automatic travel route 64 created for the createable area 63 by the automatic travel route creation unit 54. At this time, the turning determination unit 58 particularly determines whether or not the turning route of the automatic travel route 64 is located within a turnable area, which is within the field and is an area other than the createable area 63 and the unworked land 61. If all the turning routes are located within the turnable area, the turning determination unit 58 determines that the combine harvester 1 can turn. On the other hand, if any of the turning routes passes outside the turnable area, the turning determination unit 58 determines that the combine harvester 1 cannot turn.

[0092] When the combine harvester 1 is unable to turn an area (a turning area) other than the createable area 63 by automatic travel based on the set turning radius when the createable area 63 is enlarged, the turning-impossible notification unit 59 notifies the combine harvester 1 that turning is impossible. For example, when the turning determination unit 58 determines that turning is impossible, the turning-impossible notification unit 59 notifies the combine harvester 1 that turning is impossible by enlarging the createable area 63 on the work screen 70 displayed on the display unit 44 by the display control unit 55. Preferably, the turning-impossible notification unit 59 may identifiably display the turning path together with the createable area 63 and the headland area 65. Alternatively, the turning-impossible notification unit 59 may notify the combine harvester 1 that turning is impossible due to the enlargement of the createable area 63 by sound, a lamp, or the like. Furthermore, the turning-impossible notification unit 59 may accept a manual selection of whether to enlarge and change the createable area 63 on the work screen 70 or another screen, and may further identifiably display the createable area 63 before and after the change. The turning impossibility notification unit 59 may highlight the area where the turning path passes outside the turning possible area by enlarging the area or the like.

[0093] Alternatively, when expanding the possible area 63, even if the combine harvester 1 cannot turn automatically in the turning area based on the turning radius of the currently set turning type, if the combine harvester 1 can turn automatically by changing to another turning type with a tighter turning radius (smaller turning radius) than the currently set turning type, the turning impossibility notification unit 59 may notify the operator of this, or the control device 41 may automatically change to another turning type that can turn automatically. For example, even if the combine harvester 1 is a soft type and cannot turn automatically, it may be able to turn automatically by changing to a standard type or a tight turning type. Also, even if the standard type cannot turn automatically, it may be able to turn automatically by changing to a tight turning type. In such cases, it is advisable to issue a notification recommending a change of turning type or to automatically change the turning type.

[0094] As described above, in another embodiment, when the combine harvester 1 expands the creation area 63, it notifies the operator of this, so that the operator can decide in advance whether or not to perform automatic mowing in the expanded creation area 63.

[0095] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may be configured as a full-type combine harvester.

[0096] Furthermore, in the above embodiment, an example has been described in which the work vehicle is configured as a combine harvester 1, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured as another agricultural work machine that harvests crops, or may be configured as a work vehicle other than an agricultural work machine.

[0097] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and the assistance method, work vehicle, and assistance system that involve such modifications are also included in the technical idea of ​​the present invention. [Explanation of symbols]

[0098] 1 Combine (work vehicle) 2 Running part 3 Reaping part 30 Control device 35 Mowing travel control unit 40 Mobile Devices 41 Control device 50 External shape setting section 51 Creation area setting section 52 Work area determination section 53 Range change section 54 Automatic driving route creation unit 55 Display control unit 56 Row direction determination section 57 Expanded direction notification unit 58 Turning judgment section 59 Turning impossible warning unit 60 Field Outline 61 Unworked land 62 Existing work area 63 Creation area 64 Automated driving route 66, 67 remaining area

Claims

1. A method for supporting automatic driving of a work vehicle in a field, comprising: an outline setting step of setting the outline of the field; a creation-possible area setting step of setting a creation-possible area that is provided inside the outline of the farm field and in which an automatic travel route can be created; a work area determination step of determining whether the field is a work area where work has been performed or an unworked area where work has not been performed; a display step of displaying the field outline, the already worked area, and the area that can be created; The display step is a support method characterized in that the unworked portion of the already worked area that has not yet reached the area that can be created is displayed in an identifiable manner.

2. 2. The support method according to claim 1, further comprising an automatic driving route creation step of creating the automatic driving route on the condition that the completed work area reaches the creation possible area.

3. A work vehicle that automatically travels in a field, an outer shape setting unit that sets the outer shape of the field; a creation-possible area setting unit that is provided inside the outline of the field and that sets a creation-possible area in which an automatic travel route can be created; a work area determination unit that determines whether the work area in the field has already been worked or whether the work area has not yet been worked; a display unit that displays the field outline, the already worked area, and the area that can be created; The display unit of the work vehicle is characterized in that it identifiable displays the unworked portion of the completed work area that has not yet reached the area that can be created.

4. An assistance system for a work vehicle that automatically travels in a field, an outer shape setting unit that sets the outer shape of the field; a creation-possible area setting unit that is provided inside the outline of the field and that sets a creation-possible area in which an automatic travel route can be created; a work area determination unit that determines whether the work area in the field has already been worked or whether the work area has not yet been worked; a display unit that displays the field outline, the already worked area, and the area that can be created; The display unit identifiably displays the unworked portion of the completed work area that has not yet reached the area that can be created.

Images