Work support device, work support system, and route generation method

Abstract

To generate a work route enabling efficient work with a work implement while driving a work vehicle in a field.SOLUTION: The work support device comprises an input device for designating a field and a control device configured to acquire field information regarding the field designated by the input device, where the control device divides a work area of the field indicated by the field information into a plurality of blocks, repeatedly sets block pairs each consisting of a first block and a second block separated from the first block by another block among the plurality of blocks, thereby grouping the plurality of blocks into a plurality of block pairs, and creates a work route for performing work alternately in the first block and the second block for each block pair by a work implement mounted on a work vehicle while driving the work vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for assisting work performed by a work device equipped on a work vehicle while the work vehicle is traveling in a field, and in particular to creating a work route (work path) for performing the work. [Background technology]

[0002] For example, Patent Document 1 discloses an autonomous driving system that allows a work vehicle equipped with a work machine to travel independently in order to perform work in a field using the work machine (working device).The autonomous driving system includes a setting unit that sets the offset distance (eccentric distance) and offset direction (eccentric direction) of the work machine in the vehicle width direction relative to the work vehicle, an inner work path creation unit that creates an inner work path that performs work in an inner area by rotating the work vehicle in a first rotation direction, an outer work path creation unit that creates an outer work path that performs work in an outer area that surrounds the outside of the inner area by rotating the work vehicle in a second rotation direction opposite to the first rotation direction, and a mode selection unit that selects one of a plurality of path creation modes to determine the contents of the inner work path, the contents of the outer work path, and the travel order of the inner and outer work paths. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-81822 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, as in Patent Document 1, when a work route is created in the inner area, the distance between the previous straight section and the next straight section becomes narrow in the center of the inner area, so the work vehicle must turn when turning from the previous straight section to the next straight section, reducing work efficiency. In particular, when a work vehicle is equipped with a towing-type work implement and the total length from the work vehicle to the implement becomes longer, the work vehicle's turning becomes more complex and the number of turns increases, significantly reducing work efficiency. Similarly, when a work vehicle is equipped with an offset-type (off-center type) work implement, the work vehicle's turning becomes more complex and the number of turns increases, reducing work efficiency.

[0005] In view of the above problems, an object of the present invention is to create a work route that allows work to be carried out efficiently using a work implement while a work vehicle is traveling in a farm field. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points. The work support device of the present invention comprises an input device for specifying a field, and a control device that acquires field information related to the field specified by the input device, and the control device divides a work area of ​​the field indicated by the field information into a plurality of blocks, and repeatedly sets block pairs from the plurality of blocks, each block consisting of a first block and a second block separated from the first block by another block, thereby grouping the plurality of blocks into a plurality of block pairs, and creates a work route in which work is performed alternately on the first block and the second block for each block pair using a work device equipped on the work vehicle while the work vehicle is traveling. [Effects of the Invention]

[0007] According to the present invention, it is possible to create a work route that allows work to be carried out efficiently using a work implement while a work vehicle is traveling in a field. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram of a work support system. [Figure 2] 10 is a flowchart illustrating an example of a work route creation process. [Figure 3] FIG. 10 is a diagram showing an example of a farm field map onto which work information has been combined. [Figure 4] FIG. 2 is a diagram illustrating an example of a plurality of blocks. [Figure 5] FIG. 10 is a diagram illustrating an example of a plurality of block pairs. [Figure 6A] FIG. 10 is a diagram for explaining an example of a procedure for creating a work route. [Figure 6B] FIG. 10 is a diagram for explaining an example of a procedure for creating a work route. [Figure 6C] FIG. 10 is a diagram for explaining an example of a procedure for creating a work route. [Figure 6D] FIG. 10 is a diagram for explaining an example of a procedure for creating a work route. [Figure 6E] FIG. 10 is a diagram for explaining an example of a procedure for creating a work route. [Figure 6F] FIG. 10 is a diagram for explaining an example of a procedure for creating a work route. [Figure 7] FIG. 10 is a diagram showing an example of a work route including a turning line. [Figure 8] FIG. 10 is a diagram showing an example of the state of preceding pest control work. [Figure 9A] FIG. 10 is a diagram showing an example of a work route in a preceding travel area. [Figure 9B] FIG. 10 is a diagram showing an example of a work route in a preceding travel area. [Figure 10] FIG. 10 is a diagram showing an example of a third block that does not form a block pair. [Figure 11] FIG. 10 is a diagram showing an example of a work route in the third block. [Figure 12] FIG. 10 is a diagram showing an example of a work route for a block set including first to third blocks. [Figure 13A] FIG. 10 is a diagram for explaining an example of a procedure for estimating a preceding driving line. [Figure 13B] FIG. 10 is a diagram for explaining an example of a procedure for estimating a preceding driving line. [Figure 13C] FIG. 10 is a diagram for explaining an example of a procedure for estimating a preceding driving line. [Figure 13D] FIG. 10 is a diagram for explaining an example of a procedure for estimating a preceding driving line. [Figure 13E] FIG. 10 is a diagram for explaining an example of a procedure for estimating a preceding driving line. [Figure 13F] FIG. 10 is a diagram for explaining an example of a procedure for estimating a preceding driving line. [Figure 14A] 10 is a flowchart illustrating an example of a display process. [Figure 14B] 14B is a flowchart continuing from FIG. 14A. [Figure 15] 10 is a flowchart illustrating an example of a line peculiar display process. [Figure 16] 10 is a flowchart illustrating an example of a path display process. [Figure 17A] FIG. 10 is a diagram showing an example of a corresponding guidance screen in an auto-steer mode. [Figure 17B] FIG. 10 is a diagram showing an example of a guidance screen during work in auto-steer mode. [Figure 17C] FIG. 10 is a diagram showing an example of a guidance screen displayed during a work stoppage in auto-steer mode. [Figure 17D] FIG. 10 is a diagram showing an example of a guidance screen during work in auto-steer mode. [Figure 18] FIG. 10 is a diagram illustrating an example of a line display setting screen. [Figure 19] FIG. 10 is a diagram showing an example of the positional relationship between the wheels of a work vehicle and ridges. [Figure 20] FIG. 2 is a plan view of the work vehicle and the work implement. [Figure 21] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 21 is a side view of a work vehicle 1. The work vehicle 1 is composed of a tractor. The work vehicle of the present invention is not limited to a tractor, and may be composed of other drivable work vehicles or agricultural machinery.

[0010] The work vehicle 1 comprises a vehicle body (machine body) 3, a prime mover 4, a transmission 5, and a traveling device 7. A pair of traveling devices 7 are provided on the left and right sides and support the vehicle body 3. The traveling device 7 is provided with front wheels 7F, rear wheels 7R, a forward / rearward switching mechanism, a differential mechanism, etc. The front wheels 7F and rear wheels 7R are tire-type wheels, but may also be crawler-type wheels. The prime mover 4 is composed of a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is composed of a diesel engine. The transmission 5 is capable of switching the propulsive force of the traveling device 7 by changing gears, and can also switch the traveling device 7 between forward and reverse movement. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, which drives the traveling device 7, causing the vehicle body 3 to travel forward and backward (forward A1, backward A2).

[0011] A cabin 9 is provided on the vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A lifting device 8 composed of a three-point linkage mechanism or a draw bar or the like is provided at the rear of the vehicle body 3. A working device 2 for performing work can be connected to the lifting device 8. More specifically, the working device 2 can be connected to coupling parts 8g, 8h provided on the lifting device 8. By connecting the working device 2 to the coupling parts 8g, 8h, the working device 2 is equipped on the work vehicle 1, and the work vehicle 1 can tow the working device 2.

[0012] The working device 2 performs work (agricultural work) for cultivating crops in an open field. In this embodiment, the working device 2 is a harvesting device that harvests crops such as potatoes grown in the field. The working device of the present invention is not limited to a harvesting device, and may be, for example, a tilling device (rotary tiller) that tills a field, a spraying device that sprays fertilizer or water, a pest control device that sprays pesticides, a sowing device that sows crop seeds or seed potatoes, or a soil-raising device (also called a ridge-making device) that performs soil-raising work.

[0013] 1 is a configuration diagram of a work assistance system 100. The work assistance system 100 includes a work vehicle 1 and a work assistance device 50. The work assistance system 100 and the work assistance device 50 assist the work vehicle 1 in performing work using a work device 2 while traveling in a field.

[0014] The work vehicle 1 is equipped with a control device 60, a prime mover 4, a transmission 5, a braking device 6, a steering device 29, a lifting device 8, a memory device 61, an operating device 62, a communication device 64, a positioning device 40, an internal sensor unit 65, an external sensor unit 66, and an alarm device 67.

[0015] The control device 60 is made up of an ECU (Electronic Control Unit) that includes a processor such as a CPU (Central Processing Unit), internal memory, electrical circuits, etc. The internal memory of the control device 60 includes volatile memory and non-volatile memory. The control device 60 controls the operation of each part of the work vehicle 1 and the work implement 2 based on software programs and control data stored in the internal memory. In other words, the control device 60 is a controller for the work vehicle 1 and the work implement 2.

[0016] The storage device 61 includes a non-volatile memory, etc. Various data and information are stored in a readable and writable manner in the storage device 61. The operating device 62 is made up of switches, levers, pedals, other keys, etc. that can be operated by an operator such as a driver seated in the driver's seat 10 or a worker near the work vehicle 1.

[0017] The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 changes the speed of the power of the prime mover 4 and transmits it to the traveling device 7. The braking device 6 brakes the work vehicle 1. The control device 60 controls the transmission 5 to switch the operating speed and operating direction of the traveling device 7, thereby changing the vehicle speed of the work vehicle 1 (body 3) and switching between forward and reverse movement of the work vehicle 1.

[0018] If the working apparatus 2 is equipped with an electronic control unit, the electronic control unit is electrically connected to an in-vehicle network established in the control device 60 and is able to communicate with the control device 60. The electronic control unit also controls the operation of each part of the working apparatus 2 to perform work based on work commands received from the control device 60, and transmits information or data indicating the status of each part of the working apparatus 2 to the control device 60. The control device 60 detects the status of the working apparatus 2 based on the information or data received from the working apparatus 2.

[0019] If the work implement 2 is not equipped with an electronic control unit, and the work implement 2 is a tillage implement or the like, the control device 60 raises and lowers the work implement 2 using the lifting device 8 to change the position of the work implement 2, thereby starting and stopping work by the work implement 2 and detecting the position and state of the work implement 2. Also, if the work implement 2 is a work implement that has a fixed height, such as a pest control implement, the control device 60 determines the position and state of the work implement 2 from the on / off state of the PTO (Power take off) or the on / off operating state of the operating device of the work implement 2.

[0020] The steering device 29 includes a steering shaft and a power steering mechanism, and steers the vehicle body 3 by changing the direction of the front wheels 7F included in the traveling device 7. The work vehicle 1 is capable of manual steering, in which the steering device 29 steers the vehicle body 3 in response to operation of a steering wheel provided in the cabin 9, and automatic steering, in which the control device 60 controls the steering device 29 to steer the vehicle body 3.

[0021] Furthermore, the work vehicle 1 can travel and stop by operating the transmission 5, the traveling device 7, or the braking device 6 in response to manual operation of the accelerator member or the brake pedal (both not shown) provided on the operating device 62. Furthermore, the work vehicle 1 can travel and stop automatically by operating the traveling device 7 in response to control of the transmission 5 and the braking device 6 by the control device 60.

[0022] That is, the work vehicle 1 is capable of manual driving, in which the operator performs driving and steering operations; automatic driving (also called autonomous driving or automatic driving), in which the control device 60 automatically performs driving and steering; and automatic steering (also called semi-automatic driving), in which the control device 60 automatically performs steering and the operator performs driving operations.

[0023] The lifting device 8 includes a control valve and a hydraulic actuator. The control device 60 electrically controls the switching position or opening of the control valve to adjust the hydraulic pressure supplied to the hydraulic actuator of the lifting device 8, thereby operating the hydraulic actuator. When the hydraulic actuator of the lifting device 8 operates, the connecting parts 8g and 8h rotate up and down, and the working device 2 connected to the connecting parts 8g and 8h moves up and down.

[0024] The communication device 64 is a communication interface for the work vehicle 1 and includes a communication circuit for an in-vehicle network established in the work vehicle 1 and a communication circuit for a public network. The control device 60 communicates with the work assistance device 50 wirelessly or via a cable via the communication device 64. The control device 60 also communicates wirelessly with external devices such as a server 80 via a public communication network such as the Internet. In other words, the communication device 64 is an output device (output interface) and an input device (input interface) that inputs and outputs (transmits and receives) information, data, signals, etc. to and from the work assistance device 50 and the server 80. The server 80 is an external device and information management device that manages various types of information related to the field, the work vehicle 1, and the work device 2. The server 80 is also included in the work assistance system 100.

[0025] The positioning device 40 uses a satellite positioning system to determine the position (current position) of the body 3 of the work vehicle 1. The positioning device 40 has an inertial measurement unit (IMU) that includes an acceleration sensor, a gyro sensor, etc. The positioning device 40 detects the roll angle, pitch angle, yaw angle, etc. of the body 3 using the inertial measurement unit.

[0026] The internal sensor unit 65 includes multiple sensors installed in various parts of the work vehicle 1 and the work implement 2. Based on output signals output from the multiple sensors of the internal sensor unit 65, the control device 60 detects the status (driving and stopped status, attitude, position, etc.) of the transmission 5, braking device 6, traveling device 7, lifting device 8, steering device 29, operating device 62, and work implement 2.

[0027] The external sensor unit 66 includes sensing devices such as a laser sensor such as LiDAR, an ultrasonic sensor, and a camera. Each sensing device is installed at the front, rear, left and right sides of the vehicle body 3. Each sensing device detects the presence or absence of objects around the work vehicle 1 and work equipment 2, as well as the distance to the objects. The alarm device 67 is composed of a buzzer, speaker, warning light, or the like provided on the vehicle body 3. The alarm device 67 issues an alarm around the vehicle body 3 by sound or light.

[0028] The work support device 50 is configured from a portable information processing device (computer), such as a tablet-type terminal device. The work support device 50 is mounted, for example, inside the cabin 9 of the work vehicle 1, and is detachable from the work vehicle 1. In other words, the work vehicle 1 is equipped with the work support device 50. The work support device 50 can also be detached from the work vehicle 1.

[0029] The work support device 50 is equipped with a control device 51, a display / operation device 52, a storage device 53, and a communication device 54. The control device 51 is a processor such as a CPU, and includes an internal memory. The internal memory of the control device 51 includes a volatile memory and a non-volatile memory. The control device 51 controls the operation of each part of the work support device 50 based on the software program and control data stored in the internal memory. In other words, the control device 51 is both a controller and a processor of the work support device 50.

[0030] The display operation device 52 is composed of a touch panel display and displays various types of information on the screen. The operator performs predetermined operations on the display screen of the display operation device 52 to input various types of information or instructions. The display operation device 52 is a user interface, and is a display device, an output device (output interface), and an input device (input interface) of the work assistance device 50. Instead of the display operation device 52, independent display devices, output devices, and input devices may be provided in the work assistance device 50.

[0031] The storage device 53 is composed of non-volatile memory, etc. Information or data that supports the travel and work of the work vehicle 1 is stored in a readable and writable manner in the storage device 53. The control device 51 controls each part of the work support device 50 based on software programs, control data, etc. stored in the storage device 53 or internal memory.

[0032] The communication device 54 is a communication interface for the work support device 50 and includes a communication circuit. The control device 51 communicates wirelessly with the control device 60 of the work vehicle 1 via the communication device 54, and also communicates wirelessly with the server 80 via a public communication network such as the Internet. In other words, the communication device 54 is an input device (input interface) and an output device (output interface) that inputs and outputs (transmits and receives) information, data, signals, etc. to and from the work vehicle 1 and the server 80.

[0033] By the operator operating the display operation device 52, field information about the field, work information about work in the field, vehicle information about the work vehicle 1, and equipment information about the work equipment 2 are each input to the work support device 50. Alternatively, the field information, work information, vehicle information, and equipment information input by another information processing device are stored in the server 80, and the control device 51 receives the field information, work information, vehicle information, and equipment information from the server 80 via the communication device 54 and inputs (acquires) it into the work support device 50. The field information, work information, vehicle information, and equipment information input to the work support device 50 in this way is stored by the control device 51 in the storage device 53 or its internal memory.

[0034] The field information includes information indicating the field's identification information (ID), position (coordinates), area, and a field map showing the field. The field map shows the outline of the field and various areas set in the field. The field's position, area, outline, and field map are created by the control device 51 or the like (or another information processing device) based on map information acquired from an external device, or based on multiple vehicle positions periodically measured by the positioning device 40 while the work vehicle 1 is traveling along the edge of the field. In addition to the above, the field information may also include the use of the field, the crops to be cultivated, and a crop cultivation plan (schedule), etc.

[0035] Work information includes work information related to work that has been performed in the past in a field and work information related to work that is planned to be performed in the field. Work information related to past work includes work conditions, work history, usage status of work vehicles and work equipment, and work plans. Work information related to planned work includes work conditions, planned usage of work vehicles and work equipment, and work plans. Work information and field information are associated with each field.

[0036] The vehicle information includes information indicating the identification information, type, dimensions, specifications, etc. of the work vehicle 1. The vehicle information is also stored in the internal memory of the control device 60 of the work vehicle 1. The device information includes information indicating the identification information, type, dimensions, specifications, etc. of the work device 2. There are cases where the work device 2 is provided with a memory, and the device information is also stored in this memory.

[0037] The control device 51 has a block setting unit 55, a route creation unit 56, and a line estimation unit 57. The block setting unit 55, the route creation unit 56, and the line estimation unit 57 are, for example, software programs implemented in the control device 51. As another example, the block setting unit, the route creation unit, and the line estimation unit may be configured as hardware such as semiconductor elements and electric circuits, and provided in the work assistance device 50.

[0038] The block setting unit 55 divides the work area of ​​the field into multiple virtual blocks. The route creation unit 56 creates a virtual work route along which work is carried out by the work implement 2 equipped on the work vehicle 1 while the work vehicle 1 is traveling in the field. The line estimation unit 57 estimates a travel line (preceding travel line) corresponding to the travel trajectory of the work vehicle used during the preceding work.

[0039] Figure 2 is a flowchart showing an example of a work route creation process executed by the work support device 50. Each step in Figure 2 is executed by the control device 51 in accordance with a software program stored in the internal memory or storage device 53. In this example, the control device 51 creates a work route for harvesting crops (potatoes, etc.) grown in a field using the work vehicle 1 and work device 2 (harvesting device).

[0040] For example, the operator operates the display operation device 52 to specify (input) the field, the work (harvesting work), the work vehicle 1 and the work implement 2 to be used, and instructs the creation of a work route (S1). In response, the control device 51 acquires field information and work information corresponding to the specified field, vehicle information for the work vehicle 1, and implement information for the work implement 2 from at least one of its internal memory and the storage device 53, or from the server 80 via the communication device 54 (S2). In other words, the control device 51 acquires the field information, work information, vehicle information, and implement information from at least one of the memory of the work support device 50 and the memory of the server 80.

[0041] When the work support device 50 and the work vehicle 1 are connected so that they can communicate, the operator may omit specifying the work vehicle 1, and the control device 51 of the work support device 50 may identify the work vehicle 1 based on information received from the control device 60 of the work vehicle 1, and read out the vehicle information of that work vehicle 1 from either the internal memory or the storage device 53, or may receive the vehicle information from the control device 60. Also, when the work vehicle 1 and the work device 2 are connected so that they can communicate, the operator may omit specifying the work device 2, and the control device 51 of the work support device 50 may identify the work device 2 based on information received from the control device 60 of the work vehicle 1, and read out the device information of that work device 2 from either the internal memory or the storage device 53, or may receive the device information from the control device 60.

[0042] Next, the control device 51 identifies the working width of the work device 2 and the relative position of the work device 2 with respect to the work vehicle 1 from the device information of the work device 2 (S3). At this time, the control device 51 may refer to the vehicle information of the work vehicle 1.

[0043] Figure 20 is a plan view of the work vehicle 1 and the work implement 2. The work implement 2 is coupled to the lifting device 8 and is positioned behind A2 of the work vehicle 1 in a state where it is offset (eccentric) to the side. The working width W1 of the work implement 2 is parallel to the width directions B1, B2 (left B1 and right B2) of the work vehicle 1 and is a width that allows the work implement 2 to work on the furrows (harvesting work). The relative position of the work implement 2 with respect to the work vehicle 1 includes a first offset position X1 of the work implement 2 with respect to the width directions B1, B2 of the work vehicle 1 and a second offset position Y1 of the work implement 2 with respect to the fore-aft direction A1, A2 of the work vehicle 1.

[0044] In more detail, the first offset position X1 indicates the offset direction, which indicates whether the reference point Cp2 of the working implement 2 is to the left B1 or right B2 of the reference point Cp1 of the work vehicle 1, and the distance (interval) from the reference point Cp1 to the reference point Cp2, which is parallel to the width directions B1, B2 of the work vehicle 1. For example, as shown in FIG. 20 , when the working implement 2 is offset to the right B2 of the work vehicle 1, the first offset position X1 indicates a positive (+) numerical value, and when the working implement 2 is offset to the left B1 of the work vehicle 1, the first offset position X1 indicates a negative (-) numerical value. The reference point Cp1 of the work vehicle 1 is, for example, on the center line (shown by a dashed dotted line) in the width direction of the work vehicle 1 and at the position measured by the positioning device 40. In other words, the position of the work vehicle 1 (vehicle body 3) measured by the positioning device 40 is the position of the reference point Cp1. The reference point Cp2 of the working device 2 is, for example, on the center line of the working device 2 in the front-rear directions A1, A2 and on the center line of the working width W1 (shown by a two-dot chain line).

[0045] The second offset position Y1 indicates, as a positive (+) value, that the reference point Cp2 of the working implement 2 is located rearward A2 from the reference point Cp1 of the work vehicle 1, and the distance (spacing) from the reference point Cp1 to the reference point Cp2, which is parallel to the fore-and-aft directions A1, A2 of the work vehicle 1. The positioning device 40 (FIG. 1) detects the coordinate position of the reference point Cp1 as the position of the work vehicle 1. The control device 51 calculates the first offset position X1 and second offset position Y1 of the working implement 2 relative to the work vehicle 1, based on device information of the working implement 2 coupled to the lifting device 8 and vehicle information of the work vehicle 1 (including position information of the lifting device 8).

[0046] When performing harvesting work by equipping a work vehicle 1 with a tow-type, offset-type working implement (harvesting implement) 2 as shown in Figure 20, a work route is created with the following goals in mind: (1) the work vehicle 1 should avoid traveling through unworked areas as much as possible, (2) the work vehicle 1 should avoid turning states that require a turnaround as much as possible, and (3) the idle distance, which is the distance that the work vehicle 1 travels without performing harvesting work using the working implement 2, should be as short as possible. These goals are just examples, and at least one of them is emphasized. There are also cases where goals other than the above three are emphasized.

[0047] Next, the control device 51 reads a field map showing the field from the field information, reads work information relating to the preceding work carried out in the field from the work information, and combines the work information with the field map (S4 in FIG. 2).

[0048] Figure 3 shows an example of a field map MP1 onto which work information has been combined. The field map MP1 shows a field outline H1, a work area C1 set in the field, a headland E1, and a non-work area J1. In Figure 3, the field outline H1 is rectangular and is made up of four field sides H1a, H1b, H1c, and H1d. For convenience, Figure 3 does not show the central part of the field in the direction parallel to field sides H1b and H1d.

[0049] The control device 51 identifies, from the field information, multiple field sides H1a, H1b, H1c, and H1d that form the field outline H1. The control device 51 also identifies one of the multiple field sides H1a, H1b, H1c, and H1d as a reference field side specified by the display operation device 52, and determines the directions V1 and V2 parallel to the reference field side as the work directions. In this example, the field side H1b is the reference field side. The control device 51 also identifies, from the field information, an entrance / exit H1z of the field.

[0050] The working area C1 is an area where crops are grown and is set in the center of the field. The non-working area J1 is an area where crops are not grown and where work (harvesting work) is not performed by the work implement 2 (harvesting equipment), and is set at the edge of the field. In FIG. 3, the non-working area J1 is set to extend a predetermined width inward from each of the field sides H1b and H1d that are parallel to the work directions V1 and V2 of the field indicated in the work information. The work vehicle 1 travels through the working area C1 and non-working area J1 to perform work (harvesting work) using the work implement 2 (harvesting equipment).

[0051] Headland E1 is, for example, an area in which the work vehicle 1 can turn, and is set at the edge of the field. Whether or not to cultivate crops in headland E1 is up to the farmer's discretion. In Figure 3, headland E1 is set to extend a predetermined width inward into the field from field sides H1a and H1c that are perpendicular to the working directions V1 and V2. Headland E1 and non-working area J1 are an example of a permitted travel area for the work vehicle 1 in the field. The permitted travel area is an area in which the work vehicle 1 is permitted to travel, regardless of the presence of ridges or crops.

[0052] The control device 51, from the work information related to the preceding work, identifies multiple preceding travel lines (pest control lines) L1 corresponding to the trajectory traveled by the preceding work vehicle, which is either the work vehicle 1 or a work vehicle different from the work vehicle 1, during pest control work (during preceding work). The control device 51 also, from the work information related to the preceding work, identifies the working width of the pest control device (preceding work device) equipped on the preceding work vehicle and multiple work positions (pest control ranges) Ra1, Ra2, ..., Ra6 where the pest control device performed pest control work. The multiple work positions Ra1-Ra6 are separated by multiple preceding travel lines L1 and are aligned in a direction perpendicular to the work directions V1 and V2. In the example of FIG. 3, there are five preceding travel lines L1 and six work positions Ra1-Ra6, but the number of preceding travel lines L1 and work positions Ra1-Ra6 is not limited to this.

[0053] The control device 51 also uses work information related to the preceding work to identify the positions (work positions) and number of multiple ridges Ua formed by the sowing device or ripening device (preceding work device) equipped on the preceding work vehicle during the preceding work of sowing or ripening. Crops are planted on each ridge Ua at predetermined intervals in the work directions V1 and V2. The control device 51 combines the identified preceding travel line L1, work positions Ra1 to Ra6, and the positions of the ridges Ua into the field map MP1. For convenience, in Figure 3, the preceding travel line L1 is shown with a dashed line, work positions Ra1 to Ra6 are shown with a dot pattern, the positions of the ridges Ua are shown with either thin solid lines or dashed lines, and only some of the ridges Ua are labeled.

[0054] In addition, the control device 51 identifies multiple preceding driving areas J2 in which the preceding work vehicle traveled along each of the multiple preceding driving lines L1 based on the multiple preceding driving lines L1 and the wheelbase and wheel size of the preceding work vehicle used during the pest control work.

[0055] Figure 19 is a diagram showing an example of the positional relationship between the wheels of the preceding work vehicle and work vehicle 1 and the ridges Ua. As shown in Figure 19, the wheelbase Ta of the preceding work vehicle is equal to twice the ridge width Wu (the formation pitch of the ridges Ua). Furthermore, the width Tb of the wheels 7t of the preceding work vehicle is smaller than the furrow spacing Su (between the ridges Ua).

[0056] As the leading work vehicle travels along the leading travel line L1, the left and right wheels 7t of the leading work vehicle each roll over the furrow space Su so as not to crush the furrows Ua, leaving two furrows Ua between the left and right wheels 7t. Therefore, the width of each leading travel area J2 is equal to the sum of twice the furrow width Wu and the furrow space Su, Sv. In Figure 3, each leading travel area J2 includes one leading travel line L1 and two furrows Ua, but it is up to the farmer to decide whether or not to include furrows Ua and crops in each leading travel area J2. The positional relationship between the wheels 7F, 7R of the work vehicle 1 and the furrows Ua is the same as the positional relationship between the wheels 7t of the leading work vehicle and the furrows Ua in Figure 19.

[0057] The control device 51 identifies the wheel base Ta and width Tb of wheels 7F, 7R of the work vehicle 1 from the vehicle information of the work vehicle 1. The control device 51 then sets a travel allowable area in the working area C1 based on the multiple preceding traveling areas J2 and the wheel base Ta and width Tb of wheels 7F, 7R of the work vehicle 1. In this example, the wheel base Ta and width Tb of wheels 7F, 7R of the work vehicle 1 are the same as the wheel base Ta and width Tb of wheels 7t of the preceding work vehicle, so the control device 51 sets the multiple preceding traveling areas J2 as a travel allowable area in the working area C1.

[0058] Furthermore, if the wheelbase of the work vehicle 1 is larger than that of the preceding work vehicle, the control device 51 may expand the width of the preceding travel area J2 in accordance with the difference in wheelbase to set the allowable travel area in the working area C1. Furthermore, if the wheelbase of the preceding work vehicle is three times or more the furrow width Wu and the wheelbase of the work vehicle 1 is smaller than that of the preceding work vehicle, the control device 51 may set the preceding travel area J2 as the allowable travel area in the working area C1, or may reduce the width of the preceding travel area J2 to set the allowable travel area in the working area C1. Furthermore, the control device 51 may set the allowable travel area by expanding or contracting the width of the preceding travel area J2 in accordance with the first offset position X1 of the work implement 2 relative to the work vehicle 1 and the working width W1.

[0059] Next, the control device 51 divides the work area C1 into a plurality of blocks aligned perpendicular to the work directions V1 and V2 by the block setting unit 55 (S5 in FIG. 2). The divided blocks are virtual small work areas where work is performed.

[0060] 4 is a diagram showing an example of multiple blocks. For example, the control device 51 calculates the widths (widths in directions perpendicular to the work directions V1, V2) of multiple work positions Ra1-Ra6, which are separated by multiple preceding travel lines L1 in the work area C1. If the widths of the multiple work positions Ra1-Ra6 are different, the control device 51 divides the work positions with widths larger than the smallest width among the multiple work positions Ra1-Ra6, thereby dividing the work positions into multiple blocks Rb1, Rb2, ..., Rb10.

[0061] In this example, as shown in FIG. 8, the preceding work device equipped on the preceding work vehicle 1A is a double-mounted pest control device (sprayer) 2A that sprays pesticides using booms 2b extending from the main body at equal lengths on both sides. Therefore, as shown in FIG. 3, the number of work positions Ra1-Ra6 is an even number (six), and the width of the central work positions Ra2-Ra5 is twice the width of the end work positions Ra1 and Ra6. In this case, the control device 51, using the block setting unit 55, determines the end work positions Ra1 and Ra6 as blocks Rb1 and Rb10, as shown in FIG. 4, and divides the central work positions Ra2-Ra5 in half to define blocks Rb2-Rb9. As a result, multiple blocks Rb1-Rb10 of approximately equal width are defined in the work area C1. For convenience, in FIG. 4, each block Rb1-Rb10 is indicated by dotted hatching, with the hatching angle of adjacent blocks being different. In addition, in FIG. 4, ten blocks Rb1 to Rb10 are partitioned, but the number of blocks is not limited to this.

[0062] As another example, if a single-sided pest control device (sprayer) that sprays a pesticide using a boom extending to the left or right from the main body is used during advance work, the widths of the multiple work positions for the pest control work will be the same. In this case, the control device 51 uses the block setting unit 55 to determine the multiple work positions for the pest control work into multiple blocks.

[0063] As another example, the control device 51 may use the block setting unit 55 to divide the working area C1 into a plurality of blocks of a predetermined width perpendicular to the working directions V1 and V2. In this case, the predetermined width may be set in the block setting unit 55 to a value greater than the minimum turning radius at which the work vehicle 1 and work implement 2 can be turned 180° without the work vehicle 1 having to turn (switching the steering direction and forward / reverse movement).

[0064] Furthermore, the control device 51 may use the block setting unit 55 to divide multiple blocks by performing at least one of dividing, connecting, expanding, and reducing processes on all or part of the multiple work positions in accordance with the first offset position X1 of the work implement 2 relative to the work vehicle 1. In other examples such as those described above, the number of blocks may be an even number or an odd number.

[0065] Next, the control device 51 divides the blocks Rb1 to Rb10 into a plurality of block pairs (S6 in FIG. 2) using the block setting unit 55. At this time, the control device 51 checks the positional relationship (arrangement order, etc.) of the blocks Rb1 to Rb10.

[0066] FIG. 5 is a diagram illustrating an example of multiple block pairs. For example, the control device 51 selects one of the multiple blocks Rb1 to Rb10 as the first block. Next, the control device 51 selects one of the blocks separated from the first block by one or two other blocks as the second block. The control device 51 then sets a block pair consisting of the first block and the second block. In this case, the control device 51 selects the first block in order of proximity to the reference field edge H1b, determines the second block based on the first block, and sets a block pair consisting of the first block and the second block, repeating this process according to the number of blocks Rb1 to Rb10. In this way, the control device 51 repeatedly sets block pairs Pb1 to Pb5 and classifies the multiple blocks Rb1 to Rb10 into multiple block pairs Pb1 to Pb5. In this example, since there are 10 blocks Rb1 to Rb10, there are five block pairs Pb1 to Pb5.

[0067] More specifically, for example, the control device 51 first determines the block Rb1 closest to the reference field side H1b as the first block, and determines the block Rb3 two blocks away from the first block Rb1 and separated by block Rb2 as the second block, thereby establishing a block pair Pb1 consisting of the first block Rb1 and the second block Rb3. Next, of the multiple unpaired blocks Rb2, Rb4 to Rb10, the control device 51 determines the block Rb2 closest to the reference field side H1b as the first block, and determines the block Rb5 three blocks away from the first block Rb2 and separated by blocks Rb3 and Rb4 as the second block, thereby establishing a block pair Pb2 ​​consisting of the first block Rb2 and the second block Rb5.

[0068] As another example, the control device 51 may select a first block in order of furthest from the reference field edge H1b, determine a second block based on the first block, and set a block pair consisting of the first block and the second block, repeating this process according to the number of blocks Rb1 to Rb10.

[0069] Thereafter, the control device 51 determines the block closest to the reference field edge H1b among the multiple blocks Rb4, Rb6 to Rb10 that have not yet been paired as the first block, and if there is a block three blocks away from the first block, determines the block three blocks away as the second block, and repeats this process to set a block pair consisting of the first block and the second block. In this way, a block pair Pb3 consisting of the first block Rb4 and the second block Rb7, and a block pair Pb4 consisting of the first block Rb6 and the second block Rb9 are set.

[0070] Finally, when the only remaining blocks that have not yet been paired are block Rb10, which is the farthest from the reference field edge H1b, and block Rb8, which is two blocks away from block Rb10, the control device 51 determines block Rb8 as the first block and block Rb10 as the second block, and sets block pair P5 consisting of the first block Rb8 and the second block Rb10.

[0071] That is, the control device 51 sets block pairs Pb1 and Pb5 by pairing the end blocks Rb1 and Rb10 of the multiple blocks Rb1 to Rb10 with the adjacent blocks Rb3 and Rb8, which are separated by one other block Rb2 and Rb9, respectively, through the block setting unit 55. The control device 51 also sets block pairs Pb2 to Pb4 by pairing the central blocks Rb2, Rb4 to Rb7, and Rb9, which are other than the blocks Rb1, Rb3, Rb8, and Rb10, with the adjacent blocks, which are separated by two other blocks. In other words, the control device 51 sets block pairs Pb1 to Pb5 by using a first block selected from the multiple blocks Rb1 to Rb10 and a second block separated by one other block that has not yet been paired with the first block (which may include one other block that has already been paired).

[0072] Next, the control device 51, using the route creation unit 56, causes the work vehicle 1 to travel in the work directions V1 and V2 while the work implement 2 alternates between the first blocks Rb1, Rb2, Rb4, Rb6, and Rb8 and the second blocks Rb3, Rb5, Rb7, Rb9, and Rb10 for each block pair Pb1 to Pb5, creating a work route for performing work on the multiple block pairs Pb1 to Pb5 in a predetermined order (S7 in FIG. 2). At this time, the control device 51 creates a work route such that work in the work area C1 is completed near the field entrance / exit H1z, for example. More specifically, the control device 51 creates a work route for performing work on the multiple block pairs Pb1 to Pb5 in order of furthest from the entrance / exit H1z. In other words, the control device 51 identifies the field edge farthest from the entrance / exit H1z and creates a work route for the multiple block pairs Pb1 to Pb5 in order of closest to that field edge.

[0073] 6A to 6F are diagrams illustrating an example of a procedure for creating a work route. As shown in FIGS. 6A to 6D, the control device 51 first uses the route creation unit 56 to detect a first end Rb1-1, which is the farthest end of the first block Rb1, and a second end Rb3-2, which is the farthest end of the second block Rb3, with respect to another block Rb2 located between the first block Rb1 and the second block Rb3 that make up the block pair Pb1. In this example, of the multiple field sides H1a to H1d, the field side farthest from the entrance / exit H1z is the reference field side H1b. The first end Rb1-1 is both the near end of the first block Rb1 that is closest to the reference field side H1b and the near end of the block pair Pb1 that is closest to the reference field side H1b. The second end Rb3-2 is also the far end of the second block Rb3 that is farthest from the reference field side H1b, and is also the far end of the block pair Pb1 that is farthest from the reference field side H1b.

[0074] Next, the control device 51 uses the route creation unit 56 to create work lines L2a alternately from the first end Rb1-1 and the second end Rb3-2 to the first block Rb1 and the second block Rb3. At this time, the control device 51 creates the work lines L2a parallel to the work directions V1, V2 in accordance with the work width W1 and first offset position X1 of the work device 2. The work lines L2a are straight routes along which work (harvesting work) is performed by the work device 2 while the work vehicle 1 travels in the work directions V1, V2, and form part of the work route L2.

[0075] In this example, the working width W1 of the working device 2 (harvesting device) is equal to the ridge bottom width Wub (Figure 19), which indicates the width of one ridge Ua itself, and the working device 2 harvests crops on one ridge Ua at a time. For this reason, the control device 51 creates multiple work lines L2a at the positions of the multiple ridges Ua so that they correspond one-to-one to each of the multiple ridges Ua. In other words, the work lines L2a are parallel to the working directions V1 and V2 and indicate the route along which the working device 2 passes while working. In Figures 6A to 6F, the work lines L2a are shown with thick solid lines. For convenience, in Figures 6E and 6F, only some of the work lines L2a are labeled (the same applies to Figures 7, 11, and 12 described below).

[0076] More specifically, as shown in FIG. 6A, the control device 51 first creates a first work line L2a for harvesting the ridge Ua closest to the first end Rb1-1 of the first block Rb1, which is closest to the reference field edge H1b, based on the work width W1 and first offset position X1 of the work device 2. The control device 51 then determines the start and end points of the first work line L2a. That is, the control device 51 determines the direction of work progress on the first work line L2a (either work direction V1 or V2) based on the first offset position X1.

[0077] In this example, as shown in FIG. 20, the work implement 2 is offset to the right B2 of the work vehicle 1. For this reason, the control device 51 determines one end of the first work line L2a closest to the field side H1c as the start point and the other end of the first work line L2a closest to the field side H1a as the end point so that the work vehicle 1 travels through the non-work area J1 close to the field side H1b, rather than the location of the unworked ridge Ua closest to the first end Rb1-1, and only the work implement 2 passes the location of the ridge Ua. For convenience, in FIG. 6A and other figures, models of the work vehicle 1 and work implement 2 are shown on the field map MP1. Also, in FIG. 6A and other figures, a number indicating the order in which the work line L2a was created (in the order of creation) is attached to the start point of the work line L2a.

[0078] Next, as shown in Figure 6B, the control device 51 creates a second work line L2a from the second end Rb3-2 of the second block Rb3 to harvest the ridge Ua closest to the second end Rb3-2 in accordance with the work width W1 and first offset position X1 of the work implement 2, and determines the start and end points of the second work line L2a. At this time, the control device 51 determines one end of the second work line L2a closer to the field edge H1a as the start point and the other end of the second work line L2a closer to the field edge H1c as the end point so that the work vehicle 1 travels in a preceding travel area (travel-permitted area) J2 closer to the ridge Ua, rather than at the location of the unworked ridge Ua closest to the second end Rb3-2, and only the work implement 2 passes the location of the ridge Ua.

[0079] Next, as shown in Fig. 6C, the control device 51 creates a third work line L2a for the ridge Ua near the first end Rb1-1 of the first block Rb1 and the first work line L2a, similar to the first work line L2a, and determines the start and end points of the third work line L2a. Next, as shown in Fig. 6D, the control device 51 creates a fourth work line L2a for the ridge Ua near the second end Rb3-2 of the second block Rb3 and the second work line L2a, similar to the second work line L2a, and determines the start and end points of the fourth work line L2a.

[0080] As described above, the control device 51 repeatedly creates work lines L2a alternately in the first block Rb1 and the second block Rb3 and determines the start and end points of the work lines L2a. As a result, as shown in Figure 6E, multiple work lines L2a (numbers 1 to 20 in circles) are created to perform harvesting work on all of the ridges Ua in the first block Rb1 and the second block Rb3 that make up the block pair Pb1, the start and end points of the work lines L2a are determined, and a work route L2-1 for the block pair Pb1 that includes the multiple work lines L2a is created.

[0081] The control device 51 then similarly creates multiple work lines L2a for multiple block pairs Pb2-Pb5 in order of proximity to the reference field edge H1b, determines the start and end points of the work lines L2a, and creates work routes L2-2-L2-5 for each block pair Pb2-Pb5. As a result, as shown in Figure 6F, multiple work lines L2a have been created for each of the blocks Rb1-Rb10 in all block pairs Pb1-Pb5. The start points of the multiple work lines L2a created for the blocks Rb1-Rb10 are assigned consecutive numbers (numbers 1-100 in circles) indicating the order in which they were created.

[0082] The control device 51 determines the order in which all work lines L2a are created as the order in which harvesting work will be performed (numbers 1 to 100 in circles). That is, the control device 51 determines the work order for the multiple work lines L2a so that work is performed alternately on the first and second blocks of each block pair Pb1 to Pb5, and on the multiple block pairs Pb1 to Pb5 in order. The control device 51 also determines the order in which the multiple block pairs Pb1 to Pb5 are to be worked on based on their proximity to the reference field side H1b. In this way, the control device 51 also determines the direction of work progress for all work lines L2a, and creates a series of work routes L2 including each work route L2-1 to L2-5. That is, the control device 51 creates the work route L2 using the route creation unit 56 while simulating work in the field by the work vehicle 1 and work implement 2.

[0083] As another example, the control device 51 may create multiple work lines L2a to correspond to all of the multiple ridges Ua in the multiple blocks Rb1 to Rb10, and then determine the work order of the multiple work lines L2a so that work is performed alternately on the first block and the second block for each block pair Pb1 to Pb5 and in sequence on the multiple block pairs Pb1 to Pb5, thereby creating work routes L2-1 to L2-5, L2.

[0084] Once the control device 51 has created the work route L2 as described above, it outputs a field map MP1 showing the work route L2 (S8 in FIG. 2). Specifically, the control device 51 displays the field map MP1 showing the work route L2 as shown in FIG. 6F on the display operation device 52. The control device 51 also outputs the field map MP1 showing the work route L2 as shown in FIG. 6F to the control device 60 of the work vehicle 1 via the communication device 54 as work control information for automatic driving or automatic steering of the work vehicle 1.

[0085] Alternatively, the work control information may be transmitted from the control device 51 to the server 80 via the communication device 54 and managed (stored) by the server 80. Then, when work is performed in a field by the work vehicle 1 and the work implement 2, the work control information corresponding to the field and work may be downloaded from the server 80 to the control device 60 of the work vehicle 1 and to a terminal device used by the worker, or may be displayed on the display operation device 52 of the work support device 50. The control device 51 may also include field information, work information, and implement information for the work implement 2 in the work control information.

[0086] As another example, the control device 51 may calculate a travel route (plurality of travel lines, i.e., a path along which the position of the vehicle body 3 will move) for the work vehicle 1 to travel by shifting the work route L2 (plurality of work lines L2a) by the first offset position X1 in the direction opposite to the offset direction of the work device 2. The control device 51 may then display a field map MP1 showing this travel route on the display operation device 52, and output this to the control device 60 via the communication device 54 as work control information for automatic driving or automatic steering of the work vehicle 1.

[0087] The control device 51 may also use the route creation unit 56 to create multiple turning lines L2b, L2c on the headland E1, as shown in FIG. 7. The turning lines L2b, L2c are arc-shaped turning paths along which the work implement 2 turns, accompanying the work vehicle 1, from the end point of each work line L2a to the start point of the next work line L2a. More specifically, the turning line L2b is a turning path from one of the work lines L2a in the first or second block of each block pair Pb1 to Pb5 to the next work line L2a. The turning line L2c is a turning path from the last work line L2a of the block pair that will be worked on first, among the multiple block pairs Pb1 to Pb5, to the first work line L2a of the block pair that will be worked on next. The control device 51 creates the turning lines L2b, L2c by referring to the size of the work vehicle 1 and the first offset position X1 and second offset position Y1 of the work implement 2.

[0088] The control device 51 may include multiple turning lines L2b, L2c in the work route L2. The control device 51 may then display a field map MP1 showing the work route L2 including the multiple work lines L2a and the multiple turning lines L2b, L2c on the display operation device 52, or may output this to the control device 60 of the work vehicle 1 via the communication device 54 as control information for automatic driving or automatic steering.

[0089] In addition, the control device 51 may create multiple work lines for harvesting crops grown on the ridges Ua in the preceding travel area (travel-permitted area) J2, and add a work route indicating the multiple work lines and the work order to the work route L2 and the field map MP1.

[0090] 9A and 9B are diagrams showing an example of a work route in the preceding travel area J2. Each of the multiple preceding travel areas J2 has one corresponding preceding travel line L1 and two corresponding ridges Ua. The control device 51 creates a work route L2-j for the preceding travel area J2 so that after the work vehicle 1 and work implement 2 have worked on the multiple ridges Ua in the multiple blocks Rb1 to Rb10, the work vehicle 1 and work implement 2 will work on the multiple ridges Ua in the multiple preceding travel areas J2. For convenience, the work line L2a and work routes L2-1 to L2-5 for each block pair Pb1 to Pb5 are not shown in FIGS. 9A and 9B.

[0091] For example, the control device 51 first creates work lines L2a on which work is alternately performed by the work implement 2 while the work vehicle 1 travels on multiple ridges Ua in two of the multiple preceding travel areas J2, starting from the area closest to the reference field side H1b. In Figure 9A and other figures, the reference symbols for the work lines L2a are given the order of creation (101) to (110). That is, the control device 51 creates work lines L2a (101), L2a (102), L2a (103), and L2a (104) in the two preceding travel areas J2, starting from the area closest to the reference field side H1b, in that order.

[0092] If the number of preceding travel lines L1 is odd (five in FIG. 9), creating work lines L2a for two or more ridges Ua in each preceding travel area J2 leaves three preceding travel areas J2. The control device 51 creates work lines L2a (105) to L2a (110) shown in FIG. 9A so that the work vehicle 1 travels in a figure-eight pattern through the three remaining preceding travel areas J2, with the work device 2 working on the ridges Ua in the three preceding travel areas J2 in turn.

[0093] Alternatively, the control device 51 may create work lines L2a(105) to L2a(110) shown in Figure 9B so that, for example, the work vehicle 1 turns only in the offset direction of the work implement 2, and so that of the three remaining leading travel areas J2, work is performed alternately in the following order by the work vehicle 1 and the work implement 2: the leading travel area J2 farthest from the entrance / exit H1z, the closest leading travel area J2, the middle leading travel area J2, the closest leading travel area J2, the farthest leading travel area J2, and the middle leading travel area J2.

[0094] Then, the control device 51 determines the order in which the multiple work lines L2a(101) to L2a(110) are created as a work order, and creates a work route L2-j for the preceding traveling area J2 that includes the multiple work lines L2a(101) to L2a(110) and their work order.

[0095] As another example, the control device 51 may create multiple work lines L2a to correspond to multiple ridges Ua in multiple preceding traveling areas J2, and then, as described above, assign work orders (101) to (104) to the multiple work lines L2a in the two preceding traveling areas J2, in which work is performed alternately on the ridges Ua in each of the two preceding traveling areas J2.Furthermore, when three preceding traveling areas J2 remain, the control device 51 may assign work orders (105) to (110) to the multiple work lines L2a in the three preceding traveling areas J2, in which work is performed alternately on the ridges Ua in the three preceding traveling areas J2.

[0096] Also, when ridges Ua are formed in the headland E1 and crops are grown in the ridges Ua, the control device 51 may create work lines for harvesting the crops grown in the ridges Ua and add work routes indicating the multiple work lines and the work order to the farm field map MP1. Furthermore, the control device 51 may connect the work route added as described above with the work route L2.

[0097] As described above, the control device 60 of the work vehicle 1 receives the work control information (including the area above the field map MP1 showing the work route L2) transmitted from the work support device 50 via the communication device 64 and stores it in the storage device 61.

[0098] Alternatively, the work control information may be transmitted from the control device 51 of the work support device 50 to the server 80 via the communication device 54 and managed (stored) by the server 80. Then, when work is performed in a field by the work vehicle 1 and the work device 2, the work control information corresponding to the field and work may be downloaded from the server 80 to the control device 60 of the work vehicle 1 and to a terminal device used by the worker, and the work control information may be displayed by the display operation device 52 of the work support device 50.

[0099] After the control device 60 receives (acquires) the work control information, the operator operates at least one of the display operation device 52 and the operation device 62 to input a command to start the automatic driving mode of the work vehicle 1. As a result, the control device 60 starts the automatic driving mode, and controls the prime mover 4, transmission 5, braking device 6, steering device 29, lifting device 8, and work device 2 based on the work control information, vehicle information of the work vehicle 1, the position of the work vehicle 1 (body 3) detected by the positioning device 40, and the detection results of the internal sensor unit 65 and the external sensor unit 66, to automatically travel and steer the work vehicle 1 while performing automatic driving in which the work device 2 performs work (harvesting work) in the field.

[0100] That is, the control device 60 causes the work vehicle 1 to travel automatically (autonomously) based on the work route L2 of the field map MP1 included in the work control information, moves the work implement 2 along the work route L2, and harvests the crops on the furrows Ua of the field with the work implement 2. While the work vehicle 1 is automatically driven, the control device 51 of the work support device 50 displays the field map MP1 using the display operation device 52, and displays on the field map MP1 a vehicle object M1 indicating the current position of the work vehicle 1 (body 3), whose position is measured periodically or at predetermined timing by the positioning device 40.

[0101] In addition, before starting automatic driving of the work vehicle 1, the control device 60 may shift the work route L2 by the first offset position X1 in the direction opposite to the offset direction of the work device 2, calculate a driving route (movement path of the position of the vehicle body 3) along which the work vehicle 1 will travel, and control the driving and steering of the work vehicle 1 so that the position of the vehicle body 3 moves along that driving route.

[0102] In addition, if the turning lines L2b, L2c are not included in the work route L2, the control device 60 may calculate the turning line of the work implement 2 or the turning line of the work vehicle 1 from the multiple work lines L2a included in the work route L2 and the work order of the work lines L2a, and control the driving and steering of the work vehicle 1 so that the work implement 2 and the work vehicle 1 turn based on the turning line.

[0103] When a command to start the auto-steer mode (automatic steering, manual driving) of the work vehicle 1 is input by the driver or the like of the work vehicle 1 operating at least one of the display operation device 52 and the operation device 62, the control device 60 starts the auto-steer mode and automatically steers the work vehicle 1 based on work control information, etc. At this time, the driver operates the accelerator operation member, brake operation member, gear change operation member, work operation member, etc. included in the operation device 62, so that the work vehicle 1 drives, the speed of the work vehicle 1 is changed, and work is performed by the work device 2. That is, in the auto-steer mode, the driving (change in vehicle speed) of the work vehicle 1 (vehicle body 3) is left to manual control, and the steering of the work vehicle 1 is performed automatically based on the work control information, etc.

[0104] When working in such autosteer mode, as in the case of the automatic driving mode described above, the control device 60 may calculate a travel route for the work vehicle 1 from the work route L2 and control the steering of the work vehicle 1 in accordance with this travel route. In addition, the control device 51 of the work support device 50 displays a field map MP1 using the display operation device 52, and displays a vehicle object M1 indicating the current position of the work vehicle 1 on the field map MP1.

[0105] The field map MP1 showing the work route L2 can also be used when the work vehicle 1 is being manually driven (in manual driving mode). That is, by operating the display operation device 52, the driver of the work vehicle 1 visually confirms the work route L2 on the field map MP1 displayed on the display operation device 52 and the position of the work vehicle 1, and operates the accelerator operation member of the operation device 62 to drive the work vehicle 1 so that the work vehicle 1 travels along the work route L2, operates the steering wheel with the steering device 29 to steer the work vehicle 1, and performs work using the work implement 2. At this time, too, the control device 51 of the work support device 50 may display the current position of the work vehicle 1 on the field map MP1 displayed on the display operation device 52 at any time.

[0106] In the above-described embodiment, an example was shown in which the control device 51 of the work support device 50 divided the work area C1 of the field into multiple blocks Rb1 to Rb10 using the block setting unit 55 based on multiple preceding travel lines L1 and work positions Ra1 to Ra6 of the preceding work, but this is not limited to this. The control device 51 may also divide the work area C1 into multiple blocks using the block setting unit 55 based on at least one of multiple preceding travel lines, multiple work positions of the preceding work, multiple ridges Ua, and a predetermined width.

[0107] Specifically, for example, the control device 51 may divide the work area C1 into multiple areas using multiple preceding travel lines L1 using the block setting unit 55, without specifying the work positions Ra1 to Ra6 of the preceding work, and then calculate the width of each of the multiple areas and appropriately divide the multiple areas according to the smallest width, thereby dividing the work area C1 into multiple blocks. Alternatively, the control device 51 may divide the work area C1 into multiple blocks using the block setting unit 55 with a predetermined number of rows or a predetermined width. Furthermore, the control device 51 may divide the work area into multiple blocks using the block setting unit 55 based on at least one of the multiple preceding travel lines and multiple work positions of preceding work other than pest control work.

[0108] In the above-described embodiment, an even number of blocks are defined in the work area C1 of the field, but the number of blocks may be odd. For example, as shown in Fig. 10, when an odd number of blocks Rb1 to Rb9 are defined, the control device 51, using the block setting unit 55, successively sets block pairs Pb1 to Pb4, each consisting of a first block selected from the plurality of blocks Rb1 to Rb9 and a second block separated by another block that has not yet been paired with the first block, resulting in a remaining third block Rb8x that does not form a block pair.

[0109] For such a third block Rb8x, the control device 51 may use the route creation unit 56 to create multiple work lines L2a in the third block Rb8x so that work is performed alternately from the first end Rb8x-1 and the second end Rb8x-2 of the third block Rb8x that are parallel to the work directions V1 and V2, as shown in Figure 11, and may determine the work order (numbers 81 to 90 in circles) for the multiple work lines L2a.The control device 51 may then include the work route L2-8 of the third block Rb8x, which includes the multiple work lines L2a created in the third block Rb8x and their work order, in the work route L2, together with the work routes L2-1 to L2-4 of the multiple block pairs Pb1 to Pb4.

[0110] Alternatively, the control device 51 may add the third block Rb8x to one of the block pairs and set a block set consisting of three blocks using the block setting unit 55. Specifically, the control device 51 adds the third block Rb8x to the block pair Pb4 consisting of the first block Rb6 and the second block Rb9 separated by the third block Rb8x, etc., using the block setting unit 55, and sets the block set Sb4 consisting of the first block Rb6, the second block Rb9, and the third block Rb8x, as shown in Figure 12. That is, the control device 51 rearranges the block pair Pb4 shown in Figure 11 into the block set Sb4 shown in Figure 12.

[0111] The control device 51 may then use the route creation unit 56 to create multiple work lines L2a and determine the order of work on the multiple work lines L2a so that work is performed alternately on the first block Rb6, the second block Rb9, and the third block Rb8x that make up the block set Sb4, thereby creating a work route L2-4x for the block set Sb4.

[0112] In detail, first, the control device 51 creates multiple work lines L2a using the route creation unit 56 and determines the work order (numbers 61 to 80 in circles) of the multiple work lines L2a so that work is carried out in alternating (regular) order, for example, from the first end Rb6-1 of the first block Rb6, the second end Rb9-2 of the second block Rb9, and the first end Rb8x-1 of the third block Rb8x, to the third block Rb8x, the second block Rb9, the first block Rb6, and the second block Rb9.

[0113] Then, when the control device 51 has finished creating multiple work lines L2a to correspond to all of the ridges Ua in the second block Rb9, the control device 51 creates multiple work lines L2a using the route creation unit 56 so that work is performed alternately starting from the next ridge Ua in the first block Rb6 and the second end Rb8x-2 of the third block Rb8x, and determines the work order (numbers 81 to 90 in circles) for the multiple work lines L2a. This creates the work route L2-4x for the block set Sb4. The control device 51 adds the work route L2-4x to the overall work route L2 so that it follows the work route L2-3 for the block pair Pb3.

[0114] As another example, the control device 51 may create multiple work lines L2a using the route creation unit 56 and determine the work order of the multiple work lines L2a so that work is performed alternately in the order of the first block Rb6, the second block Rb9, the third block Rb8x, and the second block Rb9, starting from the first end Rb6-1 of the first block Rb6, the second end Rb9-2 of the second block Rb9, and the first end Rb8x-1 of the third block Rb8x.

[0115] In the embodiment described above, the control device 51 identified multiple preceding travel lines L1 from work information related to preceding work in the field. However, if the preceding work is not work performed using automatic driving or automatic steering of the work vehicle 1 and a preceding work device, the work information may not include information indicating the preceding travel line L1. When information indicating the preceding travel line is not included in the work information in this way, the work position of the preceding work is not included in the work information, and the work position cannot be identified from the preceding travel line. Therefore, using the procedure described above, it is not possible to divide the work area C1 into multiple blocks, and it is not possible to create a work route for the following work corresponding to the preceding work.

[0116] In contrast, in the work support device 50, even if the work information does not include information indicating the preceding driving line of the preceding work, the control device 51 estimates the preceding driving line using the line estimation unit 57 (Figure 1) from the position information of the preceding work vehicle 1A at the time of the preceding work, which is included in the work information.

[0117] 13A to 13F are diagrams illustrating an example of a procedure for estimating a preceding travel line. In this example, the control device 51 creates (identifies) a preceding travel line L1 along which the preceding work, pest control work, will be carried out. For example, if the work information related to the preceding work (pest control work) read in step S4 of FIG. 2 does not include information indicating multiple preceding travel lines (pest control lines), the control device 51 identifies, from the work information, position information indicating, in chronological order, multiple positions passed by the preceding work vehicle 1A during the preceding work (pest control work). That is, the position information includes positioning information indicating multiple positions (coordinates, etc.) of the preceding work vehicle 1A periodically measured by the positioning device 40 or the like when the preceding work vehicle 1A was traveling straight ahead to carry out the preceding work and when the preceding work device 2A was operating, and time information indicating the time at which each of the multiple positions was measured.

[0118] Next, the control device 51 synthesizes (plots) the multiple positions Pr1 of the preceding work vehicle 1A indicated by the identified position information on the field map MP1 as shown in Figure 13A. At this time, the control device 51 extracts the multiple positions Pr1 that are within the work area C1. For convenience, in Figure 13A and other figures, the multiple positions Pr1 of the preceding work vehicle 1A are indicated by black circles, and only some of the black circles are given the symbol "Pr1."

[0119] Next, the control device 51 executes a grouping process using the line estimation unit 57 to divide the multiple positions Pr1 into multiple groups G1. At this time, the control device 51 groups multiple positions Pr1 that are aligned in approximately a straight line at intervals (distances) less than a predetermined value, for example, to set multiple groups G1 to G5. Alternatively, the control device 51 may divide the multiple positions Pr1 into multiple groups G1 based on the time periods to which the positioning times of the multiple positions Pr1 belong. Alternatively, the control device 51 may divide the multiple positions Pr1 into multiple groups G1 by cluster analysis or the like.

[0120] Next, the control device 51 linearly approximates the multiple positions Pr1 belonging to each group G1 to create multiple parallel straight lines L1p, as shown in Fig. 13B, using the line estimation unit 57. At this time, the control device 51 linearly approximates the multiple positions Pr1 belonging to each group G1 to obtain multiple approximate straight lines, and then calculates the average value of the directions (angles) of the approximate straight lines and adjusts the directions of the approximate straight lines so that they face the average value, thereby creating multiple parallel straight lines L1p.

[0121] Next, the control device 51 sets multiple groups G2 by grouping multiple positions Pr1 at one end of each group G1 and grouping multiple positions Pr1 at the other end of each group G1, as shown in Fig. 13C, using the line estimation unit 57. Next, the control device 51 linearly approximates the multiple positions Pr1 belonging to each group G2, as shown in Fig. 13D, using the line estimation unit 57, to create multiple parallel straight lines L1q. At this time, as with the straight line L1p, the control device 51 adjusts the orientations of the multiple approximate straight lines obtained by linearly approximating the multiple positions Pr1 belonging to each group G2, to create multiple parallel straight lines L1q.

[0122] Next, the control device 51 calculates multiple intersections Px1 between the multiple straight lines L1p and the multiple straight lines L1q using the line estimation unit 57, as shown in FIG. 13E. Then, the control device 51 deletes the multiple straight lines L1q and deletes the portions of the multiple straight lines L1p outside the intersection Px1, as shown in FIG. 13F, and estimates the remaining portions of the multiple straight lines L1p as multiple preceding driving lines L1 using the line estimation unit 57. The control device 51 also estimates the orientation of the multiple preceding driving lines L1 using the line estimation unit 57, for example, based on the positioning times of the multiple positions Pr1. Alternatively, because preceding work is usually completed near the entrance / exit H1z of the field, the control device 51 may also estimate the orientation of the multiple preceding driving lines L1 using the line estimation unit 57 based on the positions of the entrance / exit H1z and the multiple preceding driving lines L1. This enables the control device 51 to divide the work area C1 of the field into multiple blocks Rb1 to Rb10 based on the estimated multiple preceding driving lines L1, and to create a work route L2 for performing subsequent work (harvesting work) in the multiple blocks Rb1 to Rb10.

[0123] Furthermore, after estimating multiple preceding travel lines L1 as described above, the control device 51 may identify the preceding work device (pest control device) 2A used during the preceding work from work information related to the preceding work, identify the work width of the preceding work device 2A from device information about the preceding work device 2A, and calculate multiple work positions (pest control range) for the preceding work based on the work width and the estimated multiple preceding travel lines L1.The control device 51 may then divide into multiple blocks and create a work route L2 based on the estimated multiple preceding travel lines L1 and the multiple work positions of the preceding work.

[0124] In the above-described embodiment, an example was shown in which the control device 51 uses the route creation unit 56 to create multiple work lines L2a for each block pair Pb1 to Pb5, from the first end closest to the reference field side H1b (first end Rb1-1 in Figure 6D, etc.) to the second end farthest from the reference field side H1b (second end Rb3-2 in Figure 6D, etc.), along which work is performed alternately on the first block and the second block by the work device 2, but this configuration is not limited to this.

[0125] For example, the control device 51 may select either the first end (near end) of the first block of each of the block pairs Pb1 to Pb5 that is closest to the reference field side H1b or the second end (far end) that is farthest from the reference field side H1b, and may also select either the first end (near end) of the second block that is closest to the reference field side H1b or the second end (far end) that is farthest from the reference field side H1b. The control device 51 may then create multiple work lines L2a that alternate between working in the first block and the second block from the selected ends of the first block and the second block.

[0126] In the above-described embodiment, an example was given of a work device 2 (harvesting device) that performs work (harvesting work) on one ridge Ua at a time, but this configuration is not limited thereto, and the work vehicle 1 may be equipped with a work device that performs work on multiple ridges Ua simultaneously. In this case, the control device 51 creates a work line and work route for performing work on multiple ridges simultaneously based on the device information (working width and offset position) of the work device, etc.

[0127] In the embodiment described above, the control device 51 outputs field map information indicating the work routes L2, L2-1 to L2-5, and L2-4x created for multiple block pairs Pb1 to Pb5 or block set Sb4 to the control device 60 of one work vehicle 1 via the communication device 54, but this configuration is not limited to this. For example, when multiple work vehicles and the work implements respectively equipped on the multiple work vehicles work together to perform work in a field, the control device 51 may automatically or manually assign the work vehicles and work implements responsible for each of the multiple block pairs and block sets. The control device 51 may then create work lines and work routes for the multiple blocks included in each block pair or block set based on the device information of the responsible work implements. Furthermore, the control device 51 may output information indicating the corresponding work route via the communication device 54 to the control device of the work vehicle responsible for each block pair and block set.

[0128] Alternatively, the control device 51 may output collaborative work information indicating all of the work routes corresponding to each of the multiple block pairs and block sets, and the work vehicles and work implements responsible for each of the multiple block pairs and block sets, to the control devices of the multiple work vehicles via the communication device 54. The collaborative work information may also be transmitted from the control device 51 to the server 80 via the communication device 54 and managed (stored) by the server 80. Then, when work is being performed in the field by the work vehicles and work implements, the collaborative work information may be downloaded from the server 80 to the control devices of the work vehicles and to the terminal devices used by the workers, or may be displayed on the display operation device 52 of the work support device 50.

[0129] In the embodiment described above, an example was shown in which the control device 51 created the work route L2 for harvesting work based on the preceding travel line L1 during pest control work, etc., but this configuration is not limited to this. For example, the control device 51 may create a work route for subsequent work other than harvesting work based on the preceding travel line and work position during preceding work other than pest control work.

[0130] 13A to 13F, the control device 51 estimates the preceding travel line L1 during pest control work from the position information of the preceding work vehicle during the pest control work, but this configuration is not limited to this. For example, the control device 51 may estimate the preceding travel line during the same preceding work from the position information of the preceding work vehicle during a preceding work, such as seeding work, that was performed before the pest control work. Alternatively, the control device 51 may estimate the preceding travel line during pest control work from the position information of the preceding work vehicle, work information for the preceding work, and device information for the pest control device. Furthermore, the control device 51 may include the estimated preceding travel line (pest control line) L1 in a field map MP1 and output it to the control device 60 of the work vehicle 1. The control device 60 may then perform pest control work using the pest control device equipped on the work vehicle 1 while driving the work vehicle 1 based on the field map MP1 and the preceding travel line (pest control line) L1.

[0131] In the above-described embodiment, an example was shown in which the control device 51 created the work route L2 in a rectangular field, but the present invention is not limited to this configuration and a work route may be created in a field of a shape other than rectangular. Furthermore, the control device 51 may create a work route in which work is carried out not only by the work vehicle 1 and the towed and offset type work implement 2 equipped on the work vehicle 1, but also by other drivable work vehicles (work vehicles) and the work implements equipped on those work vehicles.

[0132] In addition, the control device 51 may create a work route L2 (such as a work line L2a) so that work in the work area C1 starts near the entrance / exit H1z of the field, or may create a work route L2 so that work starts or ends near a field edge specified by an operator or the like using the operation display device 52.

[0133] As described above, when the work vehicle 1 is traveling in a field in either automatic driving mode, auto-steer mode, or manual driving mode while working with the work implement 2, by operating at least one of the display operation device 52 and the operation device 62, the control device 51 causes the display operation device 52 to display a guidance screen including a field map MP1 corresponding to the field.

[0134] 14A and 14B are flowcharts showing an example of display processing executed by the control device 51 when the auto-steer mode is executed in the work vehicle 1. The control device 51 first reads work control information corresponding to the field to be worked on and auto-steer mode display data from the storage device 53, and then displays a guide screen corresponding to the auto-steer mode on the display operation device 52 based on the work control information and display data (S11 in FIG. 14A).

[0135] 17A to 17D are diagrams showing an example of a guidance screen D1 corresponding to the auto-steer mode. The guidance screen D1 displays a field map MP1 corresponding to the field to be worked on, a vehicle object M1 indicating the work vehicle 1 and work implement 2, and a number of operation keys B20 to B30. Of these, the field map MP1 includes a number of work lines L2a and a work route L2, which are the planned route for work by the work vehicle 1 and work implement 2.

[0136] 17A to 17D show an example in which a field map MP1 including a work route L2 for harvesting work created by the control device 51 as described above is displayed on the guidance screen D1. However, if another field is selected as the work target or another work is selected using the display operation device 52, the control device 51 acquires work control information indicating a field map including a work route (a work route having multiple work lines) corresponding to the selected field or work from the storage device 53 or server 80, and causes the display operation device 52 to display the field map on the guidance screen D1. The control device 51 can also cause the display operation device 52 to display a field map including a work route created by another information processing device or the like on the guidance screen D1.

[0137] The control device 51 also acquires the current position of the work vehicle 1 measured by the positioning device 40, stores position information indicating this current position in the storage device 53, and displays this current position on the field map MP1 (S12 in FIG. 14A). In more detail, at this time the control device 51 displays the vehicle object M1 at a position on the field map MP1 that corresponds to the current position of the work vehicle 1. That is, the vehicle object M1 in the guidance screen D1 in FIG. 17A etc. indicates the current positions of the work vehicle 1 and work implement 2.

[0138] Of the multiple operation keys B20 to B30, the setting change key B20 is a key for inputting an instruction to change the settings. The start key B21 is a key for inputting an instruction to start work in auto-steer mode. The stop key B22 is a key for inputting an instruction to stop work in auto-steer mode. The current location key B23 is a key for inputting an instruction to change the display position of the field map MP1 so that the vehicle object M1 is positioned at the center of the guidance screen D1. The enlarge key B24 is a key for inputting an instruction to enlarge the display of the field map MP1. The reduce key B25 is a key for inputting an instruction to reduce the display of the field map MP1.

[0139] The next key B26 is a key for switching the display from the guidance screen D1 to the next screen. The next screen is, for example, a menu screen. The back key B27 is a key for switching the display from the guidance screen D1 to the previous screen. The previous screen is, for example, a screen for confirming input information such as work conditions. The next line key B28 is a key for inputting an instruction to specifically display the next work line on which the work vehicle 1 and work implement 2 will next work. The trajectory key B29 is a key for inputting an instruction to display the trajectory of work by the work vehicle 1 and work implement 2. The trajectory clear key B30 is a key for inputting an instruction to erase information related to the trajectory.

[0140] The control device 51 causes the display operation device 52 to display a plurality of operation keys B20 to B30 on the guidance screen D1 so that the operation keys B20 to B30 can be tapped. Furthermore, the control device 51 executes processing corresponding to each of the operation keys B20 to B30 in response to a tap operation on each of the operation keys B20 to B30. In this embodiment, the plurality of operation keys B20 to B30 are provided on the guidance screen D1 so as to be operable based on a software program. However, other than this, the operation keys B20 to B30 may also be operable by, for example, an operation member provided on the work support device 50. Alternatively, at least one of the operation keys B20 to B30 may be configured by hardware such as a button, a dial, a slider, or the like.

[0141] For example, while viewing the guidance screen D1, the driver (worker) of the work vehicle 1 manually drives the work vehicle 1 in the field, moves the work implement 2 to a position corresponding to the start of the first work line L2a of the work route L2, and then turns on the start key B21 (S13: YES in FIG. 14A). As a result, the control device 51 accepts an instruction to start work in auto-steer mode, and transmits a command to start said work to the work vehicle 1 via the communication device 54 (S14). When the control device 60 of the work vehicle 1 receives the command to start work in auto-steer mode via the communication device 64, it puts the driving of the work vehicle 1 under manual control, and executes auto-steer control to automatically steer the work vehicle 1 so that the work implement 2 moves along the first work line L2a, and starts work with the work implement 2.

[0142] Then, for example, the driver confirms that the work has been completed up to the end point of the first work line L2a using the work implement 2, stops the work vehicle 1, and turns on the stop key B22 (S15: YES). This causes the control device 51 to accept an instruction to stop work in auto-steer mode, and sends a command to stop this work to the work vehicle 1 via the communication device 54 (S16). When the control device 60 of the work vehicle 1 receives the command to stop work in auto-steer mode via the communication device 64, it stops the auto-steer control and also stops work by the work implement 2. This causes work in auto-steer mode to be stopped.

[0143] Next, the driver manually drives the work vehicle 1, and without performing work with the work implement 2, turns the work vehicle 1 and work implement 2 on the headland E1, and drives the work vehicle 1 to move the work implement 2 to the start point of the next work line L2a where work has been predetermined to be performed, aligning the traveling direction of the work vehicle 1 and work implement 2 with the traveling direction of the next work line L2a. The driver then turns on the start key B21 (S13: YES) to resume work in auto-steer mode with the work vehicle 1 and work implement 2. Furthermore, when the driver has worked to the end point of the work line L2a with the work implement 2, he stops the travel of the work vehicle 1 and turns on the stop key B22 to stop work in auto-steer mode. Thereafter, the driver repeatedly performs work in auto-steer mode as described above depending on the number of work lines L2a that have not yet been worked on.

[0144] During work in auto-steer mode, the control device 51 updates the display position of the vehicle object M1 as shown in Figures 17B and 17D based on the current position of the work vehicle 1 determined by the positioning device 40. Furthermore, when work in auto-steer mode is stopped and the work vehicle 1 and work implement 2 are moving toward the next work line L2a, the control device 51 also updates the display position of the vehicle object M1 as shown in Figure 17C based on the current position of the work vehicle 1 determined by the positioning device 40. In other words, during work in auto-steer mode and when the work vehicle 1 and other implements are moving toward the next work line L2a, the control device 51 displays the vehicle object M1 indicating the current position of the work vehicle 1 and other implements on the field map MP1.

[0145] As shown in Fig. 17A and other figures, the next line key B28 and the trajectory key B29 are displayed on the guidance screen D1 together with the field map MP1 by the control device 51 and the display operation device 52. The next line key B28 and the trajectory key B29 are provided with key lamps 28L and 29L, respectively. As shown in Fig. 17A, when the corresponding keys B28 and B29 are in the off state, the control device 51 causes the display operation device 52 to turn off the key lamps 28L and 29L, and when the corresponding keys B28 and B29 are in the on state, the control device 51 causes the display operation device 52 to turn on the key lamps 28L and 29L.

[0146] 17A, when the next line key B28 is in the OFF state, no instruction to display the next work line uniquely has been input, so the control device 51 displays all work lines L2a in the same display format on the field map MP1. That is, the control device 51 displays the next work line in the same display format as the other multiple work lines on the field map MP1.

[0147] When the driver turns on the next line key B28 (S17: YES in Figure 14A) as shown in Figures 17B to 17D, an instruction to distinctively display the next work line is input, and the control device 51 accepts the instruction and executes line distinctive display processing (S18).

[0148] 15 is a flowchart showing an example of the line peculiar display processing. First, the control device 51 acquires the current position of the work vehicle 1 measured by the positioning device 40 (S31), and reads the work order of the multiple work lines L2a included in the work route L2 from the work control information (S32).

[0149] Next, the control device 51 identifies the status (condition) of the work on the multiple work lines L2a based on the current position of the work vehicle 1 and the work order of the multiple work lines L2a (S33). At this time, of the multiple work lines L2a in the field map MP1 displayed on the display operation device 52, the control device 51 identifies the actual work line currently being worked on by the work vehicle 1 and the work implement 2 (the work line on which the work implement 2 is moving), the next work line that is specified in the work control information to be worked on next after the actual work line, and multiple other work lines other than the actual work line and the next work line. Furthermore, of the multiple other work lines, the control device 51 may identify work lines that have been worked on by the work vehicle 1 and the work implement 2 and unworked lines that have not yet been worked on.

[0150] Next, the control device 51 reads the line setting information stored in the storage device 53 (S34). The line setting information is information that defines the display format, such as color, line type, and thickness, of the actual work line, the next work line, and the other work lines. Furthermore, the display formats of the actual work line, the next work line, and the other work lines defined by the line setting information are all different.

[0151] Then, based on the status of each work line L2a and the line setting information, the control device 51 causes the display operation device 52 to distinctively display the actual work line, the next work line, and the other work lines on the field map MP1 (S35). At this time, based on the line setting information, the control device 51 causes the next work line L2an to be displayed on the field map MP1 in a different display format from the actual work line L2ar and the multiple other work lines L2ao, as shown in Figures 17B to 17D. The control device 51 also causes the actual work line L2ar, the next work line L2an, and the other work lines L2ao to be displayed on the field map MP1 in different display formats. The control device 51 also causes the actual work line L2ar and the next work line L2an to be displayed in a display format that highlights them more than the multiple other work lines L2ao. In addition, the control device 51 may display the next work line L2an in a display form that emphasizes it more than the actual work line L2ar, or may display the actual work line L2ar in a display form that emphasizes it more than the next work line L2an.

[0152] Furthermore, if the next line key B28 is on (S17: YES in Figure 14A) while the work vehicle 1 and work implement 2 are working in autosteer mode, the control device 51 displays the actual work line L2ar, next work line L2an, and other work line L2ao on the field map MP1 in different display forms, as shown in Figures 17B and 17D. In this case, too, the control device 51 highlights the actual work line L2ar and next work line L2an more than the multiple other work lines L2ao.

[0153] The control device 51 also differentiates at least one of the color, line type, thickness, and length of the actual work line L2ar, the next work line L2an, and the other work lines L2ao. For example, the control device 51 displays the actual work line L2ar as a solid red line, the next work line L2an as a solid green line that is thicker than the actual work line L2ar and the other work lines L2ao, and displays the multiple other work lines L2ao as thin solid gray or black lines that are less noticeable than the red and green. Note that the display format, such as the color, line type, and thickness of each work line L2ar, L2an, and L2ao, is not limited to the above.

[0154] Furthermore, during work in auto-steer mode, because an actual work line L2ar is present in the field map MP1, the control device 51 extends the actual work line L2ar beyond the next work line L2an and the multiple other work lines L2ao. At this time, the control device 51 may superimpose an extension line L3 that is longer than the work line L2a on the actual work line L2ar, or may extend the actual work line L2ar itself. The control device 51 also displays a vehicle object M1 and an arrow object M2 that indicates the direction of travel of the actual work line L2ar on the actual work line L2ar. The addition of the vehicle object M1 and arrow object M2 also causes the actual work line L2ar to be displayed distinctively relative to the next work line L2an and the multiple other work lines L2ao.

[0155] Furthermore, when work in auto-steer mode is stopped, the control device 51 displays the next work line L2an in a different display format from the multiple other work lines L2ao. Therefore, when work in auto-steer mode is stopped and the work vehicle 1 and work implement 2 are turning and moving manually toward the next work line L2an, for example as shown in Fig. 17C, the control device 51 and display operation device 52 display the next work line L2an on the field map MP1 in a different display format from the multiple other work lines L2ao.

[0156] In this case, because there is no actual work line L2ar in the field map MP1, the control device 51 extends the next work line L2an beyond the multiple other work lines L2ao. Specifically, the control device 51 may superimpose an extension line L4 that is longer than the work line L2a on the next work line L2an, or may extend the next work line L2an itself. Furthermore, the control device 51 may change the display format, such as color, line type, or thickness, of the extension line L4 superimposed on the next work line L2an from the display format of the extension line L3 superimposed on the actual work line L2ar in FIG. 17B, etc.

[0157] In addition, the control device 51 not only executes the line peculiar display processing (S18) when the next line key B28 is turned on (S17: YES in FIG. 14A), but also executes the line peculiar display processing (S18) if the next line key B28 is in the on state (S17: YES) when work in autosteer mode starts (S13: YES) and when work stops (S15: YES).

[0158] That is, the control device 51 also executes the line-specific display process when work in auto-steer mode starts (S13: YES in FIG. 14A) and stops (S15: YES) to identify the actual work line L2ar, the next work line L2an, and multiple other work lines L2ao (S33 in FIG. 15), and updates the display format of the multiple work lines L2a in the field map MP1 displayed on the display operation device 52 via the display operation device 52 (S35). Furthermore, the control device 51 updates the actual work line L2ar, the next work line L2an, and multiple other work lines L2ao in the field map MP1, as well as their display formats. As another example, the control device 51 may identify each work line L2ar, L2an, and L2ao and update the display format of the multiple work lines L2a in the field map MP1 either when work in auto-steer mode starts or when it stops.

[0159] 17A, when the driver turns off the next line key B28 (S17: NO in FIG. 14A), an instruction not to uniquely display the next work line is input, and the control device 51 accepts this instruction. Then, the control device 51 stops the unique display of the actual work line L2ar, the next work line L2an, and the multiple other work lines L2ao on the field map MP1 using the display operation device 52 (S19).

[0160] Also, as shown in Figures 17B to 17D, when the driver turns on the trajectory key B29 (S20: YES in Figure 14B), an instruction to display the trajectory is input, and the control device 51 accepts the instruction and executes the trajectory display process (S21).

[0161] Figure 16 is a flowchart showing an example of a trajectory display process. First, the control device 51 reads time-series data of position information indicating the position of the work vehicle 1 in the field from the storage device 53 (S41). Next, the control device 51 calculates the trajectory of the work performed by the work vehicle 1 and the work implement 2 based on the time-series data of position information and the working width of the work implement 2 (S42). Then, as shown in Figures 17B to 17D, the control device 51 causes the display operation device 52 to display the work trajectory K1 (shown cross-hatched) on the field map MP1 (S43 in Figure 16).

[0162] At this time, the control device 51 displays the trajectory K1 on the field map MP1 in a display format different from that of the actual work line L2ar, the next work line L2an, and multiple other work lines L2ao. The control device 51 also superimposes the trajectory K1 on the completed portion of the actual work line L2ar and the completed work line L2ao(1) on which work has already been performed. This causes the actual work line L2ar and the completed work line L2ao(1) to be displayed distinctively in relation to the next work line L2an and the uncompleted line L2ao(2). Note that in addition to the work trajectory K1, the control device 51 may also calculate a trajectory (same width as the work device 2) traveled by the work vehicle 1 or a trajectory (same width as the work vehicle 1) traveled by the work device 2, and display these on the field map MP1.

[0163] 17A, when the driver turns off the trajectory key B29 (S20: NO in FIG. 14B), an instruction not to display the trajectory is input, and the control device 51 accepts this instruction. Then, the control device 51 stops the display of the trajectory K1 on the field map MP1 by the display operation device 52 (S22).

[0164] Furthermore, when the driver turns on the Next key B26 (S24: YES) while work is stopped in the autosteer mode (S23: YES), the control device 51 causes the display operation device 52 to display the next predetermined screen instead of the guidance screen D1 (S25). Furthermore, when the driver turns on the Back key B27 (S26: YES), the control device 51 causes the display operation device 52 to display the previous predetermined screen instead of the guidance screen D1 (S27). When the screen displayed on the display operation device 52 changes in this way, the display process ends.

[0165] Furthermore, when the driver turns on any of the other operation keys B20, B23 to B25, and B30 on the guidance screen D1 during work in the autosteer mode or while the work is stopped (S28: YES), the control device 51 executes the process corresponding to the operated operation key B20, B23 to B25, and B30 (S29).Then, the control device 51 repeatedly executes the process from step S12 onward in FIG. 14A.

[0166] In the above-described embodiment, an example was shown in which a special display such as the next work line L2an was executed after the next line key B28 was turned on by the driver, but in addition to this, the control device 51 may automatically execute a special display such as the next work line L2an based on the work order of the multiple work lines L2a. For example, when work is being performed using the work vehicle 1 and work device 2, the control device 51 identifies the status of the multiple work lines L2a based on the current position of the work vehicle 1 and the work order of the multiple work lines L2a, and determines whether the actual work line L2ar and the next work line L2an are separated by a predetermined number or more of other work lines L2ao.

[0167] If the actual work line L2ar and the next work line L2an are separated by a predetermined number or more of other work lines L2ao, the control device 51 turns on the next line key B28 and displays the actual work line L2ar, the next work line L2an, and the multiple other work lines L2ao in different display formats. If the work line L2ar and the next work line L2an are not separated by a predetermined number or more of other work lines L2ao, the control device 51 turns off the next line key B28 and displays the actual work line L2ar, the next work line L2an, and the multiple other work lines L2ao in the same display format. The predetermined number may be an integer greater than or equal to 2, or may be 1. In these cases, the next line key B28 may be omitted, and step S17 in FIG. 14A may also be omitted.

[0168] Alternatively, the control device 51 may, for example, after identifying the status of multiple work lines L2a, determine whether the distance between the actual work line L2ar and the next work line L2an is greater than or equal to a predetermined value, and if the distance is greater than or equal to the predetermined value, display the actual work line L2ar, the next work line L2an, and multiple other work lines L2ao in different display formats, and if the distance is less than the predetermined value, display each of the work lines L2ar, L2an, and L2ao in the same display format.

[0169] In the above-described embodiment, an example is shown in which the trajectory K1 along which the work device 2 moves is superimposed on the completed work line L2ao1, causing the completed work line L2ao1 to be displayed distinctively. However, in addition to this, at least one of the display forms of the completed work line L2ao(1), such as color, line type, thickness, and length, may be made different from the display forms of the unworked line L2ao(2), the actual work line L2ar, and the next work line L2an.

[0170] When the driver or the like turns on the setting change key B20 shown in Fig. 17A or the like and then performs a predetermined operation on the display operation device 52, the line setting screen D2 shown in Fig. 18, for example, is displayed on the display operation device 52. The line setting screen D2 is a screen for setting whether or not to display special information and the display format for the actual work line L2ar, the next work line L2an, the completed work line L2ao(1), and the unworked line L2ao(2). The line setting screen D2 displays a number of setting keys B31 to B34 for setting whether or not to display the actual work line L2ar, the next work line L2an, the completed work line L2ao(1), and the unworked line L2ao(2) in a special way, a number of setting keys B35 to B38 for setting the color and a display frame displaying the setting contents, a number of setting keys B39 to B42 for setting the line type and a display frame displaying the setting contents, and a number of setting keys B43 to B46 for setting the thickness and a display frame displaying the setting contents.

[0171] When the driver or the like switches each of the multiple setting keys B31 to B34 to [OFF], it is set so that the corresponding work lines L2ar, L2an, L2ao(1), and L2ao(2) are not uniquely displayed, and when the driver or the like switches each of the setting keys B31 to B34 to [ON], it is set so that the corresponding work lines L2ar, L2an, L2ao(1), and L2ao(2) are uniquely displayed. In addition, each time the driver or the like turns on each of the setting keys B35 to B38, the color shown in the display frame adjacent to each setting key B35 to B38 changes, and the display color of the corresponding work lines L2ar, L2an, L2ao(1), and L2ao(2) also changes.

[0172] Furthermore, each time the driver or the like turns on one of the setting keys B39 to B42, the line type shown in the display frame adjacent to each setting key B39 to B42 changes, and the line type of the corresponding work lines L2ar, L2an, L2ao(1), and L2ao(2) also changes. Furthermore, each time the driver or the like turns on one of the setting keys B43 to B46, the line thickness shown in the display frame adjacent to each setting key B43 to B46 changes, and the thickness of the corresponding work lines L2ar, L2an, L2ao(1), and L2ao(2) also changes.

[0173] Furthermore, when the driver or the like operates the completion key B47, the control device 51 stores the settings made by the plurality of setting keys B31 to B48 as line setting information in the storage device 53. When the driver or the like operates the cancel key B48, the control device 51 stops the display of the line setting screen D2 by the display operation device 52 and displays the previous guidance screen D1.

[0174] 17B and other figures, the actual work line L2ar is displayed distinctively relative to the next work line L2an and other work lines L2ao due to the addition of the vehicle object M1, arrow object M2, etc. (and the trajectory K1), so the control device 51 may make the display format, such as color, line type, and thickness, of the actual work line L2ar the same as those of the other work lines L2ao.Furthermore, the completed work line L2ao(1) is displayed distinctively relative to the actual work line L2ar, next work line L2an, and uncompleted line L2ao(2) due to the trajectory K1 being superimposed thereon, so the control device 51 may make the display format, such as color, line type, and thickness of the completed work line L2ao(1) the same as those of the actual work line L2ar and uncompleted line L2ao(2).

[0175] In the embodiment shown in FIGS. 14A to 18 , an example is shown in which the control device 51 distinctively displays the next work line L2an, etc. on the field map MP1 displayed on the display operation device 52 when work is being performed by the work implement 2 in the auto-steer mode of the work vehicle 1. Alternatively, the control device 51 may also distinctively display the next work line L2an, etc. on the field map MP1 displayed on the display operation device 52 when work is being performed by the work implement 2 in the automatic driving mode or manual driving mode of the work vehicle 1. The control device 51 may also display a next line key B28 together with the field map MP1 on a guidance screen displayed on the display operation device 52 corresponding to the automatic driving mode and the manual driving mode, respectively. Furthermore, instead of the next line key B28, a hardware-type operating member such as a button, dial, or switch may be provided, and an instruction to distinctively display the next work line may be input to the control device 51 by operating the operating member.

[0176] In the above-described embodiment, an example was given in which the work support device 50 was configured from a portable tablet terminal device, but the work support device may also be configured from at least one of, for example, a smartphone, a terminal device fixed to the work vehicle 1, a computer installed in a location remote from the work vehicle 1, a server (such as server 80), and a server provided on the cloud. Also, a software program indicating the procedures for each of the above-described processes, functions, and operations may be stored on a server provided on the cloud, and a computer on which the software program is installed may constitute the work support device and create the work route L2.

[0177] 2 and 14A to 16 are implemented by a processing circuit including one or more processors and one or more memories, but may be implemented by an integrated circuit combining at least one of various analog circuits and digital circuits instead of or in addition to the processing circuit. The processor may be not only a CPU but also various processors suitable for computer control, such as a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

[0178] Furthermore, multiple physically separated processors may cooperate with each other to execute each process, etc. For example, processors installed in multiple physically separated computers may cooperate with each other via a network such as a LAN (Local Area Network), a WAN (Wide Area Network), or the Internet to execute each process, etc. Furthermore, the software program executed by the processor may be installed in memory from a server or the like via a network, or may be distributed in a state stored on a recording medium such as a memory stick or a memory card and installed in the memory of the processing circuit from the recording medium.

[0179] The work assistance device 50 and the work assistance system 100 of the present embodiment described above have the following configurations and provide the following effects.

[0180] [Item 1] The work support device 50 comprises an input device (display / operation device) 52 for specifying a field, and a control device 51 for acquiring field information relating to the field specified by the input device 52. The control device 51 divides a work area C1 of the field indicated by the field information into a plurality of blocks Rb1 to Rb10, and repeatedly sets block pairs from the plurality of blocks Rb1 to Rb10, each consisting of a first block and a second block separated from the first block by another block, thereby grouping the plurality of blocks Rb1 to Rb10 into a plurality of block pairs Pb1 to Pb5, and while the work vehicle 1 is traveling, the work device 2 equipped on the work vehicle 1 creates a work route L2 in which work is performed alternately on the first block and the second block for each block pair Pb1 to Pb5. The work assistance system 100 is a work assistance system that assists work performed by the work implement 2 equipped on the work vehicle 1 while the work vehicle 1 is traveling in a field, and is equipped with the input device 52 and control device 51 described above.

[0181] The configuration of item 1 above places another block between the first and second blocks of each block pair Pb1-Pb5. Therefore, when the work vehicle 1 is traveling along the work route L2 and the work implement 2 alternately works on the first and second blocks of each block pair Pb1-Pb5, the width of the space for turning the work vehicle 1 and work implement 2 (the width perpendicular to the work directions V1, V2) can be secured to be wider than the width of the other blocks (the width perpendicular to the work directions V1, V2). This wide space allows the work vehicle 1 and work implement 2 to easily turn along an arc-shaped turning path such as the turning line L2b shown in FIG. 7, minimizing the need for the work vehicle 1 to turn again and improving work efficiency. In other words, the configuration of item 1 above makes it possible to create a work route L2 that allows the work vehicle 1 to travel along the field while the work implement 2 works efficiently.

[0182] [Item 2] In the work support device 50 and work support system 100 described in item 1 above, the control device 51 divides the work area C1 into a plurality of blocks Rb1 to Rb10 that are aligned perpendicular to predetermined work directions V1, V2, sets a plurality of block pairs Pb1 to Pb5 each consisting of a first block and a second block separated by one or two other blocks, and creates a work route L2 in which work is performed alternately on the first block and the second block for each block pair Pb1 to Pb5 using the work device 2 while the work vehicle 1 travels in the work directions V1, V2.

[0183] The configuration of item 2 above prevents the spacing between the first and second blocks of each block pair Pb1 to Pb5 from becoming too wide, and keeps it to the same width as one or two other blocks. This makes it possible to shorten the distance that the work vehicle 1 and work implement 2 move alternately between the first block and the second block while working at each block pair Pb1 to Pb5, i.e., the free running distance that the work vehicle 1 travels without working with the work implement 2, thereby improving work efficiency.

[0184] [Item 3] The work support device 50 and work support system 100 described in item 2 above are equipped with output devices 52, 54 (display / operation device 52, communication device 54) that output a work route L2, and the control device 51 creates multiple work lines L2a on which work is performed on each of the multiple blocks Rb1 to Rb10 using the work device 2 while traveling the work vehicle 1 in the work directions V1, V2, determines a work order for the multiple work lines L2a that alternately perform work on the first block and the second block for each block pair Pb1 to Pb5 and perform work on the multiple block pairs Pb1 to Pb5 in a predetermined order, and outputs a work route L2 including the multiple work lines L2a and the work order using the output devices 52, 54.

[0185] The configuration of item 3 above allows work to be carried out alternately and efficiently in the first and second blocks for each block pair Pb1-Pb5, based on the multiple work lines L2a in the first block and the multiple work lines L2a in the second block. Furthermore, the work vehicle 1 and work implement 2 can carry out work in the multiple block pairs Pb1-Pb5 in a predetermined order. Furthermore, a work route L2 is output, which includes the multiple work lines L2a created for each of the multiple blocks Rb1-Rb10 and the work order of the multiple work lines L2a. Therefore, work can be carried out steadily and efficiently in the field using the work vehicle 1 and work implement 2 based on the work route L2. In particular, the control device 51 sets multiple work lines L2a and the work order for each of multiple block pairs Pb1 to Pb5 in order of furthest from the field entrance / exit H1z, and outputs a work route L2 including the multiple work lines L2a and the work order using the output devices 52, 54.This allows the work device 2 to perform work efficiently while keeping the idle distance of the work vehicle 1 short based on the work route L2.

[0186] [Item 4] In the work support device 50 and work support system 100 described in Item 3 above, the control device 51 identifies the entrance / exit H1z of the field from the field information, acquires device information related to the work device 2, and identifies the working width W1 of the work device 2 and the relative position of the work device 2 with respect to the work vehicle 1 (first offset position X1, second offset position Y1) from the device information. While driving the work vehicle 1 in either automatic driving or automatic steering, the control device 51 creates multiple work lines L2a on which work is performed alternately for each block pair Pb1 to Pb5 using the work device 2 according to the position of the entrance / exit H1z, the working width W1, and the relative position, and determines the work order of the multiple work lines L2a.

[0187] With the configuration of item 4 above, the work vehicle 1 can be driven either automatically or automatically steered based on the work route L2 including multiple work lines L2a and the work order thereof, while the work device 2 can reliably and efficiently perform work on multiple block pairs Pb and multiple blocks Rb1 to Rb10.

[0188] [Item 5] In the work support device 50 and work support system 100 described in items 3 or 4 above, the control device 51, while driving the work vehicle 1, creates multiple work lines L2a by using the work device 2 to perform work alternately from the far end of the first block and the far end of the second block, which are farthest from the other blocks, for each block pair Pb1 to Pb5, and determines the work order of the multiple work lines L2a.

[0189] With the configuration of item 5 above, work is carried out alternately from the farthest end of the first block and the farthest end of the second block toward the other blocks for each block pair Pb1 to Pb5, thereby shortening the idle travel distance of the work vehicle 1 and enabling work to be carried out efficiently. Furthermore, work is carried out regularly by the work vehicle 1 and work implement 2 from the edge toward the center of each block pair Pb1 to Pb5, making it easier for workers and others to visually grasp the progress of work in each block pair Pb1 to Pb5.

[0190] [Item 6] In the work support device 50 and work support system 100 described in any one of items 3 to 5 above, when a third block Rb8x (FIG. 10) that does not form a block pair occurs among the multiple blocks Rb1 to Rb9 partitioned in the work area C1, the control device 51 adds the third block to one of the block pairs to set a block set Sb4 (FIG. 12) consisting of the first block, the second block, and the third block Rb8x, creates multiple work lines L2a that perform work on the first block, the second block, and the third block Rb8x of the block set Sb4 in turn, and determines the work order of the multiple work lines L2a.

[0191] The configuration of item 6 above prevents the work vehicle 1 and work implement 2 from working continuously on multiple ridges Ua in the third block Rb8x, ensuring a wide space for turning the work vehicle 1 and work implement 2. The work vehicle 1 and work implement 2 can then be easily turned in this wide space, reducing the need for the work vehicle 1 to turn back and improving work efficiency.

[0192] [Item 7] In the work support device 50 and work support system 100 described in any of items 1 to 6 above, the control device 51 acquires work information related to preceding work carried out in the field, and from the work information, identifies multiple preceding travel lines L1 along which preceding work will be carried out using the preceding work device 2A equipped on the preceding work vehicle 1A while driving the preceding work vehicle 1A, which is either the work vehicle 1 or a work vehicle different from the work vehicle 1, and divides multiple blocks Rb1 to Rb10 based on the multiple preceding travel lines L1.

[0193] The configuration of item 7 above makes it possible to easily and appropriately divide the work area C1 into multiple blocks Rb1-Rb10 according to the work status of the preceding work. Furthermore, multiple work lines L2a and work routes L2 for the following work can be appropriately created according to the multiple blocks Rb1-Rb10. Then, based on the multiple work lines L2a and work routes L2, the following work can be appropriately performed by the work vehicle 1 and work implement 2 in accordance with the preceding work.

[0194] [Item 8] In the work assistance device 50 and work assistance system 100 described in Item 7 above, the control device 51 identifies, from the work information, position information indicating, in chronological order, multiple positions Pr1 that the preceding work vehicle 1A passed through during the preceding work, and identifies multiple preceding driving lines L1 from the position information.

[0195] With the configuration of item 8 above, even if the work information does not include information indicating multiple preceding travel lines L1, multiple preceding travel lines L1 can be estimated from the position information of the preceding work vehicle 1A during the preceding work, and multiple blocks Rb1-Rb10 can be easily and appropriately divided into the work area C1 based on the multiple preceding travel lines L1. Furthermore, multiple work lines L2a and work route L2 can be appropriately created according to the multiple blocks Rb1-Rb10.

[0196] [Item 9] In the work support device 50 and work support system 100 described in items 7 or 8 above, the control device 51 identifies, from the work information, a plurality of preceding travel lines L1 along which the preceding work, i.e., pest control work, is carried out, and a plurality of work positions Ra1 to Ra6 where the pest control work is carried out by the preceding work device 2A, i.e., the pest control device, and divides a plurality of blocks Rb1 to Rb10 based on the plurality of preceding travel lines L1 and the plurality of work positions Ra1 to Ra6.

[0197] The configuration of the above item 9 makes it possible to easily and appropriately divide the work area C1 into multiple blocks Rb1-Rb10 according to the preceding travel line L1 and work positions Ra1-Ra6 of the preceding pest control work. Furthermore, it is possible to appropriately create multiple work lines L2a and work routes L2 for the following work according to the multiple blocks Rb1-Rb10.

[0198] [Item 10] In the work support device 50 and work support system 100 described in items 1 to 9 above, the control device 51 identifies from the field information the multiple field edges H1a to H1d that form the field outline H1 and the positions of the multiple ridges Ua formed in the field, acquires device information regarding the harvesting device, which is the work device 2 that performs harvesting work on the crops cultivated on the multiple ridges Ua, identifies from the device information the working width W1 of the harvesting device and a relative position including the offset position X1 of the harvesting device relative to the width direction of the work vehicle 1, and creates a work route L2 along which the harvesting work is performed by the harvesting device while traveling the work vehicle 1 according to the position of the ridges Ua, the working width W1, and the relative position for each block pair Pb1 to Pb5.

[0199] With the configuration of item 10 above, crops grown on the multiple ridges Ua in the first and second blocks of each block pair Pb1-Pb5 can be efficiently and appropriately harvested by the harvester (working device 2) while the work vehicle 1 travels based on the work route L2. Furthermore, the control device 51 identifies the field edge farthest from the multiple entrances / exits H1z and creates a work route L2 in which the working device 2 (harvesting device) works alternately from the near end of the first block closest to the field edge (for example, the first end Rb1-1 of block Rb1) and the farthest end of the second block farthest from the field edge (for example, the second end Rb3-2 of block Rb3). This allows harvesting work to be performed in order from both ends of each block pair Pb1-Pb5, making it easier for workers and others to visually confirm and grasp the progress of harvesting work in each block pair Pb1-Pb5.

[0200] [Item 11] In the work support device 50 and work support system 100 described in Item 10 above, the control device 51 acquires work information related to previous work carried out in the field, and from the field information and work information, identifies the field's permitted travel areas J1, J2, E1 (non-work area J1, previous travel area J2, headland E1), and creates a work route L2 so that the work vehicle 1 travels through the permitted travel areas of the field and the worked parts of blocks Rb1 to Rb10, and the harvesting device offset in the width directions B1 and B2 of the work vehicle 1 passes through the unworked parts of multiple blocks Rb1 to Rb10 that are different from the permitted travel areas J1, J2, E1.

[0201] With the configuration of item 11 above, by driving the work vehicle 1 based on the work route L2 while performing harvesting work using the harvesting device, the work vehicle 1 does not drive through the unworked area (unharvested area), so the crops grown on the furrows Ua in the unworked area can be properly harvested without being toppled or damaged by the work vehicle 1.

[0202] [Item 12] In the work support device 50 and work support system 100 described in items 3 to 11 above, the control device 51 performs at least one of the following processes: displaying a field map MP1 showing the field and the work route L2 by an output device (display operation device) 52; and outputting the field map MP1 to the work vehicle 1 by an output device (communication device) 54 as control information for automatic driving or automatic steering of the work vehicle 1.

[0203] The configuration of item 12 above allows a worker or operator to grasp the field map MP1 and work route L2 displayed by the output device (display / operation device) 52, and can use the field map MP1 and work route L2 to easily and efficiently perform work using the work vehicle 1 and work device 2. Furthermore, the control device 60 of the work vehicle 1 can drive the work vehicle 1 using either automatic driving or automatic steering based on the field map MP1 and work route L2 input by the output device (communication device) 54, allowing work to be performed efficiently using the work device 2.

[0204] [Item 13] In the work support device 50 and work support system 100 described in any one of items 1 to 12 above, the control device 51 creates at least one of a travel route for the work vehicle 1 and a passing route for the work device 2 as the work route L2.

[0205] With the configuration of item 13 above, when a travel route for the work vehicle 1 is created as work route L2, the work device 2 can efficiently perform work in the work area C1 of the field while the work vehicle 1 is traveling so that the measured position of the work vehicle coincides with the travel route. Also, when a passing route for the work device 2 is created as work route L2, the work device 2 can efficiently perform work in the work area C1 of the field while the work vehicle 1 is traveling so that, for example, the measured position of the work vehicle 1 transitions from the passing route at intervals equivalent to the first offset position X1, or so that the position of the work device 2 calculated from the measured position of the work vehicle 1 and the first offset position X1 coincides with the passing route.

[0206] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0207] 1 Work vehicle 1A Advance work vehicle 2. Work equipment 2A Preceding work device 50 Work support device 51 Control device 52 Display operation device (input device, output device) 54 Communication devices (output devices) 100 Work Support System B1, B2 (width direction) C1 work area E1 Headland (allowable driving area) H1 Field outline H1a, H1c, H1d Field area H1b Field edge, Reference field edge J1 Non-working area (travel-allowed area) J2 Leading driving area (allowed driving area) L1 Leading line L2, L2-1~L2-5, L2-4x work route L2a Work Line MP1 Field Map Pr1 Position of the preceding work vehicle during preceding work Pb1~Pb5 block pairs Sb4 Block Set Rb1-1 First end of block Rb1 (near and far ends of the first block) Rb3-2 Second end of block Rb3 (far end of second block) Ra1~Rb6 Work position of preceding work (pest control work) Rb1, Rb2, Rb4, Rb6, Rb8 block, first block Rb3, Rb5, Rb7, Rb9, Rb10 block, second block Rb8x block, third block Ua ridge V1, V2 working direction W1 Working width X1 1st offset position (relative position) Y1 Second offset position (relative position)

Claims

1. an input device for designating a field; a control device that acquires field information related to the field specified by the input device, The control device dividing a work area of ​​the field indicated by the field information into a plurality of blocks, and repeatedly setting block pairs each consisting of a first block and a second block separated from the first block by another block from the plurality of blocks, thereby grouping the plurality of blocks into a plurality of block pairs; A work support device that creates a work route for performing work alternately on the first block and the second block for each block pair using a work device equipped on the work vehicle while the work vehicle is traveling.

2. The control device a plurality of blocks arranged perpendicular to a predetermined working direction in the working area are partitioned, and a plurality of block pairs are set, each of the first block and the second block being separated by one or two of the other blocks; The work support device according to claim 1 , wherein the work route is created by the work device performing the work alternately on the first block and the second block for each block pair while the work vehicle is traveling in the work direction.

3. an output device that outputs the work route; The control device creating a plurality of work lines for performing the work in each of the plurality of blocks by the work device while the work vehicle is traveling in the work direction; determining a work order for the plurality of work lines in which the work is performed alternately on the first block and the second block for each block pair and the work is performed on the plurality of block pairs in a predetermined order; The work support device according to claim 2 , wherein the work route including the plurality of work lines and the work order is output by the output device.

4. The control device Identifying an entrance / exit to the field from the field information; acquiring device information relating to the work device, and identifying a working width of the work device and a relative position of the work device with respect to the work vehicle from the device information; 4. The work support device according to claim 3, wherein the work vehicle is driven either automatically or automatically, and the work device creates a plurality of work lines that alternately perform the work for each block pair according to the position of the entrance / exit, the work width, and the relative position, and determines the work order of the plurality of work lines.

5. The control device 4. The work support device according to claim 3, wherein the work vehicle is driven by the work device to create a plurality of work lines for each block pair, alternately performing the work from the far end of the first block and the far end of the second block, which are farthest from the other block, and the work order of the plurality of work lines is determined.

6. The control device If a third block is generated among the plurality of blocks and does not form one of the block pairs, the third block is added to one of the block pairs to set a block set consisting of the first block, the second block, and the third block; 4. The work support device according to claim 3, wherein a plurality of work lines are created to perform the work alternately on the first block, the second block, and the third block of the block set, and the work order of the plurality of work lines is determined.

7. The control device Work information relating to preceding work carried out in the field is acquired, and from the work information, a preceding work vehicle, which is either the work vehicle or a work vehicle different from the work vehicle, is driven while a preceding work device equipped on the preceding work vehicle is used to perform the preceding work, and multiple preceding travel lines are identified; The work support device according to claim 1 , wherein the plurality of blocks are defined based on the plurality of preceding travel lines.

8. The work support device according to claim 7, wherein the control device identifies from the work information position information indicating, in chronological order, multiple positions passed by the preceding work vehicle during the preceding work, and identifies the multiple preceding driving lines from the position information.

9. The control device Identifying a plurality of preceding travel lines along which the pest control work, which is the preceding work, is performed and a plurality of work positions where the pest control work is performed by the pest control device, which is the preceding work device; The work support device according to claim 7 , wherein the plurality of blocks are defined based on the plurality of preceding travel lines and the plurality of work positions.

10. The control device Identifying a plurality of field sides forming an outline of the field and the positions of a plurality of ridges formed in the field from the field information; acquiring device information relating to a harvesting device that is the work device that harvests the crops cultivated on the plurality of ridges, and identifying from the device information a working width of the harvesting device and a relative position including an offset position of the harvesting device with respect to the width direction of the work vehicle; The work support device according to claim 1, wherein the work route is created for each block pair based on the position of the ridge, the working width, and the relative position, and the work vehicle is driven while the harvesting device performs the harvesting work.

11. The control device Acquire work information regarding a preceding work carried out in the field; Identifying a travel allowable area of ​​the field from the field information and the work information; The work support device according to claim 10, wherein the work route is created so that the work vehicle travels through the travel-allowed area of ​​the field and the worked portions of the blocks, and the harvesting device, which is offset in the width direction of the work vehicle, passes through the unworked portions of multiple blocks that are different from the travel-allowed area.

12. The work assistance device according to claim 3, wherein the control device executes, by the output device, at least one of a process of displaying a field map showing the field and the work route, and a process of outputting the field map to the work vehicle as control information for automatic driving or automatic steering of the work vehicle.

13. The work support device according to claim 1 , wherein the control device creates at least one of a travel route of the work vehicle and a passing route of the work device as the work route.

14. A work assistance system that assists a work performed by a work device equipped on a work vehicle while the work vehicle is traveling in a field, an input device for designating the field; a control device that acquires field information related to the field specified by the input device, The control device dividing a work area of ​​the field indicated by the field information into a plurality of blocks, and repeatedly setting block pairs each consisting of a first block and a second block separated from the first block by another block from the plurality of blocks, thereby grouping the plurality of blocks into a plurality of block pairs; A work support system that creates a work route for performing the work alternately on the first block and the second block for each block pair by the work device while the work vehicle is traveling.

15. A route generation method for generating a work route in which a work vehicle is driven in a field and work is performed using a work device equipped on the work vehicle, the method comprising: designating the field by an input device; acquiring, by a control device, field information related to the field specified by the input device; dividing a work area of ​​the field indicated by the field information into a plurality of blocks by the control device; a step of repeatedly setting, by the control device, a block pair including a first block and a second block separated from the first block by another block, thereby grouping the plurality of blocks into a plurality of the block pairs; and creating, by the control device, the work route in which the work device performs the work alternately on the first block and the second block for each block pair while the work vehicle is traveling.

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