Work support system

Abstract

To properly perform work with a work vehicle and a work device while suppressing input errors of a user.SOLUTION: A work support system comprises: a storage device which stores already performed work information for a work already performed in a farm field; an input device for input of scheduled work information for a scheduled work to be performed in the farm field with a work vehicle and a work device mounted on the work vehicle; an output device; and a control device. The control device determines whether or not scheduled work position information for a work position of the work device included in the scheduled work information matches already performed work position information for the work position included in the already performed work information. When it matches, the control device creates a work route for performing the scheduled work with the work device while running the work vehicle based on the scheduled work information. When it does not match, the control device outputs an alarm through the output device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work assistance system that assists a work vehicle in performing work using a work implement equipped on the work vehicle while the work vehicle is traveling in a field. [Background technology]

[0002] Various work assistance systems are available that assist in work in a field using a work vehicle and a work implement. For example, the work assistance system and work assistance device disclosed in Patent Document 1 include an input unit that inputs work conditions and dimensional information of the work implement for work in a field using the work vehicle and the work implement, a route creation unit that creates a travel route for the work vehicle on a map of the field based on the work conditions and dimensional information input by the input unit, a situation detection unit that detects the status of work performed by the work implement while the work vehicle is traveling based on the travel route, a recording unit that, when work based on the travel route is interrupted, associates the work conditions, dimensional information of the work implement, and the detection results of the situation detection unit with identification information of the work implement and records them as interruption data, and a notification unit that, if the dimensional information of the work implement is changed by the input unit while the work is interrupted, notifies the user that the dimensional information of the work implement has been changed when the work is resumed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-97951 Summary of the Invention [Problem to be solved by the invention]

[0004] To cultivate crops in a field, multiple tasks are performed in a predetermined order, and machines such as work vehicles and work equipment are typically used to efficiently perform each of the multiple tasks. In a work support system such as that disclosed in Patent Document 1, in order to create a route for the work vehicles and work equipment to be performed, the user sets information (such as work conditions) related to the work equipment, which differs for each task, and inputs that information into an information processing device. However, if the ground work position for the next task is not properly input in accordance with the ground work position of the work already performed in the field, the route will not be created properly, and the work will not be performed properly by the work vehicles and work equipment, which could have a negative impact on the growth of the crops.

[0005] In view of the above problems, the present invention aims to reduce input errors by the user and to ensure that work is carried out properly using a work vehicle and work equipment. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized as follows: The work support system of the present invention comprises a storage device that stores previous work information related to work that has already been performed in a field, an input device for inputting planned work information related to work scheduled to be performed in the field by a work vehicle and a work implement equipped on the work vehicle, an output device, and a control device, the control device determines whether planned work position information related to the work position of the work implement included in the planned work information matches previous work position information related to the work position included in the previous work information, and if the planned work position information matches the previous work position information, creates a work route for performing the planned work using the work implement while traveling the work vehicle based on the planned work information, and if the planned work position information does not match the previous work position information, the output device outputs a warning. [Effects of the Invention]

[0007] According to the present invention, input errors by the user can be reduced, and work can be performed properly using a work vehicle and work equipment. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram of a work support system. [Figure 2] FIG. 10 is a diagram illustrating an example of a home screen. [Figure 3A] FIG. 10 is a diagram showing an example of a first page of a work selection screen. [Figure 3B] FIG. 10 is a diagram showing an example of a second page of the work selection screen. [Figure 4] FIG. 10 is a diagram illustrating an example of a work device selection screen. [Figure 5A] FIG. 10 is a diagram showing an example of a work device setting confirmation screen on which a first warning window is displayed. [Figure 5B] FIG. 10 is a diagram showing an example of an entire work device setting confirmation screen. [Figure 5C] FIG. 10 is a diagram showing an example of a work device setting confirmation screen on which a second warning window is displayed. [Figure 6] FIG. 10 is a diagram illustrating an example of a width setting screen. [Figure 7] FIG. 10 is a diagram illustrating an example of a ridge setting screen. [Figure 8] FIG. 10 is a diagram showing an example of an offset condition setting screen. [Figure 9] FIG. 10 is a diagram showing an example of a length setting screen. [Figure 10] FIG. 10 is a diagram illustrating an example of a type setting screen. [Figure 11] FIG. 10 is a diagram illustrating an example of a field selection screen. [Figure 12A] FIG. 10 is a diagram illustrating an example of a work condition setting screen. [Figure 12B] FIG. 10 is a diagram showing an example of a work condition setting screen on which a third warning window is displayed. [Figure 13A] FIG. 10 is a diagram showing an example of a fourth warning window. [Figure 13B] FIG. 10 is a diagram showing another example of the fourth warning window. [Figure 14A] FIG. 10 is a diagram showing an example of a fifth warning window. [Figure 14B] FIG. 10 is a diagram showing another example of the fifth warning window. [Figure 14C] FIG. 10 is a diagram showing an example of a sixth warning window. [Figure 15A] FIG. 10 is a diagram illustrating an example of a route creation screen. [Figure 15B] FIG. 10 is a diagram showing an example of a route creation screen on which a work route is displayed. [Figure 15C] FIG. 13 is a diagram showing an example of a route creation screen on which a seventh warning window is displayed. [Figure 15D] FIG. 13 is a diagram showing an example of a route creation screen on which an eighth warning window is displayed. [Figure 16] FIG. 10 is a diagram illustrating an example of an automatic driving guidance screen. [Figure 17A] FIG. 2 is a diagram showing an example of a farm field map and a planned work line. [Figure 17B] FIG. 2 is a diagram showing an example of a work route. [Figure 17C] FIG. 10 is a diagram showing an example of a planned work line that coincides with an already-worked line; [Figure 17D] FIG. 10 is a diagram illustrating an example of a planned work line that is different from an already-worked line. [Figure 18] FIG. 2 is a diagram showing an example of the wheelbase and furrow width of a work vehicle. [Figure 19] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] 19 is a side view showing an example of a work vehicle 1. The work vehicle 1 of this embodiment is configured as a tractor. However, the work vehicle of the present invention is not limited to a tractor, and may be configured as other drivable agricultural machinery or work vehicle.

[0011] The work vehicle 1 comprises a body 3, a prime mover 4, a transmission 5, and traveling devices 7. The traveling devices 7 include a left traveling device 7 that supports the left section of the body 3 from below, and a right traveling device 7 that supports the right section of the body 3 from below. Each traveling device 7 is provided with front wheels 7F, rear wheels 7R, a forward / reverse switching mechanism, a differential mechanism, etc. The front wheels 7F and rear wheels 7R are of the tire type, but may also be of the crawler type.

[0012] The prime mover 4 is configured with a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is configured with a diesel engine. The transmission 5 is capable of switching the propulsive force of the traveling device 7 by changing gears, and is also capable of switching the traveling device 7 between forward and reverse. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, causing the vehicle body 3 to travel forward and backward (forward A1, backward A2).

[0013] 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, a drawbar, 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 mounted at the rear of the work vehicle 1.

[0014] The working device 2 performs work to cultivate crops in the open field. Examples of the working device 2 include a tilling device (rotary tiller) that tills the field, a spraying device that sprays fertilizer or water, a seeding device that sows crop seeds or seed potatoes, a soil-raising device (also called a "ridge-making device") that performs soil-raising work, a pest control device that sprays chemicals, or a harvesting device that harvests crops grown in the field.

[0015] 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.

[0016] In addition to the prime mover 4, transmission 5, and running gear 7 described above, the work vehicle 1 is equipped with a control device 60, braking device 6, steering device 29, lifting device 8, memory device 61, operating device 62, communication device 64, positioning device 40, internal sensor unit 65, and external sensor unit 66 shown in FIG. 1.

[0017] 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.

[0018] 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.

[0019] The drive, stop, and rotation speed of the prime mover 4 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 traveling device 7 via the transmission 5. In detail, 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 travel of the work vehicle 1.

[0020] 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 based on work commands received from the control device 60, causes the working apparatus 2 to perform work, 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.

[0021] If the working device 2 is not equipped with an electronic control unit, the control device 60 starts and stops work by using the lifting device 8 to raise and lower the working device 2 and change the position of the working device 2, thereby detecting the position and state of the working device 2. Furthermore, if the working device 2 is a working device that has a fixed height, such as a pest control device, the control device 60 determines the position and state of the working device 2 from the on / off state of the PTO (Power take off) or the on / off operation state of the operating device 62 of the working device 2.

[0022] 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.

[0023] 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 pedal or the brake pedal provided on the operating device 62. Furthermore, the travelling device 7 is operated or stopped in response to control of the transmission 5 and the braking device 6 by the control device 60, so that the work vehicle 1 can travel, stop, and change vehicle speed automatically.

[0024] That is, the work vehicle 1 is capable of manual driving, in which the operator performs driving and steering operations; automatic driving, in which the control device 60 automatically performs driving and steering (this refers to "autonomous driving" or "automatic driving"); and automatic steering, in which the control device 60 automatically performs steering and the operator performs driving operations.

[0025] 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 is operated, the connecting parts 8g, 8h rotate up and down, and the working device 2 connected to the connecting parts 8g, 8h moves up and down. Note that the height of the working device 2, such as a pest control device, is not changed by the lifting device 8 and remains constant at all times.

[0026] The communication device 64 is a communication interface for the work vehicle 1 and includes a communication circuit for an on-board 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.

[0027] The positioning device 40 measures the position (current position) of the body 3 of the work vehicle 1 using a satellite positioning system such as a GPS (Global Positioning System). Specifically, the positioning device 40 is installed near the center of the body 3, and detects its own coordinate position measured by the satellite positioning system as the position of the body 3. The positioning device 40 has an inertial measurement unit (IMU) that includes an acceleration sensor, a gyro sensor, and the like. The positioning device 40 detects the roll angle, pitch angle, yaw angle, and the like of the body 3 using the inertial measurement unit.

[0028] 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.

[0029] The external sensor unit 66 includes a laser sensor such as LiDAR, an ultrasonic sensor, a camera, etc. An appropriate number of such laser sensors, ultrasonic sensors, cameras, etc. are installed at the front, rear, left and right sides of the vehicle body 3, above the cabin 9, etc. The external sensor unit 66 senses the surroundings of the work vehicle 1 and work implement 2 using the laser sensors, ultrasonic sensors, cameras, etc. to detect the presence or absence of an object and the distance to the object, etc. The external sensor unit 66 also outputs the detection information obtained by sensing to the control device 60 as sensing information.

[0030] The work support device 50 is configured from an information processing device (computer) such as a tablet terminal device or a smartphone. 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 operator can detach the work support device 50 from the work vehicle 1 and carry it with him.

[0031] 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 a controller of the work support device 50.

[0032] 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 includes a display device, an output device (output interface), and an input device (input interface). Instead of the display operation device 52, independent display devices, output devices, and input devices may be provided in the work assistance device 50 or the work vehicle 1.

[0033] 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.

[0034] 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 or wired with the control device 60 of the work vehicle 1 via the communication device 54, and 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 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.

[0035] For example, an operator operates the display operation device 52 to input 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 into the work support device 50. Alternatively, at least one of the field information, work information, vehicle information, and equipment information input by another information processing device is stored in the server 80 or the storage device 61 of the work vehicle 1, and the control device 51 receives at least one of the field information, work information, vehicle information, and equipment information from the server 80 or the control device 60 of the work vehicle 1 via the communication device 54 and inputs (acquires) it into the work support device 50.

[0036] Alternatively, the control device 51 generates at least any of the field information, work information, vehicle information, and equipment information based on information input by the display operation device 52 or information received from the control device 60. The field information, work information, vehicle information, and equipment information are associated with each field by the control device 51, temporarily stored in the internal memory of the control device 51, and permanently stored (saved) in the storage device 53.

[0037] The field information includes information indicating the field's identification information, position (coordinates), area, and a field map showing the field. The field information also includes time information indicating the date and time when the field information was created. The field map shows the outline of the field and various areas set in the field. The information indicating the field's position, area, outline, and field map is 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 ridges in the field. In addition to the above, the field information may include information indicating the use of the field, the crops to be cultivated, and the crop cultivation plan (schedule).

[0038] The work information includes information on completed work that has already been done in the field, and information on planned work that is scheduled to be done in the field. The completed work information includes information on work that has already been done by the work implement 2 while the work vehicle 1 is traveling in the field, and information on work that has already been done by people or agricultural machinery other than the work vehicle 1 and work implement 2. This completed work information also includes work conditions such as completed work position information regarding the ground work position of the completed work, work history, and information on the work vehicle and work implement used in the completed work.

[0039] The scheduled work information includes information about scheduled work to be performed by the work implement 2 while the work vehicle 1 is traveling in the field, and information about scheduled work to be performed by humans or agricultural machinery other than the work vehicle 1 and work implement 2. This scheduled work information also includes work conditions such as scheduled work position information regarding the ground work position of the scheduled work, and information about the work vehicle and work implement to be used in the scheduled work. The work information also includes a work plan for performing multiple tasks in the field. Furthermore, the completed work information and each piece of information included in the completed work information, the scheduled work information and each piece of information included in the scheduled work information, and the work plan each include time information indicating the date and time when they were created.

[0040] 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. The work device 2 may be provided with a memory, and the device information may also be stored in this memory. In addition, the vehicle information and the device information each include time information indicating the date and time when the vehicle information and the device information were generated.

[0041] Based on the field information, work information, and equipment information, the control device 51 creates a virtual planned work route for performing work using the work equipment 2 equipped on the work vehicle 1 while driving the work vehicle 1 through the field. At this time, the control device 51 may also refer to the vehicle information of the work vehicle 1. The control device 51 displays (outputs) a field map including the created work route on the display operation device 52 and transmits (outputs) it to the work vehicle 1 via the communication device 54.

[0042] The control device 60 of the work vehicle 1 controls the traveling device 7, steering device 29, etc. based on the work route received (acquired) from the work support device 50 by the communication device 64, causing the vehicle body 3 to travel in the field and performing work using the work device 2. In other words, the work vehicle 1 travels autonomously based on the work route. The control device 60 also steers the vehicle body 3 by controlling the steering device 29 based on the work route, and performs work using the work device 2, leaving the travel operations (starting, stopping, and gear changes) of the vehicle body 3 to be manual. In other words, the work vehicle 1 is automatically steered based on the work route.

[0043] When work based on the work route described above by the work vehicle 1 and work implement 2 is completed, control information indicating that the work has been completed is transmitted from the control device 60 to the control device 51 via the communication devices 64, 54. Upon receiving the control information, the control device 51 associates information indicating the corresponding work route, scheduled work information based on which the work route was created, and information indicating that work has been completed based on the work route, and stores (saves) this information as completed work information in the storage device 53. In other words, when work based on the scheduled work information is completed, the control device 51 changes the scheduled work information to completed work information.

[0044] Furthermore, when planned work information for work to be performed in the field is input via the display operation device 52, the control device 51 determines whether the planned work information matches the information on work already performed in the same field for the current season (the period during which multiple tasks required to cultivate the target crop are performed). The determination of the compatibility of this work information and the processing based on the results of this compatibility determination will be described in detail later.

[0045] 2 to 16 are diagrams showing examples of screens displayed on the display operation device 52 of the work support device 50. Data for each screen is stored in the storage device 53. The control device 51 reads out the display data for each screen from the storage device 53 and causes the display operation device 52 to display each screen based on the display data.

[0046] The user first starts up the work assistance device 50 to make various settings for the work that is to be performed by the work vehicle 1 and the work device 2. Then, the user performs a predetermined operation on the display operation device 52, causing the control device 51 to display the home screen D1 shown in Fig. 2 on the display operation device 52. The home screen D1 displays a vehicle object M1, an automatic driving key B1, an autosteer key B2, a map key B3, a history key B4, and a setting key B5.

[0047] The automatic driving key B1 is a key for making settings related to the automatic driving mode of the work vehicle 1. The automatic driving mode is a mode in which the work vehicle 1 (body 3) is driven automatically and work (ground work) is performed using the work device 2. Automatic driving of the work vehicle 1 means that the work vehicle 1 starts, stops, and changes gears automatically, and the work vehicle 1 is steered automatically. In other words, the work vehicle 1 is capable of autonomous driving (automatic driving).

[0048] The autosteer key B2 is a key for setting the automatic steering mode of the work vehicle 1. Automatic steering mode is a mode in which the work vehicle 1 is steered automatically while work is performed by the work device 2. When the work vehicle 1 is in automatic steering mode, the driver of the work vehicle 1 operates the accelerator pedal, brake pedal, gear shift lever, etc. included in the operation device 62 (Fig. 1) to start and stop the work vehicle 1 and change the vehicle speed of the work vehicle 1. In other words, in automatic steering mode, the driving of the work vehicle 1 is manually controlled.

[0049] The work vehicle 1 can also be driven manually, and while driving, ground work can be performed using the work device 2. Manual driving of the work vehicle 1 means that the driver operates the accelerator pedal, brake pedal, gear shift lever, etc. of the operation device 62 to start and stop the work vehicle 1 and change the vehicle speed of the work vehicle 1, and the driver steers the work vehicle 1 by operating the steering wheel 30 (Figure 1).

[0050] The map key B3 shown in Fig. 2 is a key for registering a field on which work will be performed by the work vehicle 1. When the user operates (tap) the map key B3, a field registration screen (not shown) is displayed on the display operation device 52. By performing a predetermined operation on the field registration screen, the user can input field information such as the position, contour, and identification information of the field. The control device 51 stores the field information input on the field registration screen in a predetermined area of ​​the storage device 53, thereby registering the field information.

[0051] The history key B4 is a key for displaying the work history of the work vehicle 1. When the user operates the history key B4, history information of work performed by the work vehicle 1 (and work implement 2) is displayed on the display operation device 52. The setting key B5 is a key for performing various settings and registrations. When the user operates the setting key B5, it becomes possible to set and register specified items. These specified items include, for example, the work vehicle 1 on which the work support device 50 is mounted, the work implement 2 equipped on the work vehicle 1, the work performed by the work vehicle 1 and work implement 2, the field in which the work is performed, and matters related to the operation and display of the display operation device 52.

[0052] For example, when the user operates the automatic driving key B1, the control device 51 stores in its internal memory that automatic driving has been selected, transitions to an automatic driving mode in which the work vehicle 1 is automatically driven to perform work, and displays the work selection screen D2 shown in Fig. 3A on the display operation device 52. The work selection screen D2 in Fig. 3A is the first page of the work selection screen, and on this work selection screen D2, a plurality of work keys B11a to B11d corresponding to a plurality of types of work to be performed to cultivate crops in a field, a page switching key B6, a next key B9, a back key B8, and the like are displayed.

[0053] When the user taps the page switching key B6, the control device 51 causes the display operation device 52 to display the second page of the work selection screen D2 shown in Fig. 3B. The work selection screen D2 in Fig. 3B displays a plurality of work keys B11e to B11g, which are different from the work keys B11a to B11d displayed on the work selection screen D2 in Fig. 3A. The work keys B11e to B11g also correspond to a plurality of types of work that are performed to cultivate crops in a farm field.

[0054] In Figures 3A and 3B, work keys B11a to B11g corresponding to seven works are displayed, but if there are eight or more works that can be performed by the work vehicle 1 and work device 2, a work key corresponding to each work will be provided, and the multiple work keys will be displayed across three or more pages of the work selection screen D2.

[0055] When the user operates one of the operation keys B11a to B11g, the control device 51 displays the operated operation key on the operation selection screen D2 in a display format different from that of the other operation keys. In the example of FIG. 3A, only the operated sowing operation key B11d is marked with a black circle. Note that the operation device 2 includes a combined operation device 2 that performs soil cultivation while sowing. The user operates the sowing operation key B11d when performing both sowing and soil cultivation using such a combined operation device 2, and when performing only sowing using such a combined operation device 2 or an operation device 2 dedicated to sowing. Furthermore, the user operates the inter-cultivation / soiling operation key B11f when performing soil cultivation only.

[0056] When the user operates one of the task keys B11a to B11g and then operates the next key B9, the control device 51 stores in its internal memory that the task corresponding to the operated task key has been selected as the scheduled task to be performed, and causes the display operation device 52 to display the task device selection screen D3 shown in FIG. 4. The next key B9 is a key for switching the display screen of the display operation device 52 to the next screen. When the user operates the back key B8, the control device 51 causes the display operation device 52 to display the home screen D1 of FIG. 2. The back key B8 is a key for returning the display screen of the display operation device 52 to the previous screen.

[0057] The work device selection screen D3 displays work device keys B12a to B12d, etc. The work device keys B12a to B12d are keys corresponding to work devices 2 registered in advance to perform the scheduled work selected on the work selection screen D2 of Figures 3A and 3B. Each of the work device keys B12a to B12d shows representative unique information of the corresponding work device 2.

[0058] On the work device selection screen D3, the name of the work device 2, whether or not the work device 2 has previously performed work, and information indicating the working width are displayed in the corresponding work device keys B12a to B12d as representative unique information of the work device 2. The working width refers to the width of the work device 2 that can be used in a horizontal plane perpendicular to the direction of travel of the work device 2. The unique information of pre-registered work devices 2 is stored in the storage device 53. In FIG. 4, four work device keys B12a to B12d are displayed, but if there are five or more work devices 2 registered in the work support device 50, a work device key corresponding to each work device 2 will be provided, and the multiple work device keys will be displayed across two or more pages of the work device selection screen D3.

[0059] When the user operates one of the maintenance device keys B12a to B12d, the control device 51 displays the operated maintenance device key on the maintenance device selection screen D3 in a display form different from that of the other maintenance device keys. When the user operates the Next key B9 after operating one of the maintenance device keys B12a to B12d, the control device 51 stores in its internal memory that the maintenance device 2 corresponding to the operated maintenance device key has been selected as the maintenance device for performing the scheduled work, and displays on the display operation device 52 a maintenance device setting confirmation screen D4 including the first warning window V1 shown in Fig. 5A.

[0060] The work device setting confirmation screen D4 is a screen for making various settings for performing scheduled work with the work device 2 selected on the work device selection screen D3. Immediately after displaying the work device setting confirmation screen D4, the control device 51 causes the display operation device 52 to display a first warning window V1 as a pop-up on the work device setting confirmation screen D4. The first warning window V1 displays a message warning the user to correctly set up the work device 2, a confirmation key B7, and the like. When the user operates the confirmation key B7, the control device 51 causes the display operation device 52 to erase (stop displaying) the first warning window V1 and display the entire work device setting confirmation screen D4, as shown in FIG. 5B.

[0061] The work device setting confirmation screen D4 displays the unique information of the work device 2 selected on the work device selection screen D3, as well as setting keys B13a to B13c. The work device setting confirmation screen D4 displays the unique information of the work device 2, such as the name of the work device 2, whether or not work has been performed previously by the work device 2, dimensional information about the work device 2, and information indicating the type of work device 2. In other words, the detailed specifications of the work device 2 selected on the work device selection screen D3 are displayed on the work device setting confirmation screen D4.

[0062] The work implement setting confirmation screen D4 includes, as dimensional information of the work implement 2, information indicating the overall width, working width, overall length, and working position of the work implement 2. In addition, as the type of the work implement 2, information indicating the gear stage of the auxiliary transmission of the work vehicle 1 during work, whether it is raised or lowered by the lifting device 8, and whether it is linked to the PTO (Power take-off) of the work vehicle 1 is included.

[0063] The setting keys B13a to B13c are keys for changing (inputting) the dimensional information or type of the working device 2. When the user operates the width setting key B13a, the control device 51 displays the width setting screen D5 shown in FIG. 6 on the display operation device 52. The width setting screen D5 displays a diagram showing the overall width (A) and working width (B) of the working device 2, a display field K1 for the overall width (A), and a display field K2 for the working width (B). The control device 51 displays the setting values ​​of the overall width (A) and the working width (B) identified from the unique information of the working device 2 selected on the working device selection screen D3 of FIG. 4 in the corresponding display fields K1 and K2 of FIG. 6. In FIG. 6, the working width (B) is narrower than the overall width (A), but depending on the type of working device 2, the working width (B) may be wider than the overall width (A).

[0064] Additionally, the width setting screen D5 displays a ridge setting key B14a and an offset setting key B14b. The ridge setting key B14a is a key for setting the ridge position, which is the ground working position of the working implement 2 for upland farming. The offset setting key B14b is a key for setting the offset (eccentricity) conditions of the working implement 2 relative to the vehicle width direction of the work vehicle 1.

[0065] If the scheduled work is harvesting, the position of the ridges formed in the field must be taken into consideration, and an offset-type work implement 2 may be used. For this reason, when harvesting work is selected using the harvesting work key B11g on the work selection screen D2 of Fig. 3B, the control device 51 causes the display operation device 52 to display the ridge setting key B14a and offset setting key B14b in an operable active state on the width setting screen D5 of Fig. 6.

[0066] Furthermore, if the scheduled work is at least one of plowing, leveling, harrowing, puddling, and rough plowing, there is no need to consider ridges, and an offset-type work implement 2 may be used. For this reason, when any of the plowing / leveling / harrowing work key B11a, the puddling work key B11b, and the rough plowing work key B11c is operated on the work selection screen D2 in Fig. 3A to select the corresponding work, the control device 51 causes the display operation device 52 to display the ridge setting key B14a in an inactive state so that it cannot be operated, and to display the offset setting key B14b in an active state on the width setting screen D5 in Fig. 6.

[0067] Furthermore, when the scheduled work is at least one of sowing, fertilizing, pest control, inter-cultivation, and hilling, and crops are grown in ridges, the position of the ridges may be taken into consideration and the offset-type work implement 2 may not be used. In such a case, when the sowing work key B11d, fertilizing / pest control work key B11e, or inter-cultivation / hilling work key B11f is operated on the work selection screen D2 of Figures 3A and 3B to select the corresponding work, the control device 51 causes the display operation device 52 to display the ridge setting key B14a in an active state and the offset setting key B14b in an inactive state on the width setting screen D5 of Figure 6.

[0068] When the user operates the ridge setting key B14a, the control device 51 displays the ridge setting screen D6 shown in Figure 7 on the display operation device 52. The ridge setting screen D6 displays a key B16a for enabling ridge setting, a key B16b for disabling ridge setting, a diagram showing the number of ridges (C) and ridge width (D), a display column K3 for the number of ridges (C), a display column K4 for the ridge width (D), and a display column K5 for the working width. The number of ridges (C) is the planned number of ridges indicating the number of ridges Ua that the working device 2 can work on at one time. The ridge width (D) is the planned ridge width indicating the spacing between the ridges Ua on which the working device 2 will work.

[0069] When the user operates the "Yes" key B16a, the control device 51 enables the ridge setting and displays the set values ​​for the number of ridges (C) and ridge width (D) contained in the unique information of the work device 2 selected on the work device selection screen D3 in Fig. 4 in the corresponding display fields K3 and K4 in Fig. 7. The control device 51 also calculates the working width of the work device 2 by multiplying the set value for the number of ridges (C) by the set value for the ridge width (D) (number of ridges (C) × ridge width (D) = working width), and displays the calculated value in display field K5.

[0070] After the user operates either the display field K3 or K4, each time the user operates either the plus key B15a or the minus key B15b, the control device 51 increases or decreases the value displayed in the corresponding display field K3 or K4. In response to this, the control device 51 recalculates the working width and displays the calculated value in the display field K5. In other words, the set values ​​for the number of ridges (C), ridge width (D), and working width can be changed by user operation.

[0071] When a specific task such as inter-furrow tillage, which can be performed between ridges (inter-furrow work), is selected as a scheduled task on the task selection screen D2 of Fig. 3B, the control device 51 displays a setting field K6 for inter-furrow work on the ridge setting screen D6 of Fig. 7. When performing inter-furrow work, the user operates the setting field K6 to check the setting field K6.

[0072] When the user operates the Next key B9 on the ridge setting screen D6, the control device 51 stores the information set (displayed) on the ridge setting screen D6 in its internal memory and displays the width setting screen D5 of Figure 6 on the display operation device 52. At this time, the control device 51 displays the working width displayed in the display field K5 on the ridge setting screen D6 in the working width (B) display field K2 on the width setting screen D5. In other words, the setting information on the ridge setting screen D6 is reflected in the corresponding setting information on the width setting screen D5.

[0073] Note that the ridge setting is disabled when the user operates the "No" key B16b on the ridge setting screen D6 in Fig. 7. In this case, the set value of the working width (B) can be changed by operating either the plus key B15a or the minus key B15b after the user operates the working width display field K2 on the width setting screen D5 in Fig. 6. Similarly, the set value of the overall width (A) can be changed by operating either the plus key B15a or the minus key B15b after the user operates the working width display field K1.

[0074] When the user operates the offset setting key B14b on the width setting screen D5 in Fig. 6, the control device 51 displays the offset condition setting screen D7 shown in Fig. 8 on the display operation device 52. On the offset condition setting screen D7, keys B18a and B18b for setting the offset direction of the working implement 2 relative to the vehicle width direction of the work vehicle 1, and an input field K7 for the offset amount (eccentricity amount) are displayed.

[0075] By operating the left key B18a, the user can set the offset direction of the working device 2 to the left, and by operating the right key B17b, the user can set the offset direction of the working device 2 to the right. Furthermore, by operating either the plus key B15a or the minus key B15b after operating the input field K7, the user can input the offset amount of the working device 2.

[0076] When the user operates the Next key B9 on the offset condition setting screen D7, the control device 51 stores the information set on the offset condition setting screen D7 in its internal memory and displays the width setting screen D5 of FIG. 6 on the display operation device 52. Furthermore, when the user operates the Next key B9 on the width setting screen D5, the control device 51 stores the information set on the width setting screen D5 in its internal memory and displays the work device setting confirmation screen D4 of FIG. 5B on the display operation device 52. At this time, the control device 51 displays the set values ​​of the total width (A) and the working width (B), which are displayed in the display fields K1 and K2 of the width setting screen D5, in the corresponding locations on the work device setting confirmation screen D4. That is, the set information on the width setting screen D5 is reflected in the corresponding set information on the work device setting confirmation screen D4.

[0077] When the user operates the length setting key B13b on the work device setting confirmation screen D4, the control device 51 causes the display operation device 52 to display a length setting screen D8 shown in Fig. 9. The length setting screen D8 is a screen for changing the setting values ​​for the overall length and work position of the work device 2. The length setting screen D8 displays a diagram showing the overall length (E) and work position (F) of the work device 2, as well as display fields K8 and K9 for the overall length (E) and work position (F).

[0078] The control device 51 displays the set values ​​of the overall length (E) and the working position (F) identified from the unique information of the working device 2 selected on the working device selection screen D3 in Fig. 4 in the corresponding display fields K8 and K9 in Fig. 9. Furthermore, after the user operates either the display field K8 or K9, the control device 51 increases or decreases the set value in the corresponding display field K8 or K9 each time the user operates the plus key B15a or minus key B15b. In other words, the set values ​​of the overall length (E) and the working position (F) can be changed by user operation.

[0079] When the user operates the Next key B9 on the length setting screen D8, the control device 51 stores the information set on the length setting screen D8 in its internal memory and displays the work device setting confirmation screen D4 of Fig. 5B on the display operation device 52. At this time, the control device 51 displays the setting values ​​of the total length (E) and the work position (F), which are respectively displayed in the display fields K8 and K9 on the length setting screen D8, in the corresponding locations on the work device setting confirmation screen D4. In other words, the setting information on the length setting screen D8 is reflected in the corresponding setting information on the work device setting confirmation screen D4.

[0080] When the user operates the type setting key B13c on the working device setting confirmation screen D4, the control device 51 causes the display operation device 52 to display a type setting screen D9 shown in Fig. 10. The type setting screen D9 is a screen for changing the type of the working device 2. For example, when the user operates the L (low speed) key B19a, a low speed is set as the speed stage of the auxiliary transmission, and when the user selects the M (medium speed) key B19b, a medium speed is set as the speed stage of the auxiliary transmission.

[0081] Furthermore, when the user operates the "Yes" key B20a, the interlocking between the work device 2 and the PTO is enabled, and when the user operates the "No" key B20b, the interlocking between the work device 2 and the PTO is disabled. If the work device 2 is either a fertilizer application device or a pest control device, the control device 51 enables the interlocking between the work device 2 and the PTO. Furthermore, the control device 51 enables or disables the lifting and lowering of the work device 2 by the lifting device 8 depending on the type of work device 2.

[0082] When the user operates the Next key B9 on the type setting screen D9, the control device 51 stores the information set on the type setting screen D9 in an internal memory and displays the work device setting confirmation screen D4 of Fig. 5B on the display operation device 52. At this time, the control device 51 reflects the setting information on the type setting screen D9 in the corresponding setting information on the work device setting confirmation screen D4.

[0083] When the user operates the Next key B9 on the work implement setting confirmation screen D4, the control device 51 causes the display operation device 52 to display a second warning window V2 as a pop-up on the work implement setting confirmation screen D4, as shown in Fig. 5C. The second warning window V2 displays a message indicating that a malfunction may occur if the actual setting state of the work implement 2 equipped on the work vehicle 1 differs from the setting information (input information) for the work implement 2 on screens D3 to D9, a message asking whether the setting information for the work implement 2 is acceptable, and keys B21a and B21b for responding to the question.

[0084] At this time, if the user operates the "No" key B21b, a command indicating that the setting information of the maintenance apparatus 2 input up to this point is not adopted is input by the display operation device 52. In this case, in response to the command, the control device 51 causes the display operation device 52 to erase the second warning window V2 and display the entire maintenance apparatus setting confirmation screen D4 as shown in Fig. 5B. Thereafter, the user checks the actual setting status of the maintenance apparatus 2 and changes the setting information of the maintenance apparatus 2 as appropriate on screens D3 to D9.

[0085] Furthermore, when the user operates the “Yes” key B21a in the second warning window V2, a command indicating that the setting information for the work device 2 that has been input up to that point is to be adopted is input by the display operation device 52. In this case, in response to the command, the control device 51 causes the display operation device 52 to erase the second warning window V2 and causes the display operation device 52 to display the field selection screen D10 shown in FIG.

[0086] The field selection screen D10 displays one or more pre-registered field maps MP1. In Fig. 11, two field maps MP1 are displayed, but if there are three or more pre-registered field maps MP1, the user can operate the page switching key B6 to cause the control device 51 to display the next page of the field selection screen D10 on the display operation device 52, and display another field map MP1 on the next page of the field selection screen D10.

[0087] When the user operates one of the field maps MP1, the control device 51 displays the selected field map MP1 in a different display format from the other field maps MP1. In Fig. 10, only the operated field map MP1 is surrounded by a thick frame. The control device 51 also displays the date and time of the previous operation performed on the operated field map MP1 and the area of ​​that field map MP1 on the field selection screen D10.

[0088] When the user selects the Next key B9 while any of the field maps MP1 has been operated, the control device 51 stores in its internal memory that the operated field map MP1 has been selected as the work target, and displays the work condition setting screen D11 shown in Fig. 12A on the display operation device 52. The work condition setting screen D11 is a screen for setting the work conditions for the field selected on the field selection screen D10.

[0089] When cultivating crops in a field, multiple tasks are carried out sequentially according to common setting information (work conditions). Multiple tasks carried out in the same field according to common setting information in this way are called continuous work. The common setting information includes, for example, the use of the field, field information, and work information, and the field information includes at least information indicating the field's location, boundaries, work area, and headland area, and the work information includes at least information regarding the work location. In addition, vehicle information for the work vehicle 1 may be included in the common setting information.

[0090] The work conditions that can be set on the work condition setting screen D11 include area information, which is setting information about areas such as the headland and work area of ​​the field, and ridge information, which is setting information about the ridges. In the example of FIG. 12A, the field area information displayed on the work condition setting screen D11 is a first distance (X1) and a second distance (X2) of the headland area and a field edge offset distance. For example, if the field to be worked on is a field for field crops, headlands are set at both ends of the field in a predetermined direction and the opposite direction (e.g., southward and northward). The width of one of the headlands (e.g., southward) parallel to the predetermined direction is the first distance (X1), and the width of the other headland (e.g., northward) parallel to the predetermined direction is the second distance (X2). The field edge offset distance is the distance by which each field edge of the field is shifted inward, and the area inside the area enclosed by the shifted field edges is set as the work area. The ridge information displayed on the work condition setting screen D11 includes the ridge width and the total number of ridges in the field.

[0091] For example, if area information and ridge information are set when setting the current season's work in the field to be worked on, the control device 51 reads out the area information and ridge information of the previous work from the storage device 53 and displays the area information and ridge information of the previous work in the corresponding display fields K12 to K16 of the work condition setting screen D11, as shown in Figure 12A. Also, if the area information and ridge information of the previous work have not been set and are not stored in the storage device 53, the control device 51 displays information indicating that they have not been set (such as "0" or "not set") in the headland area distance display fields K12 and K13, the field edge offset distance display field K14, the ridge width display field K15, and the total number of ridges display field K16.

[0092] When the user operates the Next key B9 to perform the scheduled work using the work conditions displayed on the work condition setting screen D11, the control device 51 stores the information set (changed) on the work condition setting screen D11 in its internal memory. The control device 51 then determines whether the scheduled work information related to the scheduled work that has been set (input) up to this point is appropriate.

[0093] For example, the control device 51 identifies planned work position information regarding the ground work position to be performed by the work device 2 from the planned work information set for performing the planned work selected on the work selection screen D2 (FIGS. 3A and 3B) in the work target field selected on the field selection screen D10 (FIG. 11). The control device 51 also reads from the storage device 53 previous work information for work that has been performed in the current season in the work target field, and identifies previous work position information regarding the ground work position included in the previous work information. The control device 51 then determines whether the planned work position information matches the previous work position information.

[0094] For example, if the scheduled work is pest control, inter-cultivation, or harvesting, which is to be performed while the ridges Ua are present, the ridge information is included in the previous work position information for at least one of the previous works, such as soil cultivation, pest control, or inter-cultivation, which was performed before the scheduled work. Therefore, the control device 51 determines whether the planned ridge information regarding the position of the ridge Ua included in the scheduled work position information matches the existing ridge information regarding the position of the ridge Ua formed in the field to be worked on, which is included in the previous work position information.

[0095] More specifically, the control device 51 checks whether the planned ridge width indicating the spacing between ridges included in the planned ridge information, i.e., the ridge width (D) set on the ridge setting screen D6 of Figure 7, matches the existing ridge width indicating the spacing between ridges included in the existing ridge information, i.e., the ridge width displayed in the display field K15 of the work condition setting screen D11 of Figure 12A. If the planned ridge width (D) matches the existing ridge width, the control device 51 determines that the planned ridge information is compatible with the existing ridge information, and if the planned ridge width (D) differs from the existing ridge width, it determines that the planned ridge information is incompatible with the existing ridge information.

[0096] The control device 51 may also identify the width perpendicular to the work direction of the work area included in the field information for the target field, divide the width of the work area by the planned ridge width (D) to determine the planned total number of ridges to be formed in the work area, and check whether the planned total number of ridges matches the total number of existing ridges included in the existing ridge information, i.e., the total number of ridges displayed in display field K16 of the work condition setting screen D11 in Figure 12A.The control device 51 may then determine that the planned total number of ridges matches the existing total number of ridges if the planned total number of ridges matches, and that the planned ridge information does not match the existing ridge information if the planned total number of ridges differs from the existing total number of ridges. In addition, when the planned work is pest control work and the existing work is work other than pest control, the control device 51 may determine that the planned ridge information matches the existing ridge information even if the planned total number of ridges and the total existing number of ridges do not match, if the difference between the planned total number of ridges and the total existing number of ridges is less than a predetermined value, and may determine that the planned ridge information does not match the existing ridge information if the difference between the planned total number of ridges and the total existing number of ridges is greater than the predetermined value.

[0097] Furthermore, for example, if the planned work position information and the already-worked position information do not include ridge information, the control device 51 may determine whether the position of a planned work row, such as a sowing row or a planting row, included in the planned work position information matches the position of the already-worked row included in the already-worked position information. If the position of the planned work row matches the position of the already-worked row, the control device 51 may determine that the position of the planned work row matches the position of the already-worked row, and if the position of the planned work row differs from the position of the already-worked row, it may determine that the position of the planned work row does not match the position of the already-worked row.

[0098] Furthermore, if the planned work is a specific task such as pest control work that is to be performed multiple times in the target field, the control device 51 compares the planned work width of the work implement 2 included in the planned work position information, i.e., the planned work width set on screens D3 to D6 in FIGS. 4 and 5B to 7 (such as work width (B) in FIG. 6), with the previously worked width of the same type of work implement included in the previously worked position information. If the planned work width and the previously worked width are different and not an integer multiple, the control device 51 may determine that the planned work width does not match the previously worked width. Alternatively, if the planned work width and the previously worked width are the same, or if the planned work width and the previously worked width are different but are an integer multiple (for example, the planned work width is 9 m and the previously worked width is 18 m), the control device 51 may determine that the planned work width matches the previously worked width.

[0099] The control device 51 may also perform at least one of the following judgments: whether the planned ridge width matches the existing ridge width; whether the planned total number of ridges matches the total number of existing ridges; whether the planned work row matches the position of the already-worked row; and whether the planned work width matches the already-worked width. If the control device 51 obtains a result of incompatibility in at least one of the judgments it has performed, it may further determine that the planned work position information does not match the already-worked position information and that the planned work information does not match the already-worked work information. If the control device 51 obtains a result of compatibility in all of the judgments it has performed, it may further determine that the planned work position information matches the already-worked position information and that the planned work information matches the already-worked work information.

[0100] If the control device 51 determines that the planned work position information matches the already-worked position information, it causes the display operation device 52 to display the route creation screen D12 shown in Fig. 15A. If the control device 51 determines that the planned work position information does not match the already-worked position information, it causes the display operation device 52 to display (output) a third warning window V3 in a pop-up on the work condition setting screen D11, as shown in Fig. 12B. The third warning window V3 displays a message indicating that the settings of the work device 2 do not match the work conditions. The message also indicates that the planned work information does not match the already-worked position information and that the planned work position information does not match the already-worked position information.

[0101] When the user confirms the message displayed in the third warning window V3 and operates the close key B24 of the third warning window V3, the control device 51 closes the third warning window V3 and displays the entire work condition setting screen D11 as shown in Figure 12A. After this, the user confirms that the existing ridge width displayed on the work condition setting screen D11 differs from the planned ridge width (D) set on the ridge setting screen D6 of Figure 7, and changes the planned ridge width (D) to match the existing ridge width. Then, when the user again operates the Next key B9 on the work condition setting screen D11, the control device 51 confirms whether the changed planned ridge width (D) matches the existing ridge width and determines whether the planned ridge information is compatible with the existing ridge information.

[0102] 13A on the work condition setting screen D11 as a pop-up using the display operation device 52. The fourth warning window V4 displays a message indicating that the settings of the work device 2 do not match the work conditions, as well as the incompatible planned work position information and completed work position information.

[0103] In the example of Figure 13A, the control device 51 determines that the planned work position information does not match the already worked position information because the planned ridge width and the existing ridge width are different, and displays the planned ridge width and the already worked ridge width as the incompatible planned work position information and already worked position information in the fourth warning window V4. As another example, the control device 51 may display at least one of the incompatible planned work position information and already worked position information in the fourth warning window V4.

[0104] 13B, the fourth warning window V4 may display a message asking whether the settings of the work device 2 up to that point are acceptable, along with keys B25a and B25b for responding to the question. In this case, if the user operates the "No" key B25b, a command indicating that the settings of the work device 2 up to that point will not be adopted is input via the display operation device 52. Then, in response to the command, the control device 51 uses the display operation device 52 to erase the fourth warning window V4 and display the entire work condition setting screen D11, as shown in FIG. 12A. Thereafter, the user changes the planned ridge width (D) to match the existing ridge width, for example, as described above, and the control device 51 checks whether the changed planned ridge width (D) matches the existing ridge width to determine whether the planned ridge information matches the existing ridge information.

[0105] 13B, a command to adopt the settings of the work device 2 up to that point is input by the display operation device 52. Then, in response to the command, the control device 51 causes the display operation device 52 to erase the fourth warning window V4 and causes the display operation device 52 to display the route creation screen D12 shown in FIG.

[0106] In addition to determining whether the planned work position information and the completed work position information described above are compatible, the control device 51 may also determine whether the planned furrow width (D) is appropriate for the wheelbase Ta, which is the widthwise distance between the wheels 7t of the left running gear 7 and the wheels 7t of the right running gear 7 of the work vehicle 1 as shown in Figure 18.

[0107] For example, if the planned ridge width (D) is less than or equal to the wheel base Ta and is an integer multiple of the wheel base Ta, the control device 51 determines that the planned ridge width (D) is appropriate because there is no risk of the wheels 7t crushing the ridges Ua formed in the field to be worked on when the planned work is carried out by the work vehicle 1. In this case, the control device 51 also displays the route creation screen D12 shown in Figure 15A on the display operation device 52 if the planned work position information matches the previous work position information, as described above.

[0108] Furthermore, if the planned ridge width (D) is larger than the wheel tread Ta, or if the planned ridge width (D) is less than the wheel tread Ta and is not an integer multiple of the wheel tread Ta, there is a risk that the wheels 7t will crush the ridge Ua when the planned work is performed by the work vehicle 1, so the control device 51 determines that the planned ridge width (D) is inappropriate. In this case, the control device 51 also causes the display operation device 52 to display a fifth warning window V5, such as that shown in Figure 14A, as a pop-up on the work condition setting screen D11. The fifth warning window V5 displays a message indicating that the setting of the work implement 2 is inappropriate, as well as inappropriate planned work position information (planned ridge width (D)) and wheel tread Ta.

[0109] 14B, the fifth warning window V5 may display a message asking whether the settings of the work implement 2 up to that point are acceptable, along with keys B25a and B25b for responding to the question. In this case, when the user operates the "No" key B25b, a command indicating that the settings of the work implement 2 up to that point are not adopted is input via the display operation device 52, and the control device 51, in response to the command, closes the fifth warning window V5 and displays the entire work condition setting screen D11 on the display operation device 52. Thereafter, the user changes the planned ridge width (D), for example, in accordance with the wheel tread Ta, and the control device 51 determines whether the changed planned ridge width (D) is appropriate for the wheel tread Ta, as described above. Furthermore, when the user operates the "Yes" key B25a in the fifth warning window V5 of Figure 14B, a command indicating that the settings of the work device 2 up to this point should be adopted is input by the display operation device 52, and the control device 51 erases the fifth warning window V5 in response to the command and displays the route creation screen D12 on the display operation device 52.

[0110] In addition to determining whether the planned work position information and the previously worked position information match, the control device 51 may also determine whether the planned work indicated in the planned work information is appropriate. For example, if the previously worked position information includes existing ridge information about a ridge Ua formed in the field to be worked on, the ridge Ua has been formed in the field to be worked on. When a specific task that can be performed in the presence of the ridge Ua, such as sowing, fertilizing, pest control, tillage, soiling (re-soiling), or harvesting, is selected (input) as a planned task on the task selection screen D2 of FIGS. 3A and 3B, the control device 51 determines that both the planned work and the planned work information are appropriate. Furthermore, in this case, if the planned work position information matches the previously worked position information, as described above, the control device 51 displays the route creation screen D12 shown in FIG. 15A on the display / operation device 52.

[0111] Furthermore, if any of the following tasks is selected as a scheduled task on the task selection screen D2 of Fig. 3A: plowing, leveling, harrowing, puddling, and rough plowing, which cannot be performed when the ridges Ua are present in the field to be worked on: the control device 51 determines that the scheduled task is inappropriate and that the scheduled task information is also inappropriate. In this case, the control device 51 causes the display operation device 52 to display a sixth warning window V6, such as that shown in Fig. 14C, as a pop-up on the work condition setting screen D11. The sixth warning window V6 displays a message indicating that the selected scheduled task is inappropriate because the field has ridges Ua, and the selected scheduled task.

[0112] The control device 51 may determine at least one of the appropriateness of the planned furrow width (D) relative to the wheel base Ta and the appropriateness of the planned work. If the control device 51 determines that all of the determinations are appropriate, and if the planned work position information matches the previous work position information, it may display the route creation screen D12 on the display operation device 52. Furthermore, if the control device 51 determines that at least one of the determinations is inappropriate, it may display the corresponding warning windows V5 and V6 on the work condition setting screen D11.

[0113] 14A and 14C, when either the warning window V5 or V6 is displayed on the work condition setting screen D11, the user confirms the message in the displayed warning window V5 or V6 and then operates the close key B24. This causes the control device 51 to close the displayed warning window V5 or V6 and display the entire work condition setting screen D11. If the user then changes either the inappropriate planned ridge width (D) or the planned work on either the corresponding ridge setting screen D6 or the work selection screen D2 and then operates the next key B9 on the work condition setting screen D11 again, the control device 51 will again determine whether either the changed planned ridge width (D) or the planned work is appropriate.

[0114] 15A, the route creation screen D12 displayed by the control device 51 on the display operation device 52 is a screen for creating, on a field map MP1 showing the field to be worked on, a work route for carrying out planned work by the work vehicle 1 and work implement 2. The route creation screen D12 displays the field map MP1, a vehicle object M1 showing the work vehicle 1 and work implement 2, automatic center work keys B26a, B26b, automatic headland work keys B27a, B27b, work type keys B28a, B28b, an input field K17 for work direction, and an input field K18 for lap allowance.

[0115] The automatic center work keys B26a and B26b are keys for setting whether or not scheduled work will be performed by the work implement 2 while the work vehicle 1 is traveling in automatic driving mode in a work area in the center of the field. The automatic headland work keys B27a and B27b are keys for setting whether or not scheduled work will be performed by the work implement 2 while the work vehicle 1 is traveling in automatic driving mode in the headland area of ​​the field. The work type keys B28a and B28b are keys for setting whether scheduled work will be performed in an adjacent state or in an indirect state in the work area. In the example of FIG. 15A, it is set that scheduled work will be performed in an adjacent state in the work area by the work implement 2 while the work vehicle 1 is traveling in automatic driving mode, and that scheduled work will not be performed in the headland area.

[0116] The work direction is the direction in which the planned work will be performed by the work implement 2 while the work vehicle 1 is moving back and forth in a straight line in the work area. By inputting a specified value into the work direction input field K17, the direction corresponding to that value is set. The center overlap amount is the overlap amount (amount of overlap) of the planned work width when the planned work will be performed by the work implement 2 while the work vehicle 1 is moving back and forth in a straight line in the work area. The user can input a value into the input field K18 and increase or decrease the value by operating the plus key B15a or minus key B15b.

[0117] When the user operates the Next key B9 after inputting each setting information (route creation conditions) on the route creation screen D12, the control device 51 stores each setting information in internal memory and executes the route creation process. Figures 17A to 17D are diagrams showing an example of the creation state of a work route. In this example, a case will be described in which a work route is created for carrying out pest control work as scheduled work using a work vehicle 1 and a work device 2, which is a pest control device.

[0118] When the route creation process starts, the control device 51 identifies the contour H1 of the field map MP1 indicated in the field information of the field to be worked on, as shown in Fig. 17A. Then, of the multiple field sides H1a to H1d that make up the contour H1, the control device 51 shifts the field sides H1b and H1d that are parallel to the working direction J1 (Fig. 15A) inward by the field side offset distance (Fig. 12A), and shifts the field sides H1a and H1c that are not parallel to the working direction J1 inward by headland area distances X1 and X2 (Fig. 12A), respectively, to set the working area C1 and headland areas E1 and E2.

[0119] Next, the control device 51 creates multiple auxiliary lines (shown by dashed lines in Figure 17A, etc.) parallel to the work direction J in the work area C1 at intervals of a corrected work width, which is the planned work width (Figure 5B, etc.) of the work implement 2 minus the center overlap allowance (Figure 15A), and divides the work area C1 into multiple unit work sections C2. The control device 51 then creates multiple planned work lines L1 for the work implement 2 to carry out planned work while driving the work vehicle 1 through each of the multiple unit work sections C2, based on planned work information such as the corrected work width of the work implement 2 and the offset conditions (Figure 8).

[0120] For example, if the scheduled work is the first pest control work of the current season, the information on previous work performed in the target field stored in the storage device 53 for the current season does not include information on the location of the work. Therefore, the control device 51 creates a work route L2 including the multiple planned work lines L1 on the field map MP1 based on the multiple planned work lines L1. Specifically, the control device 51 identifies the entrance / exit H1z of the target field from the field information and determines the work order and direction of the multiple planned work lines L1 so that the pest control work is completed near the entrance / exit H1z. Then, as shown in FIG. 17B, the control device 51 creates a work route L2 on the field map MP1 that indicates the multiple planned work lines L1 and the work order and direction of the planned work lines L1, and determines the start position Ps and finish position Pg of the work route L2. In other words, the control device 51 creates a continuous work route L2 including the multiple planned work lines L1.

[0121] In Figure 17B, the direction of travel of the multiple planned work lines L1 is indicated by arrows attached to each planned work line L1. The work order of the multiple planned work lines L1 is also indicated by a turning line L1r drawn from the end point (tip of the arrow) of the previous planned work line L1 toward the start point of the next planned work line L1. The turning line L1r indicates the approximate position for the work vehicle 1 to turn. The control device 51 causes the display operation device 52 to display the created work route L2 on the field map MP1 on the route creation screen D12, as shown in Figure 15B.

[0122] Furthermore, if the scheduled work is the second or subsequent pest control work for this period, the completed work information for this period includes completed work position information regarding the work position of the pest control work. Therefore, the control device 51 identifies multiple completed work lines L3 (multiple work lines of pest control work that have already been performed) from the completed work position information and determines whether the multiple scheduled work lines L1 are compatible with the multiple completed work lines L3.

[0123] For example, as shown in Figure 17C, if each of the multiple planned work lines L1 matches one of the multiple already-worked lines L3, the control device 51 determines that the multiple planned work lines L1 match the multiple already-worked lines L3 and that the planned work position information matches the already-worked position information. In this case, the control device 51 may also determine that the planned work information matches the already-worked information. Then, as described above, the control device 51 creates a work route L2 in the field map MP1 based on the multiple planned work lines L1 (Figure 17B).

[0124] 17D, if any of the multiple planned work lines L1 does not match any of the multiple already-worked lines L3, the control device 51 determines that the multiple planned work lines L1 do not match the multiple already-worked lines L3 and that the planned work position information does not match the already-worked position information. In this case, the control device 51 may also determine that the planned work information does not match the already-worked information. The control device 51 then does not create a work route, and instead causes the display / operation device 52 to display (output) a seventh warning window V7 as a pop-up on the route creation screen D12, as shown in FIG. 15C.

[0125] The seventh warning window V7 displays a message indicating that a work route (pest control work route) cannot be generated because the work line (pest control work line) is different from the previous time. The message also indicates that the planned work information does not match the existing work information and that the planned work position information does not match the existing work position information. Note that the reason the control device 51 does not create a work route when the planned work line L1 does not match multiple existing work lines L3, as described above, is to align the passing positions of the work vehicle 1 in the work area C1 between the previous pest control work (during existing work) and the next pest control work (planned work) and minimize areas where crop growth conditions may be poor.

[0126] When the user confirms the message displayed in the seventh warning window V7 and operates the close key B24 on the seventh warning window V7, the control device 51 closes the seventh warning window V7 and displays the entire route creation screen D12, as shown in FIG. 15A. The user then changes at least one of the setting information related to the planned work position, such as the work implement 2 to be used (FIG. 4), the planned work width (FIG. 6, etc.), the planned ridge width (FIG. 7), and the center lap allowance (FIG. 15A). When the user then operates the Next key B9 on the route creation screen D12 again, the control device 51 creates a new planned work line L1 based on the changed setting information and determines whether the new planned work line L1 matches the existing work line L3.

[0127] Furthermore, instead of the seventh warning window V7, the control device 51 may cause the display operation device 52 to display an eighth warning window V8 as shown in Fig. 15D as a pop-up on the route creation screen D12. In addition to a message similar to that in the seventh warning window V7, the eighth warning window V8 displays a message asking whether or not to create a work route L2 on a planned work line L1 that is different from the previous one, and response keys B29a and B29b.

[0128] When the user operates the "No" key B29b, a command is input via the display operation device 52 indicating that the work route L2 should not be generated using a pest control work line different from the previous one. In this case, in response to the command, the control device 51 causes the display operation device 52 to hide the eighth warning window V8 and display the entire work condition setting screen D11, as shown in Figure 15A. Thereafter, as described above, the user changes at least one of the setting information related to the planned work position, and the control device 51 creates a new planned work line L1 based on the changed setting information, etc., and determines whether it matches the existing work line L3.

[0129] Furthermore, when the user operates the "Yes" key B29a in the eighth warning window V8, a command to generate a work route L2 with a pest control work line different from the previous one is input via the display operation device 52. In this case, in response to the command, the control device 51 causes the display operation device 52 to close the eighth warning window V8, generates a work route L2 including multiple planned work lines L1 as described above, and displays the work route L2 on the route creation screen D12 (FIG. 15B).

[0130] The above example illustrates the creation of planned work line L1 and work route L2 when the planned work is pest control work, but even when the planned work is specific work other than pest control work that is performed multiple times in the same location in the field, such as inter-cultivation and soil-raising, the control device 51 may similarly determine the suitability of the planned work line and the existing work line, and create a work route for the planned work or display a warning window based on the determination result.The control device 51 may also determine whether multiple planned work routes for the planned work are compatible with multiple existing work routes for existing work of a different type from the planned work, and create a work route for the planned work or display a warning window based on the determination result.

[0131] When the user checks the work route L2 displayed on the route creation screen D12 shown in Fig. 15B and operates the Next key B9, the control device 51 stores the setting information displayed on the route creation screen D12 and information indicating the work route L2 in its internal memory, and displays the automatic driving guidance screen D13 shown in Fig. 16 on the display operation device 52. The control device 51 also associates each setting information of the scheduled work set on screens D1 to D12 and stores (saves) it as scheduled work information in the storage device 53. Furthermore, the control device 51 transmits (outputs) the scheduled work information to the control device 60 of the work vehicle 1 via the communication device 54 as work control information for automatic driving.

[0132] The autonomous driving guidance screen D13 shown in FIG. 16 is a screen that displays the driving status of the work vehicle 1 and the work status of the work implement 2 in autonomous driving mode. The autonomous driving guidance screen D13 displays a field map MP1, a work route L2, a vehicle object M1, the driving status of the work vehicle 1, and various operation keys. The control device 51 acquires the position of the work vehicle 1 measured by the positioning device 40 via the communication device 54 at a predetermined cycle, and causes the vehicle object M1 to be displayed at any time at the corresponding location on the field map MP1 according to the position of the work vehicle 1. In other words, the vehicle object M1 indicates the current position of the work vehicle 1. In FIG. 16, the autonomous driving guidance screen D13 displays the driving status of the work vehicle 1 and the work status of the work implement 2 some time after the autonomous driving mode has been started.

[0133] The control device 60 of the work vehicle 1 receives the work control information transmitted from the work support device 50 via the communication device 64 and stores it in the storage device 61. Then, 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. Upon receiving this command, 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 detected by the positioning device 40, and the detection results of the internal sensor unit 65 and external sensor unit 66, and performs work in the field using the work device 2 while automatically traveling and steering the work vehicle 1.

[0134] That is, the control device 60 performs planned work using the work device 2 while causing the work vehicle 1 to travel automatically (autonomously) along each planned work line L1 based on the work route L2 included in the work control information and the position of the work vehicle 1 measured by the positioning device 40. Furthermore, when the work device 2 reaches the end point of each planned work line L1, the control device 60 stops the work performed by the work device 2 and automatically turns the work vehicle 1 toward the start point of the next planned work line L1.

[0135] As described above, when the work vehicle 1 and work apparatus 2 perform the scheduled work in autonomous driving mode and the work apparatus 2 arrives at the goal position Pg, the control device 60 stops the autonomous driving mode and stops the work vehicle 1 and work apparatus 2. This marks the completion of the scheduled work. When the control device 51 of the work support device 50 receives control information indicating that the scheduled work has been completed from the control device 60 of the work vehicle 1 via the communication devices 64, 54, it causes the display operation device 52 to display information (such as a message) indicating that the work performed by autonomous driving has been completed on the autonomous driving guidance screen D13. Thereafter, the driver operates the operation device 62 to switch the work vehicle 1 to a state where it can be manually driven.

[0136] In the above-described embodiment, an example was given in which planned work information for performing planned work by the work vehicle 1 and the work device 2 in autonomous driving mode is set and the appropriateness of the information included in the planned work information is determined, but this is not limiting. For example, the user may operate the autosteer key B2 on the home screen D1 shown in FIG. 2, and then set planned work information for performing planned work by the work vehicle 1 and the work device 2 in autonomous driving mode on a setting screen similar to the above-described screens D2 to D11. The control device 51 of the work support device 50 may then determine whether the planned work position information included in the planned work information for autonomous steering mode matches the corresponding previously performed work position information. In this case, the control device 51 determines that the planned work position information matches the previously performed work position information, creates a work route L2 for autonomous steering, and then outputs the planned work information including the work route L2 and the planned work position information to the control device 60 of the work vehicle 1 as control information for autonomous steering.

[0137] In the above-described embodiment, the control device 51 performs at least one of the following: a conformance determination between the ridge information (ridge width, number of ridges) or working width included in the planned work information and the ridge information or working width included in the already-worked information; a conformance determination between the planned ridge width and the wheel spacing; and a conformance determination between the planned work and the already-worked line; but the timing for making each of these determinations may be set as appropriate. The control device 51 may also perform at least one of the above determinations. Furthermore, the control device 51 may perform at least one of the above determinations when a continuous work operation is set on the work condition setting screen D11 (FIG. 12A) or the like, or regardless of whether a continuous work operation is set.

[0138] In the above-described embodiment, the control device 51 displays each of the warning windows V1 to V8 on the screen of the display operation device 52, but other than this, the control device 51 may output a warning by voice or sound, for example, from a speaker provided on the work support device 50 or the work vehicle 1. Furthermore, the control device 51 may transmit information indicating a warning to another terminal device carried by the user via the communication device 54, and cause the other terminal device to output a warning.

[0139] In the above-described embodiment, an example was given in which the work assistance device 50 was configured as a tablet-type terminal device. However, the work assistance device may also be configured as at least one of 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 (e.g., server 80), and a server installed on the cloud. Furthermore, a software program indicating the procedures for each of the above-described processes, functions, and operations may be stored on a server, and a computer installed with the software program may constitute the work assistance device and perform processes such as determining the appropriateness of scheduled work information, outputting warnings, and creating work routes. Furthermore, the control device 51, display / operation device 52, and storage device 53 may be provided not only in one work assistance device 50 but also in multiple information processing devices. Furthermore, instead of the display / operation device 52, separate input and output devices may be provided in the same or multiple information processing devices.

[0140] The control device 51 may be configured with a processing circuit including one or more processors and one or more memories, or may be configured with 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).

[0141] Alternatively, the control device 51 may be configured with a plurality of physically separated processors, which cooperate with each other to execute each process. For example, processors installed in a plurality of 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. 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.

[0142] The work support system 100 of this embodiment described above has the following configuration and provides the following effects.

[0143] [Item 1] The work support system 100 of this embodiment is equipped with a storage device 53 that stores previous work information regarding work that has already been performed in the field, input devices 52, 54 (display operation device 52, communication device 54) that input planned work information regarding work planned to be performed in the field by a work vehicle 1 and a work device 2 equipped on the work vehicle 1, output devices 52, 54 (display operation device 52, communication device 54), and a control device 51. The control device 51 determines whether the planned work position information regarding the work position of the work device 2 contained in the planned work information matches the previous work position information regarding the work position contained in the previous work information, and if the planned work position information matches the previous work position information, creates a work route L2 based on the planned work information along which the work vehicle 1 travels while the work device 2 performs the planned work, and if the planned work position information does not match the previous work position information, a warning (warning windows V3, V4, V7, V8) is output by the output devices 52, 54.

[0144] With the configuration of item 1 above, when a user inputs planned work information regarding planned work to be performed in a field by the work vehicle 1 and work implement 2 using the input devices 52, 54, the control device 51 automatically determines the compatibility of the planned work location information included in the planned work information with the previous work location information included in the previous work information for work already performed in the same field, allowing the control device 51 to objectively check (confirm) the suitability of the planned work location information. If the planned work location information matches the previous work location information, the control device 51 creates a work route L2 for the work vehicle 1 and work implement 2 to perform the planned work based on the planned work information. This allows the work route L2 to be created appropriately, and the planned work can be performed appropriately by the work vehicle 1 and work implement 2 based on this appropriate work route L2. Furthermore, if the planned work location information does not match the previous work location information, the control device 51 does not create a work route L2 based on the planned work information, but instead outputs a warning using the output devices 52, 54, prompting the user to check and change the planned work location information, thereby reducing user input errors. Furthermore, as a result, it is possible to prevent adverse effects on the growth of crops cultivated in the field.

[0145] [Item 2] In the work support system 100 described in Item 1 above, when a command to adopt the scheduled work information is input via the input devices 52, 54 after a warning is output, the control device 51 creates a work route L2 based on the scheduled work information and outputs it via the output devices 52, 54.

[0146] With the configuration of item 2 above, even if the control device 51 determines that the planned work position information does not match the previous work position information, the user can input a command to adopt the planned work information using the input devices 52, 54, and a work route L2 will be created based on that planned work information, so that the planned work can be carried out appropriately by the work vehicle 1 and work device 2 based on the work route L2 that suits the user's wishes.

[0147] [Item 3] In the work support system 100 described in item 1 or 2 above, when the planned work position information is changed by the input devices 52 and 54 after a warning is output, the control device 51 determines whether the changed planned work position information matches the existing work position information.

[0148] The configuration of item 3 above allows the control device 51 to objectively check (confirm) the suitability of the planned work position information that the user has re-entered and changed using the input devices 52 and 54, making it possible to further reduce user input errors.

[0149] [Item 4] In the work support system 100 described in any one of items 1 to 3 above, when the planned work position information does not match the previous work position information, the control device 51 outputs a warning indicating the incompatibility and at least one of the planned work position information and the previous work position information (warning windows V4, V8) via the output devices 52, 54.

[0150] The configuration of item 4 above allows the user to easily recognize that the planned work position information does not match the existing work position information, and enables the user to re-input the planned work position information using the input devices 52, 54 reliably so that it matches the existing work position information.

[0151] [Item 5] In the work support system 100 described in any of items 1 to 4 above, the control device 51 determines whether the planned ridge information regarding the position of the ridge Ua included in the planned work position information matches the existing ridge information regarding the position of the ridge Ua formed in the field included in the existing work position information.

[0152] With the configuration of item 5 above, when the control device 51 determines that the planned ridge information entered by the user to perform the planned work matches the existing ridge information, a work route L2 is created based on the planned work information including the planned ridge information, and the planned work can be performed appropriately by the work vehicle 1 and work device 2 based on the work route L2. Also, when the control device 51 determines that the planned ridge information does not match the existing ridge information, a warning is output, which can prevent errors in input of the planned ridge information by the user. Furthermore, as a result of these, it is possible to prevent adverse effects on the growth conditions of crops cultivated on the ridges Ua currently existing in the field.

[0153] [Item 6] In the work support system 100 described in item 5 above, if the planned ridge width indicating the spacing between ridges Ua included in the planned ridge information is different from the existing ridge width indicating the spacing between ridges Ua included in the existing ridge information, the control device 51 determines that the planned ridge information does not match the existing ridge information and that the planned work position information does not match the existing work position information.

[0154] With the configuration of item 6 above, when the control device 51 determines that the planned ridge width input by the user to perform the planned work matches the existing ridge width, a work route L2 is created based on the planned work information including the planned ridge width, and the planned work can be performed appropriately by the work vehicle 1 and work device 2 based on this work route L2. Also, when the control device 51 determines that the planned ridge width does not match the existing ridge width, a warning is output, which can prevent errors in inputting the planned ridge width by the user. Furthermore, as a result of these, the planned work can be performed without destroying the ridges Ua currently existing in the field, making it possible to better prevent adverse effects on the growth conditions of the crops being cultivated on those ridges Ua.

[0155] [Item 7] In the work support system 100 described in any one of items 1 to 6 above, if the planned working width of the work device 2 included in the planned working position information and the already worked width of the same type of work device included in the already worked position information are different and are not in a multiple relationship, the control device 51 determines that the planned working position information does not match the already worked position information.

[0156] With the configuration of item 7 above, if the planned working width of the work apparatus 2 for performing the planned work differs from the existing working width when the same type of work as the planned work was performed and there is no multiple relationship between them, a warning is output, thereby reducing errors in input of planned work position information by the user. Also, if the planned working width differs from the existing working width but there is a multiple relationship between them, or if the planned working width is the same as the existing working width, a work route L2 is created based on the planned work information including the planned working width, and the planned work can be performed appropriately by the work vehicle 1 and work apparatus 2 based on that work route L2.

[0157] [Item 8] In the work support system 100 described in any of items 1 to 7 above, if the planned furrow width indicating the spacing between the furrows Ua included in the planned work position information is less than the wheelbase Ta, which is the widthwise spacing between the left and right running devices 7 of the work vehicle 1, and is not a multiple of the wheelbase Ta, the control device 51 outputs a warning (warning window V5) indicating that the planned furrow width is inappropriate via the output devices 52, 54.

[0158] The configuration of item 8 above makes it possible to suppress input errors in planned work information including the planned ridge width, which could result in the ridges Ua in the field being crushed by the running device 7 of the work vehicle 1, and also allows the user to input an appropriate planned ridge width.

[0159] [Item 9] In the work support system 100 described in any one of items 1 to 8 above, the control device 51 creates at least one planned work line L1 for performing planned work using the work implement 2 while the work vehicle 1 is traveling in the field based on the planned work information, and determines whether the planned work line L1 is compatible with at least one already-worked line L3 included in the already-worked position information.

[0160] The configuration of item 9 above makes it possible to prevent input errors in planned work information that would result in the creation of a planned work line L1 that does not match the existing work line L3 used when the existing work was performed. Furthermore, the planned work can be carried out appropriately by the work vehicle 1 and work implement 2 based on the planned work line L1 that matches the existing work line L3.

[0161] [Item 10] In the work support system 100 described in Item 9 above, the control device 51 identifies at least one already-worked line L3 from the already-worked position information of already-worked work of the same type as the planned work, and if the planned work line L1 does not match the already-worked line L3, it determines that the planned work line L1 does not match the already-worked line L3 and that the planned work position information does not match the already-worked position information.

[0162] With the configuration of item 10 above, if the planned work line L1 for the planned work does not match the already-worked line L3 for the same type of already-worked work, the planned work position information is determined to be inconsistent with the already-worked position information, and a warning is output, thereby reducing input errors in planned work information that would result in the creation of a planned work line L1 that does not match the already-worked line L3. Furthermore, if there are crops in the area where the work vehicle 1 is to pass, the crops may be knocked over by the body 3 of the work vehicle 1, causing the crops to deteriorate. However, outputting a warning as described above prevents the work vehicle 1 and work implement 2 from carrying out planned work based on the planned work line L1 that does not match the already-worked line L3, and also prevents the work vehicle 1 from passing through areas during planned work that are different from those during already-worked work, thereby preventing the expansion of areas with poor crop growth.

[0163] [Item 11] In the work support system 100 described in Item 10 above, if the planned work line L1 matches the already worked line L3, the control device 51 determines that the planned work line L1 is compatible with the already worked line L3 and that the planned work position information is compatible with the already worked position information, and creates a work route L2 based on the planned work line L1.

[0164] The configuration of item 11 above allows the planned work to be carried out appropriately by the work vehicle 1 and work implement 2 based on the work route L2 which includes the planned work line L1 that matches the existing work line L3 of the same type of work as the planned work. Furthermore, because the work vehicle 1 passes through the same locations during the planned work based on the work route L2 as during the existing work, it is possible to minimize areas where crop growth is poor.

[0165] [Item 12] In the work support system 100 described in any one of items 1 to 11 above, the control device 51 determines whether the planned work position information for performing planned pest control work matches the previous work position information for at least one of sowing work, soil cultivation work, and pest control work that has already been performed in the field.

[0166] The configuration of item 12 above makes it possible to reduce input errors by the user when inputting planned work location information for pest control work, and creates a work route L2 based on planned work information for pest control work that matches the existing work location information for at least one of sowing work, soil cultivation work, and pest control work, and allows pest control work to be carried out appropriately using the work vehicle 1 and work device 2 based on the work route L2.

[0167] [Item 13] In the work support system 100 described in any of items 1 to 12 above, when existing ridge information regarding a ridge Ua formed in the field is included in the existing work position information and a specific work that cannot be performed with the ridge Ua present in the field is indicated as a scheduled work in the scheduled work information, the control device 51 outputs a warning (warning window V6) via the output devices 52, 54.

[0168] The configuration of item 13 above makes it possible to reduce input errors by users in scheduled work information that could have a negative impact on the growth conditions of crops grown on the ridges Ua in the field, and also allows users to input appropriate scheduled work information.

[0169] [Item 14] In the work support system 100 described in any one of items 1 to 13 above, the output devices 52, 54 include a display device 52, and the control device 51 creates a work route L2 for performing at least one of automatic driving and automatic steering of the work vehicle 1 based on the planned work information, and displays the planned work information, completed work information, work route L2, and warnings on the display device 52.

[0170] The configuration of item 14 above allows the user to efficiently perform planned work using the work device 2 while automatically driving or steering the work vehicle 1 according to a work route L2 based on planned work information including planned work position information that matches previous work position information. In addition, the user can visually confirm the planned work information, completed work information, work route L2, and warnings displayed on the display device 52, and can easily and appropriately input and change the planned work information, and can predict the work status of the planned work from the work route L2.

[0171] [Item 15] In the work assistance system 100 described in any one of items 1 to 14 above, the memory device 53, the input devices 52, 54, the output devices 52, 54, and the control device 51 are provided in a work assistance device 50 that can be mounted on the work vehicle 1 and that assists in the performance of work by the work vehicle 1 and the work device 2.

[0172] The configuration of item 15 above allows a user (such as a driver) on board the work vehicle 1 to input scheduled work information using the work support device 50, and to recognize an input error in the scheduled work information from a warning output from the work support device 50. Furthermore, it becomes easier for the control device 51 to input and output information to and from the storage device 53, the input devices 52, 54, and the output devices 52, 54 than when transmitting and receiving information to other devices external to the work support device 50, thereby reducing the processing load on the control device 51 and increasing the processing speed.

[0173] 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]

[0174] 1 Work vehicle 2. Work equipment 50 Work support device 52 Display operation device (input device, output device, display device) 53 Storage device 54 Communication devices (input devices, output devices) 100 Work Support System L1 Planned Work Line L2 Work Route L3 Already working line V3 Third warning window V4 4th warning window V5 5th warning window V6 6th warning window V7 7th warning window V8 8th warning window

Claims

1. a storage device that stores work completion information relating to work that has already been performed in the field; an input device for inputting planned work information relating to work to be performed by a work vehicle and a work implement equipped on the work vehicle in the field; an output device; a control device; The control device determines whether planned work position information regarding the work position of the work device included in the planned work information matches existing work position information regarding the work position included in the completed work information, and if the planned work position information matches the existing work position information, creates a work route based on the planned work information for performing the planned work using the work device while traveling the work vehicle, and if the planned work position information does not match the existing work position information, outputs a warning using the output device.

2. 2. The work support system according to claim 1, wherein, when a command to adopt the planned work information is input by the input device after the warning is output, the control device creates the work route based on the planned work information and outputs the work route by the output device.

3. 2. The work support system according to claim 1, wherein when the planned work position information is changed by the input device after the warning is output, the control device determines whether the changed planned work position information matches the existing work position information.

4. 2. The work support system according to claim 1, wherein, when the planned work position information does not match the already worked position information, the control device outputs the warning indicating the incompatibility and at least one of the planned work position information and the already worked position information via the output device.

5. The work support system described in claim 1, wherein the control device determines whether the planned ridge information regarding the position of the ridges contained in the planned work position information matches the existing ridge information regarding the position of the ridges formed in the field contained in the existing work position information.

6. The control device of claim 5 is configured to determine that the planned ridge information does not match the existing ridge information and that the planned work position information does not match the existing work position information when the planned ridge width indicating the spacing between the ridges included in the planned ridge information is different from the existing ridge width indicating the spacing between the ridges included in the existing ridge information.

7. 2. The work support system according to claim 1, wherein the control device determines that the planned work position information does not match the already worked position information when the planned work width of the work device included in the planned work position information and the already worked width of the same type of work device included in the already worked position information are different and not in a multiple relationship.

8. The work support system of claim 1, wherein the control device outputs a warning via the output device indicating that the planned furrow width, which indicates the spacing between furrows included in the planned work position information, is less than the wheelbase, which is the widthwise distance between the left and right running devices of the work vehicle, and is not a multiple of the wheelbase.

9. The control device creating at least one planned work line for performing the planned work with the work device while traveling the work vehicle in the field based on the planned work information; The work support system according to claim 1 , wherein it is determined whether the planned work line matches at least one of the already-worked lines included in the already-worked position information.

10. The work support system of claim 9, wherein the control device identifies the already-worked line from the already-worked position information of the already-worked work of the same type as the planned work, and if the planned work line does not match the already-worked line, determines that the planned work line does not match the already-worked line and that the planned work position information does not match the already-worked position information.

11. The work support system of claim 10, wherein when the planned work line matches the already-worked line, the control device determines that the planned work line is compatible with the already-worked line and that the planned work position information is compatible with the already-worked position information, and creates the work route based on the planned work line.

12. The work support system described in claim 1, wherein the control device determines whether the planned work position information for performing the planned work, which is pest control work, matches the previous work position information for at least one of the previous work, namely sowing work, soil cultivation work, and pest control work, which has been performed in the field.

13. The work support system described in claim 1, wherein the control device outputs a warning via the output device when the existing ridge information regarding ridges formed in the field is included in the existing work location information and the scheduled work information indicates a specific work that cannot be performed with ridges present in the field as the scheduled work.

14. the output device includes a display device; The work support system according to claim 1, wherein the control device creates the work route for performing at least one of automatic driving and automatic steering of the work vehicle based on the planned work information, and causes the display device to display the planned work information, the completed work information, the work route, and the warning.

15. 2. The work assistance system according to claim 1, wherein the storage device, the input device, the output device, and the control device are provided in a work assistance device that can be mounted on the work vehicle and that assists the work performed by the work vehicle and the work device.

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