Work support methods, work support systems, and programs

Abstract

This technology provides a way to ensure that workers are properly aware of the timing for stopping for refueling and other purposes, thereby suppressing a decrease in work efficiency. [Solution] An exemplary work support method is a work support method that supports an automated driving operation performed by a work vehicle in a field, comprising: dividing the route of the automated driving operation into a plurality of unit routes; having the work vehicle travel along at least one of the unit routes; and calculating and displaying the amount of work that can be done in the automated driving operation based on the results of traveling along the unit routes.

Description

Technical Field

[0001] The present invention relates to a work support method, a work support system, and a program.

Background Art

[0002] For example, in a riding type rice transplanter, there is a limit to the amount of seedlings mounted on the machine body. Therefore, when the remaining amount of seedlings mounted on the machine body decreases, it is necessary to stop at the edge of the paddy field and replenish the seedlings from the paddy field to the machine body. Patent Document 1 discloses calculating, based on the consumption rate of seedlings per unit travel distance, the positioning data, and the detection value of the seedling remaining amount detector, the position where it is necessary to replenish the seedlings to the machine body when the machine body proceeds as it is, and displaying the obtained position on a monitor.

Prior Art Documents

Patent Documents

[0003] [[ID=2I]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, for example, due to the influence of the characteristics of the field and the settings of the work vehicle, etc., the on-vehicle load such as seedlings is not always consumed in proportion to the route length, so during actual work, the on-vehicle load may run out at a position earlier than the predicted replenishment location. When the on-vehicle load runs out during work such as rice seedling planting work, unexpected driving is required to replenish, and the work efficiency decreases.

[0005] In view of the above points, an object of the present invention is to provide a technology capable of appropriately making an operator recognize the timing of stopping for replenishment or the like and suppressing a decrease in work efficiency.

Means for Solving the Problems

[0006] An exemplary work support method of the present invention is a work support method for supporting an automated driving operation performed by a work vehicle in a field, comprising: dividing the route of the automated driving operation into a plurality of unit routes; having the work vehicle travel along at least one of the unit routes; and calculating and displaying the amount of work that can be done in the automated driving operation based on the results of traveling along the unit routes.

[0007] An exemplary work support system of the present invention is a work support system that supports automatic driving operations performed by a work vehicle along a predetermined target route within a field, comprising: a stopping position setting unit provided so as to be able to set one of the sides of the field and two opposing sides of the field as the stopping position of the work vehicle; a specification unit that identifies the amount and amount of change of the load on the work vehicle when the work vehicle travels along a unit route that changes according to the setting of the stopping position; and a display control unit that enables the amount of the automatic driving operations that can be performed on the remaining route of the target route based on the identified amount and amount of change of the load on the vehicle.

[0008] An exemplary program of the present invention is a program that causes a computer to execute a work support method for assisting an automated driving operation performed by a work vehicle along a predetermined target route within a field, wherein the computer functions as a means for setting one of the sides of the field and two opposing sides of the field as the stopping position for the work vehicle, identifying the amount and amount of variation of the load on the work vehicle when the work vehicle travels along a unit route that changes according to the setting of the stopping position, and displaying the amount of the automated driving operation that can be performed on the remaining part of the target route based on the identified amount and amount of variation of the load. [Effects of the Invention]

[0009] According to an exemplary version of the present invention, it is possible to appropriately recognize the timing of stopping for replenishment, etc., and thereby suppress a decrease in work efficiency. [Brief explanation of the drawing]

[0010] [Figure 1] Diagram showing the configuration of the work support system [Figure 2] Schematic plan view of a rice transplanter [Figure 3] Block diagram showing the configuration of a rice transplanter. [Figure 4] Block diagram showing the configuration of a mobile communication terminal. [Figure 5] A schematic diagram showing the field and the automated driving route. [Figure 6] Figure 5 shows a schematic representation of a different field. [Figure 7] A flowchart illustrating the workflow of work support methods. [Figure 8] A schematic diagram showing an example of the amount of autonomous driving operations that can be performed. [Figure 9] A schematic diagram showing an example of the amount of autonomous driving operations that can be performed. [Figure 10] A flowchart illustrating the workflow of the work support method for the first modified example. [Figure 11] A flowchart illustrating the workflow for the second modified example of the work support method. [Figure 12] A diagram illustrating a field to which the work support method of the third modified example is applied. [Figure 13] A diagram showing a modified version of the screen display for work support. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts will be denoted by the same reference numerals and will not be repeated in the description. In this specification, the direction perpendicular to the travel plane S on which the work vehicle 1 shown in Figure 1 travels is defined as the up-down direction, and the work vehicle 1 is defined as being above the travel plane S. The direction in which the work vehicle 1 travels in a straight line is defined as the front-rear direction, and the front-rear is defined as the steering wheel 26 being in front of the driver's seat 25. The direction perpendicular to the up-down and front-rear directions is defined as the left-right direction, and the side that is to the right when looking from rear to front is defined as right, and the side that is to the left is defined as left. These directions are merely names used for explanatory purposes and are not intended to limit the actual positional relationships and directions.

[0012] In addition, in this specification, the operator may be a person who rides on the work vehicle 1 or a person who does not ride on the work vehicle 1. The operator may include a person who monitors the work vehicle 1.

[0013] <1. Configuration of the work support system> FIG. 1 is a diagram showing the configuration of a work support system 100 according to an embodiment of the present invention. The work support system 100 is a system that supports an automatic driving operation performed by a work vehicle along a target route preset in a field. The automatic driving operation refers to an operation in which the work vehicle performs an operation while performing automatic driving. The operation may be performed automatically or manually. Further, the automatic driving means that at least the steering is autonomously performed along a predetermined route by controlling a device related to driving by a control unit provided in the work vehicle 1. The automatic driving may be configured such that at least one of, for example, the vehicle speed and the operation by the work device is autonomously performed in addition to the steering. Further, the automatic driving may include both a case where a person is riding on the work vehicle 1 and a case where no person is riding on the work vehicle 1.

[0014] In this embodiment, the work vehicle 1 is a rice transplanter. However, the work vehicle 1 may be other than a rice transplanter. The work vehicle 1 may be, for example, a combine or a tractor. Further, the work vehicle 1 may be, for example, a vehicle that travels while consuming agricultural materials. Examples of such a work vehicle 1 include, in addition to a rice transplanter, a seeding machine that travels while sowing seeds in a field, a fertilizer applicator that travels while applying fertilizer to a field, or a chemical sprayer that travels while spraying chemicals in a field.

[0015] In this embodiment, the work support system 100 includes a rice transplanter 1 and a mobile communication terminal 8. In the work support system 100, for example, by an operator giving instructions using the mobile communication terminal 8, the rice transplanter 1 can be automatically driven while performing operations such as seedling planting work on the rice transplanter 1. The mobile communication terminal 8 may be, for example, brought into the rice transplanter 1 and used by an operator. Also, the mobile communication terminal 8 may be used by a person who monitors the operation of the rice transplanter 1 in the vicinity without boarding the rice transplanter 1.

[0016] Note that the instruction for automatic driving may be given by operating an operation member provided on the rice transplanter 1 instead of the mobile communication terminal 8. Also, the work support system for supporting the automatic driving work in the present invention may be composed of only one of the work vehicle 1 and the mobile communication terminal 8, or only a component included in one of the devices.

[0017] [1-1. Rice transplanter] FIG. 2 is a schematic plan view of the rice transplanter 1 according to an embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the rice transplanter 1 according to an embodiment of the present invention. Referring to FIGS. 1, 2, and 3, the outline of the rice transplanter 1 will be described. Note that FIG. 1 shows a left side view of the rice transplanter 1.

[0018] As shown in FIGS. 1 and 2, the rice transplanter 1 includes a vehicle body portion 11, front wheels 12, rear wheels 13, and a planting portion 14. The front wheels 12 are provided in a pair on the left and right with respect to the vehicle body portion 11. Similarly, the rear wheels 13 are also provided in a pair on the left and right with respect to the vehicle body portion 11. The planting portion 14 is an example of a working device. For example, when the work vehicle is other than a rice transplanter, the working device may be a seeding device, a fertilizing device, a chemical spraying device, a tilling device, or a harvesting device, etc.

[0019] The vehicle body 11 is equipped with a bonnet 21. The bonnet 21 is located at the front of the vehicle body 11. An engine 22 is located inside the bonnet 21. The power generated by the engine 22 is transmitted to the front wheels 12 and rear wheels 13 via the transmission case 23. The power generated by the engine 22 is also transmitted to the planting unit 14 via the transmission case 23 and a power take-off shaft (hereinafter referred to as "PTO shaft 24") located at the rear of the vehicle body 11.

[0020] The vehicle body 11 further comprises a driver's seat 25 and a plurality of operating members. An operator can sit in the driver's seat 25. The driver's seat 25 is positioned between the front wheels 12 and the rear wheels 13 in the longitudinal direction of the vehicle body 11. The plurality of operating members include a steering wheel 26, a gear shift pedal 27, a main gear shift lever 28, and a planting clutch lever 29.

[0021] The steering handle 26 is a handle used by the operator to steer the rice transplanter 1. The gear shift pedal 27 is a pedal used by the operator to adjust the travel speed of the rice transplanter 1. The main gear shift lever 28 is a lever configured to allow the operator to select, for example, "forward," "reverse," or "stop." When the main gear shift lever 28 is operated to the "forward" position, power is transmitted so that the rear wheels 13 rotate in the direction of moving the rice transplanter 1 forward. On the other hand, when the main gear shift lever 28 is operated to the "reverse" position, power is driven so that the rear wheels 13 rotate in the direction of moving the rice transplanter 1 backward. When the main gear shift lever 28 is operated to the "stop" position, the transmission of power to the front wheels 12 and rear wheels 13 is cut off. Note that "forward" may be divided into "low speed" for traveling within the field and "high speed" for traveling outside the field. The planting clutch lever 29 is a lever used by the operator to switch between a transmission state in which the planting clutch transmits power to the PTO shaft 24 (i.e., the planting unit 14) and a disconnection state in which the planting clutch does not transmit power to the PTO shaft 24 (i.e., the planting unit 14).

[0022] The planting section 14 is positioned at the rear of the vehicle body 11. The planting section 14 is connected to the vehicle body 11 via a lifting link mechanism 31. The lifting link mechanism 31 consists of parallel links including a top link 31a and a lower link 31b. In the lifting link mechanism 31, the top link 31a is connected to the lifting cylinder 32 of the lifting device. The lifting device can raise and lower the planting section 14 relative to the vehicle body 11 by extending and retracting the lifting cylinder 32.

[0023] The planting unit 14 comprises a planting input case 33, a plurality of planting units 34, a seedling tray 35, a plurality of floats 36, and a spare seedling tray 37. The planting unit 14 sequentially supplies seedlings from the seedling tray 35 to each planting unit 34, and continuously plants seedlings.

[0024] Each planting unit 34 has a planting transmission case section 41 and a rotating case section 42. Power is transmitted to the planting transmission case section 41 via a PTO shaft 24 and a planting input case section 33. The rotating case section 42 is rotatably mounted on the planting transmission case section 41. The rotating case sections 42 are positioned on both sides of the planting transmission case section 41 in the left-right direction. Two planting claws 43 are attached to one side of each rotating case section 42 in the left-right direction. The two planting claws 43 are arranged in the front-rear direction of the rice transplanter 1. The two planting claws 43 are displaced as the rotating case section 42 rotates. The displacement of the two planting claws 43 is used to plant one row of seedlings.

[0025] The seedling tray 35 is positioned in front of and above the multiple planting units 34. The seedling tray 35 is capable of holding seedling mats. The seedling tray 35 is designed to supply seedlings from the seedling mats placed on it to each set of planting claws 43 (two planting claws 43 constitute one set of planting claws). The seedling tray 35 can hold a predetermined number of seedling mats for each set of planting claws 43 (i.e., each row). In this embodiment, the seedling tray 35 is, for example, a seedling tray for planting six rows. The seedling tray 35 can hold a predetermined number of seedling mats (for example, two) for each of the six sets of planting claws 43.

[0026] Specifically, the seedling tray 35 is configured to move laterally in a reciprocating motion (i.e., to slide laterally). In other words, the planting unit 14 is provided with a seedling tray lateral movement mechanism for moving the seedling tray 35 laterally. The seedling tray 35 is also configured to intermittently transport the seedling mat downwards vertically at the end of its reciprocating movement. In other words, the planting unit 14 is provided with a seedling vertical transport mechanism for transporting the seedling mat on the seedling tray 35 vertically. The seedling tray lateral movement mechanism and the seedling vertical transport mechanism may be known configurations.

[0027] The float 36 is pivotably mounted below the planting section 14. When the lower surface of the float 36 contacts the field surface, the planting position of the planting section 14 is stabilized relative to the field surface.

[0028] During the seedling planting operation, the seedling tray 35 is moved laterally from side to side by the seedling tray lateral feeding mechanism, and one seedling from the seedling mat near the seedling removal opening (located at the lower end of the seedling tray 35) is scraped off by the planting claws 43. This scraped-off seedling is then planted on the leveled field surface (field surface) by the float 36. When the seedling tray 35, which has been moved laterally by the seedling tray lateral feeding mechanism, reaches the left-right end of the movement, the seedling vertical feeding mechanism activates the seedling vertical feeding belt 38 (see Figure 2), and the seedling mat on the seedling tray 35 is transported in the seedling removal direction (downward and backward). When the seedling vertical feeding operation by the seedling vertical feeding belt 38 is completed and the seedling vertical feeding belt 38 stops, the seedling tray lateral feeding mechanism moves the seedling tray 35 laterally again toward the opposite left-right end of the movement. This operation is repeated during the seedling planting operation.

[0029] The spare seedling trays 37 are provided in pairs, one on each side, at the front of the vehicle body 11. The spare seedling trays 37 are positioned on the left and right outer sides of the bonnet 21. The spare seedling trays 37 can carry seedling boxes containing spare seedling mats. When the seedling mats on seedling tray 35 run out, the operator transfers the seedling mats from the spare seedling trays 37 to seedling tray 35.

[0030] The upper parts of a pair of spare seedling trays 37 are connected by a connecting frame 15 that extends vertically and horizontally. A housing 16 is provided in the center of the connecting frame 15 in the horizontal direction. A positioning antenna 61, an inertial measuring device 62, and a communication antenna 63 are arranged inside the housing 16.

[0031] The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that constitute the Global Navigation Satellite System (GNSS). The inertial measurement device 62 includes a 3-axis angular velocity sensor and a 3-directional acceleration sensor. The communication antenna 63 is an antenna for wireless communication with the mobile communication terminal 8. Wireless communication may utilize Wi-Fi (registered trademark) or other wireless LAN (Local Area Network) and Bluetooth (registered trademark) or other short-range wireless communication technologies. The rice transplanter 1 may also be equipped with a mobile communication antenna (not shown) for communication using a mobile phone line and the internet.

[0032] As shown in Figure 3, the rice transplanter 1 is equipped with a control unit 50. The control unit 50 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 55. The arithmetic unit is a processor or microprocessor, etc. The storage unit 55 is a main memory device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 55 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 55. The arithmetic unit reads various programs from the storage unit 55 and executes them.

[0033] Through the cooperation of the above hardware and software, the control unit 50 can be operated as an automatic driving control unit 51, a work device control unit 52, a specific unit 53, and a notification control unit 54. The control unit 50 may be a single piece of hardware, or it may be multiple pieces of hardware that can communicate with each other.

[0034] The functional units 51-54 of the control unit 50 may be implemented by having a program executed by the arithmetic unit, i.e., by software, as described above, but they may also be implemented by other methods. Each functional unit 51-54 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, each functional unit 51-54 may be implemented by hardware using a dedicated IC or the like. Furthermore, each functional unit 51-54 may be implemented using a combination of software and hardware. Also, each functional unit 51-54 is a conceptual component. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into one component.

[0035] In addition to the inertial measuring device 62 mentioned above, the control unit 50 is connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a planting clutch sensor 68, a remaining amount sensor 69, a seedling lateral feeding amount sensor 70, a seedling vertical removal amount sensor 71, and a notification unit 72.

[0036] The position acquisition unit 64 acquires the position of the rice transplanter 1, for example, as latitude and longitude information, using positioning signals received by the positioning antenna 61 from positioning satellites. The position acquisition unit 64 may, for example, receive positioning signals from a reference station (not shown) in an appropriate manner and then perform positioning using the known RTK-GNSS (Real Time Kinematic GNSS) method. The reference station is installed at a known location around the field. Alternatively, the position acquisition unit 64 may perform positioning using the DGNSS (Differential GNSS) method. Alternatively, the position acquisition unit 64 may acquire the position based on radio wave strength such as that of a wireless LAN, or by inertial navigation using the measurement results of the inertial measuring device 62.

[0037] The communication processing unit 65 transmits and receives data to and from the mobile communication terminal 8 via the communication antenna 63.

[0038] The vehicle speed sensor 66 detects the vehicle speed of the rice transplanter 1. The vehicle speed sensor 66 is installed on the axle of the front wheel 12 or the like. When the vehicle speed sensor 66 is installed on the axle of the front wheel 12, the vehicle speed sensor 66 generates pulses corresponding to the rotation of the axle of the front wheel 12. The detection result data obtained by the vehicle speed sensor 66 is output to the control unit 50.

[0039] The steering angle sensor 67 detects the steering angle of the front wheel 12. The steering angle sensor 67 is installed, for example, on the kingpin of the front wheel 12. However, the steering angle sensor 67 may also be installed on the steering wheel 26 or the like. The detection result data obtained by the steering angle sensor 67 is output to the control unit 50.

[0040] The planting clutch sensor 68 detects the position of the planting clutch lever 29. The detection result data obtained by the planting clutch sensor 68 is output to the control unit 50. Based on the detection result of the planting clutch sensor 68, the control unit 50 can determine whether or not the planting unit 14 is performing planting work. Alternatively, the control unit 50 may determine whether or not planting work is being performed based on the state of another component (for example, whether or not the PTO shaft 24 downstream of the planting clutch is rotating) instead of the planting clutch lever 29.

[0041] The remaining quantity sensor 69 detects the remaining quantity of seedlings placed on at least the seedling tray 35, out of the seedling tray 35 and the spare seedling tray 37. The remaining quantity sensor 69 may be a sensor that directly measures the remaining quantity or a sensor that measures it indirectly. The detection result data obtained by the remaining quantity sensor 69 is output to the control unit 50. The remaining quantity of seedlings may be, for example, the weight of the seedlings, in which case the remaining quantity sensor 69 may be a weight sensor. However, in this embodiment, the remaining quantity of seedlings is the number of seedling mats remaining placed on the seedling tray 35, etc. The remaining quantity sensor 69 may consist of, for example, a detection piece that moves in and out of an opening formed in the seedling tray 35, etc., which is the target of remaining quantity detection, and a sensor body whose contacts are switched based on the displacement of the detection piece. Multiple remaining quantity sensors 69 may be arranged on the seedling tray 35, etc. In this embodiment, it is preferable that the seedling tray 35 is a seedling tray for planting multiple rows, and that the remaining quantity of seedlings can be detected for each row.

[0042] The seedling lateral movement amount sensor 70 is provided to measure the amount of seedlings moved laterally by the reciprocating movement of the seedling tray 35 by the seedling tray lateral movement mechanism described above. The seedling lateral movement amount sensor 70 may be, for example, a contact-type sensor that detects whether or not the seedling tray 35 has reached one of the moving ends on the left or right side. The seedling lateral movement amount sensor 70 outputs a detection signal to the control unit 50. The seedling lateral movement amount sensor 70 may be configured to detect when the seedling tray 35 has reached both the left and right moving ends.

[0043] The seedling vertical removal amount sensor 71 is provided to measure the amount of seedlings removed vertically. The seedling vertical removal amount is the amount of seedlings removed vertically in one step (one plant) by the planting claw 43. In this embodiment, the seedling vertical removal amount varies depending on the position of the seedling removal plate (not shown) on which the seedling removal outlet is provided. The seedling vertical removal amount sensor 71 detects the position of the seedling removal plate and outputs the detected value to the control unit 50. The seedling vertical removal amount can be determined using a function or table that shows the relationship between the detected value and the seedling vertical removal amount, which is pre-stored in the storage unit 55. Note that if the seedling vertical removal amount is known to be a constant value, for example, by setting it, the seedling vertical removal amount sensor 71 does not need to be provided.

[0044] The notification unit 72 is a means for notifying the worker of matters to be communicated, such as warnings, under the control of the control unit 50. The notification unit 72 may be, for example, a sound generating means such as a buzzer, a voice generating means such as a speaker, a display means such as a monitor, a light emitting means such as a warning light, or a communication means for distributing emails, etc. The notification unit may not be provided on the rice transplanter 1 but on the portable communication terminal 8. Alternatively, the notification unit may be provided on the portable communication terminal 8 in addition to the rice transplanter 1. Furthermore, the notification unit is not an essential component of the work support system 100.

[0045] The automatic driving control unit 51 performs control related to the movement of the rice transplanter 1, such as vehicle speed control and steering control. Under the control of the automatic driving control unit 51, the rice transplanter 1 can autonomously move forward, backward, and turn. The automatic driving control unit 51 can also control the movement of the rice transplanter 1 in response to remote operation by an operator using a mobile communication terminal 8. Furthermore, the automatic driving control unit 51 can, for example, autonomously perform steering and change the vehicle speed in response to operator operation.

[0046] When autonomously changing the vehicle speed, the automatic driving control unit 51 controls the vehicle to bring the current vehicle speed detected by the vehicle speed sensor 66 closer to the target vehicle speed. Vehicle speed control is achieved by changing at least one of the following: the gear ratio of the transmission in the transmission case 23 or the rotational speed of the engine 22. Vehicle speed control also includes control to reduce the vehicle speed to zero so that the rice transplanter 1 stops.

[0047] When steering is performed autonomously, the automatic driving control unit 51 controls the steering angle detected by the steering angle sensor 67 to approach the target steering angle. The steering angle control is achieved, for example, by driving a steering actuator provided on the rotation axis of the steering wheel 26. Alternatively, the automatic driving control unit 51 may directly adjust the steering angle of the front wheels 12 instead of driving the steering actuator.

[0048] The work device control unit 52 controls the operation of the planting unit 14, which is an example of a work device, based on predetermined conditions. Specifically, the work device control unit 52 controls the lifting and lowering operation of the planting unit 14 and the planting operation.

[0049] The identification unit 53 identifies the quantity and fluctuation amount of the load on the work vehicle 1. The type of load may vary depending on the type of work vehicle 1. For example, if the work vehicle 1 is a rice transplanter, tractor, seeder, fertilizer spreader, or pesticide sprayer, the load may be consumables consumed during the work. Consumables may be, for example, seedlings, fertilizer, or pesticides. Also, for example, if the work vehicle 1 is a combine harvester, the load may be accumulated goods that accumulate in the vehicle during the work. Accumulated goods may be, for example, agricultural products such as grains. The identification unit 53 may also be a function provided by the control unit 80 (see Figure 4) of the mobile communication terminal 8, which will be described later.

[0050] In this embodiment, the work vehicle 1 is a rice transplanter, and the load is seedlings. Also, in this embodiment, the amount of load is the remaining amount of load, and the change in load is the amount of load consumed. For example, if the work vehicle is a combine harvester, the amount of load may be the accumulated amount of load, and the change in load may be the increase in load.

[0051] In this embodiment, the identification unit 53 identifies the remaining amount of seedlings in the rice transplanter 1 based on information obtained from the remaining amount sensor 69. The remaining amount of seedlings identified by the identification unit 53 may be, for example, the remaining weight of the seedlings or the number of remaining mats (sheets). The remaining amount of seedlings identified by the identification unit 53 may be, for example, the total remaining amount of seedlings loaded in the rice transplanter 1, or the remaining amount of seedlings per row.

[0052] In this embodiment, the identification unit 53 also identifies the amount of seedlings consumed during a predetermined period. The predetermined period is the period during which the work vehicle 1 travels along a unit route. The unit route will be described later. The amount of seedlings consumed may be, for example, the amount of reduction in the weight of seedlings during the predetermined period, if the remaining amount sensor 69 is configured to measure weight.

[0053] In this embodiment, the identification unit 53 determines the amount of seedlings consumed using a seedling lateral feeding amount sensor 70 and a seedling vertical removal amount sensor 71. The seedling lateral feeding amount can be expressed as the number of rows used in the seedling mat based on the information obtained from the seedling lateral feeding amount sensor 70. Here, the number of rows used in the seedling mat is defined as the number of rows of seedlings removed from the seedling mat when the seedling platform 35 moves from one end to the other. The number of rows used in the seedling mat is 2 rows per round trip of the seedling platform 35. Since the seedling lateral feeding amount sensor 70 can detect that the seedling platform 35 has made one round trip in the left-right direction, this is detected every time 2 rows of the seedling mat have been used.

[0054] For example, let's assume the amount of seedlings removed vertically, as determined from the information obtained by the seedling removal amount sensor 71, is 10 mm. Since the number of rows of seedling mats used per round trip of the seedling tray 35 is 2, this is detected every time 20 mm (= 10 mm × 2) of seedling mats are used vertically. The vertical dimension of each seedling mat is fixed. For example, if the vertical dimension is 580 mm / mat, then 0.036 mats (= 10 mm × 2 ÷ 580 mm / mat) of seedling mats will be used per row during one round trip of the seedling tray 35. The identification unit 53 detects and accumulates this every time 0.036 mats are used per row during a predetermined period. In this way, the identification unit 53 can determine the amount of seedling mats consumed per row during a predetermined period. In other words, if the amount of seedlings removed vertically from the seedling mat, the number of times the seedlings are moved vertically, and the vertical dimension of the seedling mat are known, the number of seedling mats consumed per row can be determined.

[0055] In this embodiment, since the seedling tray 35 is for planting six rows, the entire rice transplanter 1 uses 0.021 seedling mats (= 10 mm × 2 ÷ 580 mm / mat × 6) during one round trip of the seedling tray 35. By using (accumulating) this value, the identification unit 53 can determine the total amount of seedling mats consumed by the entire rice transplanter 1 over a predetermined period.

[0056] Furthermore, if the initial quantity of seedlings placed on the seedling tray 35 is known, it is possible to determine the remaining quantity of seedlings from the amount of seedlings consumed. For this reason, the remaining quantity sensor 69 is not an essential component. For example, if the system is configured so that the operator inputs the number of seedling mats placed on the seedling tray 35 before starting work, the initial quantity of seedlings placed on the seedling tray 35 can be determined.

[0057] The notification control unit 54 controls the notification unit 72. The notification control unit 54 causes the notification unit 72 to perform a notification operation when predetermined conditions are met. The predetermined conditions are met, for example, when it is determined that a situation has occurred in the rice transplanter 1 that warrants warning the operator. Detailed examples of the predetermined conditions will be described later. As mentioned above, the notification unit may be provided in the mobile communication terminal 8, so the notification control unit may be a function provided in the control unit 80 of the mobile communication terminal 8, which will be described later.

[0058] [1-2. Mobile communication devices] Figure 4 is a block diagram showing the configuration of a portable communication terminal 8 according to an embodiment of the present invention. As shown in Figure 4, the portable communication terminal 8 comprises a communication antenna 81, a communication processing unit 82, a display unit 83, an operation unit 84, and a control unit 80. The portable communication terminal 8 is a tablet terminal, a smartphone, or a laptop computer, etc. The portable communication terminal 8 performs various processes related to the automatic driving of the rice transplanter 1, but at least a portion of these processes can also be performed by the control unit 50 of the rice transplanter 1. Conversely, at least a portion of the various processes related to the automatic driving performed by the control unit 50 of the rice transplanter 1 can also be performed by the portable communication terminal 8. Furthermore, at least a portion of the functions of the portable communication terminal 8 may be executed by a server that can communicate with at least one of the rice transplanter 1 and the portable communication terminal 8 via a network such as the Internet.

[0059] The communication antenna 81 is an antenna for wireless communication with the rice transplanter 1. The communication processing unit 82 transmits and receives data with the rice transplanter 1 via the communication antenna 81.

[0060] As described above, since the rice transplanter 1 can connect to a mobile phone network, the mobile communication terminal 8 can connect to the mobile phone network via the rice transplanter 1, which is connected by wireless communication such as Wi-Fi (registered trademark). Therefore, for example, some of the information stored in the memory unit 55 of the control unit 50 of the rice transplanter 1, or the memory unit 801 of the control unit 80, can be stored on an external server. Note that the antenna for mobile communication (not shown) may be provided on the mobile communication terminal 8 instead of the rice transplanter 1.

[0061] The display unit 83 is a liquid crystal display or an organic EL (electroluminescence) display, etc. The display unit 83 can display, for example, information about the field, information about automatic driving, information about the settings of the rice transplanter 1, detection results from various sensors, and warning information. The display unit 83 may also be used as the notification unit described above.

[0062] The operation unit 84 includes at least one of a touch panel or hardware keys. The touch panel may be positioned on top of the display unit 83 and be configured to detect operation by the operator's fingers or the like. The hardware keys may be positioned on the side of the housing of the mobile communication terminal 8 or around the display unit 83 and be configured to detect pressure applied by the operator's fingers or the like. The operation unit 84 may also be configured to enable voice operation using the voice input unit (microphone) provided by the mobile communication terminal 8.

[0063] The control unit 80 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 801. The arithmetic unit is a processor or microprocessor, etc. The storage unit 801 is a main memory such as ROM and RAM. The storage unit 801 may further include an auxiliary storage device such as an HDD or SSD. Various programs and data are stored in the storage unit 801. The arithmetic unit reads various programs from the storage unit 801 and executes them.

[0064] Through the cooperation of the above hardware and software, the control unit 80 can be operated as a route creation unit 802, a stopping position setting unit 803, and a display control unit 804. The control unit 80 may be a single piece of hardware, or it may be multiple pieces of hardware that can communicate with each other.

[0065] Each of the functional units 802 to 804 provided by the control unit 80 may be implemented by having a program executed by the arithmetic unit, i.e., by software, as described above, but may also be implemented by other methods. Each of the functional units 802 to 804 may be implemented using, for example, an ASIC or FPGA. In other words, each of the functional units 802 to 804 may be implemented by hardware using a dedicated IC or the like. Furthermore, each of the functional units 802 to 804 may be implemented by using a combination of software and hardware. Each of the functional units 802 to 804 may also be a function provided by the rice transplanter 1.

[0066] The route creation unit 802 creates a travel route for the rice transplanter 1 to travel automatically within the field. Here, an example of an automatic travel route generated within the field is described. The automatic travel route is the route along which the rice transplanter 1 travels automatically, and includes a target route (work route) along which the rice transplanter 1 performs the task of planting seedlings.

[0067] Figure 5 is a schematic diagram showing the field 90 and the automated travel path 91. The field 90 includes a work area R1 and a headland area R2. The work area R1 is located in the center of the field 90 and is the area for performing work. The headland area R2 is located outside the work area R1 and is the area used to perform work appropriately in the work area R1. For example, the headland area R2 is used as the area for moving the rice transplanter 1 that has entered the field 90 to the starting position of planting work, the area for turning the rice transplanter 1, and the area for moving the rice transplanter 1 to the seedling replenishment point. Seedlings may ultimately be planted in the headland area R2 as well.

[0068] As a path for the rice transplanter 1 to travel automatically, for example, an automatic travel path 91 shown by a dashed line in Figure 5 is created by the path creation unit 802. The automatic travel path 91 consists of a plurality of straight paths 91a that travel straight through the work area R1 of the field 90, and turning paths 91b that connect adjacent straight paths 91a. In this embodiment, the straight paths 91a constitute the target path (work path). The target path may consist of straight paths 91a and turning paths 91b.

[0069] In Figure 5, the arrows shown on the automatic travel path 91 indicate the direction of travel of the rice transplanter 1. Also, in Figure 5, "S" indicates the starting position of the target path, and "G" indicates the ending position of the target path.

[0070] The straight path 91a is a straight path, parallel to one side (e.g., the shorter side) of the outline of the field 90 or work area R1. The spacing of the straight paths 91a is determined based on the work width, turning radius, and work interval, etc. The work interval is a length that indicates how much space should be left between adjacent work areas in the vehicle width direction (left-right direction). Information required by the path creation unit 802 when creating a path, such as the outlines of the field 90 and work area R1, and the work width, may be stored in, for example, the storage unit 801. Alternatively, the information required by the path creation unit 802 when creating a path may be stored in the storage unit 55. In this case, the path creation unit 802 may send a command to the control unit 50 requesting the transmission of that information.

[0071] The route creation unit 802 sets the straight route 91a of the automatic travel route 91 as a work route in which the planting unit 14 will perform seedling planting work. That is, the rice transplanter 1 will perform automatic travel work on the straight route 91a. On the other hand, the route creation unit 802 sets the turning route 91b as a route in which the planting unit 14 will not perform seedling planting work. The route creation unit 802 also sets the travel direction of the rice transplanter 1, target vehicle speed, target steering angle, etc. for each position in the automatic travel route 91. The route creation unit 802 stores the generated automatic travel route 91 in the storage unit 801. The automatic travel route 91 stored in the storage unit 801 can be displayed on the display unit 83.

[0072] Note that although the field 90 shown in Figure 5 is rectangular, it may have other shapes. Also, the automatic travel path 91 shown in Figure 5 is just one example. The path creation unit 802 can generate an automatic travel path 91 suitable for the field 90 based on different turning radii and working widths depending on the model of the rice transplanter 1 and planting unit 14, and different contours and sizes depending on the field 90. In addition, the turning path 91b may not be included in the automatic travel path and may be configured to be driven manually by an operator.

[0073] The control unit 80 of the mobile communication terminal 8 transmits information about the automatic travel route 91 stored in the storage unit 801 to the control unit 50, for example, in response to a transmission request command from the control unit 50 of the rice transplanter 1. The control unit 50 stores the received information about the automatic travel route 91 in the storage unit 55. Regarding the transmission of information about the automatic travel route 91, for example, the control unit 80 may transmit all the information about the automatic travel route 91 from the storage unit 801 to the control unit 50 all at once before the rice transplanter 1 starts automatic travel. Alternatively, the control unit 80 may divide the automatic travel route 91 into a plurality of segmented route information at predetermined distance intervals, and sequentially transmit a predetermined number of segmented route information corresponding to the route of the rice transplanter 1 from the storage unit 801 to the control unit 50 each time the travel distance of the rice transplanter 1 reaches a predetermined distance, starting from the stage before the rice transplanter 1 starts automatic travel.

[0074] The stopping position setting unit 803 is provided so that one of either one side of the field 90 or two opposing sides of the field 90 can be set as the stopping position for the work vehicle 1. In other words, one of either one side of the field 90 or two opposing sides including that side is set as the stopping position. In detail, both the side of the field 90 and the two opposing sides of the field are sides of the field 90 that intersect with the straight path 91a on which the automated driving operation is performed. In the example shown in Figure 5, the first side 90a or the second side 90b of the field 90, and the first side 90a and the second side 90b of the field 90 are the targets for setting the stopping position.

[0075] In this embodiment, the work vehicle 1 is a rice transplanter, and as an example, the stopping position is a replenishment position for replenishing the onboard supplies consumed during travel. Therefore, in this embodiment, the stopping position setting unit 803 is a replenishment position setting unit. The onboard supplies are, as an example, seedlings. The onboard supplies may also be, for example, chemicals, fertilizers, or fuel. The replenishment position is set, for example, on an edge where a replenishment access road 92 exists, such as a field ridge.

[0076] In the example shown in Figure 5, since the supply route 92 exists only on the first side 90a of the field 90, the first side 90a is selected as the supply location. In other words, in the example shown in Figure 5, one side of the field 90 is set as the supply location.

[0077] Figure 6 is a schematic diagram showing a field 90A different from that in Figure 5. In the example shown in Figure 6, since the supply routes 92 exist on the first side 90a and the second side 90b of field 90A, supply locations can be set on the first side 90a and the second side 90b. As an example, the first side 90a and the second side 90b are selected as supply locations. That is, two opposing sides of field 90A are set as supply locations. As another example, only the first side 90a or the second side 90b of field 90A may be set as supply locations. That is, even in the example shown in Figure 6, one side of field 90A may be set as a supply location.

[0078] Furthermore, if the work vehicle is a combine harvester, the parking position may be the discharge position for discharging crops such as grain. The discharge position should be set on the side where there is a discharge path, such as a levee.

[0079] The choice of which side of the field to select as the replenishment location may be determined, for example, by instructions from the operator. The operator's instructions can be input to the portable communication terminal 8 using the operation unit 84. Alternatively, the choice of which side of the field to select as the replenishment location may be automatically determined by the stopping position setting unit 803 using field information pre-stored in the memory unit 801. The replenishment location set by the stopping position setting unit 803 is transmitted to the control unit 50 of the rice transplanter 1, for example, in response to a transmission request command from the control unit 50, along with information on the automatic travel route 91.

[0080] The display control unit 804 determines the amount of automatic driving work possible on the remaining part of the target route based on the amount and change in the amount of loaded goods identified by the identification unit 53 described above. More specifically, the identification unit 53 identifies the amount and change in the amount of loaded goods on the work vehicle 1 when the work vehicle 1 travels a unit route. More specifically, the identification unit 53 identifies the remaining or accumulated amount of loaded goods and the amount of loaded goods consumed or increased per unit route each time the work vehicle 1 travels a unit route. In this embodiment, the identification unit 53 identifies the remaining amount of seedlings and the amount of seedlings consumed per unit route each time the rice transplanter 1 travels a unit route. The information identified by the identification unit 53 is transmitted from the rice transplanter 1 to the portable communication terminal 8.

[0081] As shown in Figures 5 and 6, the target path is composed of multiple straight paths 91a. For example, the target path includes multiple reciprocating work paths 93 that move back and forth in a direction that intersects with two opposing sides (first side 90a and second side 90b) of the fields 90 and 90A. The outbound path 93a of the reciprocating work path 93 is a straight path 91a assuming that the rice transplanter 1 moves from the first side 90a to the second side 90b. The return path 93b of the reciprocating work path 93 is a straight path 91a assuming that the rice transplanter 1 moves from the second side 90b to the first side 90a.

[0082] The unit route changes depending on the setting of the stopping position. In this embodiment, the unit route changes depending on the setting of the refueling position.

[0083] For example, in the example shown in Figure 5, as described above, one side of the field 90 (first side 90a) is set as the stopping position (supply position). When one side (first side 90a) is set as the stopping position, the unit route is the round-trip work route 93. By setting the unit route in this way, it becomes easier to provide guidance to workers that takes into account stopping positions such as supply positions.

[0084] In the example shown in Figure 5, the amount of change in the load on the vehicle, which is specified when the work vehicle 1 travels along a unit route, is the amount of change from the work start position on the outbound leg 93a of the round-trip work route 93 to the work end position on the return leg 93b of the round-trip work route 93. More specifically, the amount of seedlings consumed, which is specified for each unit route, is the amount consumed from the work start position on the outbound leg 93a of the round-trip work route 93 (e.g., position P1) to the work end position on the return leg 93b of the round-trip work route 93 (e.g., position P2).

[0085] Furthermore, in the example shown in Figure 6, as described above, two sides of the field 90 (first side 90a and second side 90b) are set as stopping positions (resupply positions). When two sides (first side 90a and second side 90b) are set as stopping positions, the unit paths are the outbound 93a and return 93b of the round-trip work path 93, respectively. That is, each straight path 91a is a unit path. By setting unit paths in this way, it becomes easier to provide guidance to workers that takes into account stopping positions such as resupply positions.

[0086] In the example shown in Figure 6, the amount of change in the load on the vehicle, when the work vehicle 1 travels a unit route, is the amount of change from the start position to the end position of the work on the outbound route 93a when the work vehicle 1 travels the outbound route 93a, and the amount of change from the start position to the end position of the work on the return route 93b when the work vehicle 1 travels the return route 93b. More specifically, the amount of seedlings consumed for each unit route is the amount consumed from the start position (e.g., position P1 in Figure 6) to the end position (e.g., P1a in Figure 6) on the outbound route 93a when the rice transplanter 1 travels the outbound route 93a. Also, the amount of seedlings consumed for each unit route is the amount consumed from the start position (e.g., position P2a in Figure 6) to the end position (e.g., P2 in Figure 6) on the return route 93b when the rice transplanter 1 travels the return route 93b.

[0087] The amount of autonomous driving work that can be performed should be an amount that allows the operator to recognize how much autonomous driving work can be performed on the remaining part of the target route. For example, the amount of autonomous driving work that can be performed may include at least one of the number of workable steps, the amount of workable time, and the amount of workable distance. The number of workable steps indicates how many steps of autonomous driving work can be performed ahead, with the work on a unit route considered as one step. The amount of workable time indicates the time (remaining time) for autonomous driving work that can be performed ahead. The amount of autonomous driving work that can be performed ahead indicates the distance (remaining distance) for autonomous driving work. Note that the required amount of autonomous driving work is an estimate using the actual performance of the most recent unit route.

[0088] For example, the number of workable steps can be obtained by dividing the remaining amount of seedling mats specified by the specific unit 53 (e.g., the amount remaining per row) by the amount of seedling mats consumed in a unit route specified by the specific unit 53 (e.g., the amount consumed per row). The workable time can be obtained by multiplying the number of workable steps by the time it took for the rice transplanter 1 to travel the unit route. The workable distance can be obtained by multiplying the number of workable steps by the distance of the unit route. These examples assume that the route length of subsequent unit routes is the same as the current (most recent) unit route.

[0089] As another example, the amount of autonomous driving work that can be performed may be determined based on the amount and variation of the load on the vehicle, as well as the length of at least the next unit route in subsequent unit routes. This allows for a more accurate estimation of the amount of autonomous driving work that can be performed. For example, when the autonomous driving route 91 is created by the route creation unit 802, the length of each straight path 91a that makes up the unit route may be known. In such a case, the length of each unit route in subsequent unit routes can be determined, and the amount of autonomous driving work that can be performed can be estimated using the determined route lengths.

[0090] When using the route length of the next unit route, for example, the number of possible work steps can be determined using the ratio of the route length of the next unit route to the route length of the current unit route. Also, for example, the possible work distance can be determined from the actual performance of the automatic driving work on the current unit route using the following formula (1). In the following formula (1), the unit route is the current unit route. The distance of the unit route can be determined, for example, from the change in the position of the rice transplanter 1 obtained from the position acquisition unit 64. The amount of remaining mat and the amount of consumed mat may be, for example, the amount per row or the amount for all rows. Working distance = Remaining mat amount / Amount of mat consumed per unit path × Distance of unit path (1) By determining the usable distance, the number of usable steps can be calculated using the route length of each unit route in subsequent runs.

[0091] The display control unit 804 can display the determined amount of possible automated driving work on the display unit 83. That is, the display control unit 804 can display the amount of possible automated driving work on the remaining part of the target route on the display unit 83 based on the amount and fluctuation of the loaded goods identified by the identification unit 53. This allows the operator to be appropriately informed of the amount of possible automated driving work on the remaining part of the target route, taking into account stopping positions for replenishment, unloading, etc. Each time the work vehicle 1 travels a unit route, the amount of future work that can be done can be displayed according to the most recent automated driving work performance, providing the operator with appropriate information. The operator can intentionally interrupt the work performed by the work vehicle 1 and move the work vehicle 1 to a stopping position for replenishment, etc., according to the amount of work that can be done displayed on the display unit 83. The movement of the work vehicle 1 to a stopping position may be done manually by the operator, or it may be done automatically by driving to the nearest stopping position.

[0092] The amount of automatic driving operations that can be displayed on the display unit 83 may be a numerical value, or it may be a graph or diagram obtained by processing a numerical value.

[0093] <2. Work support method> Next, a work support method using the work support system 100 configured as described above will be explained. The work support method is a method of supporting the automatic driving operation performed by the work vehicle 1 along a target route set in advance within the field. More specifically, the work support method is performed by the work support system 100. More specifically, the work support method is performed by the control units 50 and 80 of the work support system 100. If the above-mentioned stopping position setting unit 803 and display control unit 804 are provided in the control unit 50 of the rice transplanter 1, the work support method may be performed by the rice transplanter 1 (control unit 50). Also, if the above-mentioned specific unit 53 is provided in the control unit 80 of the mobile communication terminal 8, the work support method may be performed by the mobile communication terminal 8 (control unit 80).

[0094] Figure 7 is a flowchart illustrating the flow of a work support method according to an embodiment of the present invention. In Figure 7, it is assumed that the target route for the automated driving operation has already been generated.

[0095] In step S1, the stopping position setting unit 803 sets the stopping position. That is, the work support method involves setting either one of the following as the stopping position for the work vehicle 1: one side of the field 90 (first side 90a or second side 90b: see Figure 5, etc.) or two opposing sides of the field 90 (first side 90a and second side 90b). In this embodiment, the stopping position is the replenishment position. The setting of the replenishment position may be configured to be set in response to a command from the worker, or it may be configured to be set automatically by the control unit 80. In this embodiment, the set replenishment position is transmitted to the control unit 50 of the rice transplanter 1. Once the setting of the replenishment position is complete, the process proceeds to the next step S2.

[0096] In step S2, the automatic driving control unit 51 and the work device control unit 52 cause the rice transplanter 1 to start automatic driving. The automatic driving operation is started, for example, by operating a switch provided on the mobile communication terminal 8 or the rice transplanter 1. Once the automatic driving operation is started, the automatic driving control unit 51 controls the vehicle speed and steering angle based on various detection results from the position acquisition unit 64, etc. Also, while the rice transplanter 1 is automatically driving along the straight path 91a (see Figure 5, etc.), the work device control unit 52 lowers the planting unit 14 and switches the planting clutch from the disengaged state to the transmission state, causing the planting unit 14 to plant seedlings. Also, while the rice transplanter 1 is turning along the turning path 91b, the work device control unit 52 switches the planting clutch from the transmission state to the disengaged state, interrupting the seedling planting operation. Once the automatic driving operation is started, the process proceeds to the next step S3.

[0097] In step S3, the identification unit 53 monitors whether the rice transplanter 1 has completed traveling along a unit path determined according to the setting of the replenishment position. As described above, in the example of Figure 5 where the replenishment position is set on one side (first side 90a), the unit path is the round-trip work path 93. In the example of Figure 6 where the replenishment position is set on two sides (first side 90a and second side 90b), the unit path is a single straight path 91a. Whether the rice transplanter 1 has completed traveling along the unit path can be determined from the information obtained from the position acquisition unit 64. If it is determined that the rice transplanter 1 has completed traveling along the unit path (Yes in step S3), the process proceeds to the next step S4.

[0098] In step S4, the identification unit 53 identifies the remaining amount of seedlings in the rice transplanter 1. The remaining amount of seedlings is, as described above, for example, the number of seedling mats remaining per row. The identified remaining amount of seedlings is transmitted to the mobile communication terminal 8. Once the remaining amount of seedlings is identified, the process proceeds to the next step S5.

[0099] In step S5, the identification unit 53 identifies the amount of seedlings consumed in a unit path. As mentioned above, the amount of seedlings consumed is, for example, the number of seedling mats consumed per row. The identified amount of seedlings consumed is transmitted to the mobile communication terminal 8. Once the amount of seedlings consumed is identified, the process proceeds to the next step S6. Note that the order of the processing in step S4 and the processing in step S5 may be reversed.

[0100] In step S6, the display control unit 804 calculates the amount of automated driving work that can be performed on the remaining part of the target route. As mentioned above, the amount of automated driving work can be the number of possible work steps or the possible work distance. Once the amount of automated driving work can be determined, the process proceeds to the next step S7.

[0101] In step S7, the display control unit 804 performs display processing to display the calculated amount of possible automated driving work on the display unit 83. Figures 8 and 9 are schematic diagrams showing examples of the display of the amount of possible automated driving work.

[0102] Figure 8 shows, in detail, an example of the main screen during automated driving operation. The center of the main screen shows the field 90 and the work area R1 of field 90. The current position of the rice transplanter 1 is indicated by the rice transplanter icon 94. In the main screen, "S" indicates the starting position of the target route for automated driving operation, and "G" indicates the ending position of the target route. Note that the rectangular area with diagonal lines in Figure 8 is a touch-operable area. The layout of the touch-operable area may be changed as appropriate.

[0103] In the example shown in Figure 8, the display control unit 804 calculates the possible working distance as the amount of automatic driving possible and displays it on the screen. Specifically, above the field 90 on the screen, the "Workable Path" indicator, which means that it is a path that can be worked on, is displayed along with the possible working distance ("150m"). In addition, above the field 90 on the screen, the "Replenishment Path" indicator, which means that it is a path where work cannot be performed without replenishment, is displayed along with the distance of the replenishment path ("150m"). The display of the replenishment path makes it easier for the operator to recognize the timing of replenishment on the remaining part of the target path.

[0104] Furthermore, in the work area R1 on the screen, the remaining parts of the target route are shown with different display methods for workable routes and routes requiring replenishment. Specifically, workable routes are shown with black arrows, and routes requiring replenishment are shown with white arrows. The difference in display method is not limited to this; for example, it could be a difference in color. The arrows indicating workable routes and routes requiring replenishment are displayed corresponding to the magnitude (length) of each distance. That is, in the example shown in Figure 8, the workable distance is shown not only numerically but also using an image. Note that in the example shown in Figure 8, the number of arrows of a certain length changes depending on the magnitude of the distance. This is an example, and for example, the length of the arrows may change depending on the magnitude of the distance. Also, in Figure 8, the dashed arrows indicate completed routes, which are parts of the target route where work has already been completed.

[0105] The screen shown in Figure 8 displays a touch-sensitive virtual button (details button) 95 labeled "Details" next to a numerical value indicating the working distance. When the details button 95 is touched, the screen transitions to the screen shown in Figure 9. After transitioning to the screen shown in Figure 9, if the back button (virtual button) 95A shown on the screen of Figure 9 is touched, the screen display returns to the screen shown in Figure 8.

[0106] In the screen shown in Figure 9, some of the displays shown in Figure 8 are removed, and the number of workable steps, the workable distance, and the unit path distance are displayed. In the example shown in Figure 9, the number of workable steps is 1.5, the workable distance is 150m, and the unit path distance is 100m. The unit path distance is the distance of a unit path, and in the example shown in Figure 9, it is the distance of the round-trip work path. Since the number of workable steps is 1.5, the worker can recognize that the next step (unit path) can be performed without refueling, but the next step (unit path) after that will require refueling to complete the automatic driving operation. In addition, the worker can easily determine whether or not they can perform the next step (unit path) by comparing the unit path distance with the workable distance.

[0107] In the example shown in Figure 9, the maximum number of workable steps is displayed next to the number of workable steps, which is the number of workable steps when the maximum number of seedling mats (Full mat count) is placed on the seedling tray 35. Also, the maximum workable distance is displayed next to the workable distance when the maximum number of seedling mats is placed on the seedling tray 35. By displaying the maximum number of workable steps and the maximum workable distance in this way, it becomes easier to intuitively recognize how many seedling mats remain. In addition, the screen shown in Figure 9 displays the number of seedling mats consumed by the current (most recent) unit route, the Full mat count (number of mats), and the number of remaining mats (number of mats).

[0108] Note that in the examples shown in Figures 8 and 9, the amount of autonomous driving possible is displayed using two screens, but this is merely an example. For example, the amount of autonomous driving possible may be displayed using only one screen. Also, for example, the amount of autonomous driving possible may be displayed using three or more screens. Furthermore, the amount of autonomous driving possible may be displayed on one screen or multiple screens.

[0109] Returning to Figure 7, once the display control unit 804 completes the display processing of the amount of automatic driving work possible, the process proceeds to the next step S8. In this embodiment, once the display processing by the display control unit 804 is completed, this is notified to the control unit 50 of the rice transplanter 1.

[0110] In step S8, the identification unit 53 checks whether the automated driving operation has been completed for the entire target route. Whether the automated driving operation has been completed for all routes can be determined from the driving history of the rice transplanter 1 using the position acquisition unit 64. If it is determined that the automated driving operation has been completed for all routes (Yes in step S8), the work support method shown in Figure 7 ends. If it is determined that the automated driving operation has not been completed for all routes (No in step S8), the process returns to step S3 and the processing from step S3 onwards is repeated.

[0111] As can be seen from the above, the work support method of this embodiment includes identifying the quantity and fluctuation amount of cargo on the work vehicle 1 when the work vehicle 1 travels along a unit route that changes according to the setting of the stopping position, and displaying the amount of automated driving work that can be performed on the remaining part of the target route based on the identified quantity and fluctuation amount of cargo. With this configuration, the amount of work that can be performed on the remaining part of the target route can be appropriately communicated to the worker, taking into account stopping positions for replenishment, unloading, etc. Each time the work vehicle 1 travels along the unit route, the amount of work that can be performed in the future can be displayed according to the performance of the most recent automated driving work, and appropriate information can be provided to the worker. With this configuration, instead of simply displaying the location (predicted point) where stopping for replenishment, etc. is necessary, the number of possible work steps and the amount of work time can be displayed each time the work vehicle 1 travels along the unit route. As a result, the worker can easily recognize the timing of replenishment, etc., and the occurrence of situations such as running out of cargo along the work route can be suppressed. As a result, a decrease in work efficiency can be suppressed.

[0112] Furthermore, the work support method of this embodiment may be implemented by having a computer in at least one of the rice transplanter 1 and the portable communication terminal 8 execute a program. The program may be configured to function as a means for the computer to set one of the two sides of the field, either one side of the field or two opposing sides of the field, as the stopping position for the work vehicle 1; to identify the amount and amount of change of the load on the work vehicle 1 when the work vehicle 1 travels along a unit path that changes according to the setting of the stopping position; and to display the amount of automatic driving work that can be performed on the remaining part of the target path based on the identified amount and amount of change of the load. Note that the program that causes the computer to execute the work support method may consist of one or more parts.

[0113] In the above work support method, the amount and variation of the load on the work vehicle 1 are identified each time the work vehicle 1 travels a unit route, and the amount of autonomous driving possible for the remaining part of the target route is calculated and displayed based on the identified amount and variation of the load. However, this is an example, and the identification of the amount and variation of the load, and the display of the amount of autonomous driving possible, may be performed not each time the work vehicle 1 travels a unit route, but each time the unit route is traveled a predetermined number of times (more than once).

[0114] <3. Variant> [3-1. First variation] Figure 10 is a flowchart illustrating the flow of the work support method in the first modified example. The flowchart in Figure 10 is generally the same as the flowchart in Figure 7, with some differences. The explanation of the same parts will be omitted below, and the explanation will focus on the differences. In the first modified example (Figure 10), step S10 is added between steps S5 and S6 in the flowchart in Figure 7, which is a difference from the configuration shown in Figure 7. Furthermore, step S11 is added in response to the addition of step S10, which is another difference from the configuration shown in Figure 7.

[0115] In step S10, which follows step S5, the automatic driving control unit 51 determines whether or not there will be a shortage of seedlings in the next unit route. For example, if the remaining amount of seedlings identified in step S4 is less than the amount of seedlings consumed per unit route in the current (most recent) route, as identified in step S5, it is determined that there will be a shortage of seedlings in the next unit route. Alternatively, the ratio of the route length of the next unit route to the route length of the current unit route may be considered when determining whether or not there will be a shortage of seedlings. If it is determined that there will be no shortage of seedlings (No in step S10), the process proceeds to step S6 described above, and the processing from step S6 onwards is carried out. On the other hand, if it is determined that there will be a shortage of seedlings (Yes in step S10), the process proceeds to step S11.

[0116] In step S11, the automatic driving control unit 51 and the work device control unit 52 perform a process to stop the automatic driving operation of the rice transplanter 1. The process to stop the automatic driving operation is, for example, stopping the automatic driving. The work device control unit 52 appropriately performs a process to stop the operation in response to the stopping of the automatic driving. Alternatively, the process to stop the automatic driving operation may be, for example, a process to switch from a mode for performing automatic driving to a mode for automatic driving toward a refueling location. Once the process to stop the automatic driving operation is performed, the work support method shown in Figure 10 is terminated.

[0117] The processing in step S10 may be configured to take place between steps S7 and S8 in Figure 7.

[0118] In the first modified example, the system is configured to stop the automated driving operation if it is determined that the remaining amount of cargo on board will be insufficient for the next unit route after the current unit route has been completed. According to the configuration of the first modified example, the possibility of the next automated driving operation starting even though replenishment or other measures are necessary can be reduced.

[0119] [3-2. Second Variation] Figure 11 is a flowchart illustrating the flow of the work support method in the second modified example. The flowchart in Figure 11 is generally the same as the flowcharts in Figures 7 and 10, with some differences. The explanation of the same parts will be omitted below, and the explanation will focus on the differences. In the second modified example (Figure 11), step S12 is performed instead of step S11, which is performed in the flowchart in Figure 10. Also, the flow after processing in step S12 differs from the flowchart in Figure 10.

[0120] In the second modified example, the process in step S10 may be performed by the notification control unit 54. Also, if it is determined that there is a shortage of seedlings (Yes in step S10), the process proceeds to step S12.

[0121] In step S12, the notification control unit 54 controls the notification unit 72 to issue a notification. For example, an audio or buzzer sound is emitted to notify that there is a shortage of seedlings. Alternatively, for example, communication may be used to notify the mobile communication terminal 8 that there is a shortage of seedlings, and this may be displayed on the display unit 83 of the mobile communication terminal 8. Once the notification process is complete, the process proceeds to step S6 described above, and the processes from step S6 onward are carried out.

[0122] Furthermore, the processing in steps S10 and S12 may be configured to take place between steps S7 and S8 in Figure 7 described above.

[0123] In the second modified configuration, if it is determined that the remaining amount of cargo will be insufficient for the next unit route after the current unit route has been completed, the system is configured to notify the system of the insufficient cargo amount. According to the configuration of the second modified configuration, the possibility of the next automated driving operation starting even though replenishment or other measures are necessary can be reduced.

[0124] [3-3. Third Variation] Figure 12 illustrates a field 90B to which the third modified work support method is applied. In Figure 12, the dashed line indicates the automatic travel path 91. The arrows shown on the automatic travel path 91 indicate the direction of travel of the rice transplanter 1. In Figure 12, "S" indicates the starting position of the target path, and "G" indicates the ending position of the target path.

[0125] The field 90B shown in Figure 12 is an irregularly shaped field, different from a rectangular one. More specifically, field 90B is trapezoidal. The work area R1 set in field 90B is also trapezoidal to match the shape of field 90B. The straight paths 91a set in the trapezoidal work area R1 extend in directions parallel to two sides 96a and 96b of the work area R1 that are parallel to each other. Multiple straight paths 91a are set in the work area R1, and the length of the straight paths 91a decreases as you move from the first work area side 96a to the second work area side 96b. The target path has its starting position set on the straight path 91a closest to the first work area side 96a and its ending position set on the straight path 91a closest to the second work area side 96b.

[0126] In other words, in this modified example, the target route (work route) where the automated driving operation is performed is set so that the length of each unit route becomes shorter as the travel order progresses. With this configuration, the amount of seedlings consumed in the next unit route is usually less than the amount consumed in the most recent unit route. Therefore, by determining whether or not there will be a shortage of seedlings based on the actual amount of seedlings consumed in the most recent unit route, it is possible to determine whether or not there will be a shortage of seedlings in the next unit route with a margin of safety. As a result, even if the amount of seedlings consumed in the actual automated driving operation in the next unit route is slightly more than expected, the possibility of running out of seedlings midway through the unit route can be reduced.

[0127] [3-4. Fourth variation] Figure 13 shows a modified example of a screen display for work support. As shown in Figure 13, the system may be configured to display predicted locations 98 where stopping for replenishment, etc., is necessary, in conjunction with the display of the amount of autonomous driving work that can be performed. In other words, each time the work vehicle 1 travels a unit route, the system may be configured to determine predicted locations where the work vehicle should replenish or unload its cargo, based on the specified amount and fluctuation of the cargo, as well as the remaining route length of the work route on which autonomous driving work is performed. The determined predicted locations may then be displayed on the display unit 83. The predicted locations 98 are reviewed sequentially each time the unit route is traveled, and the appropriate predicted locations 98 can be notified to the worker.

[0128] <4. Things to keep in mind> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, the multiple embodiments and modifications shown herein may be combined as possible.

[0129] For example, at least some of the functions performed by the control unit 50 of the work vehicle 1 as described above may be functions performed by the control unit 80 of the mobile communication terminal 8. Conversely, at least some of the functions performed by the control unit 80 of the mobile communication terminal 8 as described above may be functions performed by the control unit 50 of the work vehicle 1. Furthermore, at least some of the functions performed by the control unit 50 of the work vehicle 1 and the control unit 80 of the mobile communication terminal 8 as described above may be functions performed by the cooperation of the two control units 50 and 80.

[0130] Furthermore, the present invention can also be applied to systems and methods that support the automated driving operations of work vehicles driven by electric motors instead of engines.

[0131] <5. Addendum> An exemplary work support method of the present invention is a work support method that supports an automated driving operation performed by a work vehicle along a predetermined target route within a field, and may be configured (first configuration) to set one of the sides of the field and two opposing sides of the field as the stopping position for the work vehicle, to identify the amount and amount of change of the load on the work vehicle when the work vehicle travels along a unit route that changes according to the setting of the stopping position, and to display the amount of the automated driving operation that can be performed on the remaining route of the target route based on the identified amount and amount of change of the load.

[0132] In the first configuration described above, the amount of possible automated driving operations may include at least one of the number of possible work steps, the possible work time, and the possible work distance (second configuration).

[0133] In the second configuration described above, the amount of the automated driving operation that can be performed may be determined based on the amount and variation of the onboard goods, as well as the length of at least the next unit route among the unit routes from the next time onward (third configuration).

[0134] In any of the first to third configurations described above, the target path may include a plurality of reciprocating work paths that move back and forth in a direction intersecting the two sides, and when one side is set to the stopping position, the unit path may be the reciprocating work path (fourth configuration).

[0135] In the fourth configuration described above, if one side is set to the stopping position, the amount of movement of the vehicle-mounted object may be the amount of movement from the work start position on the outward journey of the round-trip work path to the work end position on the return journey of the round-trip work path (fifth configuration).

[0136] In any of the first to fifth configurations described above, the target path may include a plurality of reciprocating work paths that move back and forth in a direction intersecting the two sides, and when the two sides are set to the stopping position, the unit path may be the outbound and return paths of the reciprocating work path, respectively (sixth configuration).

[0137] In the sixth configuration described above, when the two sides are set to the stopping position, the amount of movement of the loaded object may be the amount of movement from the work start position to the work end position on the outward journey when the work vehicle is traveling the outward journey, and the amount of movement from the work start position to the work end position on the return journey when the work vehicle is traveling the return journey (seventh configuration).

[0138] In any of the above configurations 1 to 7, the stopping position may be a replenishment position for replenishing the onboard goods consumed during driving, the amount of the onboard goods may be the remaining amount of the onboard goods, and the amount of change in the onboard goods may be the amount of the onboard goods consumed (configuration 8).

[0139] In any of the above configurations 1 to 8, the stopping position is a replenishment position for replenishing the onboard goods consumed during travel, the amount of the onboard goods is the remaining amount of the onboard goods, the amount of change in the onboard goods is the amount of the onboard goods consumed, and the automatic driving operation may be stopped if it is determined that the remaining amount of the onboard goods will be insufficient for the next unit route after traveling the unit route (configuration 9).

[0140] In any of the above configurations 1 to 9, the stopping position is a replenishment position for replenishing the onboard goods consumed during travel, the quantity of the onboard goods is the remaining quantity of the onboard goods, the amount of change in the onboard goods is the amount of the onboard goods consumed, and if it is determined that the remaining quantity of the onboard goods will be insufficient for the next unit route after traveling the unit route, the configuration may be configured to notify the driver of the shortage in the remaining quantity of the onboard goods (configuration 10).

[0141] In any of the above configurations 1 to 10, the field may be an irregularly shaped field different from a rectangle, and the target path may be configured such that the length of the unit path becomes shorter as the order of travel progresses (configuration 11). [Explanation of Symbols]

[0142] 1. Rice transplanter (work vehicle) 53...Specific section 90, 90A, 90B...fields 90a... First side of the field 90b...Second side of the field 93...Round-trip work route 93a... Outbound journey 93b...Return trip 100...Work support system 803...Stopping position setting section 804...Display Control Unit

Claims

1. A work support method that assists automated driving operations performed by work vehicles within a field, The aforementioned automated driving operation route is divided into multiple unit routes, The work vehicle travels along at least one of the aforementioned unit routes, Based on the results of the aforementioned unit route, the amount of work that can be done in the automated driving operation is calculated and displayed. A work support method that includes the following features.

2. The work support method according to claim 1, wherein the amount of work that can be done is calculated and displayed each time the work vehicle travels along the unit route.

3. The work support method according to claim 1 or 2, wherein the amount of work that can be done is calculated based on the amount of cargo loaded onto the work vehicle and the amount of variation of the cargo.

4. The work support method according to claim 1 or 2, wherein the amount of work that can be done includes at least one of the number of workable steps and the workable distance.

5. The work support method according to claim 1 or 2, wherein the unit route changes according to the setting of the stopping position of the work vehicle.

6. The work support method according to claim 5, wherein the stopping position is set by selecting an edge that defines the field.

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