Agricultural machinery, agricultural work support systems

Abstract

To improve working efficiency when manually operating an agricultural machine to perform agricultural work with a working machine, after performing the agricultural work with the working machine by automatically operating the agricultural machine in a field.SOLUTION: An agricultural machine includes a traveling car body capable of traveling, a positioning device for detecting a position of the traveling car body, a lifting / lowering device for liftably / lowerably connecting the working device to the traveling car body, and an automatic control part executing automatic operation of traveling the traveling car body to perform agricultural work on a field with the working device based on a preliminarily created traveling route and the position of the traveling car body detected by the positioning device. The lifting / lowering device positions the working device during execution of the automatic operation, at a prescribed working position in the height direction for the agricultural work. The automatic control part stops the traveling car body or the working device short of an unworked place on the field, and even when the automatic operation is finished, maintains the positioning state of the working device at the working position by the lifting / lowering device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an agricultural machine that performs agricultural work while traveling in a farm field, and an agricultural work support system that supports the agricultural work performed by the agricultural machine. [Background technology]

[0002] Patent Document 1 discloses a technology that supports agricultural work with a working implement connected to an agricultural machine while the agricultural machine is driven autonomously in a field. The control unit of the agricultural machine disclosed in Patent Document 1 drives the body of the agricultural machine automatically (autonomous driving) along a work path created by a work path creation unit, and performs agricultural work in a work area of ​​the field with a working implement (working machine) connected to the body. The control unit also calculates the claw shaft position of the working implement while the body is traveling, and when the claw shaft position enters the work area of ​​the field, lowers the working implement by a lifting device (lifting actuator) to position it at a work position where agricultural work is performed, and when the claw shaft position enters a non-work area of ​​the field, raises the working implement by the lifting device to position it at a retreat position where agricultural work is not performed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-135995 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the central part of the field, the agricultural machine is driven automatically to perform agricultural work using the working device, but in the area around the central part of the field, in order to avoid the agricultural machine or the working device colliding with the ridges, it is common to drive the agricultural machine manually to perform agricultural work using the working device. As in Patent Document 1, if the agricultural machine performs agricultural work in the central part of the field using automatic driving and the working device is moved to a position where agricultural work cannot be performed when the automatic driving ends by using the lifting device, when the agricultural machine performs agricultural work in the area around the central part of the field using manual driving after that, the working device must be moved to a position where agricultural work can be performed by the lifting device, and the agricultural machine cannot be manually driven to start agricultural work immediately, resulting in a decrease in work efficiency. In addition, if the working device is a type of device that performs agricultural work by contacting the soil of the field, if the working device once moves away from the soil and then comes into contact with it, a trace of the working device will remain in the soil, resulting in a poor finish of the agricultural work. If the agricultural machine is manually driven backward and then forward, and farm work is resumed using the working device, the above-mentioned traces will disappear, but the number of manual operation steps will increase, reducing work efficiency.

[0005] In view of the above problems, the present invention aims to improve work efficiency when an agricultural machine is automatically operated in a field to perform agricultural work using the working device, and then the agricultural machine is manually operated to perform agricultural work using the working device. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points. An agricultural machine according to one aspect of the present invention includes a travelling body capable of running, a positioning device that detects the position of the travelling body, a lifting device that connects a working device to the travelling body so that the working device can be raised and lowered, and an automatic control unit that performs automatic driving to run the travelling body and perform agricultural work in a field using the working device based on a travel route that has been created in advance and the position of the travelling body detected by the positioning device; A detection device that detects a distance from the traveling vehicle body to an edge of the field in a traveling direction of the traveling vehicle body;The lifting device positions the working device at a predetermined working position in a height direction where the agricultural work is performed during the automatic operation, and the automatic control unit When the distance detected by the detection device becomes equal to or less than a predetermined threshold during the execution of the autonomous driving, the traveling vehicle body is stopped from traveling, The traveling vehicle body or the working device is stopped before an unworked portion of the field, and the automatic driving is Along the way end death, The lifting device maintains the working device in the working position.

[0007] The agricultural work support system according to one aspect of the present invention includes a positioning device that detects the position of an agricultural machine, a lifting device that connects the working implement to the agricultural machine so that the working implement can be raised and lowered, and an automatic control unit that performs automatic driving by traveling the agricultural machine and performing agricultural work in a field using the working implement based on a previously created traveling route and the position of the agricultural machine detected by the positioning device; a detection device that detects a distance from the agricultural machine to an edge of the field in a traveling direction of the agricultural machine; The lifting device positions the working device at a predetermined working position in a height direction where the agricultural work is performed during the automatic operation, and the automatic control unit When the distance detected by the detection device becomes equal to or less than a predetermined threshold during the execution of the automatic driving, the agricultural machine stops traveling, The agricultural machine or the working device is stopped before an unworked portion of the field, and the automatic operation is started. Along the way end death, The lifting device maintains the working device in the working position.

[0008] In one aspect of the present invention, the automatic control unit, during the execution of the automatic driving, before the traveling vehicle body and the working device reach an end position of the traveling route, When the distance is less than or equal to the threshold hand 、 The automatic operation is terminated midway. When The lifting device maintains the working device in the working position.

[0009] In one aspect of the present invention, the travel route includes a plurality of work routes in which the agricultural work is performed by the work device while the traveling vehicle body is traveling, and the automatic control unit: When the distance is equal to or less than the threshold, The automatic operation is terminated midway. WhenIf the reference route based on which the traveling vehicle body was traveling before the intermediate termination is the final work route of the traveling route, the positioning state of the work device at the work position by the lifting device is maintained.

[0010] In another aspect of the present invention, The automatic control unit causes the traveling vehicle body to travel in the automatic driving mode based on a plurality of the work routes and the position of the traveling vehicle body, and performs the agricultural work with the work device in the center of the field and in a headland that is outside the center and inside the contour of the field, and when the automatic driving is terminated midway, if the reference route is the final work route for performing the agricultural work on the headland, maintains a positioning state of the work device at the work position by the lifting device. .

[0011] In one aspect of the present invention, the automatic control unit controls the automatic driving On the way end did The lifting device maintains the working device at the work position until the traveling vehicle body and the working device perform the farm work again through manual operation thereafter.

[0012] In one aspect of the present invention, the automatic control unit controls the automatic driving. Along the way The farm work carried out before the end of the work included leveling the field. Farming If it is work To, The automated driving Along the way Finished When The lifting device is used to maintain the working device at the working position. Hold do.

[0013] In one aspect of the present invention, the automatic control unit controls the traveling of the traveling vehicle body by the automatic driving. of When the agricultural machine is stopped, if the stopping position is not in front of an unworked portion of the field, the working implement is positioned by the lifting device at a predetermined non-working position where no agricultural work is performed.

[0014] In addition, in one aspect of the present invention, the agricultural machine and the farm work support system include a notification unit that notifies the position of the work implement in a height direction.

[0015] In one aspect of the present invention, the automatic control unit is configured to control the work device to perform land leveling of the field. The above Doing farm work Work In the case of a commercial equipment, the lifting device memorandum Lower the work device and memorandumThe farm equipment is brought into contact with the soil of the field. Recording The lifting device is used to position the workpiece at the work position where the work is carried out. memorandum Lift the work equipment and memorandum The farm equipment is separated from the soil of the field. Recording The robot is placed in a predetermined non-working position where no work is being performed.

[0017] In one aspect of the present invention, the automatic control unit controls the automatic operation. Along the way If agricultural work that requires lifting or lowering the work implement was performed before the end of the operation To, The automated driving Along the way Finished When The lifting device maintains the working device at the working position. Hold do.

[0018] Further, in one aspect of the present invention, the work device includes a ground leveling device for the field. Farming work The tilling work Do Tillage equipment Includes Be There are. Effect of the Invention

[0019] According to the present invention, when an agricultural machine is automatically driven in a field to perform agricultural work using the working device, and then the agricultural machine is manually driven to perform agricultural work using the working device, it is possible to improve work efficiency. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a configuration diagram of an agricultural work support system. [Diagram 2] FIG. [Diagram 3] FIG. 13 is a diagram illustrating an example of a home screen. [Figure 4] FIG. 13 is a diagram illustrating an example of a work selection screen. [Figure 5A] FIG. 13 is a diagram showing an example of a vehicle confirmation screen. [Figure 5B] FIG. 13 is a diagram showing an example of a device selection screen. [Figure 5C]FIG. 13 is a diagram showing an example of an apparatus confirmation screen. [Figure 6] FIG. 13 is a diagram showing an example of a field selection screen. [Figure 7] FIG. 13 is a diagram showing an example of a route creation screen. [Figure 8A] FIG. 13 is a diagram showing an example of a route creation 2 screen. [Figure 8B] FIG. 13 is a diagram showing an example of a route creation 2 screen. [Figure 9A] FIG. 2 is a diagram showing an example of a travel route. [Figure 9B] FIG. 2 is a diagram showing an example of a travel route and a manual driving route. [Figure 10A] FIG. 4 is a diagram showing an example of a driving control screen. [Figure 10B] FIG. 13 is a diagram showing an example of a notification displayed on a driving control screen. [Figure 10C] FIG. 13 is a diagram showing an example of a notification displayed on a driving control screen. [Figure 11A] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 11B] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 11C] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 11D] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 12A] 4 is a flowchart showing an example of an operation of the agricultural machine. [Figure 12B] 12B is a flowchart showing the continuation of FIG. 12A. [Figure 13A] FIG. 1 is a diagram showing an example of a state of an implement and a farm field after conventional automatic driving is terminated midway; [Figure 13B] FIG. 1 is a diagram showing an example of a state of a working implement and a farm field after agricultural work is resumed under conventional manual operation. [Figure 14A] FIG. 13 is a diagram showing an example of the state of the implement and the field after automatic driving has been terminated midway; [Figure 14B] 11 is a diagram showing an example of the state of the working implement and the farm field after agricultural work is resumed under manual operation; FIG. [Figure 15]FIG. 13 is a diagram showing an example of a state of the implement and the field after automatic driving is completed. [Figure 16] 10 is a flowchart showing another example of the operation of the agricultural machine. [Figure 17] 10 is a flowchart showing another example of the operation of the agricultural machine. [Figure 18] 10 is a flowchart showing another example of the operation of the agricultural machine. [Figure 19A] FIG. 4 is a diagram showing an example of a non-working position of the tilling implement. [Figure 19B] FIG. 4 is a diagram showing an example of an operating position of a tilling implement. [Figure 20] 1A and 1B are diagrams illustrating an example of an operating position and a non-operating position of a spraying device. [Figure 21A] FIG. 4 is a diagram showing an example of a non-working position of the rough tillage device. [Figure 21B] FIG. 2 is a diagram showing an example of a working position of a rough tillage device. [Figure 22] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0022] First, the agricultural machine 1 of this embodiment will be described. Fig. 22 is a side view of the agricultural machine 1. The agricultural machine 1 is composed of a tractor. Note that the agricultural machine 1 is not limited to a tractor, and may be composed of other agricultural machines such as a rice transplanter or a combine harvester, or a work vehicle other than a tractor that performs agricultural work.

[0023] The agricultural machine 1 includes a traveling body 3, a prime mover 4, a transmission 5, and a traveling device 7. The front wheels 7F of the traveling device 7 may be of a tire type or a crawler type. The rear wheels 7R of the traveling device 7 may also be of a tire type or a crawler type. The prime mover 4 is configured with a diesel engine or an electric motor. In this embodiment, the prime mover 4 is configured with a diesel engine. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can switch 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, so that the traveling body 3 travels forward and backward. In FIG. 22, the left side is the front of the traveling body 3, and the right side is the rear of the traveling body 3. In FIG. 22, the back side is the right side of the traveling body 3, and the front side is the left side of the traveling body 3.

[0024] The traveling body 3 is provided with a cabin 9. A driver's seat 10 is provided inside the cabin 9. A lifting device 8 constituted by a three-point linkage mechanism or the like is provided at the rear of the traveling body 3. A working device 2 for performing agricultural 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 and the traveling body 3 (agricultural machine 1) are connected to each other, and the traveling body 3 can tow the working device 2.

[0025] The working implement 2 performs ground work on the farm field. For example, the working implement 2 includes a tilling implement (rotary tiller) for tilling the farm field, a rough tilling implement (stubble cultivator) for rough tilling, a tilling implement (drive harrow) for tilling, a spraying implement for spraying fertilizer or pesticide, a sowing implement for sowing seeds, a transplanting implement for transplanting seedlings, and a harvesting implement for harvesting.

[0026] Next, the agricultural work support system 100 of this embodiment will be described. Fig. 1 is a configuration diagram of the agricultural work support system 100. The agricultural work support system 100 includes an agricultural work support device 50. The agricultural work support system 100 and the agricultural work support device 50 support agricultural work performed by a work device 2 while an agricultural machine 1 is traveling in a field.

[0027] The agricultural machine 1 is equipped with a control device 60, an operation device 62, a prime mover 4, a transmission 5, a braking device 6, a steering device 29, a lifting device 8, a positioning device 40, an alarm device 63, and a detection device 64. An in-vehicle network N1 such as a LAN or CAN is also constructed in the agricultural machine 1. The control device 60, the operation device 62, the positioning device 40, the alarm device 63, and the detection device 64 are connected to the in-vehicle network N1. Each of these parts provided in the agricultural machine 1 is included in the farm work support system 100.

[0028] The control device 60 is composed of an electric circuit including a CPU (or a microcomputer) and a memory. The memory of the control device 60 includes a volatile memory and a non-volatile memory. The control device 60 controls the operation of each part of the agricultural machine 1. The control device 60 is provided with an automatic control unit 61 that controls the traveling of the agricultural machine 1 and the operation of the work device 2. The operation device 62 is composed of switches, levers, pedals, other keys, etc. that can be operated by a user (operator) such as a driver seated in the driver's seat 10 or a worker located in the vicinity of the agricultural machine 1. The operation device 62 includes a mode switch 65. The mode switch 65 is operated to switch the mode of the agricultural machine 1.

[0029] The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 is connected to a control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, an appropriate number of control valves 37 are provided according to the number of hydraulic devices, such as hydraulic clutches or hydraulic cylinders, provided in the transmission 5.

[0030] The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal transmitted from a control device 60. The control valve 38 is supplied with hydraulic oil discharged from the hydraulic pump 33. The automatic control unit 61 electrically controls the switching position and opening degree of the control valve 38 to operate the braking device 6 and apply the brakes to the traveling vehicle body 3.

[0031] The automatic control unit 61 electrically controls the switching position (opening) of the control valve 37 to control the drive of the transmission 5. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the traveling vehicle body 3 to travel forward and backward. In addition, for example, when the working device 2 performs ground work, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

[0032] The automatic control unit 61 also communicates with the work device 2 via the in-vehicle network N1. Specifically, the work device 2 includes a control unit and a communication unit (not shown). The automatic control unit 61 transmits a work command to the work device 2 via the in-vehicle network N1. When the control unit of the work device 2 receives the work command via the communication unit, it controls the operation of each unit of the work device 2 based on the work command to perform agricultural work (ground work). The control unit of the work device 2 also transmits information or data indicating the work status, etc. to the control device 60 via the in-vehicle network N1 by the communication unit. The automatic control unit 61 detects the work status, etc. of the work device 2 based on the information or data received from the work device 2 via the in-vehicle network N1.

[0033] In addition, there is also a working device 2 that does not have a control unit and a communication unit. In this type of working device 2, The automatic control unit 61 does not communicate with the working device 2 via the in-vehicle network N1, but controls the operation of the working device 2 and detects the working state of the working device 2 by raising and lowering the working device 2 using the lifting device 8 as described below and changing the position of the working device 2.

[0034] The steering device 29 has a handle (steering wheel) 30, a steering shaft (rotating shaft) 31, and an assist mechanism (power steering mechanism) 32. The handle 30 is provided inside the cabin 9 (FIG. 22). The steering shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists steering by the handle 30.

[0035] The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. More specifically, the control valve 34 is configured as a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening degree of the control valve 34 to adjust the hydraulic pressure supplied to the steering cylinder 35, thereby extending and retracting the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm 39 that changes the direction of the front wheels 7F.

[0036] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operating state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 expands and contracts to the left or right of the traveling vehicle body 3 according to the switching position and opening degree of the control valve 34. The expansion and contraction movement of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the above-mentioned steering device 29 is an example, and is not limited to the above-mentioned configuration.

[0037] The traveling body 3 of the agricultural machine 1 can be manually steered by manually operating the steering wheel 30, and can be automatically steered by the automatic control unit 61. The traveling body 3 can be driven and stopped by operating the transmission 5 or the brake unit 6 in response to manual operation of an accelerator member or a brake pedal (both not shown) provided on the operation device 62. The traveling body 3 can be automatically driven and stopped in response to control of the transmission 5 and the brake unit 6 by the automatic control unit 61. That is, the agricultural machine 1 is capable of manual driving in which the user (driver) performs driving and steering operations, automatic driving in which the automatic control unit 61 automatically performs driving and steering, and autosteer control (also called automatic steering control or semi-automatic driving) in which the automatic control unit 61 automatically performs steering and the user performs driving operations.

[0038] FIG. 2 is a perspective view of the lifting device 8. The lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear part of a case (transmission case) that houses the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (lifts and lowers) when driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a control valve 36 (FIG. 1). The control valve 36 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0039] The front end of lower link 8b shown in Fig. 2 is supported on the rear lower part of transmission 5 (Figs. 1 and 22) so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a to lower link 8b. Connection parts 8g, 8h to which working device 2 can be connected are provided at the rear ends of lower link 8b and top link 8c.

[0040] The automatic control unit 61 (FIG. 1) electrically controls the switching position or opening of the control valve 36 to adjust the hydraulic pressure supplied to the lift cylinder 8e, thereby expanding and contracting the lift cylinder 8e. The expansion and contraction of the lift cylinder 8e causes the lift arm 8a to rise and fall, and also the lower link 8b connected to the lift arm 8a via the lift rod 8d to rise and fall. As a result, the working device 2 swings (rises and falls) upward or downward, with the front part of the lower link 8b (the side opposite to the connecting parts 8g, 8h) as a fulcrum.

[0041] The positioning device 40 shown in FIG. 1 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. The positioning device 40 detects a current position (e.g., latitude and longitude) based on the satellite signal received by the receiving device 41. That is, the positioning device 40 is a position detection unit that detects the position of the traveling body 3 of the agricultural machine 1. The inertial measurement device 42 includes an acceleration sensor and a gyro sensor, etc. The inertial measurement device 42 detects the roll angle, pitch angle, yaw angle, etc. of the traveling body 3. The alarm device 63 is composed of a buzzer, a speaker, a warning light, etc. provided on the traveling body 3. The alarm device 63 issues an alarm to the surroundings of the traveling body 3 by sound or light.

[0042] The detection device 64 is composed of sensors (which may include cameras) installed in each part of the agricultural machine 1 and the working device 2. The detection device 64 detects the operating state (driving and stopping states, operating positions, etc.) of each part of the agricultural machine 1, such as the transmission 5, the braking device 6, the traveling device 7, the lifting device 8, the steering device 29, and the operating device 62, based on output signals from the sensors, etc. The detection device 64 also detects the operating state of the working device 2 based on output signals from the sensors, etc. The detection device 64 further includes an object detection unit 64a, a laser sensor such as LiDAR, and an ultrasonic sensor. The laser sensor and the ultrasonic sensor are installed at the front, rear, left and right sides of the traveling body 3. The object detection unit 64a detects the presence or absence of an object around the agricultural machine 1 and the distance to the object, etc., based on output signals from the laser sensor or the ultrasonic sensor.

[0043] The agricultural work support device 50 is configured, for example, by a portable tablet terminal device etc. The agricultural work support device 50 is mounted, for example, inside the cabin 9 of the agricultural machine 1, and is detachable from the agricultural machine 1. That is, the agricultural machine 1 is equipped with the agricultural work support device 50.

[0044] The agricultural work support device 50 includes a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 is composed of a CPU (or a microcomputer), a volatile memory, and a non-volatile memory. The control unit 51 controls each unit of the agricultural work support device 50. The control unit 51 includes a farm field registration unit 51a, an area setting unit 51b, a route creation unit 51c, a turning change unit 51d, and a notification unit 51g. Each of these units is composed of a software program in this example, but may be composed of hardware such as semiconductor elements such as ASICs or electric circuits as other examples.

[0045] The display operation unit 52 is composed of a touch panel and displays various information on the screen. In addition, various inputs can be made by performing predetermined operations on the display screen of the display operation unit 52. The display operation unit 52 is both a display unit and an input unit. Instead of the display operation unit 52, an independent display unit and operation unit (input unit) may be provided in the agricultural work support device 50.

[0046] The storage unit 53 is composed of a non-volatile memory or the like. Information or data that supports the traveling and work of the agricultural machine 1 is stored in a readable and writable manner in the storage unit 53. The communication unit 54 is composed of an interface for connecting to the in-vehicle network N1. The control unit 51 The communication unit 54 communicates with the control device 60, the operation device 62, the positioning device 40, the alarm device 63, the detection device 64, and the work device 2 via the in-vehicle network N1. The communication unit 54 is an output unit that outputs information and data to the control device 60 of the agricultural machine 1.

[0047] The field registration unit 51a registers information about a field where agricultural work is performed by the agricultural machine 1 and the work implement 2. The area setting unit 51b sets a predetermined area in the field registered by the field registration unit 51a. The route creation unit 51c creates a travel route for the agricultural machine 1 to travel in the field registered by the field registration unit 51a. The notification unit 51g notifies the user by displaying the predetermined information and contents of the data on the display operation unit 52. Alternatively, the notification unit 51g may notify the user by outputting a sound indicating the predetermined information and contents of the data from a speaker of the alarm device 63.

[0048] Next, the operation of each part of the farm work support system 100 will be described. When the farm work support device 50 is started, the control unit 51 causes the display operation unit 52 to display a home screen D1 shown in Fig. 3. Data for this home screen D1 and data for each screen described below are stored in the storage unit 53. The control unit 51 reads out data from the storage unit 53 as necessary, and causes the display operation unit 52 to display a screen based on the data.

[0049] On the home screen D1, an agricultural machine mark X1, a field key B1, an automatic driving key B2a, an autosteer key B2b, a history key B3, and a setting key B0 are displayed. The setting key B0 is a key for making various settings. By selecting (tapping) the setting key B0, it becomes possible to set and register specific items. The specific items include, for example, matters related to the agricultural machine 1 on which the agricultural work support device 50 is mounted, the work device 2 connected to the agricultural machine 1, the agricultural work performed by the agricultural machine 1 and the work device 2, the field in which the agricultural work is performed, and the display operation unit 52.

[0050] The history key B3 is a key for displaying the work history of the agricultural machine 1. The field key B1 is a key for registering a field on which agricultural work is performed by the agricultural machine 1. The automatic driving key B2a is a key for making settings or predictions related to the automatic traveling work mode of the agricultural machine 1. The autosteer key B2b is a key for making settings or predictions related to the automatic steering work mode of the agricultural machine 1.

[0051] The automatic driving work mode is a mode in which agricultural work (ground work) is performed by the working device 2 while the traveling body 3 of the agricultural machine 1 is driven automatically. The automatic driving of the agricultural machine 1 means automatically changing the traveling speed of the traveling body 3 and automatically steering the traveling body 3. The automatic steering work mode is a mode in which agricultural work (ground work) is performed by the working device 2 while automatically steering the traveling body 3. When the agricultural machine 1 is in the automatic steering work mode, the driver of the agricultural machine 1 operates an accelerator member or a brake member included in the operation device 62 (FIG. 1), and the traveling speed of the traveling body 3 is changed in response to the operation. That is, in the automatic steering work mode, the traveling speed of the traveling body 3 is changed based on a manual operation.

[0052] The agricultural machine 1 can also be driven manually, and while driving, ground work can be performed using the working device 2. Manual driving of the agricultural machine 1 means that the driver operates the accelerator member or brake member of the operating device 62 to change the traveling speed of the traveling body 3, and steers the traveling body 3 by operating the steering wheel 30 (FIG. 1).

[0053] When the user selects the automatic operation key B2a on the home screen D1 shown in FIG. 3, the control unit 51 causes the display operation unit 52 to display the work selection screen D3 shown in FIG. 4. The work selection screen D3 displays a message indicating the input operation procedure. The selection screen D3 displays a plurality of task keys B31 to B35, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8. The task keys B31 to B35 are keys indicating agricultural tasks that can be performed by the agricultural machine 1 and the work implement 2 connected to the agricultural machine 1. In Fig. 4, five task keys B31, B32, B33, B34, and B35 are displayed, but if there are six or more agricultural tasks that can be performed by the agricultural machine 1 and the work implement 2, the user can select the up arrow key B41 or the down arrow key B42, which causes the control unit 51 to display task keys indicating other tasks on the task selection screen D3.

[0054] When the user selects any one of the work keys B31 to B35, the control unit 51 displays the selected work key on the work selection screen D3 in a display form different from that of the other work keys. In the example of FIG. 4, only the selected tilling work key B31 is marked with a black circle. When the user selects the Next key B9 with any one of the work keys B31, B32, B33, and B34 selected, the control unit 51 displays the vehicle confirmation screen D4a shown in FIG. 5A on the display operation unit 52. That is, the Next key B9 is a key for switching the display screen of the display operation unit 52 to the next screen. In addition, when the user selects the Back key B8, the control unit 51 displays the home screen D1 of FIG. 3 on the display operation unit 52. That is, the Back key B8 is a key for returning the display screen of the display operation unit 52 to the previous screen.

[0055] The vehicle confirmation screen D4a shown in Fig. 5A displays a message indicating the input operation procedure, the type of agricultural work, the type of agricultural machine 1, an unmanned machine setting key B10, a manned machine setting key B11, a next key B9, and a back key B8. The type of agricultural work is displayed as the agricultural work selected on the work selection screen D3. The type of agricultural machine 1 includes a vehicle type and a control type. In Fig. 5A, the type of agricultural machine 1 that has been registered (set) in advance is displayed on the vehicle confirmation screen D4a.

[0056] The user can input the type of the agricultural machine 1, for example, by selecting the setting key B0 on ​​the home screen D1 (FIG. 3) and performing a predetermined input operation on the display operation unit 52. At that time, the user can also input specifications such as the name and dimensions of the agricultural machine 1 by performing a predetermined input operation. Furthermore, when the user performs a predetermined input operation, the control unit 51 stores the input type and specifications of the agricultural machine 1 in a predetermined area of ​​the storage unit 53, thereby registering the type and specifications. Information on the agricultural machine 1 and information on the work device 2, which will be described later, can also be entered from the home screen D1 in a similar procedure and registered (stored) in the storage unit 53.

[0057] The user can change the type of the agricultural machine 1 by selecting the unmanned machine setting key B10 or the manned machine setting key B11 on the vehicle confirmation screen D4a and performing a predetermined input operation. When the user selects the Next key B8 on the vehicle confirmation screen D4a, the control unit 51 stores the setting information (the type of farm work and the type of agricultural machine 1) displayed on the vehicle confirmation screen D4a in an internal memory, and displays the device selection screen D4b shown in FIG. 5B on the display operation unit 52.

[0058] The device selection screen D4b displays a message indicating the input operation procedure, work device keys B36a to B36d, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8. Each of the work device keys B36a to B36d shows representative unique information of the work device 2 registered in advance. The representative unique information of the work device 2 includes the name of the work device 2, whether or not the work device 2 has performed work in the previous time, and the work width. The work width is the width in the left-right direction in which ground work can be performed in a horizontal plane perpendicular to the traveling direction of the work device 2. In FIG. 5B, four work device keys B36a to B36d are displayed, but if there are five or more work devices 2 registered in the agricultural work support device 50, the user can select the up arrow key B41 or the down arrow key B42, and the control unit 51 will display work device keys indicating other work devices 2 on the device selection screen D4b.

[0059] When the user selects any one of the working device keys B36a to B36d, the control unit 51 displays the selected working device key on the device selection screen D4b in a display form different from that of the other working device keys. In the example of Fig. 5B, only the selected working device key B36a is marked with a black circle. When the user selects the next key B9 with any one of the working device keys B36a to B36d selected, the control unit 51 displays the device confirmation screen D4c shown in Fig. 5C on the display operation unit 52.

[0060] The device confirmation screen D4c displays a message indicating the input operation procedure, the unique information of the operation device 2 selected on the device selection screen D4b (FIG. 5B), setting keys B37 to B39, a next key B9, and a back key B8. The unique information of the operation device 2 includes the name of the operation device 2, whether the operation device 2 has performed work in the past, dimensional information of the operation device 2, and the type of the operation device 2. That is, the detailed specifications of the operation device 2 selected on the device selection screen D4b are displayed on the device confirmation screen D4c. In FIGS. 5B and 5C, the unique information of the operation device 2 registered in advance is displayed on the screens D4b and D4c.

[0061] 5C, the dimensional information of the working implement 2 includes the overall width, working width, overall length, and working position of the working implement 2. The type of the working implement 2 includes the speed stage of an auxiliary transmission (not shown) for driving and rotating the working implement 2, which is a tilling implement, whether the working implement 2 can be raised and lowered by the lifting device 8, and whether it is linked to a PTO (Power take-off) of the agricultural machine 1.

[0062] The setting keys B37 to B39 are keys for setting and changing the dimensional information or type of the working device 2. In detail, the user can select the width setting key B37 and perform a predetermined input operation to input and change the set values ​​of the overall width and working width of the working device 2. The overall width of the working device 2 is the external width in the left-right direction perpendicular to the front-rear direction and the up-down direction of the agricultural machine 1. The user can input and change the set values ​​of the overall length and working position of the working device 2 by operating the length setting key B38 and performing a predetermined input operation. The overall length of the working device 2 is the length from the connection position of the working device 2 to the lower link 8b (FIG. 2) of the lifting device 8 to the rear end of the working device 2 (the end of the agricultural machine 1 opposite the traveling body 3). The working position of the working device 2 is the length from the connection position of the working device 2 to the lower link 8b to the front end position of the working member capable of performing ground work (the end of the part where work can be performed on the traveling body 3 side).

[0063] Furthermore, by the user selecting the type setting key B39 and performing a prescribed input operation, the user can input and change the speed stage of the auxiliary transmission to low speed (L (low speed)) or medium speed (M (medium speed)). In this example, the interlocking of the working device 2 with the PTO of the agricultural machine 1 and the lifting and lowering by the lifting device 8 are both fixed to "Yes" and cannot be changed. As another example, the interlocking of the working device 2 with the PTO of the agricultural machine 1 and the lifting and lowering by the lifting device 8 may each be made selectable between "Yes" and "No."

[0064] When the user selects the Next key B9 on the device confirmation screen D4c, the control unit 51 stores the setting information displayed on the device confirmation screen D4c in an internal memory, and causes the display operation unit 52 to display the field selection screen D5 shown in Fig. 6. The field selection screen D5 displays one or more registered field maps MP2, an up arrow key B41, a down arrow key B42, a Next key B9, and a Back key B8. In Fig. 6, three field maps MP2 are displayed. If there are four or more pre-registered field maps MP2, the user can select the up arrow key B41 or the down arrow key B42 to cause the control unit 51 to display other field maps MP2 on the field selection screen D5.

[0065] When the user selects one of the farm field maps MP2, the control unit 51 displays the selected farm field map MP2. The selected field map MP2 is displayed in a different display form from the other field maps MP2. In FIG. 6, only the selected field map MP2 is surrounded by a thick frame. The control unit 51 also displays the date and time of the previous work performed on the selected field map MP2 and the area of ​​the field map MP2 on the field selection screen D5. When the user selects the next key B9 with any field map MP2 selected, the control unit 51 reads out field information including the selected field map MP2 from the storage unit 53, stores it in the internal memory, and displays the route creation screen D6 shown in FIG. 7 on the display operation unit 52. The field information at this time includes, as the information of the field map MP2, the identification information, the outline, and the area of ​​the field map MP2, and, as the information of the field corresponding to the field map MP2, the identification information, the position, the outline, and the like of the field. The field information also includes the date and time of the previous work.

[0066] 7, the selected field map MP2 (field outline H1), the agricultural machine mark X1, a message indicating the input operation procedure, work keys B43a, B43b, B44, a next key B9, and a back key B8 are displayed. The work keys B43a, B43b, B44 are keys for selecting settings for creating a travel route for the agricultural machine 1, which will be described later. In other words, the work keys B43a, B43b, B44 are keys for setting work conditions for performing farm work on the field by the agricultural machine 1 (traveling body 3) and the work implement 2.

[0067] More specifically, the automatic central work key B43a is a key for selecting whether or not to perform agricultural work using the working implement 2 while causing the traveling body 3 of the agricultural machine 1 to travel in automatic driving in a central area set in the field map MP2 as described later. The automatic headland work key B43b is a key for selecting whether or not to perform agricultural work using the working implement 2 while causing the traveling body 3 of the agricultural machine 1 to travel in automatic driving in a headland set in the field map MP2 as described later.

[0068] The work type key B44 is a key for selecting the work state performed by the work implement 2. In this embodiment, since a case where tillage work is selected on the work selection screen D3 shown in Fig. 4 is given as an example, the work type key B44 in Fig. 7 is a key for selecting whether the type of tillage work is adjacent work or indirect work. If another work is selected on the work selection screen D3 in Fig. 4, the work type key B44 in Fig. 7 is a key for selecting the state of the other work.

[0069] FIG. 7 shows a state in which the automatic center work key B43a is used to select the agricultural machine 1 to travel in an automatic operation mode in the central area of ​​the field while performing agricultural work with the work implement 2. Also, the automatic headland work key B43b is used to select the agricultural machine 1 to travel in an automatic operation mode in the headland of the field while performing agricultural work with the work implement 2. Furthermore, the operation type key B44 is used to select adjacent work as the type of tilling work. When the user selects the next key B9, the control unit 51 stores the work conditions (the settings made by the operation keys B43a, B43b, and B44) displayed on the route creation 1 screen D6 in the internal memory, and displays the route creation 2 screen D7 shown in FIG. 8A on the display operation unit 52.

[0070] The route creation 2 screen D7 displays the selected field map MP2, the agricultural machine mark X1, a message indicating the input operation procedure, a number of setting items and their corresponding numerical input fields, a recommendation key B12, a route creation key B13, a trajectory prediction key B14, a plus key B45, a minus key B46, a next key B9, and a back key B8. During the display of the route creation 2 screen D7, the control unit 51 may obtain the actual position of the traveling vehicle body 3 detected by the positioning device 40 through the communication unit 54, and may display the agricultural machine mark X1 at a corresponding location on the field map MP2 according to the position of the traveling vehicle body 3.

[0071] The multiple setting items in the route creation 2 screen D7 are creation conditions for creating a travel route, and also work conditions for performing agricultural work on the field by the agricultural machine 1 and the work implement 2. The setting items include the expected work distance, the number of headlands, the number of automatic driving headlands, the work direction, the headland overlap, and the central overlap. Of these, it is possible to input values ​​for the items other than the expected work distance. The number of headlands refers to the number of headlands that are set inside the contour H1 (field map MP2) of the registered field, with one or more layers set along said contour H1. The number of automatic driving headlands refers to the number of headlands, out of the set number of headlands, where agricultural work is performed by the work implement 2 while the agricultural machine 1 is traveling in automatic driving mode.

[0072] The working direction is the direction in which the working implement 2 works while the traveling body 3 is moving back and forth in a straight line in the center inside the headland of the field. By inputting a specific value (for example, "1" to "4") in the numerical input field for the working direction, the up, down, left, and right directions on the route creation 2 screen D7 corresponding to that value are set. The headland overlap is the extension of the working width of the working implement 2 from the headland. The central overlap is the overlap of the working widths when the working implement 2 works while the traveling body 3 is moving back and forth in a straight line in the center of the field.

[0073] On the route creation 2 screen D7, the user can select a numerical input field for each setting item and input a numerical value into each numerical input field by operating the plus key B45 or minus key B46. Also, when the user selects the recommendation key B12, the control unit 51 reads out the recommended value for each setting item corresponding to the agricultural work selected on the work selection screen D3 (FIG. 4) from the recommended values ​​stored in advance in the storage unit 53, and inputs (displays) the recommended value into the corresponding numerical input field.

[0074] When the user selects the route creation key B13 after inputting values ​​into each setting item on the route creation 2 screen D7, the control unit 51 stores the values ​​of each setting item in an internal memory. Furthermore, the area setting unit 51b (FIG. 1) sets a central area (second area) C1 and a headland area (first area) E1 on the field map MP2 as shown in FIG. 8B. Furthermore, the route creation unit 51c (FIG. 1) creates a travel route (planned travel route) L1 on the field map MP2.

[0075] Specifically, when the route creation key B13 (FIG. 8B) is selected by the user, the area setting unit 51b sets a central area C1 and a headland area E1 as shown in FIG. 9A based on the field information, the dimensional information of the working implement 2, the number of headlands input on the route creation 2 screen D7, or the headland overlapping margin, as shown in FIG. 9A. More specifically, for example, the area setting unit 51b calculates the contours Hc, Hb, Ha formed by offsetting the field contour H1 inward the same number of times as the number of headlands, with a width obtained by subtracting the headland overlapping margin from the working width of the working implement 2 (or the total width of the working implement 2). Then, the area setting unit 51b sets the area (central part) surrounded by the contour Ha formed on the innermost side as the central area C1.

[0076] The area setting unit 51b also sets a frame-shaped area (outer frame portion) outside the central area C1 and inside the field contour H1 as the headland area E1. The area setting unit 51b also sets areas between adjacent contours of the field contour H1 and contours Hc, Hb, Ha obtained by offsetting the contour H1 in the headland area E1 as headland E2c, E2b, E2c. The area setting unit 51b then stores data such as positions indicating the areas C1 and E1 (including the headlands E2c, E2b, E2c) in the memory unit 53.

[0077] The route creation unit 51c creates a travel route L1 based on the field information, areas C1, E1, dimensional information of the agricultural machine 1 and the working implement 2, the work direction input on the route creation 2 screen D7, the headland overlapping margin, and the central overlapping margin. More specifically, the route creation unit 51c first creates a plurality of unit work sections within the central area C1 by dividing the central area C1 from one end (the right end in FIG. 9A, etc.) of the central area C1 that is parallel to the work direction (the up-down direction in FIG. 9A) by a width obtained by subtracting the central overlapping margin from the work width of the working implement 2. Then, the route creation unit 51c creates a straight route L1a along which the traveling vehicle body 3 travels straight on the center line in the width direction (the left-right direction in FIG. 9A) of each unit work section.

[0078] Next, the route creation unit 51c creates a turning route L1b that connects the adjacent straight routes L1a in the headland area E1. The turning route L1b is a route that goes from one of the two adjacent straight routes L1a to the other. When creating the turning route L1b, the route creation unit 51c secures a turning space in the headland area E1 for turning the agricultural machine 1 and the work implement 2.

[0079] In Fig. 9A, a simple semicircular turning route L1b is illustrated, but this shape is for the convenience of making it easier to display on the display screen of the display operation unit 52 and easier to visually recognize the traveling route L1 on the display screen. In reality, when the traveling body 3 and the working implement 2 of the agricultural machine 1 travel based on one straight route L1a and then turn toward the other straight route L1a, the traveling body 3 and the like may not only move forward but also move backward or turn around, drawing a trajectory with a shape more complicated than a semicircular shape. In other words, the turning route L1b is a route for display on the display operation unit 52, and the agricultural machine 1 may not turn based on the turning route L1b. The route creation unit 51c may create a turning route L1b with a shape other than a semicircular shape.

[0080] When the traveling body 3 is traveling based on the straight route L1a, the automatic control unit 61 (Fig. 1) of the agricultural machine 1 lowers the working implement 2 using the lifting device 8 (Fig. 2) and performs ground work using the working implement 2. Furthermore, when the traveling body 3 is turned at a location corresponding to the turning route L1b, that is, when the traveling body 3 is turned from one straight route L1a to the other straight route L1a, the automatic control unit 61 raises the working implement 2 using the lifting device 8 and stops the ground work by the working implement 2.

[0081] That is, the straight route L1a is a work route along which ground work is performed by the working implement 2 while the traveling body 3 of the agricultural machine 1 travels in an automatic driving manner. The central area C1, in which a plurality of straight routes L1a have been created, is a work area in which ground work is performed by the working implement 2 while the traveling body 3 travels in a straight line and moves back and forth in an automatic driving manner. The work route is not limited to a straight line route such as the straight route L1a, but may be a curved route. Furthermore, it is sufficient that at least one of straight line work routes and curved work routes is created in the work area.

[0082] For example, on the route creation 1 screen D6 in FIG. 7, the automatic center work key B43a is used to select work in the central area C1, the automatic headland work key B43b is used to select not to work in the headland, and the work type key B44 is used to select adjacent work. In this case, the route creation unit 51c creates a travel route L1 consisting of a straight route L1a and a turning route L1b. The route creation unit 51c also sets a start position Ps at the end of one straight route L1a that is not connected to the turning route L1b among the ends of the straight routes L1a on both sides of the central area C1, and sets a goal position Pg at the end of the other straight route L1a. Then, the route creation unit 51c stores information indicating the areas C1, E1, the travel route L1, the start position Ps, the goal position Pg, and the turning space in the internal memory as route information.

[0083] On the other hand, on the route creation 1 screen D6 in Fig. 7, the automatic center work key B43a is used to select work in the central area C1, the automatic headland work key B43b is used to select work in the headland, and the work type key B44 is used to select adjacent work. In this case, the route creation unit 51c creates a circular route L1c that goes around the outside of the central area C1 in the headland area E1 as shown in Fig. 9A, in addition to the straight route L1a and the turning route L1b. For example, as shown in Fig. 9A, when the number of automatic driving headlands is set to one on the route creation 2 screen D7, the route creation unit 51c creates the circular route L1c in the headland E2a that is closest to the central area C1 among the headlands E2a, E2b, and E2c that are set by the area setting unit 51b in one or more layers outside the central area C1.

[0084] The circular route L1c is a work route along which ground work is performed by the work implement 2 while the traveling body 3 of the agricultural machine 1 is traveling in automatic driving. The circular route L1c includes a plurality of straight routes L1s that are substantially straight and turning routes L1r that are curved with a predetermined radius of curvature or more. A plurality of straight routes L1s are created on the center line in the width direction of the pillow land E2a so as to correspond to each straight portion of the contour H2a of the central area C1.

[0085] The turning route L1r is a route that runs from one straight route L1s to another straight route L1s adjacent to the extension direction of the one straight route L1s. The one straight route L1s and the other straight route L1s extend in different directions, but the end of the one straight route L1s and the start of the other straight route L1s are connected by the turning route L1r. When creating the turning route L1r, the route creation unit 51c also secures a turning space in the headland area E1 for turning the traveling body 3 and the work implement 2 of the agricultural machine 1.

[0086] In Fig. 9A, for convenience, a simple arc-shaped turning route L1b is illustrated. However, when the agricultural machine 1 or the like actually turns from one straight route L1s to the other straight route L1s, it may not only move forward but also move backward or turn around, and may trace a trajectory with a more complicated shape than an arc. In other words, the turning route L1r is a route for display on the display operation unit 52, and the agricultural machine 1 may not turn based on the turning route L1r. The route creation unit 51c may create a turning route L1r having a shape other than an arc.

[0087] Depending on the shape of the field contour H1 (for example, when the field contour H1 is distorted), the circular route L1c may include a gentle curved portion (curved route, not shown) that is curved at less than a predetermined radius of curvature, in addition to the straight route L1s and the turning route L1r. In this case, the automatic control unit 61 may perform ground work using the work device 2 while causing the traveling vehicle body 3 to travel in automatic driving based on the straight route L1s or the gentle curved portion of the circular route L1c. In other words, the straight route L1s and the gentle curved portion are a work route.

[0088] When turning the traveling body 3 at a location corresponding to the turning route L1r, i.e., when turning the traveling body 3 from one straight route L1s to the other straight route L1s, the automatic control unit 61 raises the work device 2 by the lifting device 8 to stop ground work by the work device 2. In addition, when turning the traveling body 3 from one straight route L1a in the central area C1 to one straight route L1s in the headland area E1, the automatic control unit 61 also raises the work device 2 by the lifting device 8 to stop ground work by the work device 2.

[0089] The headland E2a for which the circular route L1c has been created as described above is a work area in which the traveling vehicle body 3 performs ground work using the work implement 2 while traveling around the outside of the central area C1. As another example, the route creation unit 51c may also create circular routes for other headlands E2b and E2c that are outside the headland E2a. In addition, a key for inputting the number of headlands for which a circular route is to be created may be provided on the route creation 2 screen D7.

[0090] Furthermore, the route creation unit 51c may create a circuit route that goes around at least one of the headlands E2a, E2b, and E2c multiple times, or may create a circuit route that passes through both one headland and the other headland that are adjacent to each other. In other words, the route creation unit 51c may create a circuit route that goes around the central area C1 a number of times greater than the number of headlands, in the headland area. It may be created in A E1.

[0091] After creating the circuit route L1c, the route creation unit 51c sets a start position Ps at the end of one of the straight routes L1a that is not connected to the turning route L1b (the upper end of the straight route L1a at the right end in FIG. 9A) at both ends of the straight route L1a at both ends (the left end in FIG. 9A) of the central area C1, and connects the circuit route L1c to the end of the other straight route L1a (the lower end of the straight route L1a at the left end in FIG. 8B). In addition, the route creation unit 51c sets a goal position Pg at the end of the circuit route L1c that is not connected to the straight route L1a. Then, the route creation unit 51c stores information indicating the areas C1, E1, the traveling route L1, the start position Ps, the goal position Pg, and the turning space in the internal memory as route information.

[0092] When the route creation unit 51c completes creation of the travel route L1, the control unit 51 causes route information such as areas C1, E1, the travel route L1, the start position Ps, and the goal position Pg to be displayed on the route creation 2 screen D7 as shown in Fig. 9A. The route creation unit 51c also calculates an estimated working distance for performing ground work with the work implement 2 while the traveling vehicle body 3 is traveling, based on all straight routes L1a, L1s. The control unit 51 also causes the estimated working distance to be displayed on the route creation 2 screen D7.

[0093] In Fig. 9A, in headlands E2b and E2c located outside headland E2a, in order to prevent the agricultural machine 1 or the working implement 2 from crossing the border of the farm field and colliding with a bank or the like, the agricultural machine 1 is driven manually to travel and agricultural work is performed by the working implement 2. In this case, for example, the agricultural machine 1 is driven manually along a route shown by a dashed line in Fig. 9B, and agricultural work is performed by the working implement 2. The manual driving route shown by a dashed line in Fig. 9B is continuous with a travel route L1 for automatic driving of the agricultural machine 1. This manual driving route is not displayed on the display operation unit 52 in this example, but as another example, the manual driving route may be displayed on the display operation unit 52 together with the travel route L1.

[0094] As shown in FIG. 8B, after the travel route L1 and the like are displayed on the route creation 2 screen D7, when the user selects the next key B9, the control unit 51 causes the display operation unit 52 to display the travel control screen D8 shown in FIG. 10A. The control unit 51 also generates automatic travel data based on the setting information stored in the internal memory, and transmits (outputs) the automatic travel data to the control device 60 of the agricultural machine 1 via the communication unit 54. The automatic travel data includes route information, setting information of the agricultural machine 1, setting information of the work device 2, and automatic driving work information. Among them, the information on the travel route L1 included in the route information includes information indicating the positions of the straight routes L1a and L1s, which are the work route, and does not necessarily include information indicating the positions of the turning routes L1b and L1r. The setting information on the agricultural machine 1 and the work device 2 also includes dimensional information of the agricultural machine 1 and the work device 2, and the type of agricultural work performed by the agricultural machine 1 and the work device 2.

[0095] The travel control screen D8 shown in Fig. 10A is a screen that displays the travel state of the agricultural machine 1 and the work state of the work implement 2 in the automatic travel operation mode. Note that in Fig. 10A, the travel state and work state of the agricultural machine 1 some time after the automatic travel operation mode is started are displayed on the travel control screen D8. The travel control screen D8 displays a field map MP2, a travel route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, the travel state of the agricultural machine 1, a setting change key B20, a status display key B21, a work trajectory key B15, and a trajectory clear key B16.

[0096] The control unit 51 acquires the actual position of the traveling vehicle body 3 detected by the positioning device 40 at a predetermined cycle through the communication unit 54, and displays the agricultural machine mark X2 at a corresponding location on the farm field map MP2 according to the position of the traveling vehicle body 3 as needed. X2 indicates the actual position of the traveling body 3 of the agricultural machine 1.

[0097] For example, while viewing the driving control screen D8, the user manually drives the agricultural machine 1 to the start position Ps, and then performs a predetermined operation to switch to the automatic driving work mode using the mode switch 65 (Fig. 1). As a result, the automatic control unit 61 (Fig. 1) switches to the automatic driving work mode, and performs ground work using the working device 2 while driving the traveling body 3 in automatic driving mode, based on the automatic driving data received from the agricultural work support device 50 and the position of the traveling body 3 detected by the positioning device 40.

[0098] In detail, the automatic control unit 61 first reads the route information included in the automatic travel data, and grasps the areas C1, E1, the travel route L1 (work routes L1a, L1s), the start position Ps, and the goal position Pg. Then, the automatic control unit 61 performs ground work by the working device 2 while automatically driving the travel body 3 based on the straight route L1a of the travel route L1 from the start position Ps. When the travel body 3 (agricultural machine 1) reaches the end of one straight route L1a, the automatic control unit 61 temporarily stops the ground work by the working device 2, raises the working device 2, and turns the travel body 3 toward the start of the other adjacent straight route L1a. That is, the automatic control unit 61 turns the agricultural machine 1 and the working device 2 at a point corresponding to the turning route L1b. At this time, the automatic control unit 61 turns the agricultural machine 1 and the work implement 2 based on the position information of the areas C1 and E1, the position information of the straight route L1a, the dimensional information of the agricultural machine 1 and the work implement 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection results of the detection device 64.

[0099] Then, when the traveling body 3 reaches the start point of the other straight route L1a, the automatic control unit 61 lowers the work implement 2, and when the traveling body 3 starts to travel in automatic driving based on the other straight route L1a, the automatic control unit 61 resumes ground work by the work implement 2. As a result, the traveling body 3 travels in an automatic driving manner back and forth in the central area C1, and the ground work is performed by the work implement 2 in the central area C1.

[0100] Thereafter, the automatic control unit 61 performs ground work with the working device 2 while causing the traveling body 3 to travel in an automatic driving manner based on the circular route L1c and the position of the traveling body 3. At this time, the automatic control unit 61 performs ground work with the working device 2 while causing the traveling body 3 to travel in an automatic driving manner based on the straight route L1s, and when turning the traveling body 3 at a location corresponding to the turning route L1r, the automatic control unit 61 raises the working device 2 and stops the ground work by the working device 2. During this turning, the automatic control unit 61 turns the agricultural machine 1 and the working device 2 based on the position information of the areas C1 and E1, the position information of the straight route L1s, the dimensional information of the agricultural machine 1 and the working device 2, the position of the traveling body 3 detected by the positioning device 40, and the detection result of the detection device 64. As a result, the traveling body 3 turns around the outside of the central area C1 in an automatic driving manner, and the working device 2 performs ground work on the pillow ground E2a (FIG. 9B) surrounding the central area C1.

[0101] 11A to 11D are diagrams for explaining automatic steering of the agricultural machine 1. In the automatic traveling work mode, the automatic control unit 61 calculates the deviation between the position of the traveling body 3 detected by the positioning device 40 and the traveling route L1 (work routes L1a, L1s) while automatically traveling the traveling body 3. If the deviation is less than a threshold value (for example, FIG. 11A), the automatic control unit 61 maintains the rotation angle of the steering shaft 31 (FIG. 1). If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than the threshold value and the traveling body 3 is located on the left side of the traveling route L1 (for example, FIG. 11B), the automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the traveling body 3 becomes the right direction. If the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is greater than or equal to a threshold value and the traveling vehicle body 3 is located to the right of the traveling route L1 (for example, Figure 11C), the automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 is to the left.

[0102] In the above example, the steering angle of the steering device 29 is changed based on the deviation between the position of the traveling body 3 and the traveling route L1, but as another example, the steering angle of the steering device 29 may be changed based on the angle θg of the traveling direction F1 of the traveling body 3 with respect to the traveling route L1 shown in Fig. 11D. In this case, for example, the automatic control unit 61 calculates the traveling direction F1 of the traveling body 3 from the change in the position of the traveling body 3, and further calculates the angle θg of the traveling direction F1 with respect to the traveling route L1. Then, when the angle θg is equal to or greater than a threshold value, the automatic control unit 61 rotates the steering shaft 31 so that the traveling direction F1 of the traveling body 3 coincides with the orientation of the traveling route L1 (i.e., θg = "0°").

[0103] As another example, the automatic control unit 61 may calculate a first steering angle based on the deviation between the position of the traveling vehicle body 3 and the traveling route L1, and may calculate a second steering angle based on the traveling route L1 and the traveling direction F1 of the traveling vehicle body 3. Then, the automatic control unit 61 may calculate a third steering angle based on the first steering angle and the second steering angle, and rotate the steering shaft 31 based on the third steering angle.

[0104] Furthermore, when the traveling vehicle body 3 is automatically traveling based on the traveling route L1, the automatic control unit 61 calculates the actual vehicle speed of the traveling vehicle body 3 based on the change in position of the traveling vehicle body 3. Then, the automatic control unit 61 controls the driving of the transmission 5, the brake device 6, and the prime mover 4 so that the actual vehicle speed coincides with the vehicle speed associated with the straight route L1a, the turning route L1b, or the circular route L1c.

[0105] As described above, in the automatic traveling operation mode of the agricultural machine 1, the automatic control unit 61 automatically steers the traveling body 3 while automatically changing the traveling speed of the traveling body 3 based on the traveling route L1 and the position of the traveling body 3 (agricultural machine 1). In addition, the automatic control unit 61 automatically performs and stops agricultural work (ground work) by the working device 2. In addition, when the agricultural machine 1 is being automatically driven, the automatic control unit 61 controls the heightwise position of the working device 2 by the lifting device 8. When the agricultural machine 1 is being manually driven, the automatic control unit 61 may control the heightwise position of the working device 2 by the lifting device 8, and the user (driver) may change the heightwise position of the working device 2 by operating a switch provided on the operation device 62 (FIG. 1).

[0106] 12A and 12B are flowcharts showing an example of the operation of the agricultural machine 1. In the agricultural machine 1, when the automatic control unit 61 receives automatic traveling data transmitted from the communication unit 54 of the agricultural work support device 50 (S1 in FIG. 12A), it confirms (reads) the type of agricultural work included in the automatic traveling data (S2). At this time, the automatic control unit 61 may detect the type of agricultural work performed by the working device 2 from the type of the working device 2 included in the automatic traveling data. Then, the automatic control unit 61 uses the lifting device 8 to position the working device 2 at a predetermined work position P1, P3, P5 where the agricultural work is performed, according to the confirmed type of agricultural work (S3).

[0107] For example, when the agricultural work is tilling work including leveling a field, and the working implement 2 connected to the agricultural machine 1 consists of a tiller 2A as shown in Fig. 19A, the automatic control unit 61 lowers the tiller 2A by the lifting device 8, and positions the tiller tines 2g of the tiller 2A in contact with the soil K2 of the field to a working position P1 where tilling work can be performed, as shown in Fig. 19B. Also, when transporting the tiller 2A, the automatic control unit 61 raises the tiller 2A by the lifting device 8, and positions the tiller tines 2g away from the soil K2 of the field to a non-working position P2 where tilling work cannot be performed, as shown in Fig. 19A.

[0108] For example, when performing agricultural work that includes land preparation other than tilling, such as plowing and ridge making, the automatic control unit 61 controls the operation device 2 (a plowing device and a ridge making device) for performing the agricultural work. The working implement 2 (such as a tilling implement 2A, a plow implement, and a ridge-making implement) is lowered by the lifting device 8 to a working position in contact with the soil K2 of the field, and the working implement 2 is raised by the lifting device 8 to a non-working position away from the soil K2 of the field. Tilling work including land leveling, puddling work, and ridge-making work are examples of the "first agricultural work" of the present invention, and the tilling implement 2A, the puddling implement, and the ridge-making implement that perform the agricultural work are examples of the "first working implement" of the present invention.

[0109] In contrast to the above, for example, when the agricultural work is the spraying of fertilizer or pesticide, and the working device 2 connected to the agricultural machine 1 is a spraying device 2B as shown in FIG. 20, the automatic control unit 61 positions the spraying device 2B at a predetermined position P3 separated from the soil K2 of the field by the lifting device 8 whether or not the spraying work is being performed. That is, in the example of FIG. 20, the working position P3 where the spraying device 2B performs the spraying work and the non-working position P3 where the spraying device 2B does not perform the spraying work are the same position at the same height from the soil K2. As another example, the working position and the non-working position of the spraying device 2B may be different.

[0110] Furthermore, when the agricultural work is rough tillage and the working implement 2 connected to the agricultural machine 1 consists of a rough tillage implement 2C as shown in Fig. 21A, the automatic control unit 61 lowers the rough tillage implement 2C by the lifting device 8 as shown in Fig. 21B, and positions the working tines 2n of the rough tillage implement 2C in contact with the soil K2 to a working position P5 where rough tillage can be performed. Furthermore, when the rough tillage implement 2C is being transported, the automatic control unit 61 raises the rough tillage implement 2C by the lifting device 8 as shown in Fig. 21A, and positions the working tines 2n away from the soil K2 to a non-working position P4 where rough tillage cannot be performed.

[0111] The spraying work and rough plowing work are agricultural work that does not include leveling of the field. When performing other agricultural work that does not include leveling of the field, such as sowing work and watering work, the automatic control unit 61 uses the lifting device 8 to position the work equipment 2 (such as a sowing device and a watering device) for performing the agricultural work at a predetermined position (work position and non-work position) away from the soil K2 of the field. The spraying work, rough plowing, sowing work, and watering work that do not include leveling of the field are examples of the "second agricultural work" of the present invention, and the spraying device 2B, rough plowing device 2C, sowing device, and watering device that perform the agricultural work are examples of the "second work equipment" of the present invention.

[0112] After positioning the working device 2 at the working position P1 as described above (S3 in FIG. 12A), the automatic control unit 61 starts the traveling of the agricultural machine 1 (traveling body 3) from the start position Ps (FIG. 9A, etc.) and the agricultural work by the working device 2 based on the traveling route L1 (working routes L1a, L1s) included in the automatic traveling data and the position of the agricultural machine 1 (traveling body 3) detected by the positioning device 40 (S4). That is, the automatic control unit 61 starts automatic operation of the agricultural machine 1. As a result, in the example shown in FIG. 9A, the automatic control unit 61 performs agricultural work by the working device 2 while traveling along the working route L1a created in the central area C1 from the start position Ps, and then performs agricultural work by the working device 2 while traveling along the working route L1s formed in the headland E2a on the innermost perimeter surrounding the central area C1.

[0113] Furthermore, during automatic operation of the agricultural machine 1, the automatic control unit 61 detects the distance Dx from the agricultural machine 1 (traveling body 3) to the edge of the field in the traveling direction of the agricultural machine 1 by the detection device 64 (see S5 in FIG. 12A and FIG. 14A). At this time, the detection device 64 detects the distance Dx from the traveling body 3 to the contour H1 of the field in the traveling direction, for example, based on the contour of the headland area E1 and the position of the agricultural machine 1 (traveling body 3) detected by the positioning device 40.

[0114] Alternatively, the detection device 64 detects a distance Dx to an object such as a bank constituting the edge of a field in the traveling direction of the traveling body 3, for example, by using the object detection unit 64a and a laser sensor. The automatic control unit 61 compares the distance Dx detected by the detection device 64 with a predetermined threshold value Ds. The threshold value Ds is set to, for example, a travel distance (i.e., braking distance) from when the traveling of the agricultural machine 1 during automatic operation is stopped (braking by the braking device 6) until the traveling body 3 comes to a complete stop, or a detection distance at which the object detection unit 64a (FIG. 1) can detect an object in the traveling direction of the agricultural machine 1.

[0115] If the distance Dx from the agricultural machine 1 to the edge of the field is greater than the threshold value Ds (S6: NO), the automatic control unit 61 checks whether or not the agricultural machine 1 and the work implement 2 have reached the goal position Pg (e.g., FIG. 9A). If the agricultural machine 1 and the work implement 2 have not reached the goal position Pg (S7: NO), the automatic control unit 61 recalculates the distance Dx from the agricultural machine 1 to the edge of the field (S5) and compares the distance Dx with the threshold value Ds.

[0116] When the distance Dx from the agricultural machine 1 to the edge of the field is equal to or smaller than the threshold value Ds (S6: YES), the automatic control unit 61 determines that the agricultural work (second agricultural work) that does not include ground leveling is being performed. a If the automatic driving is completed (S8: NO in FIG. 12B), the traveling of the agricultural machine 1 and the agricultural work by the working implement 2 are stopped (S9). At this time, the agricultural machine 1 (traveling body 3) or the working implement 2 has not reached the goal position Pg of the automatic driving, and therefore is stopped in front of an unworked location (an unworked location within the planned automatic driving of the field) where the agricultural machine 1 is to be automatically driven to perform agricultural work. Then, the automatic control unit 61 positions the working implement 2 at the non-working positions P3 and P4 by the lifting device 8 (S10), and the automatic driving of the agricultural machine 1 is ended (stopped). At this time, if the working implement 2 is a spraying device 2B (FIG. 20), the non-working position P3 and the working position P3 are the same position separated from the soil K2 of the field, and therefore the automatic control unit 61 maintains the positioning state of the working implement 2 at the non-working position P3 by the lifting device 8 (FIG. 20).

[0117] Furthermore, when the working implement 2 is, for example, the rough tillage implement 2C (FIGS. 21A and 21B), the rough tillage work performed by the rough tillage implement 2C is agricultural work that does not include leveling the field, so in step S3 of FIG. 12A, the automatic control unit 61 lowers the rough tillage implement 2C by the lifting device 8 and positions the rough tillage implement 2C at a working position P5 where the working tines 2n of the rough tillage implement 2C contact the soil K2 of the field (FIG. 21B). Then, after executing steps S4 to S6 of FIG. 12A and steps S8 and S9 of FIG. 12B, in step S10, the automatic control unit 61 raises the rough tillage implement 2C by the lifting device 8 and positions the rough tillage implement 2C at a non-working position P4 where the working tines 2n are separated from the soil K2 (FIG. 21A).

[0118] After process S10 in Fig. 12B, the automatic control unit 61 notifies the user through the notification unit 51g that the working device 2 is at the non-working positions P3, P4 (S11). At this time, the notification unit 51g causes the display operation unit 52 to display a notification U2 that the working device 2 is at the non-working positions P3, P4 on the driving control screen D8, as shown in Fig. 10C, for example.

[0119] As described above, when the automatic operation of the agricultural machine 1 is terminated midway while the working device 2 (second working device such as a spraying device) that has been performing a second agricultural work (such as spraying work) that does not include ground leveling is positioned at the non-working position P3, the user then operates the operation device 62 (FIG. 1) or the automatic control unit 61 automatically positions the working device 2 at the working position P3 or P5 using the lifting device 8. Then, the user manually operates the agricultural machine 1 using the operation device 62 to perform agricultural work with the working device 2 while traveling the agricultural machine (traveling body 3) for the unworked area within the scheduled automatic operation of the field (S31). That is, after the working device 2 is positioned at the working position P3 or P5, the user manually operates the agricultural machine 1 to perform agricultural work with the working device 2 for the unworked area within the scheduled automatic operation of the field (the remaining area of ​​the innermost headland E2a in FIG. 9A).

[0120] Furthermore, when the distance Dx from the agricultural machine 1 to the edge of the field becomes equal to or less than the threshold value Ds (S6 in FIG. 12A: YES), if agricultural work including ground leveling (first agricultural work) is being performed (S8 in FIG. 12B: YES), the automatic control unit 61 stops the traveling of the agricultural machine 1 and the agricultural work by the work implement 2. The agricultural machine 1 or the working implement 2 is stopped just before an unworked portion of the field that is scheduled for automatic operation (S12). The automatic control unit 61 then maintains the positioning state of the working implement 2 at the working position P1 by the lifting device 8 (S13), and the automatic operation of the agricultural machine 1 is terminated midway. The automatic control unit 61 also notifies the user by the notification unit 51g that the working implement 2 is at the working position P1 (S14). At this time, the notification unit 51g causes the display operation unit 52 to display a notification U1 that the working implement 2 is at the working position P1 on the travel control screen D8, as shown in FIG. 10B, for example.

[0121] As described above, when the automatic operation of the agricultural machine 1 is terminated midway while the implement 2 (first implement such as a tiller) performing the first agricultural work (tilling work, etc.) including land leveling is positioned at the work position P1, the user then immediately manually operates the agricultural machine 1 using the operation device 62, and while traveling the agricultural machine, performs agricultural work with the implement 2 on the unworked portion of the field scheduled for automatic operation (S32). That is, without lifting and lowering the implement 2 with the lifting device 8, the user manually operates the agricultural machine 1, and performs agricultural work with the implement 2 on the unworked portion of the field scheduled for automatic operation (the remaining portion of the innermost headland E2a in the example of FIGS. 9A and 9B).

[0122] On the other hand, if the distance Dx from the agricultural machine 1 to the edge of the field does not become equal to or less than the threshold value Ds (S6: NO in FIG. 12A) and the agricultural machine 1 and the work implement 2 reach the goal position Pg (S7: YES), the automatic control unit 61 stops the traveling of the agricultural machine 1 and the farm work by the work implement 2 (S16). At this time, as there are no unworked locations remaining in the field within the schedule of automatic operation, the automatic control unit 61 positions the work implement 2 at the non-work positions P2, P3, P4 by the lifting device 8 (S17), and the automatic operation of the agricultural machine 1 is completed (fully finished).

[0123] Then, the automatic control unit 61 notifies the user that the working device 2 is in the non-working position P2, P3, or P4 by the notification unit 51g and the display operation unit 52 (S18 in FIG. 12B). At this time, the notification unit 51g causes the display operation unit 52 to display a notification U2 that the working device 2 is in the non-working position P2, P3, or P4 on the travel control screen D8, as shown in FIG. 10C, for example. After this, since there are no unworked areas in the field that are scheduled for automatic driving, the agricultural work in the field is completed. Alternatively, if there are unworked areas in the field that are not scheduled for automatic driving (headlands E2b and E2c in the examples of FIG. 9A and FIG. 9B), the user may manually drive the agricultural machine 1 and the working device 2 to carry out agricultural work in the unworked areas that are not scheduled for automatic driving.

[0124] Fig. 13A is a diagram showing an example of the state of the working device 2 and the field after automatic operation of the conventional agricultural machine 1 is terminated midway. Fig. 13B is a diagram showing an example of the state of the working device 2 and the field after agricultural work is resumed by manual operation of the conventional agricultural machine 1. Fig. 14A is a diagram showing an example of the state of the working device 2 and the field after automatic operation of the agricultural machine 1 is terminated midway. Fig. 14B is a diagram showing an example of the state of the working device 2 and the field after agricultural work is resumed by manual operation of the agricultural machine 1. Fig. 15 is a diagram showing an example of the state of the working device 2 and the field after automatic operation of the agricultural machine 1 is completed.

[0125] Conventionally, when the agricultural machine 1 is automatically driven to perform a first agricultural task (such as tilling) including land leveling using the working device 2 (such as the tilling device 2A), if the automatic driving of the agricultural machine 1 is terminated midway before the working device 2 reaches the goal position Pg of the travel route L1, the working device 2 is raised by the lifting device 8 and positioned at a non-working position P2 away from the soil K2 of the field, as shown in Fig. 13A. For this reason, when the user subsequently manually drives the agricultural machine to perform agricultural work at an unworked location J1 in the field that is ahead (forward) of the stopping position Pm of the working device 2 when the automatic driving is terminated midway, the working device 2 must be lowered by the lifting device 8 and positioned at the working position P1, and the agricultural machine 1 cannot be manually driven to immediately resume agricultural work using the working device 2.

[0126] Furthermore, if the lifting device 8 is used to move the working implement 2 (such as the tilling implement 2A) away from and back into contact with the soil K2 of the field, and the agricultural machine 1 is then manually operated to resume agricultural work using the working implement 2, a trace V1 (a depression in the example of FIG. 13B) of the working implement 2's contact with and separation from the soil K2 remains, resulting in a poor finish to the agricultural work (such as tilling). To erase the trace V1 of the working implement 2, the user must manually reverse the agricultural machine 1 and working implement 2 from the stop position Pm to the location J2 where work has already been done by automatic operation, and then resume agricultural work using the working implement 2 while driving the agricultural machine toward the location J1 where work has not yet been done, increasing the number of manual operation steps.

[0127] In contrast, in the embodiment described in Figures 12A and 12B, if the automatic operation of the agricultural machine 1 is terminated midway before the working implement 2 performing the first agricultural work (such as tilling) including ground leveling reaches the goal position Pg, the positioning state of the working implement 2 at the working position P1 by the lifting device 8 is maintained, as shown in Figure 14A (S13 in Figure 12B).

[0128] Therefore, when the user manually operates the agricultural machine 1 to perform agricultural work using the working device 2 at an unworked location J1 in the field that is ahead (forward) of the stop position Pm of the working device 2 when the automatic operation is terminated, the agricultural work can be immediately resumed without lifting or lowering the working device 2 using the lifting device 8. Furthermore, since the lifting device 8 maintains the working device 2 in contact with the soil K2 of the field (see FIG. 19B), even if the agricultural machine 1 is manually operated to resume agricultural work using the working device 2, no trace V1 of contact or separation of the working device 2 remains on the soil K2, and the finish of the agricultural work (such as tilling) is not deteriorated. Furthermore, since there is no need to manually move the agricultural machine 1 and the working device 2 backward from the stop position Pm to the already worked location J2, the number of manual operation steps is not increased.

[0129] Furthermore, when the working implement 2 performing the first agricultural work (such as tilling) reaches the goal position Pg and the automatic operation of the agricultural machine 1 is completed, for example as shown in Fig. 15, since there is a non-working location J0 where no agricultural work is performed, rather than an unworked location J1 within the schedule of automatic operation, beyond (forward of) the stopping position, the working implement 2 is raised by the lifting device 8 and positioned at the non-working position P2 (S17 in Fig. 12B). Therefore, the user can then manually operate the agricultural machine and stably move the agricultural machine 1 and the working implement 2 to any desired location without performing any operation to raise the working implement 2.

[0130] In the above-described embodiment, an example has been shown in which when the agricultural machine 1 and the working device 2 reach the goal position Pg of the travel route L1 and the automatic operation of the agricultural machine 1 is completed (completely finished), the travel of the agricultural machine 1 and the agricultural work by the working device 2 are stopped (S16 in FIG. 12B), and the working device 2 is raised by the lifting device 8 and positioned at the non-working position P2 (S17). However, even when the automatic operation of the agricultural machine 1 is completed, the working device 2 may be positioned at the working position or the non-working position, for example, depending on the type of agricultural work that was being performed before the completion or the stopped position of the agricultural machine 1, etc.

[0131] Fig. 16 is a flowchart showing another example of the operation of the agricultural machine 1. In detail, Fig. 16 is a flowchart continuing from the above-mentioned Fig. 12A. In Fig. 12A, when the agricultural machine 1 and the work implement 2 reach the goal position Pg (S7: YES), the automatic control unit 61 checks the agricultural work being performed. Here, if an agricultural work that does not include ground leveling (a second agricultural work) is being performed, aIf the lifting device 8 is notified (S15: NO in FIG. 16), the automatic control unit 61 stops the traveling of the agricultural machine 1 and the agricultural work by the working implement 2 (S16). Then, the automatic control unit 61 positions the working implement 2 at the non-working positions P3, P4 by the lifting device 8 (S17), and the automatic operation of the agricultural machine 1 is completed (fully finished). Furthermore, the automatic control unit 61 notifies the user that the working implement 2 is at the non-working positions P3, P4 by the notification unit 51g and the display operation unit 52 (S18 in FIG. 12B). At this time, the notification unit 51g causes the display operation unit 52 to display a notification U2 that the working implement 2 is at the non-working positions P3, P4 on the traveling control screen D8, as shown in FIG. 10C, for example.

[0132] As described above, the automatic operation of the agricultural machine 1 is completed in a state where the working implement 2 (second working implement such as the working implement 2B or the working implement 2C) that has been performing the second agricultural work (such as spraying work or rough plowing work) that does not include soil leveling is positioned at the non-working positions P3 and P4. At this time, the agricultural machine 1 (traveling body 3) or the working implement 2 is in a state where it has stopped in front of an unworked portion of the field that is not scheduled for automatic operation (headland E2b in the example of FIG. 9B). Therefore, when the user subsequently performs agricultural work on an unworked portion of the field that is not scheduled for automatic operation (headland E2b and E2c), the user must first operate the operation device 62 (FIG. 1) or the automatic control unit 61 must automatically position the working implement 2 to the working positions P3 and P5 using the lifting device 8. After the working device 2 has been positioned at the working positions P3, P5, the user manually operates the agricultural machine 1 using the operating device 62, and while the agricultural machine is traveling, the working device 2 performs agricultural work in unworked areas of the field (headlands E2b, E2c) that are not scheduled for automatic operation (S33).

[0133] Furthermore, when the agricultural machine 1 and the working implement 2 reach the goal position Pg (S7 in FIG. 12A: YES), if agricultural work including land leveling (first agricultural work such as tilling) is being performed (S15 in FIG. 16: YES), the automatic control unit 61 stops the travel of the agricultural machine 1 and the agricultural work by the working implement 2 (S19). At this time, if the agricultural machine 1 and the working implement 2 are not stopped in front of an unworked part (headland E2b, E2c) that is not scheduled for automatic operation of the field, for example, by stopping outside the contour H1 of the field (S20: NO), the automatic control unit 61 positions the working implement 2 at the non-working position P2 by the lifting device 8 (S17), and the automatic operation of the agricultural machine 1 is completed. Furthermore, the automatic control unit 61 notifies the fact that the working implement 2 is at the non-working position P2 by the notification unit 51g (S18). At this time, the notification unit 51g causes the display operation unit 52 to display on the driving control screen D8 a notification U2 indicating that the working device 2 is in the non-working position P2, as shown in FIG. 10C, for example.

[0134] As described above, with the working implement 2 (first working implement such as a tilling implement) that has been performing first agricultural work including land leveling (tilling work, etc.) positioned at non-working position P2, the agricultural machine 1 completes automatic operation at a location other than before an unworked area that is not scheduled for automatic operation. In this case, since there are no unworked areas remaining in the field, the user will not manually operate the agricultural machine 1 thereafter, and agricultural work will not be resumed in the same field (S33 in FIG. 16 is not executed).

[0135] Furthermore, when the traveling of the agricultural machine 1 and the farm work by the working implement 2 are stopped (S19), if the agricultural machine 1 and the working implement 2 are stopped in front of an unworked portion (headland E2b, E2c) not scheduled for automatic operation of the field (S20: YES), the automatic control unit 61 maintains the positioning state of the working implement 2 at the working position P1 by the lifting device 8 (S21), and the automatic operation of the agricultural machine 1 is completed. Furthermore, the automatic control unit 61 notifies the user by the notification unit 51g that the working implement 2 is at the working position P1 (S22). At this time, the notification unit 51g causes the display operation unit 52 to display a notification U1 that the working implement 2 is at the working position P1 on the traveling control screen D8, for example, as shown in FIG. 10B.

[0136] As described above, the agricultural machine 1 completes automatic driving just before an unworked area with the working implement 2 (first working implement such as a tilling implement) that has been performing a first agricultural task (such as tilling) including land leveling positioned at the working position P1. In this case, when the user subsequently performs agricultural work on an unworked area (headlands E2b, E2c) not scheduled for automatic driving of the field, the agricultural machine 1 is immediately manually driven using the operation device 62, and agricultural work is performed by the working implement 2 on the unworked area (such as headlands E2b, E2c) not scheduled for automatic driving of the field while the agricultural machine 1 is traveling (S34). That is, the working implement 2 is not raised or lowered by the lifting device 8, and the user manually drives the agricultural machine 1 to perform agricultural work by the working implement 2 on the unworked area (headlands E2b, E2c) not scheduled for automatic driving of the field.

[0137] According to the above, even when the working device 2 performing the first agricultural work (such as tilling) reaches the goal position Pg and the automatic operation of the agricultural machine 1 is completed, the working device 2 is maintained in a positioning state at the working position P1 by the lifting device 8 (S21 in FIG. 16). Therefore, when the user manually operates the agricultural machine 1 thereafter to perform agricultural work using the working device 2 in an unworked portion (headland E2b, E2c) not scheduled for automatic operation in the field that is beyond (forward of) the stopping position of the working device 2 when the automatic operation is completed, the agricultural work can be immediately resumed without lifting and lowering the working device 2 by the lifting device 8. In addition, no trace V1 of contact or separation of the working device 2 with the soil K2 is left, the finish of the agricultural work (such as tilling) is not deteriorated, and the number of manual operation steps is not increased.

[0138] Furthermore, when the working implement 2 performing the first agricultural work (such as tilling) reaches the goal position Pg and automatic operation of the agricultural machine 1 is completed, if there is a non-working area where no agricultural work is being performed, rather than an unworked area not scheduled for automatic operation, beyond (forward of) the stopping position, the working implement 2 is raised by the lifting device 8 and positioned at the non-working position P2 (S17 in FIG. 16). Therefore, the user can then manually operate the agricultural machine 1 and stably move the agricultural machine 1 and the working implement 2 to any desired location without performing any operation to raise the working implement 2.

[0139] In the above-described embodiment, when the distance Dx to the edge of the field detected by the detection device 64 during automatic operation of the agricultural machine 1 becomes equal to or smaller than the threshold value Ds (S6: YES in FIG. 12A), the traveling of the agricultural machine 1 and the agricultural work by the working device 2 are stopped (S9, S12 in FIG. 12B), and depending on whether agricultural work including ground leveling is to be performed, the lifting device 8 moves the working device 2 to the non-working position P3, P4 (S10), or the working position P1 of the working device 2 is maintained (S13). However, when the agricultural machine 1 is automatically traveling based on the working routes L1a, L1s other than the final working route L1s (the last straight route L1s with the goal position Pg set at the end) created in the headland area E1 among the traveling route L1, the headlands E2b, E2c are secured outside the working routes L1a, L1s (toward the contour of the field), so the agricultural machine 1 does not approach the ridge. Therefore, the agricultural machine 1 may operate as shown in FIG. 17, for example.

[0140] Fig. 17 is a flowchart showing another example of the operation of the agricultural machine 1. In Fig. 17, after automatic operation of the agricultural machine 1 starts (S4), when the distance Dx to the edge of the field detected by the detection device 64 becomes equal to or less than the threshold value Ds (S6: YES), the automatic control unit 61 may check the reference work route for automatic steering based on which the agricultural machine 1 (traveling body 3) travels automatically at this time. Then, if the reference work route is the final work route L1s of the travel route L1 connected to the goal position Pg (the last straight route L1s created on the pillow area E2a) (S23: YES), the automatic control unit 61 will confirm in process S8 shown in Figure 12B or Figure 16 whether agricultural work including leveling is appropriate, and depending on the confirmation result, may stop the travel of the agricultural machine 1 and the agricultural work by the work implement 2 (S9, S12), and move the work implement 2 to a non-work position P3, P4 by the lifting device 8 (S10), or maintain the work position P1 of the work implement 2 (S13).

[0141] 17, if the reference work route for automatic steering of the agricultural machine 1 is not the final work route L1s (S23: NO), the automatic control unit 61 controls the travel and steering of the agricultural machine 1 using a predetermined method different from the normal method to perform auxiliary farm work with the work implement 2 or to turn the agricultural machine 1 (S24). After this, process S5 and subsequent processes are repeatedly executed.

[0142] Also, for example, as shown in FIG. 18, during automatic operation of the agricultural machine 1, the working implement 2 is moved to a working position or a non-working position depending on whether or not farm work that requires lifting and lowering the working implement 2 is being performed. Fig. 18 is a flowchart showing another example of the operation of the agricultural machine 1. In detail, Fig. 18 is a continuation of the flowchart of Fig. 12A or Fig. 17 described above.

[0143] In FIG. 12A, when the distance Dx to the edge of the field becomes equal to or less than the threshold value Ds (S6: YES), or in FIG. 17, when the work route based on which the steering control of the agricultural machine 1 is performed is the final work route L1s (S23: YES), the automatic control unit 61 checks whether or not agricultural work that requires lifting and lowering the working device 2 is being performed. At this time, if agricultural work that does not require lifting and lowering the working device 2, such as spraying work, is being performed (S25: NO), the automatic control unit 61 stops the traveling of the agricultural machine 1 and the agricultural work performed by the working device 2 (S9), maintains the current position of the working device 2 by the lifting device 8 (S26), and the automatic operation of the agricultural machine 1 is terminated (stopped). In this case, the working device 2 is a spraying device 2B (FIG. 20) whose working position and non-working position are the same position P3, and so the working device 2 is positioned at the current position P3. Thereafter, the automatic control section 61 may notify, via the notification section 51g, that the working device 2 is at position P3 which is both a working position and a non-working position, or may omit this notification.

[0144] On the other hand, if agricultural work that requires lifting and lowering of the working implement 2, such as tilling, is being performed (S25: YES), the automatic control unit 61 stops the traveling of the agricultural machine 1 and the agricultural work by the working implement 2 (S12), maintains the positioning state of the working implement 2 at working position P1 by the lifting device 8 (S13), and the automatic operation of the agricultural machine 1 comes to an end. In addition, the automatic control unit 61 notifies the agricultural machine 1 that the working implement 2 is at working position P1 by the notification unit 51g (S14).

[0145] 12A and 17, even if the agricultural machine 1 and the working implement 2 reach the goal position Pg (S7: YES) without the distance Dx to the edge of the field becoming equal to or smaller than the threshold value Ds (S6: NO), the automatic control unit 61 checks whether or not agricultural work requiring lifting and lowering of the working implement 2 is being performed. Here, if agricultural work requiring lifting and lowering of the working implement 2, such as tilling, is being performed (S27: YES in FIG. 18), the automatic control unit 61 stops the travel of the agricultural machine 1 and the agricultural work by the working implement 2 (S16). At this time, since there are no unworked locations remaining in the field within the schedule of automatic operation, the automatic control unit 61 positions the working implement 2 at the non-working positions P2, P3, and P4 by the lifting device 8 (S17), and the automatic operation of the agricultural machine 1 is completed (completed). Furthermore, the automatic control section 61 notifies the user via the notification section 51g and the display operation section 52 that the working device 2 is in the non-working position P2, P3, or P4 (S18).

[0146] On the other hand, if agricultural work that does not require lifting and lowering of the working device 2, such as spraying work, is being performed (S27: NO), the automatic control unit 61 stops the travel of the agricultural machine 1 and the agricultural work by the working device 2 (S28), maintains the current position of the working device 2 by the lifting device 8 (S29), and the automatic operation of the agricultural machine 1 is completed (fully finished). That is, since the working device 2 is a spraying device 2B or the like, it is positioned at position P3, which is a working position and a non-working position. After this, the automatic control unit 61 may notify the fact that the working device 2 is at position P3, which is a working position and a non-working position, by the notification unit 51g, or may omit the notification. Also, since there are no unworked locations remaining in the field within the schedule of automatic operation, the agricultural work in the field is completed. Alternatively, if there are unworked areas in the field that are not scheduled for automatic driving (headlands E2b, E2c), the user may manually operate the agricultural machine 1 and the work device 2 to perform agricultural work in the unworked areas that are not scheduled for automatic driving.

[0147] 12A to 18 may be able to be appropriately selected by the user as to whether or not to execute the series of processes shown in each of Figures 12A to 18 depending on, for example, the desired finishing accuracy of the agricultural work in the field, the content (type) of the agricultural work, or the specifications (model) of the working device 2. Furthermore, operation keys such as switches or buttons for this selection may be provided on the operating device 62 of the agricultural machine 1 or on the display screen of the display operating unit 52 of the agricultural work support device 50.

[0148] 19A to 21B show working positions P1, P3, P5 and non-working positions P2, P3, P4 of the working apparatus 2 as examples, but the working positions and non-working positions of the working apparatus 2 are not limited to these, and one or more working positions and one or more non-working positions may be set depending on, for example, the type of working apparatus 2, the specifications of the working apparatus 2, or the type of agricultural work. Furthermore, notification of the position of the working apparatus 2 may be displayed on the screen of the display operation unit 52 when automatic operation of the agricultural machine 1 starts, is being performed, or ends, or when the position of the working apparatus 2 changes, etc.

[0149] The agricultural machine 1 and the farm work support system 100 of the present embodiment described above have the following configuration and provide the following effects.

[0150] The agricultural machine 1 of this embodiment comprises a drivable traveling body 3, a positioning device 40 that detects the position of the traveling body 3, a lifting device 8 that connects the working device 2 to the traveling body 3 so that it can be raised and lowered, and an automatic control unit 61 that performs automatic driving in which the traveling body 3 travels and the working device 2 performs agricultural work in a field based on a pre-created traveling route L1 and the position of the traveling body 3 detected by the positioning device 40, and the lifting device 8 positions the working device 2 at a predetermined working position P1 in the vertical direction where the agricultural work is performed during automatic driving, and even when the automatic control unit 61 stops the traveling body 3 or the working device 2 just before an unworked portion J1 of the field and ends the automatic driving, it maintains the positioning of the working device 2 at the working position P1 by the lifting device 8.

[0151] The agricultural work support system 100 of this embodiment includes a positioning device 40 that detects the position of the agricultural machine 1, a lifting device 8 that connects the working implement 2 to the agricultural machine 1 so that it can be raised and lowered, and an automatic control unit 61 that performs automatic driving to drive the agricultural machine 1 and perform agricultural work in a field using the working implement 2 based on a pre-created driving route L1 and the position of the agricultural machine 1 detected by the positioning device 40, and the lifting device 8 positions the working implement 2 at a predetermined working position P1 in the vertical direction where the agricultural work is performed during automatic driving, and the automatic control unit 61 maintains the positioning of the working implement 2 at the working position P1 by the lifting device 8 even when the agricultural machine 1 or the working implement 2 is stopped just before an unworked part of the field and the automatic driving is terminated.

[0152] According to the above configuration, when the automatic operation of the agricultural machine 1 is ended and there is an unworked area in front of the agricultural machine 1 or the working device 2 (an unworked area J1 scheduled for the automatic operation of the field or an unworked area not scheduled), the working device 2 remains positioned at the working position P1, so that when the user then manually operates the agricultural machine 1 to perform farm work on the unworked area with the working device 2, the farm work can be immediately resumed without lifting and lowering the working device 2 with the lifting device 8. In addition, since the working device 2 is not once separated from the soil K2 of the field by the lifting device 8 and then brought into contact with the soil K2 between the end of the automatic operation of the agricultural machine 1 and the start of manual operation, the trace V1 of the separation and contact of the working device 2 is not left on the soil K2, and the finish of the farm work can be prevented from being poor. Furthermore, since there is no need to manually move the agricultural machine 1 and the working device 2 backward from the automatic operation stop position Pm to the already worked area J2 in order to erase the trace V1, an increase in the number of manual operation steps can be prevented. As a result, when the agricultural machine 1 is automatically operated in a field to perform agricultural work using the work device 2, and then the agricultural machine 1 is manually operated to perform agricultural work using the work device 2, it is possible to improve the work efficiency of the agricultural work.

[0153] In this embodiment, even if the automatic control unit 61 stops the traveling of the traveling body 3 and the working device 2 before they reach the goal position Pg of the traveling route L1 during execution of the automatic driving and ends the automatic driving midway, it maintains the positioning state of the working device 2 at the working position P1 by the lifting device 8. As a result, when the automatic driving of the agricultural machine 1 is ended midway (canceled), since the working device 2 remains positioned at the working position P1, when the user subsequently manually drives the agricultural machine 1 to perform agricultural work on an unworked location J1 with the working device 2, the agricultural work can be immediately resumed, making it possible to improve work efficiency.

[0154] In this embodiment, the travel route L1 includes a plurality of work routes L1a, L1s along which the working device 2 performs farm work while the traveling body 3 travels, and even if the automatic operation is terminated midway, the automatic control unit 61 maintains the positioning state of the working device 2 at the work position P1 by the lifting device 8 if the reference route based on which the traveling body 3 was made to travel before the midway termination is the final work route L1s of the travel route L1. As a result, when the automatic operation of the agricultural machine 1 is terminated midway before the goal position Pg where the automatic operation based on the travel route L1 is completed, the working device 2 remains positioned at the work position P1, so that when the user subsequently manually operates the agricultural machine 1 to perform farm work on the unworked location J1 with the working device 2, the farm work can be immediately resumed, which makes it possible to improve work efficiency.

[0155] Furthermore, in this embodiment, the agricultural machine 1 and the farm work support system 100 are provided with a detection device 64 that detects a distance Dx from the traveling body 3 (agricultural machine 1) to the edge of the field in the traveling direction of the traveling body 3, and when the distance Dx detected by the detection device 64 becomes equal to or less than a predetermined threshold value Ds during execution of the automatic driving, the automatic control unit 61 stops the traveling of the traveling body 3 and ends the automatic driving midway. This makes it possible to prevent the agricultural machine 1 or the work device 2 from crossing the field during the automatic driving of the agricultural machine 1. Furthermore, for an unworked location J1 that occurs due to the midway termination of the automatic driving, the user can then manually drive the agricultural machine 1 to immediately resume farm work, thereby making it possible to improve work efficiency.

[0156] Furthermore, in this embodiment, the automatic control unit 61 maintains the positioning state of the working device 2 at the working position P1 by the lifting device 8 after automatic operation ends, until manual operation of the traveling body 3 and agricultural work by the working device 2 are resumed. This reliably prevents the working device 2 from being lifted or lowered by the lifting device 8 and temporarily moving away from and contacting the soil K2 of the field between the end of automatic operation of the agricultural machine 1 and the start of manual operation, thereby ensuring a good finish to the agricultural work.

[0157] In addition, in this embodiment, if the agricultural work performed before automatic driving is terminated is a first agricultural work including field leveling, the automatic control unit 61 maintains the positioning of the working device 2 at the working position P1 by the lifting device 8 even after automatic driving is terminated, and if the agricultural work performed before automatic driving is a second agricultural work that does not include field leveling, the automatic control unit 61 positions the working device 2 by the lifting device 8 at predetermined non-working positions P3, P4 where the second agricultural work is not performed when automatic driving is terminated.

[0158] As described above, when the agricultural machine 1 is automatically operated to perform a first agricultural work including ground leveling in a field using the working device 2, and then the agricultural machine 1 is manually operated to perform further agricultural work using the working device 2, there is no need to move the working device 2 using the lifting device 8, which improves the work efficiency of the first agricultural work and improves the finish of the first agricultural work. Furthermore, when the agricultural machine 1 is automatically operated in a field to complete a second agricultural work not including ground leveling, by positioning the working device 2 at the non-working positions P3 and P4, there is no need for the user to subsequently move the working device 2 to the non-working positions P3 and P4 using the lifting device 8, so the agricultural machine 1 can be immediately manually operated to stably move the agricultural machine 1 and the working device 2 to any location, such as the location where the second agricultural work will be performed next.

[0159] Furthermore, in this embodiment, when the traveling of the traveling body 3 by automatic driving stops, if the stop position Pm is not before an unworked portion J1 of the field, the automatic control unit 61 positions the working device 2 by the lifting device 8 at a predetermined non-working position P2 where no agricultural work is performed. This allows the user to immediately manually operate the agricultural machine 1 thereafter and stably move the agricultural machine 1 and the working device 2 to a desired location, such as the next location where agricultural work will be performed.

[0160] Furthermore, in this embodiment, the agricultural machine 1 and the farm work support system 100 are provided with a notification unit 51g that notifies the user of the height direction position of the working implement 2. This allows the user to easily recognize the position of the working implement 2 and manually operate the agricultural machine 1 to appropriately perform farm work using the working implement 2 and appropriately move the agricultural machine 1 and the working implement 2.

[0161] In addition, in this embodiment, when the work implement 2 is a first work implement performing a first agricultural task including leveling the field, the automatic control unit 61 lowers the first work implement using the lifting device 8 to bring the first work implement into contact with the soil K2 of the field and position it at a work position P1 where the first agricultural task is performed, and raises the first work implement using the lifting device 8 to move the first work implement away from the soil K2 of the field and position it at a predetermined non-work position P2 where the first agricultural task is not performed.

[0162] As described above, by maintaining the working device 2 in the working position P1 by the lifting device 8 from the time when the automatic operation of the agricultural machine 1 for performing the first agricultural work including land leveling is ended until the manual operation of the agricultural machine 1 is started, when the agricultural machine 1 is manually operated thereafter and the first agricultural work is resumed by the working device 2, there is no need to lower the working device 2 by the lifting device 8, and the agricultural work can be resumed immediately, improving the work efficiency. In addition, no trace V1 of separation or contact with the soil K2 due to the lifting and lowering of the working device 2 is left on the soil K2, which can prevent poor finish of the first agricultural work. Furthermore, by manually operating the agricultural machine 1 in a state where the first working device is raised by the lifting device 8 and positioned at the non-working position P2 separated from the soil K2, the agricultural machine 1 and the second working device can be moved stably.

[0163] Furthermore, in this embodiment, when the working device 2 is a second working device that performs a second agricultural work that does not include leveling of the field, the second working device is positioned by the lifting device 8 at a working position where the second agricultural work is performed in contact with or away from the soil K2 of the field, or at a predetermined non-working position where the second agricultural work is not performed and away from the soil K2 of the field. As a result, the second agricultural work that does not include leveling of the field can be performed by positioning the second working device at the working positions P3, P5 with the lifting device 8 and automatically or manually driving the agricultural machine 1. Furthermore, the agricultural machine 1 and the second working device can be moved stably by positioning the second working device at the non-working positions P3, P4 with the lifting device 8 and manually driving the agricultural machine 1.

[0164] In addition, in this embodiment, if agricultural work requiring lifting and lowering of the working device 2 has been performed before the automatic operation is terminated, the automatic control unit 61 maintains the working device 2 at the working position P1 by the lifting device 8 even after the automatic operation is terminated, and if agricultural work not requiring lifting and lowering of the working device 2 has been performed, the automatic control unit 61 maintains the heightwise position P3 of the working device 2 by the lifting device 8 when the automatic operation is terminated. As a result, when agricultural work requiring lifting and lowering of the working device 2 is performed in a field by automatically driving the agricultural machine 1 with the working device 2, and then the agricultural machine 1 is manually driven to perform the agricultural work with the working device 2, there is no need to move the working device 2 by the lifting device 8, so that the work efficiency of the first agricultural work can be improved and the finish of the first agricultural work can be improved. Also, even if the agricultural work not requiring lifting and lowering of the working device 2 is completed by automatically driving the agricultural machine 1 in the field, there is no need to move the working device 2 by the lifting device 8, so that the user can immediately manually drive the agricultural machine 1 thereafter to move the agricultural machine 1 and the working device 2 to any location.

[0165] Furthermore, in this embodiment, the working device 2 includes a first working device that performs a first agricultural task including leveling the field, the first agricultural task includes tilling, and the first working device includes the tilling device 2A. As a result, when the automatic operation of the agricultural machine 1 is terminated, the automatic control unit 61 maintains the state in which the tilling device 2A is positioned at the working position P1 by the lifting device 8, so that the user can then manually operate the agricultural machine 1 and immediately resume tilling work using the tilling device 2A, thereby improving work efficiency and improving the finish of the tilling work.

[0166] Furthermore, in this embodiment, the working device 2 includes a second working device that performs a second agricultural work that does not include leveling of the field, and the second agricultural work includes a spraying work and a rough plowing work, and the second working device includes a spraying device 2B and a rough plowing device. In the second agricultural work such as the rough plowing work, even if the second working device such as the rough plowing device once moves away from the soil K2 of the field and then contacts it, and a trace of the second agricultural work remains in the soil K2, there is no effect on the finish of the second agricultural work. In addition, the second agricultural work such as the spraying work is performed in a state in which the second working device such as the spraying device 2B is separated from the soil K2 of the field, so that a trace of the second working device does not remain in the soil K2. Therefore, when the automatic operation of the agricultural machine 1 is terminated, the automatic control unit 61 positions the second working device at the non-working positions P3 and P4 by the lifting device 8, and then the user can manually operate the agricultural machine 1 to immediately and stably move it to any location.

[0167] 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 indicated 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]

[0168] 1. Agricultural machinery 2. Working Equipment 2A Tillage equipment (first working equipment) 2B Spreading device (2nd work device) 2C Rough tillage device (second working device) 3. Running vehicle 8 Lifting device 40 Positioning device 64 Detection Device 51g Notification section 61 Automatic control unit 100 Agricultural work support system Dx distance L1 Driving route L1a, L1s work route P1, P3, P5 working position P2, P3, P4 non-working position J1 Unworked areas within the planned automatic operation of the field

Claims

1. A travelling vehicle body capable of travelling; A positioning device for detecting the position of the traveling vehicle body; a lifting device that connects a working device to the traveling vehicle body so that the working device can be raised and lowered; an automatic control unit that performs automatic driving by driving the traveling vehicle body and performing agricultural work in a field using the work device based on a previously created traveling route and the position of the traveling vehicle body detected by the positioning device; a detection device that detects a distance from the traveling vehicle body to an edge of the field in a traveling direction of the traveling vehicle body, The lifting device positions the working device at a predetermined working position in a height direction where the agricultural work is performed during the automatic operation, When the distance detected by the detection device falls below a predetermined threshold while the automatic driving is being performed, the automatic control unit stops the traveling of the traveling body, stops the traveling body or the working equipment just before an unworked area of ​​the field, thereby terminating the automatic driving midway and maintaining the positioning of the working equipment at the working position by the lifting device.

2. The agricultural machine according to claim 1, wherein the automatic control unit maintains the positioning state of the work device at the work position by the lifting device when, during execution of the automatic driving, the distance becomes equal to or less than the threshold value before the traveling vehicle body and the work device reach the end position of the traveling route and the automatic driving is terminated midway.

3. The travel route includes a plurality of work routes in which the agricultural work is performed by the work implement while the traveling vehicle body is traveling, The agricultural machine according to claim 2, wherein when the distance becomes equal to or less than the threshold value and the automatic control unit terminates the automatic driving midway, if the reference route based on which the traveling vehicle body was traveling before the midway termination is the final work route of the traveling route, the automatic control unit maintains the positioning state of the work device at the work position by the lifting device.

4. The automatic control unit: Based on the plurality of work routes and the position of the traveling vehicle body, the traveling vehicle body is driven in the automatic driving mode, and the agricultural work is performed by the work device in a center part of the field and in a headland that is outside the center part and inside the outline of the field; The agricultural machine according to claim 3, wherein when the automatic driving is terminated midway, if the reference route is the final work route for performing the agricultural work on the headland, the positioning state of the work device at the work position by the lifting device is maintained.

5. The agricultural machine according to any one of claims 1 to 4, wherein the automatic control unit maintains a state in which the lifting device is positioned at the work position of the working device after the automatic driving is terminated midway through, until the traveling of the traveling vehicle body and the agricultural work by the working device are resumed by manual driving.

6. The agricultural machine according to any one of claims 1 to 5, wherein when the automatic control unit terminates the automatic driving midway, in a case where the agricultural work being performed before the automatic driving is terminated midway includes leveling of the field, the automatic control unit maintains a positioning state of the working device at the working position by the lifting device.

7. The agricultural machinery according to any one of claims 1 to 6, wherein when the automatic control unit stops traveling of the traveling vehicle body by the automatic driving, if the stopping position is not in front of an unworked portion of the field, the automatic control unit positions the working device by the lifting device at a predetermined non-working position where the agricultural work is not performed.

8. The agricultural machine according to any one of claims 1 to 7, further comprising a notification unit that notifies a position of the working implement in a height direction.

9. When the working device is a working device that performs the agricultural work including leveling of the field, the automatic control unit The lifting device is used to lower the working device, and the working device is brought into contact with soil in the field and positioned at the working position where the agricultural work is performed; The agricultural machine according to any one of claims 1 to 8, wherein the lifting device lifts the working implement, and moves the working implement away from soil of the field to a predetermined non-work position where no agricultural work is performed.

10. The agricultural machine according to any one of claims 1 to 5, wherein the automatic control unit maintains the positioning state of the working device at the working position by the lifting device when the automatic operation is terminated midway if agricultural work that requires lifting and lowering of the working device was being performed before the automatic operation was terminated midway.

11. A positioning device for detecting the position of the agricultural machine; a lifting device that connects a working implement to the agricultural machine so that the working implement can be lifted and lowered; an automatic control unit that performs automatic driving by driving the agricultural machine and performing agricultural work in a field with the working device based on a travel route created in advance and the position of the agricultural machine detected by the positioning device; a detection device that detects a distance from the agricultural machine to an edge of the field in a traveling direction of the agricultural machine, The lifting device positions the working device at a predetermined working position in a height direction where the agricultural work is performed during the automatic operation, The automatic control unit, when the distance detected by the detection device falls below a predetermined threshold while the automatic driving is being performed, stops the agricultural machinery, stops the agricultural machinery or the work equipment just before an unworked area of ​​the field, terminates the automatic driving midway, and maintains the positioning of the work equipment at the work position using the lifting device.This is an agricultural work support system.

12. The agricultural work support system according to claim 11 , further comprising a notification unit that notifies a position of the work implement in a height direction.

13. The agricultural work support system according to claim 11 or 12, wherein the work implements include a tilling implement for performing tilling work, which is agricultural work including land leveling of the farm field.

Images