Work vehicle support systems

Abstract

To store a reference line in a server beforehand, and utilize the stored reference line appropriately.SOLUTION: A work vehicle support system includes: a work vehicle capable of travelling either by manual steering or automatic steering based on a reference line; a server that stores a plurality of reference lines; and a first terminal having a display part for presenting at least one or more reference lines of the plurality of reference lines stored by the server, and a selection part for receiving the selection of an arbitrary reference line from the reference lines presented by the display part as a candidate line that the work vehicle uses as a reference for the automatic steering.SELECTED DRAWING: Figure 21

Description

[Technical field]

[0001] The present invention relates to an assistance system for a work vehicle. [Background technology]

[0002] Conventionally, the agricultural machine disclosed in Patent Document 1 is known. The agricultural machine disclosed in Patent Document 1 includes a traveling body that can be switched between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line that is set parallel to a traveling reference line, and a changeover switch that can be switched between manual traveling and automatic traveling. In addition, in the agricultural machine of Patent Document 1, when the right instruction button is operated while traveling along a ridge, the start point of the traveling reference line is set, and when the left instruction button is operated while traveling, the end point of the traveling reference line is set. That is, in the agricultural machine of Patent Document 1, the traveling reference line is set during manual traveling before automatic steering is performed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-123803 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the agricultural machine of Patent Document 1, when the right instruction button is operated while driving, the position of the agricultural machine at the time of said operation is determined as the starting point of the driving reference line, and when the left instruction button is operated, the position of the agricultural machine at the time of said operation is determined as the end point of the driving reference line. However, with the technology disclosed in Patent Document 1 mentioned above, when the reference line was re-registered even for the same agricultural machine, or when a different agricultural machine was made to perform automatic steering, it was necessary to set the start and end points of the driving reference line again in the same field.

[0005] In view of the above problems, the present invention has an object to provide a support system for a work vehicle that can store a reference line in a server in advance and appropriately utilize the stored reference line. [Means for solving the problem]

[0006] An assistance system for a work vehicle according to one aspect of the present invention includes a work vehicle capable of traveling by either manual steering or automatic steering based on a reference line, a server that stores a plurality of the reference lines, a display unit that presents at least one of the plurality of reference lines stored in the server, and a selection unit that accepts selection of an arbitrary reference line from the reference lines presented by the display unit as a candidate line to be used by the work vehicle as a reference for automatic steering. The server has a priority definition unit that defines a priority order for the multiple reference lines stored in the server based on at least one condition, and the display unit presents the reference lines based on the priority order defined by the priority definition unit.

[0007] Also, The work vehicle has a position detection device that detects any start point and end point in a field when the manual steering is being performed, and a line definition unit that defines the reference line based on the start point and the end point detected by the position detection device, the server stores a plurality of the reference lines defined by the line definition unit, and the order definition unit includes a condition that defines the priority order based on a first distance between the start point and the end point of the reference line.

[0008] Moreover, the order definition unit includes, as the condition, a first condition that defines the priority order of the reference line having a longer first distance as higher than that of the reference line having a shorter first distance. The server also has a calculation unit that calculates a second distance between the intersection of a straight line passing through the starting point and the end point and the outline of the field, and the priority definition unit includes a second condition that defines the priority of the reference line in which the ratio of the first distance to the second distance is large as higher than that of the reference line in which the ratio is small.

[0009] The server also has a judgment unit that judges whether the first distance is less than a predetermined threshold, and the display unit displays a warning when the judgment unit determines that the first distance is less than the threshold for the reference line for which the selection unit has accepted a selection. The server also has a database that stores the reference line in association with a usage history of the reference line, and the ranking definition unit includes conditions that define the priority order based on the usage history.

[0010] The work vehicle further comprises a first communication device capable of communicating with the server and receiving the reference line to be used for the automatic steering from the server, an operable correction switch, and a correction unit that corrects and redefines the reference line received by the first communication device based on the operation of the correction switch, and corrects the steering during the automatic steering, the server having a second communication device capable of communicating with the work vehicle, the database stores the degree to which the correction unit corrected the reference line as the usage history via the first communication device and the second communication device, and the order definition unit includes as one of the conditions a third condition that defines the priority of the reference line having a lesser degree as higher than the reference line having a greater degree.

[0011] Further, the correction unit increases the degree according to the number of times the correction switch is operated, and the third condition is a condition that defines the priority of the reference line having a smaller number of operations as higher than the reference line having a larger number of operations. The database also associates and stores, for each reference line, the maximum or average number of operations in a series of operations in which the work vehicle performed the automatic steering using that reference line, as the usage history.

[0012] The work vehicle further comprises a first communication device capable of communicating with the server and receiving the reference line to be used for the automatic steering from the server, an operable correction switch, and a correction unit that corrects and redefines the reference line received by the first communication device based on operation of the correction switch, and corrects the steering during the automatic steering, the server having a second communication device capable of communicating with the work vehicle, the database overwrites the reference line corrected by the correction unit and stores the degree of correction of the reference line after the correction as the usage history, and the order definition unit includes as one of the conditions a fourth condition that defines the priority of the reference line with a higher degree than the reference line with a lower degree.

[0013] Further, the correction unit increases the degree according to the number of times the correction switch is operated, and the fourth condition is a condition that defines the priority of the reference line having a greater number of operations as higher than the reference line having a smaller number of operations. Further, the display unit displays the number of operations when presenting the reference line based on the priority order defined by the order definition unit.

[0014] In addition, the database stores the number of times the work vehicle has used the reference line as the usage history, associating it with the reference line, and the ranking definition unit includes a fifth condition as one of the conditions, which defines the priority of the reference line that has been used more frequently as being higher than that of the reference line that has been used less frequently. In addition, the database stores, as the usage history, for each reference line, work results, which are the results of work content in a series of tasks in which the work vehicle performed the automatic steering using that reference line, and the ranking definition unit includes, as one of the conditions, a sixth condition that defines the priority of the reference line having a greater variety of work results as higher than that of the reference line having a smaller variety of work results.

[0015] In addition, when accepting the selection of an arbitrary reference line as the candidate line, the selection unit accepts input of the work content of a series of tasks in which the work vehicle performs the automatic steering using the reference line, and the database associates and stores, for each reference line, the work record, which is the record of the work content in a series of tasks in which the work vehicle performs the automatic steering using the reference line, as the usage history, and the ranking definition unit includes, as one of the conditions, a seventh condition that defines the priority of the reference line that is related to the work content inputted by the selection unit as higher than the reference line that is not related to the work content of the work record.

[0016] In addition, the first terminal has an input unit that accepts selection of at least one of the conditions, and the display unit presents the reference line based on a priority corresponding to the condition accepted by the input unit among the priorities defined by the order definition unit. Effect of the Invention

[0017] According to the above-described work vehicle assistance system, the reference line is stored in advance in the server, and the stored reference line can be appropriately utilized. [Brief description of the drawings]

[0018] [Figure 1] 1 is an overall view of a support system S for a work vehicle in a first embodiment. [Diagram 2] FIG. 1 is a first diagram illustrating automatic steering. [Diagram 3] 11 is a diagram showing an example in which a line definition unit defines a reference line L1 and a planned travel line L2. FIG. [Figure 4] 1 is a diagram showing a reference line L1 and a planned travel line L2. [Figure 5A] FIG. 13 is a flowchart showing how to perform manual steering and define a reference line L1. [Figure 5B] FIG. 13 is a flowchart showing a process of defining a planned driving line L2 and performing automatic steering. [Figure 6]FIG. 11 is a flowchart showing how the correction unit corrects the reference line L1. [Figure 7] 11 is a diagram illustrating the correction of the planned travel line L2 and the reference line L1 by the correction unit. FIG. [Figure 8] FIG. 2 is a diagram showing reference information and information included in the reference information. [Figure 9] 11 is a diagram showing a flow of transmission and reception of second reference information and third reference information, and a flow of a server acquiring a reference line L1. FIG. [Figure 10] 13 is a diagram showing an example of data (second reference information) stored in the first storage area. FIG. [Figure 11] 13 is a diagram for explaining the definition of a candidate line L3 and the transition of a screen displayed on a first terminal display unit. FIG. [Figure 12] FIG. 13 is a diagram showing a first selection screen M1. [Figure 13] FIG. 13 is a diagram showing a second selection screen M2. [Figure 14A] FIG. 13 is a diagram showing a presentation screen M3 in the first embodiment. [Figure 14B] FIG. 13 is a diagram showing a first presentation screen M3a in a modified example of the first embodiment. [Figure 14C] FIG. 13 is a diagram showing a second presentation screen M3b in a modified example of the first embodiment. [Figure 15] FIG. 13 shows an operation screen M4. [Figure 16] FIG. 13 shows a confirmation screen M5. [Figure 17] 13 is a diagram illustrating a flow of transmitting a candidate line L3 to a work vehicle and a transition of screens displayed on a second terminal display unit. FIG. [Figure 18] FIG. 13 is a diagram showing a first reception screen M6. [Figure 19] FIG. 13 is a diagram showing a second reception screen M7. [Figure 20] FIG. 13 shows a call screen M8. [Figure 21] 1 is an overall view of a support system S for a work vehicle in a second embodiment. [Figure 22] FIG. 11 is a flowchart showing a process in which a ranking definition unit defines a priority order based on a first condition. [Figure 23] FIG. 4 is a diagram illustrating the calculation of a first distance and a second distance. [Figure 24] FIG. 11 is a flowchart showing a process in which the priority definition unit defines the priority order based on a second condition. [Diagram 25] 13 is a diagram showing a flow in which the ranking definition unit defines the priority order based on a third condition. FIG. [Figure 26] 13A and 13B are diagrams illustrating the degree of correction in a modified example. [Figure 27] 13 is a diagram showing a flow in which the ranking definition unit defines the priority order based on a fourth condition. FIG. [Figure 28] FIG. 13 is a flowchart showing a process in which the ranking definition unit defines the priority order based on a fifth condition. [Figure 29] FIG. 13 is a flowchart showing a process in which the ranking definition unit defines the priority order based on a sixth condition. [Diagram 30] FIG. 13 is a flowchart showing a process in which the priority definition unit defines the priority order based on a seventh condition. [Diagram 31] FIG. 13 is a diagram showing a third presentation screen M3c in the second embodiment. [Diagram 32] 13A to 13D are diagrams illustrating a transition to a presentation screen M3 (a third presentation screen M3c and a fourth presentation screen M3d) and the like in the second embodiment. [Diagram 33] FIG. 13 is a diagram showing a fourth presentation screen M3d in the second embodiment. [Figure 34A] FIG. 11 is a first diagram for explaining a transition to a warning screen M9 in a modified example of the second embodiment. [Figure 34B] FIG. 23 is a second diagram illustrating a transition to a warning screen M9 in a modified example of the second embodiment. [Diagram 35] FIG. 13 shows a warning screen M9. [Diagram 36] FIG. 2 is an overall view of a tractor (a first work vehicle and a second work vehicle). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [First embodiment] FIG. 1 shows an overall view of a work vehicle assistance system S in a first embodiment. The work vehicle assistance system S is a system in which a specific work vehicle 1A performs manual steering, and a reference line L1 defined by a line definition unit 40c of the work vehicle 1A is stored in a server 50. The work vehicle assistance system S can also select (register) the reference line L1 stored in the server 50 as a candidate line L3 to be used for automatic steering of the work vehicles 1A and 1B. As shown in FIG. 1, the work vehicle assistance system S includes work vehicles (first work vehicle 1A, second work vehicle 1B), a server 50, and a first terminal 60.

[0020] In this embodiment, a specific work vehicle 1A is referred to as a first work vehicle, and a work vehicle other than the first work vehicle 1A is referred to as a second work vehicle 1B. In the following description, configurations common to the first work vehicle 1A and the second work vehicle 1B will be described together. As shown in Fig. 36, in this embodiment, the first work vehicle 1A and the second work vehicle 1B are tractors. Note that the work vehicles 1A, 1B only need to have a vehicle body 3 capable of traveling with either manual steering or automatic steering based on the reference line L1, and the work vehicles 1A, 1B are not limited to tractors, but may be agricultural machinery (agricultural vehicles) such as combines and transplanters, or construction machinery (construction vehicles) such as loader work machines. In other words, the present invention can be applied to cases where the first work vehicle 1A is a tractor and the second work vehicle 1B is a combine, and can also be applied to cases where the first work vehicle 1A is a rice transplanter and the second work vehicle 1B is a combine, and the combination is not limited to only tractors.

[0021] Fig. 36 is a side view showing the entire work vehicle 1A, 1B. First, the tractor (work vehicle 1A, 1B) will be described using Fig. 36 etc. In the description of this embodiment, the direction in which the driver seated in the driver's seat 10 of the work vehicle 1A, 1B faces (left side in Fig. 36) is referred to as the front, and the opposite direction (right side in Fig. 36) is referred to as the rear. In addition, the left side of the driver (the front side in Fig. 36) is referred to as the left side, and the right side of the driver (the back side in Fig. 36) is referred to as the right side. The direction perpendicular to the fore-and-aft direction of the vehicle body 3 is sometimes referred to as the vehicle body width direction (width direction).

[0022] As shown in Fig. 36, the work vehicles 1A, 1B are equipped with a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 has a traveling device 7 and can travel by means of the traveling device 7. The vehicle body 3 can travel by either manual steering or automatic steering based on a reference line L1. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. In the example shown in Fig. 36, the front wheels 7F and rear wheels 7R are of a tire type, but may be of a crawler type.

[0023] The prime mover 4 is a diesel engine, an electric motor, or the like, and is configured as a diesel engine in this embodiment. The transmission 5 can switch the propulsive force of the traveling device 7 by changing the speed stage, and can also switch between forward and reverse movement of the traveling device 7. In addition, as shown in Fig. 36, the vehicle body 3 is provided with a driver's seat 10 in which a driver sits. A coupling section 8 configured with a three-point link mechanism or the like is provided at the rear of the vehicle body 3. A working implement 2 can be attached and detached to the coupling section 8. The work vehicles 1A, 1B can tow the working implement 2 by coupling the working implement 2 to the coupling section 8 and driving the traveling gear 7. The working implements 2 include a tilling device that performs tilling work, a fertilizer spreader that spreads fertilizer, a pesticide spreader that spreads pesticide, a harvesting device that performs harvesting, a reaping device that cuts grass or the like, a spreading device that spreads grass or the like, a grass collecting device that collects grass or the like, and a shaping device that shapes grass or the like.

[0024] The working implement 2 may be any implement that is coupled to the coupling portion 8 of the working vehicles 1A, 1B or is provided on the working vehicles 1A, 1B and performs work, and is not limited to the above-mentioned examples. For example, if the working vehicles 1A, 1B are combine harvesters, the working implement 2 includes a harvesting device that harvests crops and a threshing device that threshes crops. Also, if the working vehicles 1A, 1B are rice transplanters, the working implement 2 includes a planting device that plants seedlings.

[0025] As shown in FIG. 1, the work vehicles 1A, 1B are equipped with a control device 40 and a memory unit 41. The control device 40 is a device that controls the travel systems and work systems of the work vehicles 1A, 1B. The control device 40 is composed of electric and electronic components, programs, etc. The control device 40 has a clock unit 40a that keeps time. The clock unit 40a keeps time (year, date, time).

[0026] The storage unit 41 is a non-volatile memory or the like, and can store various programs and various information related to the work vehicles 1A, 1B. For example, the control device 40 can associate the time measured by the timing unit 40a with other information and store the associated information in the storage unit 41. The control device 40 is connected to an accelerator member (accelerator pedal, accelerator lever) 15 and a gear shift member (gear shift lever, gear shift switch) 16 provided on the vehicle body 3. The accelerator member 15 is a member with which the driver manually operates the travel speed of the work vehicles 1A, 1B (vehicle body 3), i.e., the vehicle speed. The control device 40 controls the travel speed of the vehicle body 3 based on an operation signal output from the accelerator member 15. Specifically, the control device 40 controls the travel speed of the vehicle body 3 based on the amount of operation of the accelerator member 15 and a control map pre-stored in a memory unit 41.

[0027] The shifting member 16 is a member with which the driver manually operates the speed stage of the transmission 5. The control device 40 changes the speed stage of the transmission 5 based on an operation signal output from the shifting member 16. Note that in this embodiment, the control device 40 changes the speed stage of the transmission 5 based on the operation of the shifting member 16, but the shifting member 16 may be configured to change the speed stage of the transmission 5 directly, without going through the control device 40.

[0028] As shown in Fig. 1, the work vehicles 1A, 1B are equipped with a first communication device 42. The first communication device 42 is capable of communicating with a server 50, which will be described later. The first communication device 42 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, or the like. Note that the first communication device 42 only needs to be capable of communicating with the server 50, and may be, for example, a communication device that performs wireless communication via Bluetooth (registered trademark) Low Energy in the specifications of Bluetooth (registered trademark) of the communication standard IEEE802.15.1 series, WiFi (registered trademark) of the communication standard IEEE802.11.n series, or the like.

[0029] As shown in FIG. 1, the work vehicles 1A and 1B are equipped with a detection device (positioning device) 40. The detection device 43 can detect its own position information (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the detection device 43 receives a satellite signal (position of the positioning satellite, transmission time, etc.) transmitted from the positioning satellite, and detects the position information (e.g., latitude and longitude) based on the satellite signal. The detection device 43 has a receiving device 44 and an inertial measurement unit (IMU) 45. The receiving device 44 is a device that has an antenna and the like and receives a satellite signal transmitted from the positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 45. In this embodiment, the receiving device 44 is attached to a ROPS provided on the vehicle body 3. It should be noted that the receiving device 44 is only required to be able to receive satellite signals transmitted from positioning satellites, and its attachment location is not limited to the ROPS.

[0030] The inertial measurement unit 45 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 45 is provided on the vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3. As shown in Fig. 1, the work vehicles 1A, 1B are equipped with a steering device 11. The steering device 11 is a device capable of performing manual steering, in which the vehicle body 3 is steered by the driver's operation, and automatic steering, in which the vehicle body 3 is steered automatically without the driver's operation.

[0031] The steering device 11 has a steering handle (steering wheel) 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. The steering device 11 also has an assist mechanism (power steering device) 32. The assist mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The assist mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is, for example, a three-position switching valve that can be switched by movement of a spool or the like, and switches in accordance with the steering direction (rotation direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheels 7F.

[0032] Therefore, when the driver grips the steering wheel 30 and operates it in a first direction or a second direction that is the opposite direction to the first direction, the switching position and opening degree of the control valve 34 are switched corresponding to the rotation direction of the steering wheel 30. Therefore, the steering cylinder 35 expands and contracts to the left or right according to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. In other words, the traveling direction of the vehicle body 3 can be changed to the left or right by manually steering the steering wheel 30.

[0033] As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that automatically steers the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position P) detected by the detection device 43. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the vehicle body position P. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating together with the steering shaft 31, and a gear provided on the drive shaft of the steering motor 38 and rotating together with the drive shaft. When the drive shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (turns) via the gear mechanism 39, and the steering direction of the front wheels 7F can be changed so that the vehicle body position P coincides with the planned travel line L2.

[0034] In this embodiment, the work vehicles 1A, 1B are equipped with a steering device 11 having a steering handle 30, and the steering direction is changed by changing the direction of the front wheels 7F using the steering device 11. However, the vehicle body 3 only needs to be capable of changing the steering direction (direction of travel) using manual steering and automatic steering, and the mechanism for changing the direction of travel is not limited to the mechanism described above. Next, a description will be given of the control of automatic steering of the vehicle body 3. The work vehicles 1A, 1B can acquire a predetermined reference line L1 and perform automatic steering based on a planned travel line L2 that is parallel to the reference line L1. In automatic steering, the automatic steering mechanism 37 automatically steers the traveling direction of the work vehicles 1A, 1B (vehicle body 3) so that the vehicle body position P measured by the detection device 43 coincides with the planned travel line L2.

[0035] 1, the control device 40 has an automatic steering control unit 40b. The automatic steering control unit 40b is provided in the control device 40, and is composed of electric and electronic components provided in the control device 40, a program incorporated in a memory unit 41, etc. As shown in Fig. 2, the automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2. The automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2. When the automatic steering control unit 40b is performing automatic steering, the driver can change the travel speed of the vehicle body 3 and the speed stage of the transmission 5 by operating the accelerator member 15 and the speed change member 16.

[0036] The control of the automatic steering mechanism 37 by the automatic steering control unit 40b will be described in detail below. As shown in Fig. 2(a), when the deviation between the vehicle body position P and the planned travel line L2 is less than a predetermined value, the automatic steering control unit 40b maintains the rotation angle of the rotation shaft of the steering motor 38. 2(b), when the deviation (position deviation) between the vehicle body position P and the planned travel line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned on the left side of the planned travel line L2, the automatic steering control unit 40b rotates the rotating shaft of the steering motor 38 so that the steering direction of the work vehicles 1A, 1B is rightward. In other words, when the deviation (position deviation) between the vehicle body position P and the planned travel line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned on the left side of the planned travel line L2, the automatic steering control unit 40b changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F rightward.

[0037] 2(c), when the deviation between the vehicle body position P and the planned travel line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned to the right of the planned travel line L2, the automatic steering control unit 40b rotates the rotary shaft of the steering motor 38 so that the steering direction of the work vehicles 1A, 1B is leftward. In other words, when the deviation between the vehicle body position P and the planned travel line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned to the right of the planned travel line L2, the automatic steering control unit 40b changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F leftward.

[0038] In the above-mentioned Figs. 2(a) to (c), the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position P and the planned travel line L2. However, as shown in Fig. 2(d), when the orientation of the planned travel line L2 and the orientation (vehicle body orientation) F1 of the traveling direction (traveling direction) of the work vehicles 1A, 1B (vehicle body 3) are different, that is, when the angle θg of the vehicle body orientation F1 with respect to the planned travel line L2 is equal to or greater than a predetermined value, the automatic steering control unit 40b may define the steering angle so that the angle θg becomes zero (the vehicle body orientation F1 coincides with the orientation of the planned travel line L2). In addition, the automatic steering control unit 40b may define the final steering angle in the automatic steering based on the steering angle calculated from the deviation (position deviation) and the steering angle calculated from the orientation (orientation deviation). Note that the automatic steering control unit 40b only needs to define the steering angle of the automatic steering, and the method of definition is not limited to the above-mentioned example.

[0039] As shown in Fig. 1, the work vehicles 1A, 1B are also equipped with a steering changeover switch 19. The steering changeover switch 19 is a switch that can be operated to start (set automatic steering) and end (cancel automatic steering). In this embodiment, the steering changeover switch 19 is a lever switch that can be operated by swinging, as shown in Fig. 3. The steering changeover switch 19 is connected to a control device 40, and can output an operation signal to the control device 40.

[0040] The automatic steering control unit 40b controls the start or end of automatic steering based on the operation of the steering changeover switch 19. In this embodiment, the driver operates the steering changeover switch 19 (third operation) when performing automatic steering on the work vehicles 1A, 1B. In addition, the steering changeover switch 19 can be operated (fourth operation) while the automatic steering control unit 40b is performing automatic steering to cancel automatic steering. Note that the steering changeover switch 19 and a registration switch 18, which will be described later, may be configured to be operated by a common operation lever 21 as shown in FIG. 36, and the configuration is not limited to the above-mentioned configuration.

[0041] As shown in Fig. 1, the first work vehicle 1A is equipped with a line definition unit 40c. In this embodiment, the second work vehicle 1B also has a line definition unit 40c. Note that the second work vehicle 1B only needs to be equipped with an automatic steering control unit 40b and be able to perform automatic steering based on the reference line L1, and does not necessarily need to be equipped with the line definition unit 40c. Specifically, the line definition unit 40c is provided in the control device 40, and is composed of electric and electronic components provided in the control device 40, a program incorporated in the storage unit 41, and the like. The line definition unit 40c defines a reference line L1 based on travel information of the vehicle body 3 when the vehicle body 3 is being manually steered. The travel information of the vehicle body 3 is information detected by the detection device 43. In this embodiment, the travel information of the vehicle body 3 is position information of the vehicle body position P, and as shown in FIG. 3, the line definition unit 40c defines a predetermined start point Ps and a predetermined end point Pg when the vehicle body 3 is being manually steered, thereby defining position information of a straight line passing through the start point Ps and the end point Pg as the reference line L1. The line definition unit 40c stores the defined reference line L1 in the storage unit 41.

[0042] When the traveling information of the vehicle body 3 is position information of the vehicle body position P, the detection device 43 is required to be able to detect at least the position information of the vehicle body 3 (vehicle body position P) and does not have to be able to detect the orientation (vehicle body orientation F1) of the vehicle body 3. Hereinafter, for convenience of explanation, the detection device 43 that can detect at least the position information of the vehicle body 3 (vehicle body position P) may be referred to as the first detection device 43A. In this embodiment, the travel information is position information of the vehicle body position P, but the travel information may be orientation information indicating the orientation of the vehicle body 3 (vehicle body orientation F1). In such a case, the line definition unit 40c defines the orientation indicated by a straight line passing through the start point Ps and the end point Pg as the reference line L1. In other words, the line definition unit 40c defines the orientation indicating the reference line L1.

[0043] In addition, when the traveling information of the vehicle body 3 is orientation information indicating the vehicle body orientation F1, the detection device 43 is only required to be able to detect at least the vehicle body orientation F1 of the vehicle body 3, and does not have to be able to detect the position information of the vehicle body 3. Hereinafter, for convenience of explanation, the detection device 43 that can detect at least the orientation information (vehicle body orientation F1) of the vehicle body 3 may be referred to as the second detection device 43B. As shown in FIG. 1, the work vehicles 1A, 1B are equipped with a registration switch 18, and the line definition unit 40c acquires a start point Ps and an end point Pg of a reference line L1 in a field F, and defines the reference line L1 based on the acquired start point Ps and end point Pg.

[0044] The registration switch 18 is an operable switch operating tool, such as a push button switch. The registration switch 18 is also connected to the control device 40 and can output an operation signal to the control device 40. The driver operates the registration switch 18 when defining the reference line L1. The line definition unit 40c can define a start point Ps and an end point Pg based on the operation of the registration switch 18.

[0045] Specifically, when the driving information is position information, the line definition unit 40c obtains the start point Ps and the end point Pg from the position (vehicle body position P) of the work vehicles 1A, 1B when the registration switch 18 is operated, and defines the reference line L1 by registering the obtained start point Ps and end point Pg. When the travel information is direction information, the line definition unit 40c acquires direction information, etc. of the vehicle body 3 at the start point Ps and the end point Pg from the direction (direction information) of the work vehicles 1A, 1B when the registration switch 18 is operated. The line definition unit 40c defines the reference line L1 by calculating the average of the direction of the start point Ps and the direction of the end point Pg, etc., and registering the direction of the reference line L1.

[0046] Hereinafter, the relationship between the traveling information acquired by the line definition unit and the operation of the registration switch 18 will be described taking as an example a case where the traveling information is position information. Specifically, when the driver operates the registration switch 18 (first operation) while the vehicle body 3 is being manually steered, the line definition unit 40c defines the current vehicle body position P detected by the detection device 43 as the start point Ps of the reference line L1. In addition, when the driver operates the registration switch 18 (second operation) after the first operation, the line definition unit 40c defines the current vehicle body position P detected by the detection device 43 as the end point Pg of the reference line L1.

[0047] In detail, when the registration switch 18 is operated (first operation or second operation), the line definition unit 40c associates identification information indicating the start point Ps or the end point Pg with the vehicle body position P at the time when the first operation or the second operation is performed and stores them in the storage unit 41, thereby registering the start point Ps or the end point Pg and defining the reference line L1. For example, the line definition unit 40c stores position information of the start point Ps and the end point Pg of the defined reference line L1 in the storage unit 41. When storing the reference line L1 in the storage unit 41, the line definition unit 40c generates first identification information that is identification information of the reference line L1, and associates the first identification information with the reference line L1 and stores it in the storage unit 41.

[0048] In the above-described embodiment, the storage unit 41 stores position information of the start point Ps and the end point Pg of the reference line L1 as the reference line L1, but the storage unit 41 may store data (direction or function) or the like indicating the reference line L1 itself as the reference line L1. Note that even when the storage unit 41 stores data (direction or function) or the like indicating the reference line L1 itself as the reference line L1, the storage unit 41 stores position information of the start point Ps and the end point Pg of the defined reference line L1.

[0049] As shown in FIG. 4, the line definition unit 40c can define a planned travel line L2 parallel to the reference line L1 based on the reference line L1 stored in the storage unit 41. The line definition unit 40c defines the planned travel line L2 in response to the operation of the steering changeover switch 19 (third operation). First, in an example in which the travel information is position information and the reference line L1 is defined by the position information of the start point Ps and the end point Pg, when the driver operates the steering changeover switch 19 (third operation) in a state in which the reference line L1 is stored in the storage unit 41, the line definition unit 40c acquires the current vehicle body position P at which the steering changeover switch 19 is operated. The line definition unit 40c defines the planned travel line L2 by shifting the reference line L1 in parallel based on the start point Ps' and the start point Ps of the reference line L1, with the current vehicle body position P being the start point Ps'.

[0050] In addition, when the driving information is direction information, etc., and the reference line L1 is defined by the direction of the reference line L1 itself, the line definition unit 40c defines a planned driving line L2 indicating the same direction as the direction of the reference line L1 based on the direction of the reference line L1, using the current vehicle position P at which the steering switch 19 is operated as a reference. The definition of the reference line L1 by the line definition unit 40c will be described below with reference to Figures 3 and 5A. When defining the reference line L1, the driver moves the work vehicles 1A, 1B (vehicle body 3) to a predetermined position (start point Ps) in the field F by manual steering before performing automatic steering. The driver moves the work vehicles 1A, 1B, for example, to the vicinity of a headland in a predetermined third direction of the field F.

[0051] 5A, the line definition unit 40c checks whether the registration switch 18 has been operated (first operation) (S1). Specifically, the line definition unit 40c checks whether the first operation has been performed based on an operation signal output from the registration switch 18 to the control device 40. When the line definition unit 40c confirms that the registration switch 18 has been operated (first operation) (S1, Yes), it defines the current vehicle body position P (position information) detected by the detection device 43, i.e., the latest position information, as the start point Ps of the reference line L1 (S2). Specifically, the line definition unit 40c associates, upon the first operation of the registration switch 18, identification information indicating the start point Ps with the vehicle body position P detected by the detection device 43 at the time the first operation was performed, and stores them in the storage unit 41.

[0052] When the driver operates the registration switch 18 (S1, Yes) to cause the line definition unit 40c to define the start point Ps (S2), the driver drives the work vehicles 1A, 1B by manual steering for a predetermined distance. In more detail, the driver moves the work vehicles 1A, 1B, for example, to the vicinity of the headland in the fourth direction, which is the opposite side of the field F from the third direction. When the line definition unit 40c defines the start point Ps of the reference line L1 (S2), it checks whether the registration switch 18 has been operated (second operation) (S3). Specifically, the line definition unit 40c checks whether the second operation has been performed based on the operation signal output from the registration switch 18 to the control device 40.

[0053] When the line definition unit 40c confirms that the registration switch 18 has been operated (second operation) (S3, Yes), the detection device 43 defines the current vehicle body position P (position information), i.e., the latest position information, as the end point Pg of the reference line L1 (S4). Specifically, when the registration switch 18 is operated for the second time, the line definition unit 40c associates identification information indicating the end point Pg with the vehicle body position P detected by the detection device 43 and at the time the second operation was performed, and stores them in the storage unit 41. In addition, the line definition unit 40c generates first identification information, and associates the first identification information with the reference line L1 and stores it in the storage unit 41.

[0054] Thus, the line definition unit 40c can define the start point Ps and the end point Pg of the reference line L1, thereby defining a straight line or a direction connecting the start point Ps and the end point Pg as the reference line L1. 3 and 5B, a case will be described in which the automatic steering control unit 40b changes the steering angle of the steering device 11 based on the deviation between the vehicle body position P and the planned travel line L2, and then the line definition unit 40c defines the reference line L1 and then the work vehicles 1A, 1B are automatically steered based on the reference line L1. When automatically steering the work vehicles 1A, 1B, the driver moves the work vehicles 1A, 1B to a position (start point Ps') where the automatic steering is to be performed.

[0055] 5B, the line definition unit 40c checks whether or not the reference line L1 is stored in the storage unit 41 (S11). When the line definition unit 40c checks that the reference line L1 is stored in the storage unit 41 (S11, Yes), it acquires the reference line L1 from the storage unit 41 (S12). Specifically, the line definition unit 40c acquires, as the reference line L1, position information of a straight line connecting the start point Ps and the end point Pg, or data (direction or function) indicating the reference line L1 itself.

[0056] When the line definition unit 40c acquires the reference line L1 from the storage unit 41 (S12), it checks whether the steering changeover switch 19 has been operated (third operation) or not (S13). Specifically, the line definition unit 40c checks whether the steering changeover switch 19 has been operated (third operation) or not based on an operation signal output from the steering changeover switch 19 to the control device 40. When the line definition unit 40c confirms that the steering changeover switch 19 has been operated (S13, Yes), it defines the planned travel line L2 (S14). Specifically, the line definition unit 40c obtains, for example, the current vehicle body position P (position information), i.e., the latest position information, as the start point Ps' of the planned travel line L2, and defines the planned travel line L2 by shifting the start point Ps of the reference line L1 in parallel to the start point Ps', or defines the planned travel line L2 based on the current vehicle body position P and indicating the same orientation as the reference line L1. In addition, the line definition unit 40c holds the start point Ps' in the storage unit 41.

[0057] When the line definition unit 40c defines the planned travel line L2 (S14), the automatic steering control unit 40b starts automatic steering and controls the automatic steering mechanism 37 so that the traveling direction of the work vehicles 1A, 1B (vehicle bodies 3) follows the planned travel line L2. Specifically, when the travel information is vehicle body position P (position information), the automatic steering control unit 40b checks whether the deviation between the latest vehicle body position P detected by the detection device 43 and the planned travel line L2 is less than a predetermined value (S15).

[0058] When the automatic steering control unit 40b confirms that the deviation between the latest vehicle position P detected by the detection device 43 and the planned driving line L2 is less than a predetermined value (S15, Yes), it controls the automatic steering mechanism 37 to maintain the rotation angle of the rotation shaft of the steering motor 38 (S16). When the automatic steering control unit 40b confirms that the deviation between the latest vehicle position P detected by the detection device 43 and the planned driving line L2 is greater than or equal to a predetermined value (S15, No), it confirms whether the vehicle position P is located on the left side of the planned driving line L2 (S17).

[0059] When the automatic steering control unit 40b confirms that the vehicle position P is located on the left side of the intended driving line L2 (S17, Yes), it controls the automatic steering mechanism 37 to rotate the rotating shaft of the steering motor 38, change the steering angle, and steer the front wheels 7F to the right so that the steering direction of the work vehicles 1A, 1B is to the right (S18). On the other hand, when the automatic steering control unit 40b confirms that the vehicle position P is not located on the left side of the planned driving line L2, that is, that the vehicle position P is located on the right side of the planned driving line L2 (S17, No), it controls the automatic steering mechanism 37 to rotate the rotating shaft of the steering motor 38, change the steering angle, and steer the front wheels 7F to the left so that the steering direction of the work vehicles 1A, 1B is to the left (S19).

[0060] In addition, when the automatic steering control unit 40b is performing automatic steering, the traveling speed (vehicle speed) of the work vehicles 1A, 1B (vehicle body 3) is changed by the driver manually changing the amount of operation of the accelerator member 15 (accelerator pedal, accelerator lever) or by operating the gear shift member 16 (gear shift lever, gear shift switch). Furthermore, when the automatic steering control unit 40b performs automatic steering and controls the automatic steering mechanism 37 (S16, S18, S19), it checks whether the steering changeover switch 19 has been operated (fourth operation) (S20). Specifically, the line definition unit 40c checks whether the steering changeover switch 19 has been operated (fourth operation) based on the operation signal output from the steering changeover switch 19 to the control device 40.

[0061] When the automatic steering control unit 40b confirms that the steering changeover switch 19 has been operated (fourth operation) (S20, Yes), it ends the automatic steering (S21). Therefore, the driver can end the automatic steering by operating the steering changeover switch 19 at any time, that is, at any position (end point Pg'), after the automatic steering control unit 40b starts the automatic steering. In other words, the end point Pg' is not defined in advance for the planned travel line L2 defined by the line definition unit 40c, and the length from the start point Ps' to the end point Pg' of the planned travel line L2 can be set longer or shorter than the reference line L1. In other words, the planned travel line L2 is not associated with the length of the reference line L1, and the planned travel line L2 allows the vehicle to travel a distance longer than the length of the reference line L1 while automatically steering.

[0062] As shown in Fig. 1, the work vehicles 1A, 1B are equipped with a correction switch 20, and can correct the reference line L1 based on the operation of the correction switch 20. The correction switch 20 is an operable operating tool, and is configured, for example, as a push switch that can be pressed or a slide switch that can be slid. The correction switch 20 is also connected to the control device 40 so as to be able to communicate with the control device 40, and can output an operation signal to the control device 40.

[0063] The line definition unit 40c also has a correction unit 40c1. The correction unit 40c1 corrects and redefines the reference line L1 based on the operation of the correction switch 20, and corrects the steering of the vehicle body 3 during automatic steering. The correction unit 40c1 is composed of electric and electronic components provided in the control device 40, a program incorporated in the storage unit 41, etc. In this embodiment, the correction unit 40c1 corrects the planned travel line L2 and corrects the reference line L1 in response to the operation of the correction switch 20. The correction unit 40c1 corrects the planned travel line L2 and the reference line L1 stored in the memory unit 41 by a correction amount h based on the operation of the correction switch 20, for example.

[0064] Specifically, the correction unit 40c1 defines the correction amount h based on the number of times the correction switch 20 is operated. The correction unit 40c1 obtains the number of times the correction switch 20 is operated based on an operation signal output from the correction switch 20, and defines (calculates) the correction amount h. For example, the correction unit 40c1 defines the correction amount h as the product of the number of times the correction switch 20 is operated and the correction amount h per one operation.

[0065] That is, the correction unit 40c1 increases the correction amount h (degree of correction) according to the number of times the correction switch 20 is operated, and the correction amount h defined by the correction unit 40c1 is proportional to the number of times the correction switch 20 is operated. For example, the correction amount h increases by several centimeters or several tens of centimeters each time the correction switch 20 is operated. 1, the correction switch 20 includes a first push switch 20a for commanding a correction to one side in the width direction of the vehicle body 3, i.e., to the left, and a second push switch 20b for commanding a correction to the other side in the width direction of the vehicle body 3, i.e., to the right. In the following description, as shown in FIG. 7, a correction amount h indicating a correction to the left will be expressed as a positive number (h>0), and a correction amount h indicating a correction to the right will be expressed as a negative number (h<0).

[0066] Furthermore, the correction switch 20 is not limited to a push switch, but may be a slide switch whose operation amount is changeable. In such a case, the correction unit 40c1 defines the correction amount h based on the operation amount (displacement amount) of the slide switch. Hereinafter, the correction of the planned travel line L2 and the reference line L1 based on the correction amount h by the correction unit 40c1 will be described with reference to FIG. 6 and FIG.

[0067] 6, the correction unit 40c1 judges whether the automatic steering control unit 40b is performing automatic steering (S30). For example, when the steering changeover switch 19 is operated to the third position, or when it is confirmed that a control signal is being output from the automatic steering control unit 40b to the automatic steering mechanism 37, the correction unit 40c1 judges that the automatic steering control unit 40b is performing automatic steering. When the automatic steering control unit 40b determines that automatic steering is being performed (S30, Yes), the correction unit 40c1 determines whether the correction switch 20 is operated (S31). When the control device 40 acquires an operation signal from the correction switch 20, the correction unit 40c1 determines that the correction switch 20 is operated.

[0068] When the correction unit 40c1 determines that the correction switch 20 has been operated (S31, Yes), it corrects the planned travel line L2 in accordance with the operation of the correction switch 20 (S32). Specifically, as shown in Fig. 7, the correction unit 40c1 corrects the planned travel line L2 by shifting the planned travel line L2 in accordance with the correction amount h. In other words, the movement trajectories of the work vehicles 1A, 1B move in the width direction by the correction amount h.

[0069] After correcting the intended travel line L (S32), the correction unit 40c1 stores the correction amount h in the storage unit 41 (S33). When the correction unit 40c1 stores the correction amount h in the memory unit 41, it judges whether or not the automatic steering control unit 40b has ended the automatic steering (S33). For example, when the steering changeover switch 19 is operated to the fourth position, or when it is confirmed that a control signal is not being output from the automatic steering control unit 40b to the automatic steering mechanism 37, the correction unit 40c1 judges that the automatic steering control unit 40b has ended the automatic steering.

[0070] When the automatic steering control unit 40b determines that the automatic steering has ended (S33, Yes), the correction unit 40c1 corrects the reference line L1 stored in the storage unit 41 (S34). In this embodiment, as shown in FIG. 7, the correction unit 40c1 corrects the reference line L1 by redefining the end point Pgh of the corrected reference line L1', that is, by overwriting the end point Pg of the reference line L1 stored in the storage unit 41 with the end point Pgh. The correction unit 40c1 calculates the corrected end point Pgh based on the length between the start point Ps and the end point Pg of the reference line L1 (length of the reference line L1, first distance) K1, the length between the start point Ps' and the end point Pgh' of the corrected planned travel line L2' (length of the corrected planned travel line L2, third distance) K3, and the total correction amount ha, which is the sum of the correction amounts h.

[0071] 7, the ratio (K3:ha) between the third distance K3 and the total correction amount ha is equal to the ratio (K1:K4) between the first distance K1 and the fourth distance K4 (the length between the end point Pg before correction and the end point Pgh after correction). Therefore, the correction unit 40c1 calculates the ratio (K3:ha) between the third distance K3 and the total correction amount ha, and calculates the fourth distance K4 from the ratio and the first distance K1, thereby calculating the position information of the end point Pgh after correction.

[0072] Specifically, first, after S33, the correction unit 40c1 acquires the current vehicle position P (position information) when the steering switch 19 is operated for the fourth time, i.e., the latest position information, as the end point Pgh' of the corrected planned driving line L2' (S34a). When the correction unit 40c1 acquires the end point Pgh' (S34a), it calculates a third distance K3 based on the end point Pgh' and the start point Ps' stored in the memory unit 41 (S34b). Furthermore, when the correction unit 40c1 calculates the third distance K3, it calculates a total correction amount ha based on the correction amount h stored in the memory unit 41 (S34c).

[0073] After calculating the total correction amount ha (S34c), the correction unit 40c1 acquires the start point Ps and the end point Pg of the reference line L1 stored in the storage unit 41 (S34d). After acquiring the start point Ps and the end point Pg (S34d), the correction unit 40c1 calculates a first distance K1 from the start point Ps and the end point Pg (S34e). In this embodiment, since the position information is information represented by latitude and longitude, the correction unit 40c1 calculates the first distance K1 from the latitude and longitude of the start point Ps and the latitude and longitude of the end point Pg.

[0074] After calculating the first distance K1 (S34e), the correction unit 40c1 calculates the ratio (K3:ha) between the third distance K3 and the total correction amount ha, and calculates the fourth distance K4 from this ratio and the first distance K1 to calculate the position information of the corrected end point Pgh (S34f). When the correcting unit 40c1 calculates the position information of the corrected end point Pgh (S34f), it overwrites the pre-correction end point Pg stored in the storage unit 41 with the corrected end point Pgh (S34g).

[0075] This allows the correction unit 40c1 to correct the planned travel line L2 and the reference line L1. In addition, when the reference line L1 stored in the storage unit 41 is data (azimuth or function) indicating the reference line L1 itself, the correction unit 40c1 can also correct the data using trigonometric functions, etc. In addition, the correction unit 40c1 only needs to be able to correct the reference line L1, and the correction method is not limited to the above-mentioned method.

[0076] Furthermore, the line definition unit 40c can transmit the defined reference line L1 to a server 50 described below via the first communication device 42. Furthermore, the first communication device can receive the reference line L1 from the server 50. The control device 40 stores the reference line L1 received by the first communication device 42 in the storage unit 41. This allows the automatic steering control unit 40b to perform automatic steering based on the received reference line L1.

[0077] The server 50 is a fixed terminal such as a fixed type computer provided outside the work vehicles 1A, 1B. The server 50 is also a fixed terminal installed, for example, at a farmer, an agricultural company, an agricultural machinery manufacturer, or an agricultural cooperative. The server 50 can receive the reference line L1 transmitted from the first communication device 42 and store the reference line L1. Therefore, the server 50 can store a plurality of reference lines L1.

[0078] Specifically, the server 50 has a server control device 51, a second communication device 52, and a database 53. The server control device 51 is a device that performs various controls related to the server 50, and can store (register) information received by the second communication device 52 in the database 53, for example. The server control device 51 is composed of electric and electronic components, programs, etc.

[0079] The second communication device 52 is capable of communicating with the first communication devices 42 of the work vehicles 1A, 1B, a first terminal 60 (described later), etc. The second communication device 52 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, etc. Note that the second communication device 52 only needs to be capable of communicating with the work vehicles 1A, 1B (first communication devices 42) and the first terminal 60, etc., and may be, for example, a communication device that performs wireless communication via Bluetooth (registered trademark) Low Energy in the Bluetooth (registered trademark) specifications of the IEEE802.15.1 series of communication standards, WiFi (registered trademark) of the IEEE802.11.n series, etc.

[0080] The database 53 is a non-volatile memory or the like capable of storing various programs and various information. Specifically, the database 53 can store the reference line L1 defined by the line definition unit 40c, and the server control device 51 stores the reference line L1 in a predetermined storage area of ​​the database 53. The first terminal 60 is a mobile terminal such as a smartphone (multi-function mobile phone), tablet, or PDA, or a fixed computer such as a personal computer. In this embodiment, the first terminal 60 is described as a mobile terminal such as a smartphone. The first terminal 60 is, for example, a terminal operated by a manager who plans work in the field F or a relatively experienced worker. The first terminal 60 has a first terminal control device 61, a third communication device 62, a first terminal storage unit 63, and a first terminal display unit 64. The first terminal control device 61 is a device that performs various controls related to the first terminal 60, and can, for example, control the first terminal display unit 64 to display various information on the first terminal display unit 64. The first terminal control device 61 is composed of electric and electronic components, programs, and the like.

[0081] The third communication device 62 is capable of communicating with the server 50 (second communication device 52). The third communication device 62 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, or the like. Note that the third communication device 62 may be a communication device that performs wireless communication via, for example, Bluetooth (registered trademark) Low Energy in the specifications of Bluetooth (registered trademark) of the communication standard IEEE802.15.1 series, WiFi (registered trademark) of the communication standard IEEE802.11.n series, or the like, as long as it is capable of communicating with the second communication device 52, or the like.

[0082] The first terminal storage unit 63 is a non-volatile memory or the like that can store various pieces of information. The first terminal storage unit 63 can store various pieces of information related to the first terminal 60. The first terminal display unit 64 can display various information stored in the first terminal storage unit 63 and information received by the third communication device 62. The first terminal display unit 64 can display, for example, screens as shown in Figs. 12 to 16. The first terminal display unit 64 may be an input device capable of accepting input of information. In such a case, the first terminal display unit 64 is of a touch panel type, and an operator or the like operates it with his / her finger to input information. The first terminal display unit 64 may be of a non-touch panel type, and in such a case, the first terminal 60 has various switches, and can accept input of information based on the operation of the switches. In the following description, the first terminal display unit 64 may be simply referred to as a display unit.

[0083] The second terminal 70 is a mobile terminal such as a smartphone (multi-function mobile phone), tablet, or PDA, or a fixed computer such as a personal computer. In this embodiment, the second terminal 70 is described as a mobile terminal such as a smartphone. The second terminal 70 is a terminal different from the first terminal 60, and is, for example, a terminal operated by a worker who actually works in the field F. The second terminal 70 may also be a terminal operated by a relatively inexperienced worker. The second terminal 70 has a second terminal control device 71, a fourth communication device 72, a second terminal storage unit 73, and a second terminal display unit 74. The second terminal control device 71 is a device that performs various controls related to the second terminal 70, and can, for example, control the second terminal display unit 74 to display various information on the second terminal display unit 74. The second terminal control device 71 is composed of electric and electronic components, programs, and the like.

[0084] The fourth communication device 72 is capable of communicating with the server 50 (second communication device 52). The fourth communication device 72 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, or the like. Note that the fourth communication device 72 only needs to be capable of communicating with the second communication device 52, etc., and may be, for example, a communication device that performs wireless communication via Bluetooth (registered trademark) Low Energy in the specifications of Bluetooth (registered trademark) of the communication standard IEEE802.15.1 series, WiFi (registered trademark) of the communication standard IEEE802.11.n series, or the like.

[0085] The second terminal storage unit 73 is a non-volatile memory or the like that can store various pieces of information. The second terminal storage unit 73 can store various pieces of information related to the second terminal 70. The second terminal display unit 74 can display various information stored in the second terminal storage unit 73 and information received by the third communication device 62. The second terminal display unit 74 can display, for example, screens as shown in Figs. 18 to 20. The second terminal display unit 74 may be an input device capable of accepting input of information. In such a case, the second terminal display unit 74 is of a touch panel type, and an operator or the like operates it with his / her finger to input information. The second terminal display unit 74 may be of a non-touch panel type, and in such a case, the second terminal 70 has various switches, and can accept input of information based on the operation of the switches.

[0086] The method and flow of the database 53 storing the reference line L1 will be described in detail below. The server control device 51 can store the reference line L1 in association with various information including work information described later. In the following description, an example will be described in which the server 50 receives the reference line L1 defined by the line definition unit 40c and stores the reference line L1. However, the server 50 only needs to be able to store the reference line L1, and the source of acquisition of the reference line L1 is not limited to the work vehicles 1A and 1B. For example, the server control device 51 may be able to acquire the reference line L1 stored in a storage medium via a terminal or the like connected to the server 50 so as to be able to communicate with the server 50, and store the reference line L1 in the database 53.

[0087] 1, the server 50 has a reference acquisition unit 51a, an information acquisition unit 51b, and a registration unit 51c. The position acquisition unit, the information acquisition unit 51b, and the registration unit 51c are provided in a server control device 51, and are composed of electric and electronic components provided in the server control device 51, programs installed in the server control device 51, etc. The reference acquisition unit 51a acquires the reference line L1 defined by the line definition unit 40c. The reference acquisition unit 51a acquires the reference line L1 based on information received by the second communication device 52 from the first communication device 42. Specifically, the line definition unit 40c transmits information (reference information D) related to the reference line L1 to the server 50 via the first communication device 42 and the second communication device 52. That is, the first communication device 42 transmits the reference information D related to the reference line L1 to the server 50 as the reference line L1.

[0088] The reference information D transmitted by the first communication device 42 is, for example, position information of the start point Ps and end point Pg of the reference line L1, data (orientation or function) indicating the reference line L1 itself, and the like, and is information capable of identifying the reference line L1. The reference information D also includes first identification information as identification information of the reference line L1. In the following description, information on the reference line L1 defined by the line definition unit 40c and stored in the storage unit 41 is referred to as first reference information D1. The first reference information D1 includes position information of the start point Ps and end point Pg of the reference line L1, and the first identification information. In the following description, the first reference information D1 may simply be referred to as the reference line L1.

[0089] In this embodiment, the first communication device 42 separately transmits the vehicle body position P (position information) and information that can identify the vehicle body position P corresponding to the start point Ps and end point Pg of the reference line L1 from the vehicle body position P, and indirectly transmits the reference line L1 to the server 50. Specifically, as shown in FIG. 9, the first communication device 42 transmits the vehicle body position P (position information) detected by the detection device 43, for example, at a predetermined time interval (S1a). As shown in FIG. 8, the first communication device 42 associates the time (year, date, time) when the vehicle body position P was detected, the vehicle body position P corresponding to that time, and information on the work vehicles 1A, 1B (identification information that can identify the work vehicles 1A, 1B) and transmits them to the server 50 as second reference information D2. In the following description, the identification information that can identify the work vehicles 1A, 1B may be referred to as second identification information.

[0090] When the second communication device 52 receives the second reference information D2 from the first communication device 42, the second communication device 52 stores the second reference information D2 in one storage area (first storage area 53a) of the database 53 (S1b). The first storage area 53a is a storage area for storing the second reference information D2. That is, as shown in FIG. 10, the first storage area 53a stores the time (year, date, time) when the vehicle body position P was detected, the vehicle body position P corresponding to the time, and the second identification information in association with each other. Note that the server control device 51 only needs to be able to store the second reference information D2 received by the second communication device 52 for a predetermined period of time, and may be configured to delete the second reference information D2 that has been stored for a predetermined period of time.

[0091] In addition, the first communication device 42 transmits third reference information D3 to the server 50 as information that can identify the start point Ps and the end point Pg of the reference line L1. As shown in Fig. 8, the third reference information D3 includes information about the start point Ps and the end point Pg of the reference line L1. As shown in FIG. 8, the third reference information D3 includes, for example, the time (year, date, and time) when the start point Ps and the end point Pg are defined as information about the start point Ps and the end point Pg of the reference line L1. The first communication device 42 transmits the third reference information D3 by dividing it into start point information D3a, which is information about the start point Ps, and end point information D3b, which is information about the end point Pg. Specifically, the start point information D3a is information transmitted by the first communication device 42 when the line definition unit 40c defines the start point Ps of the reference line L1. On the other hand, the end point information D3b is information transmitted by the first communication device 42 when the line definition unit 40c defines the end point Pg of the reference line L1.

[0092] In detail, as shown in Fig. 8, the start point information D3a is information that associates the identification information of the start point Ps, the time (year, date, time) when the line definition unit 40c defined the start point Ps, and the second identification information. When the registration switch 18 is operated (S1, Yes) as shown in Fig. 5A and the start point Ps is defined (S2), the line definition unit 40c transmits the start point information D3a to the server 50 via the first communication device 42 as shown in Fig. 9 (S2a).

[0093] As shown in Fig. 8, the end point information D3b is information that associates the identification information of the end point Pg, the time when the line definition unit 40c defined the end point Pg, and the second identification information. When the registration switch 18 is operated (S3, Yes) as shown in Fig. 5A and the end point Pg is defined (S4), the line definition unit 40c transmits the end point information D3b to the server 50 via the first communication device 42 as shown in Fig. 9 (S4a).

[0094] The identification information of the start point Ps and the identification information of the end point Pg are information that can identify the corresponding start point Ps and end point Pg, and are, for example, a serial number (n) that indicates the order in which the reference line L1 was defined by the line definition unit 40c. That is, in the reference line L1 (n=1) defined the first time by the line definition unit 40c, the identification information of the start point Ps is information that indicates that it is the start point Ps of the first reference line L1 (n=1), and the identification information of the end point Pg is information that indicates that it is the end point Pg of the first reference line L1 (n=1).

[0095] The third reference information D3 also includes the first identification information. The first identification information is transmitted in association with, for example, the end point information D3b of the third reference information D3. The first communication device 42 may transmit the first identification information in association with the start point information D3a, and the transmission method is not limited to the above method, but may differ depending on the format of transmitting the reference line L1. For example, when the first communication device 42 transmits data (direction or function) indicating the reference line L1 itself to the server 50, the first communication device 42 may transmit the data in association with the first identification information.

[0096] When the second communication device 52 receives the third reference information D3, the reference acquisition unit 51a acquires the reference line L1 based on the third reference information D3 and the second reference information D2 stored in the first storage area 53a. Specifically, the first communication device 42 transmits starting point information D3a to the server 50 (S2a), and when the second communication device 52 receives the starting point information D3a, the reference acquisition unit 51a stores the starting point information D3a in the database 53 (S2b).

[0097] On the other hand, when the first communication device 42 transmits the end point information D3b to the server 50 (S4a), and the second communication device 52 receives the end point information D3b, the reference acquisition unit 51a executes the line definition unit 40c based on the end point information D3b (S5). Based on the time and second identification information acquired in S5, the reference acquisition unit 51a extracts the second reference information D2 corresponding to the acquired time and second identification information from the second reference information D2 stored in the first storage area 53a, and identifies the end point Pg (S6).

[0098] Furthermore, when the reference acquisition unit 51a identifies the end point Pg (S6), it identifies the start point Ps corresponding to the end point Pg based on the identification information of the end point Pg in the end point information D3b (S7). Specifically, the reference acquisition unit 51a extracts the start point information D3a including the identification information of the start point Ps corresponding to the identification information of the end point Pg from the start point information D3a held in the database 53. When the reference acquisition unit 51a extracts the start point information D3a, it acquires the time (year, date, time) at which the line definition unit 40c defined the start point Ps and the second identification information based on the start point information D3a. Based on the acquired time and second identification information, the reference acquisition unit 51a extracts the second reference information D2 corresponding to the acquired time and second identification information from the second reference information D2 stored in the first storage area 53a, and identifies the start point Ps (S7).

[0099] This allows the reference acquisition unit 51a to acquire position information of the start point Ps and the end point Pg, i.e., acquire the reference line L1 defined by the line definition unit 40c (S8). Note that the method by which the reference acquisition unit 51a acquires the reference line L1 differs depending on the information transmitted from the first communication device 42. For example, when the first communication device 42 transmits data (direction or function) indicating the reference line L1 itself to the server 50, the first communication device 42 transmits the data in association with the position information of the start point Ps and the end point Pg and the second identification information.

[0100] Furthermore, when the travel information is orientation information of the vehicle body 3, the first communication device 42 separately transmits the orientation information and, from the orientation information, information that can identify the start point Ps and the end point Pg of the reference line L1, and indirectly transmits the reference line L1 to the server 50. The first communication device 42 associates the time (year, date, time) when the orientation information was detected, the orientation information corresponding to that time, and information on the work vehicles 1A, 1B (identification information that can identify the work vehicles 1A, 1B), and transmits them to the server 50 as second reference information D2.

[0101] When the second communication device 52 receives the second reference information D2 from the first communication device 42, the second communication device 52 stores the second reference information D2 in the first storage area 53a. That is, the first storage area 53a stores the time (year, date, time) when the direction information was detected, the direction information corresponding to the time, and the second identification information in association with each other. Furthermore, the first communication device 42 transmits the third reference information D3 (start point information D3a or end point information D3b) to the server 50 as information capable of identifying the start point Ps and the end point Pg of the reference line L1 (S2a, S3a).

[0102] As a result, the reference acquisition unit 51a can extract the second reference information D2 corresponding to the acquired time and second identification information from the second reference information D2 stored in the first memory area 53a based on the acquired time and second identification information, identify orientation information corresponding to the start point Ps and the end point Pg (S6, S7), acquire the orientation of the start point Ps and the orientation of the end point Pg, and acquire the reference line L1 defined by the line definition unit 40c.

[0103] The information acquisition unit 51b acquires work information relating to the work of the first work vehicle 1A when the vehicle body 3 is manually steered. The work information is information relating to the work of the work vehicles 1A, 1B when the vehicle body 3 is manually steered, i.e., when the line definition unit 40c defines the reference line L1. The work information includes, for example, one or more pieces of information on the field F in which the work vehicles 1A, 1B work, information on the work vehicles 1A, 1B, information on the work implements 2 used in the work by the work vehicles 1A, 1B, the work content of the work implements 2, and crops cultivated in the field F.

[0104] The field F in which the work vehicles 1A, 1B perform work is, for example, the field F in which the driver manually steers the work vehicles 1A, 1B when the line definition unit 40c defines the reference line L1. The field F is indicated as work information by third identification information that can be distinguished from other fields F. The information on the work vehicles 1A, 1B is identification information (second identification information) that can identify the work vehicles 1A, 1B.

[0105] The information on the work implement 2 is identification information (fourth identification information) of the work implement 2 connected to the vehicle body 3 via the connector 8. In other words, if the work implement 2 is a tillage implement, the information on the work implement 2 is identification information of the tillage implement, and if the work implement 2 is a pesticide spraying implement, the information on the work implement 2 is identification information of the pesticide spraying implement. The work content of the work apparatus 2 is the type of work performed by the work apparatus 2, and is identification information (fifth identification information) capable of identifying the type of work. For example, when the work apparatus 2 is a tilling apparatus, the work content is tilling work, and when the work apparatus 2 is a pesticide spraying apparatus, the work content is pesticide spraying work.

[0106] Moreover, the crop cultivated in the field F is the type of crop cultivated or to be cultivated in the field F, and is identification information (sixth identification information) capable of identifying the type of crop. The information acquisition unit 51b acquires work information based on information received by the second communication device 52. For example, the work information is included in third reference information D3, and the first communication device 42 of the work vehicles 1A, 1B transmits the third reference information D3 including the work information to the second communication device 52. As a result, the information acquisition unit 51b acquires the work information of the third reference information D3 received by the second communication device 52. In this embodiment, the work information is included in, for example, end point information D3b of the third reference information D3.

[0107] The work information may be included in the starting point information D3a, and the method of transmitting the work information may differ depending on the format of transmitting the reference line L1. For example, when the first communication device 42 transmits data (direction or function) indicating the reference line L1 itself to the server 50, the work information may be included in the data. Of the work information, information specific to the work vehicles 1A, 1B, such as the type of the work vehicles 1A, 1B, is pre-stored in the memory unit 41 of the work vehicles 1A, 1B. Of the work information, information other than the information specific to the work vehicles 1A, 1B, in other words information that may be changed depending on the work plan performed by the work vehicles 1A, 1B, is defined by the driver operating the input device. The work information received by the input device is stored in association with the first reference information D1 stored in the memory unit 41. The input device is a display device 25 or the like provided on the work vehicles 1A, 1B and communicatively connected to the control device 40, and is capable of receiving input of various information.

[0108] The display device 25 is, for example, a display device 25 that is communicatively connected to the control device 40 and is capable of displaying information. The display device 25 has a display screen such as a touch display that allows input operations, and outputs input work information to the control device 40. The control device 40 can register the work information output from the input device in a table in the storage unit 41. Note that the input device is not limited to the display device 25 provided on the work vehicles 1A, 1B, and may be, for example, a second terminal 70 carried by the driver who operates the work vehicles 1A, 1B.

[0109] This enables the first communication device 42 to transmit third reference information D3 including work information to the second communication device 52, and the information acquisition unit 51b to acquire the work information from the third reference information D3 received by the second communication device 52. Moreover, one storage area (second storage area 53b) of the database 53 stores a table related to work information. For example, the second storage area 53b stores a table associating the work vehicles 1A, 1B with information on the work vehicles 1A, 1B (second identification information), a table associating the field F with the position information of the field F with the third identification information, a table associating the work implement 2 with the fourth identification information, a table associating the work content with the fifth identification information, and a table associating the crop with the sixth identification information. Therefore, the server 50 (server control device 51) can identify each piece of information (the field F on which the work vehicles 1A, 1B work, information on the work vehicles 1A, 1B, information on the work implement 2 used in the work by the work vehicles 1A, 1B, the work content of the work implement 2, and the crop cultivated in the field F) based on the work information (the second identification information to the sixth identification information).

[0110] In the above embodiment, the input device is the display device 25 provided on the work vehicles 1A and 1B, but as long as the third reference information D3 received by the server 50 from the first communication device 42 includes the work information, the input device that accepts the input of the work information is not limited to the display device 25, and may be, for example, a mobile terminal that can communicate with the work vehicles 1A and 1B. Furthermore, the information acquisition unit 51b may be capable of acquiring at least the work information corresponding to the reference line L1 defined by the line definition unit 40c, and the acquisition method is not limited to the above configuration. For example, the second communication device 52 may receive work information from a terminal (for example, the first terminal 60 described later) before or after the reference line L1 is transmitted from the work vehicles 1A and 1B to the server 50 via the first communication device 42 and the second communication device 52, and the information acquisition unit 51b may acquire the work information.

[0111] The registration unit 51c associates the reference line L1 defined by the line definition unit 40c with the first identification information corresponding to the reference line L1 and the work information, and registers them. Specifically, as shown in FIG. 8, the registration unit 51c associates the reference line L1 with the first identification information corresponding to the reference line L1 and the work information, and registers them as fourth reference information D4 in one storage area (third storage area 53c) of the database 53. In more detail, the registration unit 51c associates the reference line L1 acquired by the reference acquisition unit 51a with the first identification information acquired by the information acquisition unit 51b and the work information. For example, the registration unit 51c associates the reference line L1 with the work information based on the second identification information, time, etc. 8, the fourth reference information D4 is information that associates the start point Ps, the end point Pg, the first identification information, the second identification information, the time when the start point Ps was defined and the time when the end point Pg was defined (the time when the reference line L1 was defined), other work information, etc. In the following description, the start point Ps and the end point Pg included in the fourth reference information D4 may be collectively referred to simply as the reference line L1.

[0112] Furthermore, when storing the fourth reference information D4 (reference line L1) in the third storage area 53c, the registration unit 51c assigns management information to the fourth reference information D4 as shown in Fig. 8. The management information is information indicated by characters, alphanumeric characters, etc., and is information set to facilitate calculation, search, organization, etc. of the reference line L1. The server 50 may be configured to correct (overwrite) the reference line L1 stored in the third storage area 53c based on the correction by the correction unit 40c1. Specifically, the reference acquisition unit 51a acquires the reference line L1' corrected by the correction unit 40c1, and the registration unit 51c overwrites the corrected reference line L1' on the pre-correction reference line L1 corresponding to the corrected reference line L1', and registers it.

[0113] Specifically, when the correction unit 40c1 corrects the reference line L1, the first communication device 42 transmits, for example, information that associates the time (year, date, time) when the line definition unit 40c defined the corrected end point Pgh, the time (year, date, time) when the line definition unit 40c defined the end point Pg before correction, the first identification information, and the second identification information as sixth reference information (correction information) D5.

[0114] As a result, the reference acquisition unit 51a acquires the time (year, date, time) at which the line definition unit 40c defined the corrected end point Pgh and the second identification information from the sixth reference information D6 received by the second communication device 52. The reference acquisition unit 51a extracts the second reference information D2 corresponding to the time at which the corrected end point Pgh was defined and the second identification information from the second reference information D2 stored in the first storage area 53a based on the time (year, date, time) and the second identification information, and identifies the corrected end point Pgh.

[0115] The registration unit 51c also acquires the first identification information from the sixth reference information D6 received by the second communication device 52. The registration unit 51c extracts the reference line L1 corresponding to the first identification information, i.e., the reference line L1 before correction, from the third storage area 53c. After extracting the reference line L1 before correction from the third storage area 53c, the registration unit 51c overwrites the end point Pg of the extracted reference line L1 before correction with the end point Pgh after correction acquired by the reference acquisition unit 51a.

[0116] The registration unit 51c only needs to be able to overwrite the pre-correction reference line L1 in the third storage area 53c with the reference line L1' corrected by the correction unit 40c1, and the sixth reference information D6 transmitted by the first communication device 42 is not limited to the above-mentioned information. For example, when the reference line L1 stored in the storage unit 41 is data (function and direction) indicating the reference line L1 itself, the first communication device 42 transmits the sixth reference information D6 in which the corrected data, the time (year, date, time) when the line definition unit 40c defined the end point Pg before correction, the first identification information, and the second identification information are associated with each other.

[0117] The first terminal 60 can accept the selection of any reference line L1 from among the reference lines L1 stored by the server 50. Specifically, the first terminal 60 registers the reference line L1 for which the selection has been accepted as a candidate line L3 that is a candidate for the reference line L1 along which the first work vehicle 1A or a second work vehicle 1B different from the first work vehicle 1A performs automatic steering. The first terminal display unit 64 (display unit) can display (present) at least one or more reference lines L1 from among the reference lines L1 stored by the server 50.

[0118] As shown in FIG. 1, the first terminal 60 has a selection unit 61a that accepts the selection of a reference line L1 displayed by the first terminal display unit 64 (display unit). The selection unit 61a accepts the selection of an arbitrary reference line L1 from the reference lines L1 displayed by the first terminal display unit 64 (display unit) as a candidate (candidate line L3) of the reference line L1 used by the work vehicles 1A, 1B as a reference for automatic steering. The selection unit 61a is composed of electric and electronic components provided in the first terminal control device 61, and a program incorporated in the first terminal storage unit 63. Also, as shown in FIG. 14A, the first terminal display unit 64 (display unit) can display at least two or more reference lines L1 radially on a field indicating a predetermined field F.

[0119] In this embodiment, the selection unit 61a accepts the selection of an arbitrary reference line L1 from the reference lines L1, and transmits the selected information (selection information) to the server 50 via the third communication device 62 and the second communication device 52. Upon receiving the selection information, the server 50 defines a candidate line L3 based on the selection information. That is, in this embodiment, the first terminal 60 (selection unit 61a) indirectly defines the candidate line L3 by accepting the selection of an arbitrary reference line L1.

[0120] 1, the server 50 has a first presenting unit 51d and a first setting unit 51e. The first presenting unit 51d and the first setting unit 51e are provided in the server control device 51, and are constituted by electric and electronic components provided in the server control device 51, a program installed in the server control device 51, etc. The first presentation unit 51d transmits the reference line L1 stored in the server 50 to the first terminal 60 and displays the reference line L1 on the first terminal display unit 64. The first presentation unit 51d transmits information (presentation information) of at least one of the reference lines L1 stored in the third storage area 53c of the server 50 to the first terminal control device 61 via the second communication device 52 and the third communication device 62. Specifically, the first presentation unit 51d extracts at least one piece of fourth reference information D4 from the fourth reference information D4 stored in the third storage area 53c, and transmits information of the reference line L1 corresponding to the extracted fourth reference information D4 to the first terminal control device 61 as presentation information.

[0121] In this embodiment, the selection unit 61a accepts input of work information, and the first presentation unit 51d transmits presentation information of the reference line L1 corresponding to the work information among the reference lines L1 stored in the third memory area 53c based on the work information accepted as input by the selection unit 61a. Hereinafter, a flow of defining the candidate line L3 and transition of the screen of the first terminal display unit 64 will be described with reference to Figs. 11 to 16. As shown in Fig. 11, when a worker or the like performs a predetermined operation on the first terminal 60, the first presenting unit 51d displays a selection screen on the first terminal display unit 64. As shown in Figs. 12 and 13, the selection screen is a screen on which work information can be selected, and the selecting unit 61a accepts input of the work information. Specifically, the first presenting unit 51d transmits information required for displaying the selection screen to the first terminal display unit 64 based on a table related to the work information stored in the second storage area 53b, and the first terminal control device 61 displays the selection screen on the display unit 64 based on the information.

[0122] The selection screen includes a screen for selecting the field F from the work information stored in the second storage area 53b. Specifically, the selection screen includes a first selection screen M1, which is a screen for selecting the field F on which the work vehicles 1A, 1B will work, as shown in Fig. 12. Furthermore, the selection screen displayed by the first terminal display unit 64 includes a second selection screen M2, which is a screen for inputting work information other than the field F, as shown in Fig. 13. In this embodiment, the second selection screen M2 is a screen for inputting the content of the work (work content) to be performed by the work vehicles 1A, 1B.

[0123] First, the first selection screen M1 will be described. As shown in FIG. 12, the first selection screen M1 has a first map screen 101 that displays a plurality of fields F. When an operator or the like performs a predetermined operation on the first terminal 60, the first presenter 51d transmits information required to display the first selection screen M1 to the first terminal control device 61 based on a table related to the field F (third specific information) stored in the second storage area 53b, and the first terminal display unit 64 displays the first selection screen M1 (S40). The first map screen 101 displays a bird's-eye view map 102 and a contour 103 of the field F displayed on the map 102. The contour 103 of the field F is a display image that can be selected by operating the first terminal 60. Furthermore, based on the position information of the field F in the table stored in the second storage area 53b of the server 50, the contour 103 of the field F is displayed at a position on the map that corresponds to the position information.

[0124] On the first map screen 101, the range of the map to be displayed can be changed (enlarged or reduced) and moved by a worker or the like performing a predetermined operation on the first terminal 60. The contours 103 of the field F can each be selected and operated. If the first terminal 60 is equipped with a position detection device that can detect its own position, the first map screen 101 may be able to display an icon 104 indicating the position of the first terminal 60, i.e., the position of the worker carrying the first terminal 60, based on position information detected by the position detection device.

[0125] 11, when any of the contours 103 of field F on the first map screen 101 is operated (S41, Yes), the selection unit 61a acquires operation information of the contour 103 and accepts the selection of field F (S42). When the worker selects the contour 103 of field F and the selection unit 61a accepts the selection of field F (S42), the selection unit 61a transmits third identification information of the field F whose selection was accepted to the server 50 (S43).

[0126] When the first terminal display unit 64 displays the first selection screen M1 and the selection unit 61a accepts the selection of the field F (S42) and transmits the third identification information of the field F whose selection was accepted to the server 50 (S43), the first presentation unit 51d transmits information required to display the second selection screen M2 to the first terminal control device 61, based on the table related to the work content (fifth identification information) stored in the second storage area 53b. As a result, the first terminal display unit 64 receives the information from the first presentation unit 51d (S44) and displays the second selection screen M2 (S45).

[0127] Next, the second selection screen M2 will be described. As shown in Fig. 13, the second selection screen M2 displays a first work selection section 111 that allows a selection operation (input operation) of work content. The first work selection section 111 is a display image that allows a selection operation and is displayed in plurality on the second selection screen M2. Also, each of the first work selection sections 111 is associated with a different work content. In this embodiment, as shown in the figure, the second selection screen M2 displays the first work selection sections 111 that correspond to "rotary (cultivation)", "ridge making", "towing", "puddling", "fertilization", and "ridge painting".

[0128] 11, when any of the first work selection sections 111 displayed on the second selection screen M2 is operated (S46, Yes), the selection unit 61a acquires operation information of the first work selection section 111 and accepts input of the work content (fifth specification information) associated with the first work selection section 111 (S47). When the worker operates the first work selection section 111 and the selection unit 61a accepts the input of the work content (S47), the selection unit 61a transmits the fifth specification information of the work content whose input was accepted to the server 50 (S48).

[0129] As shown in FIG. 11, when the second terminal display unit 74 is displaying the second selection screen M2, the selection unit 61a accepts input of work content (S47) and transmits fifth identification information of the work content that has been accepted to the server 50 (S48), the first presentation unit 51d transmits presentation information of the reference line L1 that corresponds to the work information (third identification information and fifth identification information) that has been accepted by the selection unit 61a, from among the reference lines L1 stored in the third memory area 53c.

[0130] Specifically, the first presentation unit 51d transmits information including the presentation information and necessary for the first terminal display unit 64 to display the presentation information. As a result, the first terminal display unit 64 receives the presentation information and the like from the first presentation unit 51d (S49), and displays a presentation screen M3 based on the presentation information (S50), as shown in FIG. 14A. In this embodiment, the second selection screen M2 is a screen for inputting the content of the work (work content) to be performed by the work vehicles 1A, 1B, but the second selection screen M2 may be any screen for inputting work information other than that of the field F, and the work information may be any of information about the work vehicles 1A, 1B, information about the work equipment 2, and crop information, or it may be a screen from which multiple pieces of work information other than that of the field F can be selected.

[0131] Furthermore, the selection screen displayed by the first terminal display unit 64 may include, in addition to the first selection screen M1 and the second selection screen M2, a third selection screen (not shown) for selecting other work information, and the work information that the selection unit 61a accepts as input and the method of displaying it are not limited to the configuration described above. Furthermore, in the above-described embodiment, when the selection unit 61a accepts the selection of the field F while the first selection screen M1 is displayed, the first terminal display unit 64 displays the second selection screen M2, but if the first terminal 60 is capable of editing the information of the field F stored in the second storage area 53b of the server 50, the configuration may be such that the screen transitions to an operation screen M4 as shown in Fig. 15. The operation screen M4 has a plurality of operation keys 121, and is a screen that allows a selection operation of defining the reference line L1, that is, transitioning to the second selection screen M2, or editing the information of the field F, by using the operation keys 121.

[0132] 14A, the presentation screen M3 has a second map screen 131 that displays a field F, and a narrowing down section 136. The second map screen 131 displays a bird's-eye view map 132, and a contour 133 and a first virtual line 134 of the field F that are displayed on the map 132. The second map screen 131 displays, for example, the same as the first map screen 101 of the first selection screen M1, and also enlarges the field F that has been selected by the selection section 61a and displays it in the center of the display area.

[0133] The second map screen 131 can change (enlarge or reduce) the range of the map to be displayed and move it when the worker or the like performs a predetermined operation on the first terminal 60. If the first terminal 60 is equipped with a position detection device that can detect its own position, the second map screen 131 may be able to display an icon 135 indicating the position of the first terminal 60, i.e., the position of the worker carrying the first terminal 60, based on position information detected by the position detection device.

[0134] The first virtual line 134 is the reference line L1 corresponding to the work information received as input by the selection unit 61a, among the reference lines L1 stored in the third storage area 53c, and is displayed on the field F. Specifically, the first virtual line 134 is the reference line L1 corresponding to the work information received as input by the selection unit 61a (the third specification information and the fifth specification information).

[0135] Furthermore, when the number of reference lines L1 corresponding to the work information (third specification information and fifth specification information) received by the selection unit 61a is two or more, as shown in FIG. 14A, the second map screen 131 displays the two or more reference lines L1 (first virtual lines 134) radially on the field F. Specifically, the first virtual lines 134 are arranged so that the center of the first virtual lines 134 is located at the center of the contour 133 of the field F. In other words, the first virtual lines 134 are virtual straight lines displayed by shifting the reference line L1 stored in the third storage area 53c to the center of the contour 133 of the field F. Furthermore, the first virtual lines 134 are displayed by extending the start point Ps side and the end point Pg side of the reference line L1, respectively, beyond the contour 133 of the field F. The first virtual lines 134 can be selected and operated individually.

[0136] 11, when an arbitrary one of the first virtual lines 134 on the second map screen 131 is operated (S51, Yes), the selection unit 61a acquires operation information of the first virtual line 134 and accepts selection of a reference line L1 corresponding to the first virtual line 134 (S52). When the worker selects and operates the first virtual line 134 and the selection unit 61a accepts the selection of the arbitrary reference line L1 (S52), the selection unit 61a transmits selection information of the selected reference line L1 to the server 50 (S53).

[0137] When the selection unit 61a transmits selection information of the first virtual line 134 (reference line L1) whose selection has been accepted to the server 50 (S53), the first presentation unit 51d transmits information of the reference line L1 whose selection has been accepted by the selection unit 61a, among the reference lines L1 stored in the third storage area 53c. Specifically, the first presentation unit 51d acquires, from the third storage area 53c, the fourth reference information D4 corresponding to the reference line L1 whose selection has been accepted by the selection unit 61a, and transmits information (confirmation information) required to display the fourth reference information D4.

[0138] As a result, the first terminal display unit 64 receives the confirmation information from the first presentation unit 51d (S54), and displays a confirmation screen M5 based on the confirmation information, as shown in FIG. 16 (S55). Further, the narrowing-down unit 136 can select narrowing down of the first virtual line 134 displayed on the second map screen 131. The narrowing-down unit 136 can select work information, and the selection unit 61a can acquire operation information of the narrowing-down unit 136 and update the first virtual line 134 displayed on the second map screen 131 of the presentation screen M3. Specifically, as shown in FIG. 11, the narrowing-down unit 136 is operated (S56, Yes), and the selection unit 61a accepts input of work information in the narrowing-down unit 136 (S57), and the first presentation unit 51d transmits information including presentation information of the reference line L1 corresponding to the work information accepted as input by the selection unit 61a in the narrowing-down unit 136. As a result, the first terminal control device 61 receives the information (S58) and can update the presentation screen M3 displayed by the first terminal display unit 64 (S59).

[0139] In this embodiment, the narrowing-down unit 136 is capable of selecting the work content from among the work information. The work information that the narrowing-down unit 136 is capable of selecting is not limited to the work content, and may be capable of selecting information other than the work information, as shown in FIG. 14A. In the example shown in FIG. 14A, the narrowing-down unit 136 is capable of inputting (selecting) the date on which the line definition unit 40c defined the reference line L1. That is, when the selection unit 61a accepts the input of the date in the narrowing-down unit 136, the first presentation unit 51d extracts the reference line L1 corresponding to the date on which the selection unit 61a accepted the input in the narrowing-down unit 136 from the third storage area 53c, and transmits information including the presentation information of the reference line L1.

[0140] When the number of reference lines L1 corresponding to the work information (third specification information and fifth specification information) accepted by the selection unit 61a is two or more, the presentation screen is not limited to a screen that displays two or more reference lines L1 (first virtual lines 134) radially on the field F, as in the screen M3 shown in Fig. 14A, but may be configured to display the reference lines L1 in a list and display a single first virtual line 134 (reference line L1) on the second map screen 131. In such a case, the presentation screen may display the second map screen 131 differently depending on whether the data of the reference line L1 included in the fourth reference information D4 is data (orientation or function) indicating the reference line L1 itself without including position information of the start point Ps and the end point Pg, or data including position information of the start point Ps and the end point Pg.

[0141] Hereinafter, the presentation screen in the modified example will be described with reference to Figures 14B and 14C. For convenience of explanation, a presentation screen in which the data of the first virtual line 134 displayed on the second map screen 131 is data (orientation or function) indicating the reference line L1 itself will be referred to as a first presentation screen M3a, and a presentation screen in which the data of the first virtual line 134 displayed on the second map screen 131 is data including position information of the start point Ps and the end point Pg will be referred to as a second presentation screen M3b. Hereinafter, the first presentation screen M3a and the second presentation screen M3b will be mainly described with reference to the different parts from the presentation screen M3.

[0142] As shown in Fig. 14B and Fig. 14C, the second map screen 131 in the first presentation screen M3a and the second presentation screen M3b displays a direction guide section 132a that shows the direction radially. The direction guide section 132a displays the direction as an angle. In addition, the narrowing down section 136 in the first presentation screen M3a and the second presentation screen M3b displays the narrowing down section 136 in Fig. 14A as a pop-up, or accepts a transition to a screen for selecting work information, for example.

[0143] Further, a single first virtual line 134 is displayed on the second map screen 131 in the first presentation screen M3a. The first virtual line 134 is disposed so that its center is located at the center of the contour 133 of the field F, similar to the example shown in Fig. 14A. In this modification, the second map screen 131 displays, in an initial state, for example, the first virtual line 134 that has been defined most recently.

[0144] 14C, unlike the second map screen 131 of the first presentation screen M3a, the second map screen 131 of the second presentation screen M3b displays icons 132b and 132c at a position corresponding to the start point Ps and the end point Pg of the reference line L1, respectively. The icons 132b and 132c are displayed at corresponding positions on the field F based on the start point Ps and the end point Pg included in the fourth reference information D4. The icons 132b and 132c are circular display images, and indicate the start point Ps and the end point Pg of the reference line L1, respectively. The icon 132b indicating the start point Ps of the reference line L1 is marked with "A", and the icon 132c indicating the end point Pg of the reference line L1 is marked with "B".

[0145] As shown in FIG. 14B and FIG. 14C, the first presentation screen M3a and the second presentation screen M3b have a candidate list 137 in addition to the second map screen 131 and the narrowing down section 136. The candidate list 137 displays a list of the reference lines L1 corresponding to the work information (the third identification information and the fifth identification information) that the selection section 61a accepts as input. The candidate list 137 displays information included in the fourth reference information D4, such as the orientation of the reference line L1 and the date on which the reference line L1 was defined. In the example shown in FIG. 14B and FIG. 14C, the candidate list 137 shows a state in which two reference lines L1 are displayed in a list, but the number of reference lines L1 displayed by the candidate list 137 is not limited to two, and may be three or four. In addition, the candidate list 137 may be able to display other reference lines L1 by scrolling up and down or left and right.

[0146] In addition, when work information is selected using the narrowing-down unit 136, the candidate list 137 displays a list of reference lines L1 corresponding to the work information selected using the narrowing-down unit 136, from among the reference lines L1 corresponding to the work information accepted as input by the selection unit 61a. Selection keys 137a are arranged near (for example, to the left of) each reference line L1 in the candidate list 137. The selection keys 137a are operable display images, and are associated with the reference line L1 (first virtual line 134).

[0147] In addition, the selection key 137a can select the associated reference line L1 by being operated, and the selection unit 61a can obtain operation information of the selection key 137a and update the first virtual line 134 (reference line L1) displayed on the second map screen 131 of the first presentation screen M3a. Therefore, by operating the selection key 137a to select the reference line L1, the first presentation unit 51d can switch the display of the first terminal display unit 64 to the first presentation screen M3a or the second presentation screen M3b in the case where the data of the reference line L1 is data (direction or function) indicating the reference line L1 itself, and in the case where the data of the reference line L1 is data including position information of the start point Ps and the end point Pg. In the initial state, the selection key 137a of the first virtual line 134 with the most recent defined date is selected.

[0148] 14B and 14C, the candidate list 137 has a forward key 137b. The forward key 137b is an operable display image, and the selection unit 61a accepts the operation (selection) of the forward key 137b. By accepting the operation of the forward key 137b, the selection unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 (the first virtual line 134 corresponding to the operated selection key 137a) displayed on the second map screen 131. In other words, when the worker selects and operates the forward key 137b and the selection unit 61a accepts the selection of an arbitrary reference line L1 (S52), the selection unit 61a proceeds to S53 and transmits selection information of the reference line L1 whose selection has been accepted to the server 50.

[0149] This makes it possible to display differently on the first presentation screen M3a shown in Fig. 14B and the second presentation screen M3b shown in Fig. 14C depending on whether the data of the first virtual line 134 displayed on the second map screen 131 is data (orientation or function) indicating the reference line L1 itself or whether the data of the first virtual line 134 is data including position information of the start point Ps and the end point Pg. In other words, even if the source of the reference line L1 of the server 50 is a terminal or the like communicably connected to the server 50 or the work vehicles 1A, 1B and the information included in the fourth reference information D4 is different, it is possible to display on a relatively unified screen as shown in Fig. 14B and Fig. 14C.

[0150] Furthermore, when the data of the first virtual line 134 includes the position information of the start point Ps and the end point Pg, the second presentation screen M3b is displayed and icons 132b and 132c are displayed separately from the first virtual line 134, thereby making it possible to indicate the start point Ps and the end point Pg of the reference line L1. Therefore, when defining the candidate line L3, the worker can refer to the actual positions of the start point Ps and the end point Pg while referring to the orientation of the reference line L1. This allows the worker, particularly when performing ridge painting work, to grasp which side of the contour of the field F is used as the basis for defining the reference line L1.

[0151] In addition, the configuration of the presentation screen M3 in Fig. 14A and the configurations of the first presentation screen M3a in Fig. 14B and the second presentation screen M3b in Fig. 14C may be arbitrarily combined with each other. For example, the map 132 on the presentation screen M3 may be configured to display the orientation guide portion 132a. 16, the confirmation screen M5 has a third map screen 141 displaying a field F, a first detail display section 147, and a first enter key 148. The third map screen 141 displays a bird's-eye view map 142, and an outline 143 and a second virtual line 144 of the field F displayed on the map. The third map screen 141 displays, for example, the same as the first map screen 101 of the first selection screen M1 and the second map screen 131 of the presentation screen M3, and also enlarges the field F selected by the selection section 61a and displays it in the center of the display area.

[0152] The third map screen 141 can change (enlarge or reduce) and move the range of the map to be displayed by a worker or the like performing a predetermined operation on the first terminal 60. If the first terminal 60 is equipped with a position detection device that can detect its own position, the third map screen 141 may be able to display an icon 145 indicating the position of the first terminal 60, i.e., the position of the worker carrying the first terminal 60, based on position information detected by the position detection device.

[0153] 16, the second virtual line 144 is an arbitrary reference line L1 selected by the selection unit 61a, and is displayed on the field F. Specifically, the second virtual line 144 is disposed at the actual position of the second virtual line 144, unlike the first virtual line 134 on the presentation screen M3. The second virtual line 144 is displayed by extending the start point Ps side and the end point Pg side of the reference line L1, beyond the contour 143 of the field F. Furthermore, an orientation display unit 144a is displayed near the second virtual line 144, displaying the orientation of the second virtual line 144 (reference line L1) in degrees.

[0154] Additionally, icons 146a and 146b are displayed on the second virtual line 144 at positions corresponding to the start point Ps and the end point Pg of the reference line L1, respectively. The icons 146a and 146b are displayed at corresponding positions on the field F based on the start point Ps and the end point Pg included in the fourth reference information D4. The icons 146a and 146b are balloon-shaped display images, and indicate the start point Ps and the end point Pg of the reference line L1, respectively. The icon 146a indicating the start point Ps of the reference line L1 is marked with "A," and the icon 146b indicating the end point Pg of the reference line L1 is marked with "B."

[0155] The first detail display section 147 is an area that displays information on the reference line L1 selected by the selection section 61a. The first detail display section 147 displays the time (year, date, time) at which the end point Pg included in the fourth reference information D4 was defined, and work information. As shown in FIG. 16, the first detail display section 147 displays, for example, the time (year, date, time) at which the end point Pg was defined, and the field F and work content as work information. The first detail display section 147 may also display the reference line L1 in a direction. When the first detail display section 147 displays the reference line L1 in a direction, the first detail display section 147 displays the direction in an angle. When the work information includes detailed information on the work device 2, such as the work device width and the lap width of the work, the first detail display section 147 may be able to display the information.

[0156] Furthermore, the first detail display unit 147 may be operable. The first detail display unit 147 may be slid, for example, in the left-right direction of the screen. The first detail display unit 147 can be operated to select a reference line L1 different from the reference line L1 displayed by the first detail display unit 147 by being operated. That is, as shown in FIG. 11, when the first detail display unit 147 is operated (S60, Yes), the selection unit 61a acquires operation information of the first detail display unit 147 and accepts the selection of the reference line L1 (S61).

[0157] When the selection unit 61a receives a selection of the reference line L1 in the first detail display portion 147 (S61), the selection unit 61a transmits selection information of the reference line L1 that has been received to the server 50 (S62). When the selection unit 61a transmits the selection information of the first virtual line 134 (reference line L1) selected and accepted to the server 50 (S62), the first presentation unit 51d acquires the fourth reference information D4 corresponding to the reference line L1 selected and accepted by the selection unit 61a from the third storage area 53c, and transmits information (confirmation information) required to display the fourth reference information D4. As a result, the first terminal control device 61 receives the information (confirmation information) (S63), and can update the confirmation screen M5 displayed by the first terminal display unit 64 (S64).

[0158] As shown in Fig. 16, the first decision key 148 is an operable display image. The first decision key 148 is a key for operating to decide the selection of the reference line L1 displayed on the confirmation screen M5. In detail, as shown in Fig. 11, when the first decision key 148 is operated (S65, Yes), the selection unit 61a acquires operation information of the first decision key 148 and accepts the decision of the selection of the reference line L1 (S66). When the worker operates the first decision key 148 and the selection unit 61a accepts the operation of the first decision key 148, i.e., the decision of the selection of the reference line L1 (S66), the selection unit 61a transmits decision information of the reference line L1 for which the decision of the selection has been accepted to the server 50 (S67).

[0159] As a result, when the server 50 receives the determination information of the reference line L1, the first setting unit 51e registers (sets) the reference line L1 for which the selection unit 61a has accepted the selection determination from among the reference lines L1 stored in the third memory area 53c as a candidate line L3. Specifically, the first setting unit 51e rewrites the information of the fourth reference information D4 corresponding to the selected reference line L1, thereby registering the reference line L1 as a candidate line L3. In more detail, the first setting unit 51e adds or rewrites an arbitrary character string to the management information assigned to the fourth reference information D4 corresponding to the reference line L1, thereby registering the reference line L1 as a candidate line L3.

[0160] In addition, the method of registering (setting) the candidate line L3 by the first setting unit 51e is not limited to the above-mentioned method, and for example, the candidate line L3 may be registered by storing the fourth reference information D4 corresponding to the reference line L1 for which the selection unit 61a has accepted the selection decision in a memory area (fourth memory area 53d) other than the third memory area 53c. The second terminal 70 can define that the first work vehicle 1A or the second work vehicle 1B performs automatic steering based on the candidate line L3 registered by the first terminal 60 and that the first work vehicle 1A or the second work vehicle 1B performs automatic steering based on the selected candidate line L3. Specifically, the second terminal 70 accepts the input of work information and extracts the candidate line L3 corresponding to the work information from the server 50, thereby accepting the selection of the candidate line L3.

[0161] In detail, the second terminal 70 has a reception unit 71a that receives input of work information. The reception unit 71a receives the input of work information by acquiring the work information inputted into the second terminal display unit 74. The reception unit 71a is composed of electric and electronic components provided in the second terminal control device 71, a program embedded in the second terminal storage unit 73, etc. In this embodiment, the reception unit 71a receives input of work information and transmits the received work information (input information) to the server 50 via the third communication device 62 and the second communication device 52. The server 50 also selects a candidate line L3 by extracting a candidate line L3 corresponding to the input information. In other words, the second terminal 70 receives input of work information and has the server 50 extract the candidate line L3, thereby indirectly receiving the selection of the candidate line L3.

[0162] 1, the server 50 has a second presenting unit 51f and a second setting unit 51g. The second presenting unit 51f and the second setting unit 51g are provided in the server control device 51, and are composed of electric and electronic components provided in the server control device 51, programs installed in the server control device 51, etc. The second presentation unit 51f transmits the candidate line L3 stored in the server 50 to the second terminal 70, and displays the candidate line L3 on the second terminal display unit 74. The second presentation unit 51f transmits information (candidate information) of the candidate line L3 stored in the third storage area 53c of the server 50, which corresponds to the work information whose input has been accepted by the acceptance unit 71a, to the second terminal control device 71 via the second communication device 52 and the fourth communication device 72.

[0163] 17 to 20, a flow of accepting the selection of a candidate line L3 and transmitting the selected candidate line L3 to the work vehicles 1A, 1B, and screen transitions on the second terminal display unit 74 will be described below. As shown in Fig. 17, when a worker or the like performs a predetermined operation on the second terminal 70, the second presenting unit 51f displays a reception screen on the second terminal display unit 74 (S70). As shown in Figs. 18 and 19, the reception screen is a screen on which work information can be input, and the reception unit 71a accepts the input of the work information. Specifically, the second presenting unit 51f transmits information required to display the reception screen to the second terminal display unit 74 based on a table related to the work information stored in the second storage area 53b, and the second terminal control device 71 displays the reception screen on the second terminal display unit 74 based on the information.

[0164] The reception screen includes a screen for selecting at least the field F on which the work vehicles 1A, 1B will work from the work information stored in the second storage area 53b. Specifically, the selection screen includes a first reception screen M6 which is a screen for selecting the field F on which the work vehicles 1A, 1B will work. Also, as shown in FIG. 19, the reception screen displayed by the second terminal display unit 74 includes a second reception screen M7 which is a screen for inputting work information other than the field F. In this embodiment, the second reception screen M7 is a screen for inputting the content of the work (work content) to be performed by the work vehicles 1A, 1B.

[0165] First, the first reception screen M6 will be described. As shown in Fig. 18, the first reception screen M6 has a fourth map screen 151 that displays a plurality of fields F. When an operator or the like performs a predetermined operation on the second terminal 70, the second presentation unit 51f transmits information required to display the first reception screen M6 to the second terminal control device 71 based on a table related to the field F (third specific information) stored in the second storage area 53b, and the second terminal display unit 74 displays the first reception screen M6 (S70).

[0166] The fourth map screen 151 displays a bird's-eye view map 152 and a contour 153 of the field F displayed on the map. The contour 153 of the field F is a display image that can be selected by operating the second terminal 70. Furthermore, based on the position information of the field F in a table stored in the second storage area 53b of the server 50, the contour 153 of the field F is displayed at a position on the map that corresponds to the position information.

[0167] On the fourth map screen 151, the range of the map to be displayed can be changed (enlarged or reduced) and moved by a worker or the like performing a predetermined operation on the second terminal 70. The contours 153 of the field F can each be selected and operated. If the second terminal 70 is equipped with a position detection device that can detect its own position, the fourth map screen 151 may be able to display an icon 154 indicating the position of the second terminal 70, i.e., the position of the worker carrying the second terminal 70, based on position information detected by the position detection device.

[0168] When any of the contours 153 of the field F on the fourth map screen 151 is operated (S71, Yes), the reception unit 71a acquires operation information of the contour 153 and accepts the selection of the field F (S72). When the worker selects and operates the contour 153 of the field F and the reception unit 71a accepts the selection of the field F (S72), the reception unit 71a transmits the third identification information of the field F whose selection was accepted to the server 50 (S73).

[0169] As shown in Fig. 17, when the second terminal display unit 74 displays the first reception screen M6, when the reception unit 71a transmits the third specification information of the field F for which the selection has been received to the server 50 (S73), the second presentation unit 51f transmits information required to display the second reception screen M7 to the second terminal control device 71 based on the table related to the work content (fifth specification information) stored in the second storage area 53b. As a result, the second terminal display unit 74 receives the information (S74) and displays the second reception screen M7 shown in Fig. 19 (S75). Note that the second reception screen M7 displays a second work selection unit 161 that allows the selection operation of the same work information as the work information that can be selected on the second selection screen M2.

[0170] Next, the second reception screen M7 will be described. As shown in Fig. 19, the second reception screen M7 displays a second work selection section 161 that allows input operation (selection operation) of work content. The second work selection section 161 is a display image that allows selection operation and is displayed in plurality on the second reception screen M7. Also, each of the second work selection sections 161 is associated with a different work content. In this embodiment, as shown in Fig. 19, the second selection screen M2 displays the second work selection sections 161 that correspond to "rotary (cultivation)", "ridge making", "towing", "puddling", "fertilization", and "ridge painting".

[0171] 17, when any of the second work selection sections 161 displayed on the second reception screen M7 is operated (S76, Yes), the reception unit 71a acquires operation information of the second work selection section 161 and receives input of the work content (fifth specification information) associated with the second work selection section 161 (S77). When the worker operates the second work selection section 161 and the reception unit 71a receives the input of the work content (S77), the reception unit 71a transmits the fifth specification information of the work content whose input was received to the server 50 (S78).

[0172] When the second terminal display unit 74 displays the second selection screen M2, the reception unit 71a transmits the fifth identification information of the work content received by the reception unit 71a to the server 50 (S78). The second presentation unit 51f transmits candidate information of the candidate line L3 corresponding to the work information (third identification information and fifth identification information) received by the reception unit 71a, among the candidate lines L3 stored in the third storage area 53c. Specifically, the second presentation unit 51f transmits information including the candidate information and necessary for the second terminal display unit 74 to display the candidate information. As a result, the second terminal display unit 74 receives the information (S79), and when it receives the candidate information from the second presentation unit 51f, it displays the call screen M8 based on the candidate information, as shown in FIG. 20 (S80).

[0173] In this embodiment, the second reception screen M7 is a screen for inputting the contents of the work (work contents) to be performed by the work vehicles 1A, 1B, but the second reception screen M7 may be a screen for inputting work information other than that of the field F, and the work information may be any one of information on the work vehicles 1A, 1B, information on the work device 2, and crop information, or may be a screen on which multiple pieces of work information other than that of the field F can be selected. Furthermore, the selection screen displayed by the second terminal display unit 74 may include, in addition to the first reception screen M6 and the second reception screen M7, a third reception screen (not shown) for selecting other work information, and the work information received by the reception unit 71a and the display method thereof are not limited to the configuration described above.

[0174] 20, the call screen M8 has a fifth map screen 171 displaying a field F, a second detail display section 177, and a second enter key 178. The fifth map screen 171 displays a bird's-eye view map 172, an outline 173 of the field F displayed on the map 172, and a third virtual line 174. The fifth map screen 171 displays, for example, the same as the fourth map screen 151 of the first reception screen M6, and also enlarges and displays the field F selected by the reception section 71a in the center of the display area.

[0175] The fifth map screen 171 can change (enlarge or reduce) and move the range of the map to be displayed by a worker or the like performing a predetermined operation on the second terminal 70. If the second terminal 70 is equipped with a position detection device that can detect its own position, the fifth map screen 171 may be able to display an icon 175 indicating the position of the second terminal 70, i.e., the position of the worker carrying the second terminal 70, based on position information detected by the position detection device.

[0176] The third virtual line 174 is the candidate line L3 corresponding to the work information (the third specification information and the fifth specification information) received by the receiving unit 71a, i.e., the candidate line L3 selected and received by the receiving unit 71a, and is displayed on the field F. Specifically, the third virtual line 174 is disposed at the actual position of the third virtual line 174. The third virtual line 174 is displayed by extending the start point Ps side and the end point Pg side of the candidate line L3, beyond the contour 173 of the field F. Furthermore, a direction display section 174a is displayed near the third virtual line 174, displaying the direction of the third virtual line 174 (candidate line L3) as an angle.

[0177] Furthermore, icons 176a and 176b are displayed on the third virtual line 174 at positions corresponding to the start point Ps and the end point Pg of the candidate line L3, respectively. The icons 176a and 176b are displayed at corresponding positions on the field F based on the start point Ps and the end point Pg included in the fourth reference information D4. The icons 176a and 176b are balloon-shaped display images, and indicate the start point Ps and the end point Pg of the candidate line L3, respectively. The icon 176a indicating the start point Ps of the candidate line L3 is marked with "A," and the icon 176b indicating the end point Pg of the candidate line L3 is marked with "B."

[0178] The second detail display section 177 is an area for displaying information on the candidate line L3 selected and accepted by the accepting section 71a. The second detail display section 177 displays the time (year, date, time) when the end point Pg included in the fourth reference information D4 was defined, and the work information. As shown in FIG. 20, the second detail display section 177 displays, for example, the time (year, date, time) when the end point Pg was defined, and the field F and work content as the work information. The second detail display section 177 may also display the candidate line L3 in a direction. When the second detail display section 177 displays the candidate line L3 in a direction, the second detail display section 177 displays the direction in an angle. When the work information includes detailed information on the work device 2, for example, the work implement width and the lap width of the work, the second detail display section 177 may be able to display the information.

[0179] The second decision key 178 is an operable display image. The second decision key 178 is a key for operating to confirm the selection of the candidate line L3 displayed on the call screen M8. In detail, as shown in FIG. 17, when the second decision key 178 is operated (S81, Yes), the reception unit 71a acquires operation information of the second decision key 178 and accepts the confirmation of the selection of the candidate line L3 (S82). When the worker operates the second decision key 178 and the reception unit 71a accepts the operation of the second decision key 178, i.e., the confirmation of the selection of the candidate line L3 (S82), the reception unit 71a transmits the decision information of the candidate line L3 for which the selection confirmation has been accepted to the server 50 (S83).

[0180] As a result, when the server 50 receives the decision information of the candidate line L3, the second setting unit 51g transmits the candidate line L3 for which the reception unit 71a has accepted the selection decision, among the candidate lines L3 stored in the third storage area 53c, to the work vehicles 1A and 1B. Specifically, the second communication device 52 transmits the candidate line L3 to the work vehicles 1A and 1B associated with the second terminal 70 via the second communication device 52 and the first communication device 42. In more detail, the second setting unit 51g acquires the fourth reference information D4 corresponding to the candidate line L3 for which the reception unit 71a has accepted the selection decision, and acquires the start point Ps and the end point Pg of the candidate line L3 from the fourth reference information D4. The second setting unit 51g outputs the fifth reference information D5 including the position information of the start point Ps and the end point Pg of the candidate line L3 as the candidate line L3 to the second communication device 52.

[0181] 8, the fifth reference information D5 includes position information of the start point Ps and end point Pg of the candidate line L3, the first identification information, and work information. The work information in the fifth reference information D5 is the work information (the third identification information and the fifth identification information) received by the receiving unit 71a. As a result, the second communication device 52 transmits the fifth reference information D5 output from the second setting unit 51g to the work vehicles 1A, 1B.

[0182] The fifth reference information D5 is not limited to the position information of the start point Ps and the end point Pg of the candidate line L3, and may include, for example, data indicating the reference line L1 itself (direction or function). After S83, when the first communication device 42 receives the candidate line L3 (fifth reference information D5) from the second communication device 52, the line definition unit 40c associates the position information of the start point Ps and end point Pg of the candidate line L3 with the first identification information and the work information, and stores it as the first reference information D1 (reference line L1) in the memory unit 41. In other words, if the memory unit 41 has already stored the first reference information D1 (reference line L1), it stores the candidate line L3 (fifth reference information D5) as the first reference information D1 instead of the first reference information D1.

[0183] As a result, the work vehicles 1A, 1B (the first work vehicle 1A or the second work vehicle 1B) to which the candidate line L3 has been transmitted from the second communication device 52 can perform automatic steering based on the transmitted candidate line L3. The above-mentioned work vehicle assistance system S includes a first work vehicle 1A having a vehicle body 3 capable of traveling by either manual steering or automatic steering based on a reference line L1, a line definition unit 40c that defines the reference line L1 based on traveling information of the vehicle body 3 when the vehicle body 3 is being manually steered, a server 50 that stores the reference line L1 defined by the line definition unit 40c, and a first terminal 60 that accepts the selection of an arbitrary reference line L1 from the reference lines L1 stored by the server 50, and the first terminal 60 registers the reference line L1 that has been selected as a candidate line L3 that is a candidate for the reference line L1 along which the first work vehicle 1A or a second work vehicle 1B different from the first work vehicle 1A performs automatic steering. According to the above configuration, the first work vehicle 1A performs manual steering, and the reference line L1 defined by the line definition unit 40c can be accumulated in the server 50. Furthermore, by registering the reference line L1 accumulated by the server 50 as a candidate line L3, the reference line L1 can be utilized for the first work vehicle 1A or the second work vehicle 1B, thereby reducing the effort required to register the reference line L1 each time work is performed.

[0184] Further, the first work vehicle 1A has a first communication device 42 capable of communicating with the server 50, and the first communication device 42 transmits the reference line L1 defined by the line definition unit 40c to the server 50, and the server 50 receives the reference line L1 transmitted from the first communication device 42 and stores the reference line L1. According to the above configuration, the server 50 can directly communicate with the first work vehicle 1A, and the line definition unit 40c of the first work vehicle 1A can transmit the reference line L1 directly to the server 50. Therefore, even if the reference line L1 is not stored in the first work vehicle 1A, the server 50 can store the reference line L1 every time the line definition unit 40c defines the reference line L1. In other words, the reference line L1 can be stored externally regardless of the size of the memory area of ​​the first work vehicle 1A.

[0185] The work vehicle assistance system S also includes a second terminal 70, which is a terminal separate from the first terminal 60, and which accepts the selection of a candidate line L3 registered by the first terminal 60 and defines the first work vehicle 1A or the second work vehicle 1B to perform automatic steering based on the selected candidate line L3. According to the above configuration, by selecting the candidate line L3 in advance in the first terminal 60, it is possible to limit candidates for the reference line L1 used by the first work vehicle 1A or the second work vehicle 1B for automatic steering. Therefore, in the second terminal 70, the operation of selecting a candidate reference line L1 from the multiple reference lines L1 stored in the server 50 can be omitted.

[0186] The server 50 also has an information acquisition unit 51b that acquires work information related to the work of the first work vehicle 1A when the vehicle body 3 is manually steered, and a registration unit 51c that associates and registers the reference line L1 defined by the line definition unit 40c and the work information corresponding to the reference line L1, and the second terminal 70 accepts the input of the work information and extracts the candidate line L3 corresponding to the work information from the server 50, thereby accepting the selection of the candidate line L3. According to the above configuration, the worker operating the second terminal 70 can simply select the reference line L1 used by the first work vehicle 1A or the second work vehicle 1B for automatic steering by simply inputting the work information. Therefore, the efficiency and accuracy of the work can be improved by setting roles according to the capabilities of the worker who uses the first terminal 60 and selects the candidate line L3 in advance and the worker who uses the second terminal 70 to operate the first work vehicle 1A or the second work vehicle 1B.

[0187] The server 50 also has a second communication device 52 capable of communicating with the first work vehicle 1A or the second work vehicle 1B, and the second communication device 52 transmits the candidate line L3 selected by the second terminal 70 to the first work vehicle 1A or the second work vehicle 1B, and the first work vehicle 1A or the second work vehicle 1B that has received the candidate line L3 from the second communication device 52 performs automatic steering based on the transmitted candidate line L3. According to the above configuration, the first work vehicle 1A or the second work vehicle 1B can perform automatic steering based on the candidate line L3 transmitted from the server 50. Therefore, even if the reference line L1 is not stored in the first work vehicle 1A, automatic steering can be performed based on the candidate line L3 selected by the first terminal 60. In other words, even if the size of the memory area of ​​the first work vehicle 1A is relatively small, automatic steering can be performed based on the candidate line L3, which is a more appropriate reference line L1.

[0188] Moreover, the information acquisition unit 51b includes, as work information, one or more of the following information: the field F where the first work vehicle 1A and the second work vehicle 1B work, information on the first work vehicle 1A and the second work vehicle 1B, information on the work device 2 used in the work, the work content of the work device 2, and the crops cultivated in the field F. According to the above configuration, the worker or the like who operates the second terminal 70 can easily select the reference line L1 used by the first work vehicle 1A or the second work vehicle 1B for automatic steering by simply inputting information related to the work, such as the field F, the work vehicles 1A, 1B, the work device 2 possessed by the work vehicles 1A, 1B, the work content of the work device 2, and the crops cultivated in the field F. Therefore, the worker who operates the first work vehicle 1A or the second work vehicle 1B using the second terminal 70 can select an appropriate candidate line L3 with a simpler operation.

[0189] Furthermore, the first work vehicle 1A or the second work vehicle 1B has an operable correction switch 20, the line definition unit 40c has a correction unit 40c1 that corrects and redefines the candidate line L3 based on the operation of the correction switch 20 and corrects the steering of the vehicle body 3 during automatic steering, and the server 50 overwrites the candidate line L3 corrected by the correction unit 40c1 onto the reference line L1 corresponding to the candidate line L3 and stores it. According to the above configuration, the server 50 can accumulate a more optimized reference line L1 based on the candidate line L3 redefined by operating the correction switch 20.

[0190] In addition, the first work vehicle 1A has an operable registration switch 18, and the line definition unit 40c acquires the start point Ps and end point Pg of the reference line L1 in the field F based on the travel information when the registration switch 18 is operated, and defines the reference line L1 from the start point Ps and end point Pg. According to the above configuration, the worker can easily define the reference line L1 by operating the registration switch 18.

[0191] Furthermore, the first work vehicle 1A has a first detection device 43A that detects position information of the first work vehicle 1A, which is travel information, and the line definition unit 40c acquires the start point Ps and end point Pg from the position of the first work vehicle 1A when the registration switch 18 is operated, based on the position information and the operation of the registration switch 18. With the above configuration, the line definition unit 40c can acquire the start point Ps and end point Pg when the first work vehicle 1A is actually traveled in the field F. This allows the server 50 to accumulate a more accurate reference line L1.

[0192] Furthermore, the first work vehicle 1A has a first detection device 43A that detects the position information of the first work vehicle 1A, which is traveling information, and transmits the position information to the server 50 at predetermined time intervals, and the first work vehicle 1A has an operable registration switch 18, and the first detection device 43A transmits the position information to the server 50 at predetermined time intervals, and the line definition unit 40c transmits the time when the registration switch 18 was operated to the server 50, and defines the reference line L1 based on the position information stored in the server 50 and corresponding to the time when the registration switch 18 was operated. According to the above configuration, the server 50 is constantly receiving the position information of the first work vehicle 1A, so the line definition unit 40c can more reliably obtain the start point Ps and end point Pg.

[0193] Furthermore, the first work vehicle 1A has a second detection device 43B that detects orientation information of the first work vehicle 1A, which is traveling information, and the first work vehicle 1A has an operable registration switch 18, and the line definition unit 40c defines a reference line L1 with the orientation F1 of the first work vehicle 1A when the registration switch 18 is operated, based on the orientation information and the operation of the registration switch 18. According to the above configuration, the worker can easily define the reference line L1 by operating the registration switch 18.

[0194] Furthermore, the first work vehicle 1A has a second detection device 43B that detects direction information of the first work vehicle 1A, which is travel information, and transmits the direction information to the server 50 at predetermined time intervals, and the first work vehicle 1A has an operable registration switch 18, the second detection device 43B transmits the direction information to the server 50 at predetermined time intervals, and the line definition unit 40c transmits the time at which the registration switch 18 was operated to the server 50, and defines the reference line L1 based on the direction information stored in the server 50 and corresponding to the time at which the registration switch 18 was operated. According to the above configuration, the server 50 is constantly receiving position information of the first work vehicle 1A, so the line definition unit 40c can more reliably acquire the direction information.

[0195] Moreover, the first terminal 60 has a display unit capable of displaying at least two or more reference lines L1 among the reference lines L1 stored in the server 50, and a selection unit 61a that accepts selection of the reference line L1 displayed by the display unit, and the display unit is capable of displaying at least two or more reference lines L1 radially on a field indicating a predetermined field F. According to the above configuration, the worker operating the first terminal 60 can easily grasp the angle of the reference line L1 with respect to the field F and the difference in angle with other reference lines L1. Therefore, the worker can select a more appropriate candidate line L3 by checking the reference line L1 displayed on the field. [Second embodiment] 21 shows an overall view of the support system S for a work vehicle in the second embodiment. In the first embodiment, the first presenting unit 51d transmits the reference line L1 stored in the server 50 to the first terminal 60 and causes the first terminal display unit 64 to display the reference line L1, but in the second embodiment, the first presenting unit 51d causes the first terminal display unit 64 to display (present) the reference line L1 in a predetermined priority order. Note that the same reference symbols are used for configurations similar to those in the first embodiment, and descriptions thereof will be omitted.

[0196] 21, the server 50 has a rank definition unit 51h. The rank definition unit 51h defines a priority order for a plurality of reference lines L1 stored in the server 50 based on at least one or more conditions. The first terminal display unit 64 (display unit) presents the reference lines L1 based on the priority order defined by the rank definition unit 51h. The priority definition unit 51h is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and programs and the like incorporated in the server control device 51. The priority definition unit 51h defines the priority order based on conditions such as the length of the reference line L1 and the usage history of the reference line L1. The conditions for defining the priority order by the priority definition unit 51h will be described in detail below.

[0197] The order definition unit 51h includes conditions (first and second conditions) that define the priority order based on the first distance K1 between the start point Ps and the end point Pg of the reference line L1. First, the first condition will be described in detail. The first condition is a condition that defines a reference line L1 with a longer first distance K1 as having a higher priority order than a reference line L1 with a shorter first distance K1. Specifically, the server 50 has a calculation unit 51i that calculates the first distance K1, and the order definition unit 51h defines the priority order in the first condition based on the first distance K1 calculated by the calculation unit 51i.

[0198] The calculation unit 51i can calculate the first distance K1. The calculation unit 51i is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and a program incorporated in the server control device 51. Specifically, as shown in FIG. 22, the calculation unit 51i acquires the fourth reference information D4 stored in the third storage area 53c (S100), and calculates the first distance K1 based on the fourth reference information D4 (S101). The calculation unit 51i acquires position information of the start point Ps and the end point Pg from the fourth reference information D4, and calculates the straight-line distance between the start point Ps and the end point Pg as the first distance K1. In this embodiment, the position information is information represented by latitude and longitude, so that as shown in FIG. 23, the calculation unit 51i calculates the first distance K1 from the latitude and longitude of the start point Ps and the latitude and longitude of the end point Pg.

[0199] The first distance K1 calculated by the calculation unit 51i in S101 is registered by the registration unit 51c in the management information of the reference line L1 (fourth reference information D4) corresponding to the first distance K1 (S102). Therefore, the order definition unit 51h can refer to the first distance K1 of each of the reference lines L1 stored in the third storage area 53c from the management information of the fourth reference information D4 stored in the third storage area 53c (S103). Thus, the order definition unit 51h can refer to the first distance K1 of each of the reference lines L1 (S103) in the first condition and define the priority of the reference line L1 with a longer first distance K1 as higher than the reference line L1 with a shorter first distance K1 (S104).

[0200] Next, the second condition will be described in detail. The second condition is a condition that defines a higher priority for a reference line L1 having a larger ratio of the first distance K1 to the second distance K2 between the intersection X of a straight line (extension line of the reference line L1) L4 passing through the start point Ps and the end point Pg and the outline (contour) C of the field F than for a reference line L1 having a smaller ratio of the first distance K1 to the second distance K2. Specifically, as shown in FIG. 23, the calculation unit 51i calculates the second distance K2 between the intersection X of the extension line L4 of the reference line L1 and the outline C of the field F. In other words, the server 50 has a calculation unit 51i that calculates the second distance K2 between the intersection X of the extension line L4 of the reference line L1 and the outline C of the field F.

[0201] For convenience of explanation, the ratio of the first distance K1 to the second distance K2 may be described below as a travel rate of the field F traveled by the work vehicles 1A, 1B. 24, the calculation unit 51i acquires position information of the start point Ps and the end point Pg from the fourth reference information D4 (S111), and calculates a function R of an extension line L4 of the reference line L1 from the position information of the start point Ps and the end point Pg (S112). Specifically, in this embodiment, since the position information is information represented by latitude and longitude, the calculation unit 51i calculates the function R from the position information of the start point Ps and the end point Pg.

[0202] When the calculation unit 51i calculates the function R of the extension line L4 of the reference line L1 (S112), it acquires information of the field F in which the reference line L1 is defined from the second storage area 53b based on the third identification information among the work information included in the fourth reference information D4 (S113). Specifically, the calculation unit 51i acquires position information of the contour C of the field F (S113), and calculates position information of the intersection X between the extension line L4 of the reference line L1 and the contour C of the field F based on the acquired position information of the contour C and the function R (S114). The calculation unit 51i calculates the second distance K2 from the latitude and longitude of the first intersection X1 on the start point Ps side and the latitude and longitude of the second intersection X2 on the end point Pg side calculated in S114 (S115).

[0203] The calculation unit 51i calculates a ratio (traveling rate) of the first distance K1 to the two distances from the first distance K1 corresponding to the reference line L1 and the second distance K2 corresponding to the reference line L1 (S116). That is, the calculation unit 51i calculates the ratio (traveling rate) by dividing the first distance K1 corresponding to the reference line L1 by the second distance K2 corresponding to the reference line L1.

[0204] The second distance K2 and the travel rate calculated by the calculation unit 51i are registered by the registration unit 51c in the management information of the reference line L1 (fourth reference information D4) corresponding to the second distance K2 and the travel rate (S117). Therefore, the order definition unit 51h can refer to the travel rate of each of the reference lines L1 stored in the third storage area 53c from the management information of the fourth reference information D4 stored in the third storage area 53c (S118). Thus, the order definition unit 51h can refer to the travel rate of each of the reference lines L1 (S118) in the second condition and define the priority of the reference line L1 with a high travel rate as higher than that of the reference line L1 with a low travel rate (S119).

[0205] The order definition section 51h includes conditions (third to seventh conditions) that define the order of priority based on the usage history. The database 53 stores the correction degree of the reference line L1, the number of uses, and the work history as the usage history. Specifically, the third storage area 53c stores the reference line L1 (fourth reference information D4) in association with the correction degree, the number of uses, and the work history. The correction degree is the degree to which the correction section 40c1 corrects the reference line L1. The number of uses is the number of times the work vehicles 1A, 1B have used the reference line L1. And the work history is the history of the work content in which the work vehicles 1A, 1B performed automatic steering using the reference line L1.

[0206] Specifically, the server 50 has a record acquiring unit 51j that acquires information (usage information) related to the usage record of the reference line L1. The record acquiring unit 51j is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and a program and the like incorporated in the server control device 51. The registration unit 51c registers the usage record in the management information of the reference line L1 (fourth reference information D4) stored in the third storage area 53c, based on the information acquired by the record acquiring unit 51j.

[0207] Hereinafter, the conditions will be described when the result acquisition unit 51j acquires the correction degree as the usage result, and the priority definition unit 51h defines the priority order according to the correction degree. Hereinafter, for convenience of explanation, the correction degree may be simply referred to as the degree. Also, the case where the correction switch 20 is a push switch will be described as an example. First, the third condition will be described in detail. The third condition is a condition that defines the priority of the reference line L1 with a low degree (correction degree) as higher than that of the reference line L1 with a high degree (correction degree). As described in the first embodiment, when the correction switch 20 is a push switch, the correction unit 40c1 increases the degree (correction amount h) according to the number of times the correction switch 20 is operated. In other words, the third condition is a condition that defines the priority of the reference line L1 with a low number of operations as higher than that of the reference line L1 with a high number of operations. The third condition is a condition in which the server 50 does not correct (overwrite) the reference line L1 stored in the third storage area 53c based on the correction by the correction unit 40c1. Hereinafter, the third condition will be described taking as an example a case in which the server 50 does not overwrite the reference line L1 based on the correction by the correction unit 40c1.

[0208] The result acquisition unit 51j acquires the number of times the correction switch 20 has been operated (degree of correction) as usage information via the first communication device 42 and the second communication device 52. Specifically, as shown in Fig. 25, the control device 40 acquires an operation signal of the correction switch 20 (S130), and transmits information (correction signal) including information indicating that the correction switch 20 has been operated and the first identification information to the second communication device 52 via the first communication device 42 (S131). Note that the control device 40 transmits the correction signal to the second communication device 52 every time it acquires an operation signal output from the correction switch 20.

[0209] When the second communication device 52 receives the correction signal, the result acquisition unit 51j acquires the correction signal (S132). As a result, the result acquisition unit 51j counts the acquired correction signal, and can acquire the number of times the correction switch 20 has been operated with respect to the reference line L1 corresponding to the first identification information as usage information (S133). The usage information (correction degree) acquired by the result acquisition unit 51j is registered by the registration unit 51c in the management information of the reference line L1 (fourth reference information D4) corrected by the correction unit 40c1 based on the operation of the correction switch 20 (S134). In detail, the registration unit 51c stores, for each reference line L1, the total number of times the correction switch 20 has been operated (correction degree) as the usage history based on the usage information acquired by the result acquisition unit 51j and past usage information, in association with the reference line L1.

[0210] Therefore, the order definition unit 51h can refer to the correction degree of each of the reference lines L1 stored in the third storage area 53c from the management information of the fourth reference information D4 stored in the third storage area 53c (S135). As a result, the order definition unit 51h can refer to the correction degree of each of the reference lines L1 (S135) in the third condition and define a higher priority for the reference line L1 having a smaller total number of operations of the correction switch 20 than for the reference line L1 having a larger total number of operations of the correction switch 20 (S136).

[0211] In the above embodiment, the database 53 stores the total number of times the correction switch 20 was operated as the usage record in association with each reference line L1, but the database 53 only needs to store the degree of correction by the correction unit 40c1 in association with each reference line L1, and the degree of correction is not limited to the total number of times the correction switch 20 was operated. For example, the order definition unit 51h may define, in the third condition, a reference line L1 with a smaller maximum value or average value of the number of times the correction switch 20 was operated as having a higher priority than a reference line L1 with a larger maximum value or average value.

[0212] Specifically, the database 53 stores, for each reference line L1, the maximum or average number of operations in a series of tasks in which the work vehicles 1A, 1B performed automatic steering in association with the reference line L1. The series of tasks refers to one work process or the like that is determined in advance in a work plan or the like and that the work vehicles 1A, 1B perform from the third direction to the fourth direction of the field F. The result acquisition unit 51j determines the start and end of a series of tasks based on information transmitted from the work vehicles 1A, 1B (control device 40). For example, when the prime mover 4 is started, the control device 40 transmits start information indicating the start of the prime mover 4 to the second communication device 52 via the first communication device 42. When the prime mover 4 is stopped, the control device 40 transmits stop information indicating the stop of the prime mover 4 to the second communication device 52 via the first communication device 42. The result acquisition unit 51j determines the start and end of a series of tasks based on the start information, stop information, etc.

[0213] This enables the performance acquisition unit 51j to determine the start and end of a series of tasks, and acquire the number of times the correction switch 20 is operated during the series of tasks as usage information based on the correction signal acquired from the start to the end of the series of tasks. Therefore, the registration unit 51c can store the maximum or average number of times the correction switch 20 is operated in association with the reference line L1 (fourth reference information D4) based on the usage information acquired by the performance acquisition unit 51j (the number of times the correction switch 20 is operated in a series of tasks).

[0214] In the above-described embodiment, the result acquiring unit 51j acquires the number of times the correction switch 20 is operated (degree of correction) as the usage information, but it is sufficient to acquire the degree of correction as the usage information, and the information indicating the degree of correction is not limited to the number of times the correction switch 20 is operated. For example, the calculation unit 51i may calculate the difference between the original reference line L1 defined by the line definition unit 40c and the corrected reference line L1' as the degree of correction, and the result acquiring unit 51j may acquire the degree of correction as the usage information.

[0215] The calculation unit 51i calculates the difference between the original reference line L1 (reference line L1 before correction) defined by the line definition unit 40c and the corrected reference line L1'. For example, when the fourth reference information D4 stores the position information of the start point Ps and the end point Pg of the reference line L1, the calculation unit 51i calculates the distance K4 (the distance between the end point Pg of the reference line L1 before correction and the end point Pgh of the reference line L1' after correction) as shown in FIG. 26 based on the end point Pg of the reference line L1 before correction and the end point Pgh of the reference line L1' after correction as the difference between the reference line L1 before correction and the reference line L1' after correction.

[0216] In addition, the result acquiring unit 51j may acquire the total correction amount ha as the correction degree. For example, when the reference line L1 is data (function and direction) indicating the reference line L1 itself, the angle θh formed by the reference line L1 before correction and the reference line L1′ after correction is calculated as the total correction amount ha. Therefore, the registration unit 51c can store the usage information (correction degree) acquired by the result acquisition unit 51j in association with the reference line L1 (fourth reference information D4).

[0217] Next, the fourth condition will be described in detail. The fourth condition is a condition that defines a higher priority for a reference line L1 with a higher degree (correction degree) than a reference line L1 with a lower degree (correction degree). As described above, the third condition is a condition in which the server 50 does not correct (overwrite) the reference line L1 stored in the third storage area 53c based on the correction by the correction unit 40c1, but the fourth condition is a condition that can be adopted in which the server 50 overwrites the reference line L1.

[0218] The acquisition of the correction degree by the result acquisition unit 51j and the storage of the usage information by the registration unit 51c are the same as when the order definition unit 51h defines the priority order based on the third condition, and only S137 is different, so detailed explanation will be omitted. That is, as shown in Fig. 27, in the fourth condition, the order definition unit 51h can refer to the correction degree of each reference line L1 (S135) and define the priority order of the reference line L1 having a larger total number of operations of the correction switch 20 as higher than that of the reference line L1 having a smaller total number of operations of the correction switch 20 (S137).

[0219] Hereinafter, a condition (fifth condition) will be described when the record acquiring unit 51j acquires the number of times the reference line L1 has been used as the usage record, and the ranking defining unit 51h defines the priority order according to the number of times it has been used. The fifth condition is a condition that defines a reference line L1 that has been used more frequently as having a higher priority order than a reference line L1 that has been used less frequently. The database 53 stores, as the usage record, the number of times the work vehicles 1A, 1B have used the reference line L1 in association with the reference line L1.

[0220] The result acquisition unit 51j acquires the number of times the reference line L1 has been used, for example, based on the start and end of a series of tasks and the operation of the steering changeover switch 19. When the steering changeover switch 19 is operated during the period from the start of a series of tasks to the end of the series of tasks, the result acquisition unit 51j determines that the reference line L1 has been used once. Specifically, the result acquisition unit 51j judges the start and end of a series of tasks and the operation of the steering change-over switch 19 based on information (start information, stop information, and switching information) transmitted from the work vehicles 1A, 1B (controller 40) via the first communication device 42 and the second communication device 52. The switching information is information indicating that the steering change-over switch 19 has been operated, and is information transmitted by the work vehicles 1A, 1B to the server 50 when the steering change-over switch 19 is operated. Specifically, when the steering change-over switch 19 is operated (fourth operation), the controller 40 transmits the switching information to the result acquisition unit 51j via the first communication device 42 and the second communication device 52. The switching information includes the first identification information of the reference line L1 stored in the memory unit 41. Furthermore, in this embodiment, the control device 40 transmits switching information when the steering changeover switch 19 is operated (fourth operation), but the performance acquisition unit 51j only needs to acquire the number of times the reference line L1 is used, and the control device 40 may be configured to transmit switching information when the steering changeover switch 19 is operated (third operation), and the method of acquisition is not limited to the method described above.

[0221] Hereinafter, a flow in which the record acquiring unit 51j acquires the number of times the reference line L1 is used will be described with reference to Fig. 28. As shown in Fig. 28, the record acquiring unit 51j checks whether startup information has been received (S140). When the record acquiring unit 51j checks that the second communication device 52 has received the startup information (S140, Yes), it checks whether switching information has been received (S141).

[0222] When the result acquisition unit 51j confirms that the second communication device 52 has received the switching information (S141, Yes), the result acquisition unit 51j acquires the switching information and identifies the reference line L1 from the first identification information included in the switching information (S142). When the result acquisition unit 51j identifies the reference line L1 from the first identification information (S142), it checks whether the stop information has been received (S143). When the result acquisition unit 51j checks that the second communication device 52 has received the stop information (S143, Yes), it determines that the reference line L1 corresponding to the switching information has been used once, and the registration unit 51c can store the usage information (the number of times the reference line L1 has been used) acquired by the result acquisition unit 51j in association with the reference line L1 (the fourth reference information D4) (S144). In detail, the registration unit 51c registers the usage information (the number of times the reference line L1 has been used) acquired by the result acquisition unit 51j in the management information of the reference line L1 (the fourth reference information D4) corresponding to the first identification information included in the switching information.

[0223] This enables the performance acquisition unit 51j to acquire the number of times the reference line L1 is used based on the start and end of a series of tasks and the operation of the steering switch 19, and the registration unit 51c to register the number of times the reference line L1 is used in the management information of the reference line L1 (fourth reference information D4) stored in the third memory area 53c. Therefore, in the fifth condition, the ranking definition unit 51h can refer to the number of times each reference line L1 is used (S145) and define the priority of a reference line L1 that is used more frequently as higher than a reference line L1 that is used less frequently (S146).

[0224] Next, the conditions (sixth and seventh conditions) will be described when the record acquiring unit 51j acquires the work record in which the work vehicles 1A, 1B performed automatic steering as the usage record, and the priority defining unit 51h defines the priority order according to the work record. First, the sixth condition will be described. The sixth condition is a condition that defines a reference line L1 with a large variety of work results as having a higher priority than a reference line L1 with a small variety of work results. The database 53 stores, as usage records, the work results of a series of works for which the work vehicles 1A, 1B performed automatic steering for each reference line L1 in association with each other.

[0225] The result acquisition unit 51j acquires the work results of the reference line L1 based on, for example, the work information included in the first reference information D1 of the storage unit 41, the start and end of a series of work, and the operation of the steering changeover switch 19. Specifically, the result acquisition unit 51j acquires the number of times the reference line L1 has been used by a predetermined work content as the work results of the reference line L1. The result acquisition unit 51j identifies the content of the series of work based on the fifth identification information of the work information of the first reference information D1, and determines that the reference line L1 has been used once if the steering changeover switch 19 is operated between the start of the series of work and the end of the series of work.

[0226] The result acquisition unit 51j determines the predetermined work content, the start and end of a series of works, and the operation of the steering change-over switch 19 based on the information (start information, stop information, and switching information) transmitted from the work vehicles 1A, 1B (controller 40) via the first communication device 42 and the second communication device 52. In such a case, the switching information includes the fifth identification information in addition to the first identification information of the reference line L1 stored in the memory unit 41.

[0227] As shown in Fig. 29, when the ranking definition unit 51h defines the priority order based on the sixth condition, the flow of the result acquisition unit 51j acquiring the usage results is the same as that of Fig. 28 (S140 to S144). That is, the result acquisition unit 51j acquires the work content and the number of times the reference line L1 was used by the work content based on the start and end of a series of work and the operation of the steering changeover switch 19 (S140 to S143).

[0228] Therefore, the registration unit 51c can store the usage information (the number of times the reference line L1 was used depending on the work content) acquired by the result acquisition unit 51j in association with the reference line L1 (the fourth reference information D4) (S144). In detail, the registration unit 51c registers the usage information (the number of times the reference line L1 was used depending on the work content) acquired by the result acquisition unit 51j in the management information of the reference line L1 (the fourth reference information D4) corresponding to the first identification information included in the switching information. In other words, the registration unit 51c stores the work results in association with the reference line L1 (the fourth reference information D4).

[0229] As described above, in the sixth condition, the priority definition unit 51h can refer to the types of work performance of each of the reference lines L1 (S147) and define a higher priority for the reference line L1 with a larger number of types of work performance than for the reference line L1 with a smaller number of types of work performance (S148). Next, the seventh condition will be described. The seventh condition is a condition that defines a higher priority for a reference line L1 that is related to the work content inputted by the selection unit 61a than for a reference line L1 that is not related to the work content of the work record. The priority definition unit 51h acquires the work content inputted by the selection unit 61a (fifth identification information), and extracts a reference line L1 that has work records of work content related to the fifth identification information from the reference lines L1 stored in the third storage area 53c.

[0230] Regarding the related work contents, for example, in the case of cultivating crops in the field F, the priority definition unit 51h judges the relationship between one work content and another work content based on the work plan for cultivating the crop. That is, in the case of cultivating rice in the field F, if the work content inputted and accepted by the selection unit 61a is harvesting, the reference line L1 having the track record of work such as rice planting, top dressing, and pest control is extracted from the reference line L1 stored in the third memory area 53c, and the priority of the extracted reference line L1 is defined to be higher than that of the other reference lines L1.

[0231] As shown in FIG. 30, when the ranking definition unit 51h defines the priority order based on the seventh condition, the flow by which the history acquisition unit 51j acquires the usage history can be defined in the same manner as in FIGS. 28 and 29 (S140 to S144). Therefore, in the seventh condition, the priority definition unit 51h refers to the work content of each work record of the reference line L1 (S149) and can define a higher priority for the reference line L1 where there is a correlation between the work content inputted by the selection unit 61a and the work content of the work record (S150) than for the reference line L1 where there is no correlation between the work content inputted by the selection unit 61a and the work content of the work record.

[0232] In the above-described embodiment, the first condition to the seventh condition have been described as examples of conditions, but the priority definition unit 51h need only define the priority based on at least one or more of the multiple conditions (the first condition to the seventh condition), and is not limited to defining the priority based on all of the conditions, and the combination of conditions may be arbitrarily selected. To explain an example of a combination of conditions, for example, a first condition can be set as a higher-order condition and a lower-order condition can be set as a second condition. By combining the first condition and the second condition, for example, even if the reference lines L1 stored in the third storage area 53c have the same first distance K1, the order definition unit 51h can define a more detailed order of priority based on the second condition.

[0233] In addition, the fifth condition can be set as a higher-order condition, and the lower-order condition can be set as a sixth condition. By combining the fifth condition and the sixth condition, for example, even if the third storage area 53c stores reference lines L1 with the same number of times of use, the ranking definition unit 51h can define a more detailed priority order based on the sixth condition.

[0234] Hereinafter, a screen on which the first presentation unit 51d displays the reference line L1 on the first terminal display unit 64 based on the priority order will be described. In this embodiment, as shown in FIG. 31, the presentation screen M3 has an input section 138 in addition to the second map screen 131 and the narrowing down section 136. The input unit 138 accepts the selection of at least one of the conditions. The first terminal display unit 64 (display unit) presents the reference line L1 based on the priority order corresponding to the condition accepted by the input unit 138, among the priorities defined by the order definition unit 51h. By accepting the selection of the condition, the input unit 138 can select a change in the display of the first virtual line 134 displayed on the second map screen 131, based on the priority order defined by the order definition unit 51h. Specifically, the input unit 138 can select a condition, and the selection unit 61a can accept operation information (condition) of the input unit 138 and update the first virtual line 134 displayed on the second map screen 131 of the presentation screen M3.

[0235] Fig. 32 is a diagram for explaining the parts (S191 to S204) that are different between the first and second embodiments in the flowchart shown in Fig. 11. For this reason, Fig. 32 describes S50 and onwards, and omits the steps before S49 and S54 and onwards. As shown in FIG. 32, when the input unit 138 accepts a selection of conditions (S191, Yes), the selection unit 61a accepts the conditions (S192), and the first presentation unit 51d transmits ranking presentation information for the reference line L1 based on the priority corresponding to the condition selected and accepted by the selection unit 61a on the input unit 138.

[0236] As a result, when the first terminal control device 61 receives the ranking presentation information (S193), as shown in FIG. 33, instead of the input unit 138, the display of the first virtual line 134 displayed on the second map screen 131 is changed, and the ranking list 139 is displayed (S194). Hereinafter, for convenience of explanation, the presentation screen M3 that displays the input unit 138 among the presentation screens M3 may be referred to as the third presentation screen M3c, and the presentation screen M3 that displays the ranking list 139 among the presentation screens M3 may be referred to as the fourth presentation screen M3d. Note that the third presentation screen M3c shown in FIG. 31 and the fourth presentation screen M3d shown in FIG. 33 are merely examples, and the configurations of the first presentation screen M3a in FIG. 14B and the second presentation screen M3b in FIG. 14C may be appropriately combined. For example, the map 132 of the third presentation screen M3c and the fourth presentation screen M3d may be configured to display the orientation guide unit 132a.

[0237] Upon receiving the ranking presentation information, the first terminal control device 61 displays a single first virtual line 134 (reference line L1) on the second map screen 131 based on the ranking presentation information, as shown in a fourth presentation screen M3d in Fig. 33. The second map screen 131 displays the first virtual line 134 with the highest priority in the priority order defined by the ranking definition unit 51h. Note that in the example shown in Fig. 33, the second map screen 131 displays only the first virtual line 134 with the highest priority, but as long as the first virtual line 134 with the highest priority can be distinguished from the other first virtual lines 134, the first virtual line 134 with the highest priority may be highlighted.

[0238] 33, the order list 139 displays a list of the reference lines L1 in the order of priority based on the priority defined by the order definition unit 51h. Specifically, the order list 139 displays the reference lines L1 in the order of priority based on the order presentation information. In the order list 139, a selection key 139a is disposed near (for example, on the left side of) each reference line L1. The selection key 139a is an operable display image, and each is associated with a reference line L1 (first virtual line 134).

[0239] In addition, the selection key 139a can be operated to select the associated reference line L1, and the selection unit 61a can acquire operation information of the selection key 139a and update the first virtual line 134 (reference line L1) displayed on the second map screen 131 of the fourth presentation screen M3d. Specifically, as shown in Fig. 32, when the selection key 139a is operated (S195, Yes), and the selection unit 61a accepts the selection of the selection key 139a in the ranking list 139 (S196), the first presentation unit 51d transmits ranking presentation information of the reference line L1 corresponding to the selection key 139a selected by the selection unit 61a in the ranking list 139. As a result, when the first terminal control device 61 receives the ranking presentation information (S197), it changes the first virtual line 134 displayed on the second map screen 131 to the reference line L1 (first virtual line 134) corresponding to the selection key 139a selected by the selection unit 61a in the ranking list 139 (S198). Note that in the initial state, the selection key 139a with the highest priority in the priority order defined by the ranking definition unit 51h is selected.

[0240] The display unit (first terminal display unit 64) may display the number of times the correction switch 20 is operated when presenting the reference line L1 based on the priority order defined by the order definition unit 51h. As shown in FIG. 33, the order list 139 displays the number of times the correction switch 20 is operated. The number of times the operation is displayed near (for example, to the right of) the reference line L1 displayed by the order list 139. The number of times the operation is displayed based on the management information of the fourth reference information D4 stored in the third storage area 53c.

[0241] 32, the ranking list 139 has a back key 139b and a forward key 139c. The back key 139b and the forward key 139c are operable display images, and the selection unit 61a accepts the operation (selection) of the back key 139b and the forward key 139c. The back key 139b is a key that can be operated to transition the screen displayed by the first terminal display unit 64 from the fourth presentation screen M3d to the third presentation screen M3c. Specifically, when the back key 139b is operated (S199, Yes) and the selection unit 61a accepts the operation of the back key 139b (S200), the first presentation unit 51d transmits information required to display the third presentation screen M3c to the first terminal control device 61. As a result, the first terminal control device 61 receives the information (S201), and can transition the screen displayed by the first terminal display unit 64 from the fourth presentation screen M3d to the third presentation screen M3c (S50).

[0242] By accepting the operation of the forward key 139c, the selection unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 (the first virtual line 134 corresponding to the operated selection key 139a) displayed on the second map screen 131. Specifically, when the forward key 139c is operated (S202, Yes) and the selection unit 61a accepts the selection of an arbitrary reference line L1 (S203), the selection unit 61a transmits selection information of the selected reference line L1 to the server 50 (S204).

[0243] When the first terminal display unit 64 displays the fourth presentation screen M3d, if the selection unit 61a transmits selection information of the reference line L1 selected and accepted by the selection unit 61a to the server 50 (S204), the first presentation unit 51d acquires the fourth reference information D4 corresponding to the reference line L1 selected and accepted by the selection unit 61a from the third storage area 53c, and transmits information (confirmation information) required to display the confirmation screen M5. This allows the first terminal display unit 64 to receive the information (S54) and display the confirmation screen M5 displaying the reference line L1 selected and accepted by the selection unit 61a (S55).

[0244] In the second embodiment described above, the selection unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 displayed on the second map screen 131 by accepting the operation of the forward key 139c, but the first terminal display unit 64 (display unit) may be configured to display a warning when a reference line L1 for which the first distance K1 is less than a threshold value is selected.

[0245] Specifically, as shown in Fig. 21, the server 50 has a judgment unit 51k. The judgment unit 51k judges whether or not the first distance K1 of the reference line L1 is less than a predetermined threshold value. The judgment unit 51k is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and a program incorporated in the server control device 51. When the forward key 139c is operated, the judgment unit 51k acquires the operation information from the selection unit 61a, and acquires management information of the fourth reference information D4 (reference line L1) corresponding to the first virtual line 134 displayed on the second map screen 131 from the third storage area 53c.

[0246] Specifically, when the forward key 139c is operated (S202, Yes) and the selection unit 61a accepts the selection of an arbitrary reference line L1 (S203), the selection unit 61a transmits selection information of the reference line L1 that has been selected to the server 50 (S204), and the server 50 receives the selection information (S205), as shown in FIG. 34A. The determination unit 51k identifies the selected reference line L1 based on the selection information received by the server 50 in S205 (S206). As a result, the determination unit 51k acquires management information of the fourth reference information D4 corresponding to the selected reference line L1 from the third storage area 53c (S207).

[0247] Furthermore, the determination unit 51k determines whether the first distance K1 is less than a predetermined threshold based on the first distance K1 registered in the management information acquired in S205 (S208). When the determination unit 51k determines that the first distance K1 of the selected reference line L1 is less than the predetermined threshold (S208, Yes), the first presentation unit 51d instructs the selection unit 61a to interrupt the selection of the reference line L1 whose first distance K1 is less than the predetermined threshold, and transmits information (warning information) required to display the warning screen M9 (S209).

[0248] As shown in Fig. 34B, when the first terminal display unit 64 receives warning information (S220, Yes), it displays a warning screen M9 as shown in Fig. 35 based on the warning information (S221). Note that Fig. 34B is a diagram for explaining the parts (S220 to S225) of the flowchart shown in Fig. 32 that are different from Fig. 32. For this reason, Fig. 32 describes S202 and onwards, and omits steps before S201 and steps after S204.

[0249] 35, the warning screen M9 has a warning display section 180, a back key 181, and a continue key 182. The warning display section 180 is a display image that warns that the first distance K1 of the reference line L1 is less than a threshold value. The back key 181 and the continue key 182 are operable display images, and the selection section 61a accepts the operation (selection) of the back key 181 and the continue key 182.

[0250] The back key 181 is a key that can be operated to transition the screen displayed by the first terminal display unit 64 from the fourth presentation screen M3d to the third presentation screen M3c. Specifically, as shown in FIG. 34B, the back key 181 is operated (S222, Yes) and the selection unit 61a accepts the operation of the back key 181 (S223), and the first presentation unit 51d transmits information required to display the fourth presentation screen M3d to the first terminal control device 61. As a result, the first terminal control device 61 receives the information (S223) and can transition the screen displayed by the first terminal display unit 64 from the warning screen M9 to the fourth presentation screen M3d (S194). As a result, when the first distance K1 of the selected reference line L1 is less than the threshold value, the first terminal display unit 64 can grasp that the first distance K1 is less than the threshold value and can cancel the selection of the reference line L1.

[0251] Furthermore, the continue key 182 is operated, and the selection unit 61a accepts the operation of the continue key 182, thereby accepting the continuation of the selection of the reference line L1 corresponding to the first virtual line 134 displayed on the second map screen 131. In other words, when the worker operates the continue key 182 (S224, Yes) and the selection unit 61a accepts the continuation of the selection of the reference line L1 (S225), the selection unit 61a transmits selection information of the reference line L1 for which the continuation of the selection has been accepted to the server 50 (S226).

[0252] When the first terminal display unit 64 displays the warning screen M9, if the selection unit 61a transmits to the server 50 the selection information of the reference line L1 for which the selection unit 61a has accepted the continuation of the selection (S226), the first presentation unit 51d acquires the fourth reference information D4 corresponding to the reference line L1 for which the selection unit 61a has accepted the selection from the third storage area 53c, and transmits information (confirmation information) required for displaying the confirmation screen M5. As a result, even if the first distance K1 of the selected reference line L1 is less than the threshold, the first terminal display unit 64 receives the confirmation information (S205) regardless of the display of the warning screen M9, and displays the confirmation screen M5 displaying the reference line L1 for which the selection unit 61a has accepted the selection, that is, transitions to registration as a candidate line L3 (S206).

[0253] The threshold value may be a predetermined length and may be arbitrarily changeable by operating a terminal communicatively connected to the server 50, such as the first terminal. The above-mentioned work vehicle assistance system S includes work vehicles 1A, 1B that can travel by either manual steering or automatic steering based on a reference line L1, a server 50 that stores a plurality of reference lines L1, a display unit that presents at least one of the plurality of reference lines L1 stored in the server 50, and a first terminal 60 having a selection unit 61a that accepts the selection of an arbitrary reference line L1 from the reference lines L1 presented by the display unit (first terminal display unit 64) as a candidate line L3 to be used by the work vehicles 1A, 1B as a reference for automatic steering. According to the above configuration, the worker can check the reference line L1 displayed on the display unit 64 and select the candidate line L3 to be used for automatic steering of the work vehicles 1A, 1B. Therefore, the worker can select an appropriate candidate line L3 depending on the situation of the field F, the work content, etc.

[0254] Moreover, the server 50 has a priority definition unit 51h that defines the priority of the multiple reference lines L1 stored in the server 50 based on at least one or more conditions, and the display unit 64 presents the reference lines L1 based on the priority defined by the priority definition unit 51h. According to the above configuration, the worker can understand the priority by checking the reference lines L1 displayed on the display unit 64, and can therefore more easily select an appropriate candidate line L3.

[0255] Further, the work vehicles 1A, 1B have a detection device 43 that detects an arbitrary start point Ps and end point Pg in the field F during manual steering, and a line definition unit 40c that defines a reference line L1 based on the start point Ps and end point Pg detected by the detection device 43, and the server 50 stores a plurality of reference lines L1 defined by the line definition unit 40c, and the order definition unit 51h includes a condition that defines a priority order based on a first distance K1 between the start point Ps and end point Pg of the reference line L1. According to the above configuration, the display unit 64 can present the reference lines L1 in an order according to the distance that the work vehicles 1A, 1B actually traveled in the field F. Therefore, the operator can select a more appropriate candidate line L3 based on the distance.

[0256] Moreover, the order definition unit 51h includes, as a condition, a first condition that defines a reference line L1 with a long first distance K1 as having a higher priority than a reference line L1 with a short first distance K1. According to the above configuration, when defining the reference line L1, the display unit 64 can present a reference line L1 with a long travel distance of the work vehicles 1A, 1B as having a higher priority. Therefore, the worker can select a relatively stable reference line L1 with a long travel distance as the candidate line L3.

[0257] The server 50 also has a calculation unit 51i that calculates a second distance K2 between an intersection X between a straight line L4 passing through the start point Ps and the end point Pg and the contour C of the field F, and the priority definition unit 51h includes a second condition that defines a higher priority for a reference line L1 having a larger ratio of the first distance K1 to the second distance K2 than for a reference line L1 having a smaller ratio. According to the above configuration, a reference line L1 having a longer first distance K1 is not necessarily more accurate than a reference line L1 having a shorter first distance K1, depending on the shape of the field F. Therefore, by defining the priority based on the second condition, the priority definition unit 51h can maintain the accuracy of the priority regardless of the size of the field F.

[0258] The server 50 also has a determination unit 51k that determines whether the first distance K1 is less than a predetermined threshold, and the display unit 64 displays a warning when the determination unit 51k determines that the first distance K1 is less than the threshold for the reference line L1 selected by the selection unit 61a. According to the above configuration, it is possible to prevent a reference line L1 that is expected to have a relatively short travel distance (first distance K1) of the work vehicles 1A, 1B and is not highly accurate from being selected as a candidate line L3.

[0259] The server 50 also has a database 53 that stores the reference line L1 in association with the usage history of the reference line L1, and the order definition unit 51h includes conditions for defining the priority order based on the usage history. According to the above configuration, the order definition unit 51h can define the priority order based on the actual work history of the work vehicles 1A, 1B performing automatic steering and performing work. Therefore, the more the reference line L1 (candidate line L3) is utilized, the more the accuracy of selecting the candidate line L3 can be improved.

[0260] In addition, the work vehicles 1A, 1B have a first communication device 42 that is capable of communicating with the server 50 and receives a reference line L1 to be used for automatic steering from the server 50, an operable correction switch 20, and a correction unit 40c1 that corrects and redefines the reference line L1 received by the first communication device 42 based on the operation of the correction switch 20, and corrects the steering during automatic steering. The server 50 has a second communication device 52 that is capable of communicating with the work vehicles 1A, 1B, and the database 53 stores the degree to which the correction unit 40c1 corrected the reference line L1 as usage history via the first communication device 42 and the second communication device 52, and the order definition unit 51h includes a third condition that defines a higher priority for a reference line L1 with a lower degree than a reference line L1 with a higher degree. According to the above configuration, the reference line L1 with a low degree of correction is relatively reliable with respect to the conditions of the field F, the work, etc., so by checking the reference line L1 presented by the display unit 64, the worker can select a more reliable and accurate reference line L1 as the candidate line L3.

[0261] Moreover, the correction unit 40c1 increases the degree according to the number of times the correction switch 20 is operated, and the third condition is a condition that defines a higher priority for a reference line L1 with a smaller number of operations than a reference line L1 with a larger number of operations. According to the above configuration, a reference line L1 with a smaller number of operations of the correction switch 20 is relatively reliable with respect to the conditions of the field F, work, etc., so that the operator can select a more reliable and accurate reference line L1 as the candidate line L3 by checking the reference line L1 presented by the display unit 64.

[0262] Furthermore, the database 53 stores, for each reference line L1, the maximum or average number of operations in a series of tasks in which the work vehicles 1A, 1B performed automatic steering, in association with each other as a usage history. According to the above configuration, the history acquisition unit 51j acquires the usage history based on the number of operations of the correction switch 20 for each series of tasks, so that factors such as the number of times the reference line L1 was used can be eliminated. Therefore, the ranking definition unit 51h can further improve the accuracy of the priority order.

[0263] In addition, the work vehicles 1A, 1B have a first communication device 42 that is capable of communicating with the server 50 and receives a reference line L1 to be used for automatic steering from the server 50, an operable correction switch 20, and a correction unit 40c1 that corrects and redefines the reference line L1 received by the first communication device 42 based on the operation of the correction switch 20, and corrects the steering during automatic steering, the server 50 has a second communication device 52 that is capable of communicating with the work vehicles 1A, 1B, the database 53 overwrites the reference line L1 corrected by the correction unit 40c1 and stores the correction degree of the corrected reference line L1' as usage history, and the order definition unit 51h includes a fourth condition that defines a higher priority for a reference line L1 with a higher degree than a reference line L1 with a lower degree. According to the above configuration, by operating the correction switch 20, the corrected reference line L1 is optimized to the conditions of the field F, the work, etc., and its accuracy is improved, so that the worker can check the reference line L1 presented by the display unit 64 and select the more accurate reference line L1 as the candidate line L3.

[0264] Moreover, the correction unit 40c1 increases the degree according to the number of times the correction switch 20 is operated, and the fourth condition is a condition that defines a higher priority for a reference line L1 with a larger number of operations than a reference line L1 with a smaller number of operations. According to the above configuration, the reference line L1 corrected by operating the correction switch 20 is optimized for the conditions of the field F and work, etc., and has improved accuracy, so that the worker can select the reference line L1 with a larger number of operations of the correction switch 20, i.e., the more accurate reference line L1, as the candidate line L3 by checking the reference line L1 presented by the display unit 64.

[0265] Furthermore, the display unit 64 displays the number of operations when presenting the reference line L1 based on the priority order defined by the order definition unit 51h. With the above configuration, the worker can select the candidate line L3 after checking not only the priority order presented on the display unit 64 but also the number of operations of the correction switch 20. Therefore, the worker can select a more accurate reference line L1 as the candidate line L3 without being limited to the priority order defined by the order definition unit 51h.

[0266] Furthermore, the database 53 stores the number of times the work vehicles 1A, 1B have used the reference line L1 as a usage record in association with the reference line L1, and the priority definition unit 51h includes a fifth condition that defines a reference line L1 that has been used more frequently as having a higher priority than a reference line L1 that has been used less frequently. According to the above configuration, a reference line L1 that has been used more frequently is a line that has accumulated trust, so that the worker can check the reference line L1 presented by the display unit 64 and select the more trustworthy reference line L1 as the candidate line L3.

[0267] Furthermore, the database 53 stores, as a usage record, work records, which are records of work content in a series of works in which the work vehicles 1A, 1B performed automatic steering, in association with each reference line L1, and the priority definition unit 51h includes, as a condition, a sixth condition that defines a higher priority for a reference line L1 with a large variety of work records than a reference line L1 with a small variety of work records. According to the above configuration, since a reference line L1 that is used in different works and has a large variety of work records is a line that has accumulated trust, the worker can select a more reliable reference line L1 as a candidate line L3 by checking the reference line L1 presented by the display unit 64.

[0268] In addition, when the selection unit 61a accepts the selection of an arbitrary reference line L1 as the candidate line L3, it accepts the input of the work content of a series of work in which the work vehicles 1A, 1B perform automatic steering using the reference line L1, and the database 53 stores, as the usage record, the work results, which are the results of the work content in the series of work in which the work vehicles 1A, 1B performed automatic steering, in association with each reference line L1, and the priority definition unit 51h includes, as a condition, a seventh condition that defines a higher priority for the reference line L1 that is related to the work content accepted by the selection unit 61a than the reference line L1 that is not related to the work content of the work results. According to the above configuration, the worker can select the candidate line L3 according to the relevance of the work content by checking the reference line L1 presented by the display unit 64. Therefore, for example, if the work content accepted by the selection unit 61a is harvesting and the database 53 stores the reference line L1 when the work vehicles 1A, 1B performed rice planting, the worker can select the reference line L1 for that rice planting, and the work vehicles 1A, 1B can utilize the past work history (rice planting work history).

[0269] Furthermore, the first terminal 60 has an input unit 138 that accepts the selection of at least one of the conditions, and the display unit 64 presents the reference line L1 based on the priority order defined by the order definition unit 51h that corresponds to the condition accepted by the input unit 138. According to the above configuration, the worker can select any condition and select a more appropriate reference line L1 as the candidate line L3 depending on the work for which the work vehicles 1A, 1B will perform automatic steering.

[0270] 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]

[0271] 1A Work vehicle (first work vehicle, tractor) 1B Work vehicle (Second work vehicle, tractor) 20 Correction Switch 40c Line definition section 40c1 Correction section 42 First communication device 43 Detection devices (positioning devices) 50 Servers 51h Priority definition section 51i calculation section 51j Performance Acquisition Department 51k Judgment Department 52 Second communication device 53 Database 60 Terminal 1 61a Selection section 64 Display unit (first terminal display unit) 137 Input section C. Outline F Field K1 1st distance K2 2nd distance L1 Reference Line L1´ Corrected reference line L3 candidate line Ps Start point Pg End point S Starting point system X intersection

Claims

1. A work vehicle capable of traveling using either manual steering or automatic steering based on a reference line; A server that stores a plurality of the reference lines; a first terminal having a display unit that presents at least one of the plurality of reference lines stored in the server, and a selection unit that accepts selection of an arbitrary reference line from the reference lines presented by the display unit as a candidate line to be used by the work vehicle as a reference for automatic steering; Equipped with the server has a priority definition unit that defines priorities for the reference lines stored in the server based on at least one condition; The display unit is an assistance system for a work vehicle that presents the reference line based on the priority order defined by the order definition unit.

2. The work vehicle is a position detection device that detects an arbitrary start point and an end point in a farm field when the manual steering is being performed; a line definition unit that defines the reference line based on the start point and the end point detected by the position detection device; having The server stores a plurality of the reference lines defined by the line definition unit, The support system for a work vehicle according to claim 1 , wherein the order definition unit includes a condition that defines the priority order based on a first distance between the start point and the end point of the reference line.

3. 3. The work vehicle assistance system according to claim 2, wherein the priority definition unit includes a first condition that defines the priority of the reference line having a longer first distance as higher than the priority of the reference line having a shorter first distance.

4. The server has a calculation unit that calculates a second distance between an intersection point of a straight line passing through the start point and the end point and an outline of the field, 4. The work vehicle assistance system according to claim 2 or 3, wherein the order definition unit includes a second condition that defines the priority of the reference line having a larger ratio of the first distance to the second distance as higher than that of the reference line having a smaller ratio of the first distance to the second distance.

5. The server has a determination unit that determines whether the first distance is less than a predetermined threshold, The work vehicle assistance system according to any one of claims 2 to 4, wherein the display unit displays a warning when the judgment unit determines that the first distance is less than the threshold value for the reference line selected by the selection unit.

6. The server, a database that stores the reference line and a usage record of the reference line in association with each other; having 6. The work vehicle assistance system according to claim 1, wherein the ranking definition section includes a condition for defining the priority order based on the usage history.

7. The work vehicle is A first communication device capable of communicating with the server and receiving the reference line used for the automatic steering from the server; An operable correction switch; A correction unit that corrects and redefines the reference line received by the first communication device based on an operation of the correction switch, and corrects steering during the automatic steering; having The server has a second communication device capable of communicating with the work vehicle, the database stores, via the first communication device and the second communication device, a degree to which the correction unit corrected the reference line as the usage history; The work vehicle assistance system according to claim 6 , wherein the order definition unit includes a third condition as one of the conditions, which defines the priority order of the reference line having a lower degree as higher than that of the reference line having a higher degree.

8. The correction unit increases the degree in accordance with the number of times the correction switch is operated, The work vehicle assistance system according to claim 7 , wherein the third condition defines the reference line having a smaller number of operations as having a higher priority than the reference line having a larger number of operations.

9. The work vehicle assistance system of claim 8, wherein the database stores, for each reference line, the usage history, in association with a maximum or average value of the number of operations in a series of operations in which the work vehicle performed the automatic steering using that reference line.

10. The work vehicle is A first communication device capable of communicating with the server and receiving the reference line used for the automatic steering from the server; An operable correction switch; A correction unit that corrects and redefines the reference line received by the first communication device based on an operation of the correction switch, and corrects steering during the automatic steering; having The server has a second communication device capable of communicating with the work vehicle, the database overwrites the reference line corrected by the correction unit, and stores the correction degree of the reference line after the correction as the usage record; 7. The work vehicle assistance system according to claim 6, wherein the order definition unit includes a fourth condition that defines the priority of the reference line having a greater degree as higher than the reference line having a lesser degree.

11. The correction unit increases the degree in accordance with the number of times the correction switch is operated, The work vehicle assistance system according to claim 10 , wherein the fourth condition defines the reference line having a greater number of operations as having a higher priority than the reference line having a smaller number of operations.

12. The work vehicle assistance system according to any one of claims 8, 9, and 11, wherein the display unit displays the number of operations when presenting the reference line based on the priority order defined by the rank definition unit.

13. The database stores, as the usage record, the number of times that the work vehicle has used the reference line in association with the reference line, The work vehicle assistance system according to claim 6, wherein the rank definition unit includes a fifth condition as one of the conditions, which defines the priority of the reference line that is used more frequently as being higher than the reference line that is used less frequently.

14. The database stores, as the usage record, a work record, which is a record of work content in a series of work in which the work vehicle performed the automatic steering using the reference line, in association with each of the reference lines, and 7. The work vehicle assistance system according to claim 6, wherein the priority definition unit includes a sixth condition that defines the priority of the reference line having a larger variety of work results as higher than the reference line having a smaller variety of work results.

15. the selection unit, when accepting a selection of an arbitrary reference line as the candidate line, accepts an input of a work content of a series of works in which the work vehicle performs the automatic steering using the reference line; The database stores, as the usage record, a work record, which is a record of work content in a series of work in which the work vehicle performed the automatic steering using the reference line, in association with each of the reference lines, and 7. The work vehicle assistance system according to claim 6, wherein the priority definition unit includes as one of the conditions a seventh condition that defines the priority of the reference line in which there is a correlation between the work content inputted by the selection unit and the work content of the work record as being higher than the reference line in which there is no correlation between the work content inputted by the selection unit and the work content of the work record.

16. the first terminal has an input unit that accepts a selection of at least one of the conditions, The work vehicle assistance system according to any one of claims 1 to 15, wherein the display unit presents the reference line based on a priority order defined by the rank definition unit that corresponds to the condition accepted by the input unit.

Images