Work vehicle support systems

Abstract

To suppress automatic steering in a route which is not intended.SOLUTION: A work vehicle support system includes: a work vehicle having a vehicle body that can travel either by manual steering of a steering device or automatic steering of the steering device, a control device for defining a travelling planned line in the automatic steering on the basis of a reference line and executing control of automatic steering, and a communication device for receiving an update line for updating the reference line of the control device; and a server for transmitting the update line to the communication device. The control device includes a state acquisition part for acquiring the state of equipment provided in the work vehicle, and switches the mode between a first mode in which the update line transmitted from the server is reflected and a second mode in which the update line transmitted from the server is not reflected according to the state acquired by the state acquisition part.SELECTED DRAWING: Figure 1

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 technology disclosed in the above-mentioned Patent Document 1, when performing automatic steering based on a new driving reference line or when performing automatic steering for a different agricultural machine in the same field, it was necessary to perform manual driving again to set the driving reference line. One possible method for avoiding such manual driving is to send a new driving reference line (update line) from an external device such as a server to the agricultural machine. However, depending on the timing of sending the update line, there is a risk that the update line will result in automatic steering along a route different from the intended one.

[0005] In view of the above problems, the present invention has an object to provide an assistance system for a work vehicle that can prevent automatic steering along a route different from the intention. [Means for solving the problem]

[0006] An assistance system for a work vehicle according to one embodiment of the present invention comprises a work vehicle having a vehicle body capable of traveling by either manual steering using a steering device or automatic steering of the steering device, a control device that defines a planned line to be traveled in the automatic steering based on a reference line and controls the automatic steering, and a communication device that receives an update line that updates the reference line of the control device, and a server that transmits the update line to the communication device, wherein the control device has a status acquisition unit that acquires a status of equipment provided on the work vehicle, and switches between a first mode that reflects the update line transmitted from the server and a second mode that does not reflect the update line transmitted from the server depending on the status acquired by the status acquisition unit.

[0007] The work vehicle may have a first operating device that accepts operation and changes a setting related to the automatic steering, and the status acquisition unit may acquire whether the setting is changed or not changed by the first operating device, and the control device may switch to the first mode when the status acquisition unit acquires that the setting is changed by the first operating device, and switch to the second mode when the status acquisition unit acquires that the setting is not changed by the first operating device.

[0008] The work vehicle may have a second operating device that accepts an operation and switches the automatic steering between enabled and disabled, and the status acquisition unit acquires whether the automatic steering is enabled or disabled by the second operating device, and the control device may switch to the first mode when the status acquisition unit acquires that the automatic steering has been switched to disabled by the second operating device, and switch to the second mode when the status acquisition unit acquires that the automatic steering has been switched to enabled by the second operating device.

[0009] The status acquisition unit may acquire whether the vehicle body is stopped or running, and the control device may switch to the first mode when the status acquisition unit acquires that the vehicle body is stopped running, and switch to the second mode when the status acquisition unit acquires that the vehicle body is running. The control device may permit the communication device to receive the update line from the server when in the first mode, and may restrict the communication device from receiving the update line from the server when in the second mode.

[0010] When the control device is in the first mode, it may register the update line received by the communication device from the server as the reference line, and when the control device is in the second mode, it may retain the update line received by the communication device from the server without registering it as the reference line, and when switching to the first mode, it may register the update line that was retained as the reference line.

[0011] The work vehicle may have a display device that displays the updated line received by the communication device. The display device may include a change unit that accepts a change to the update line received by the communication device. The work vehicle may have a detection device that detects the position of the vehicle body, and the communication device may transmit the position of the vehicle body detected by the detection device to the server, and the server may transmit the update line to the communication device depending on the position of the vehicle body.

[0012] The server may have a database that stores a plurality of the update lines and stores the plurality of update lines in association with position information of a field, and a transmission unit that transmits to the communication device the update line stored in the database and corresponding to the position of the vehicle body transmitted from the communication device in accordance with the position of the vehicle body transmitted from the communication device. The work vehicle assistance system may include a mobile terminal that communicates with the communication device and the server, and the mobile terminal may have an instruction unit that instructs the server to send the update line to the communication device in response to an operation.

[0013] The server may have a database that stores a plurality of the update lines, the mobile terminal may have an update definition unit that accepts a process of selecting a specific update line from the update lines stored in the database and defines the update line, and the instruction unit may instruct the server to transmit the update line defined by the update definition unit to the communication device. Effect of the Invention

[0014] According to the above-described work vehicle assistance system, automatic steering along a route different from the intention can be suppressed. [Brief description of the drawings]

[0015] [Figure 1] 1 is an overall view of a support system for a work vehicle. [Diagram 2] FIG. 1 is an overall view of a tractor (work vehicle). [Diagram 3] FIG. 2 is a diagram illustrating automatic steering. [Figure 4] FIG. 2 is a diagram showing a reference line and a planned driving line. [Diagram 5] 11 is a diagram for explaining the definition of a candidate line and the transition of a screen displayed on a first terminal display unit. FIG. [Figure 6] FIG. 13 is a diagram showing a first management screen M1. [Figure 7] FIG. 13 is a diagram showing a second management screen M2. [Figure 8] FIG. 13 is a diagram showing a third management screen M3. [Figure 9] FIG. 13 shows a fourth management screen M4. [Figure 10] FIG. 13 is a diagram showing a fifth management screen M5. [Figure 11]13 is a diagram illustrating a flow of transmitting an update line to a work vehicle and a transition of screens displayed on a second terminal display unit. FIG. [Figure 12] FIG. 13 is a diagram showing a first condition screen M6. [Figure 13] FIG. 13 is a diagram showing a second condition screen M7. [Figure 14] FIG. 13 shows a confirmation screen M8. [Figure 15A] FIG. 1 is a first diagram illustrating switching of the mode of the control device and transition of the screen displayed on the display screen. [Figure 15B] FIG. 2 is a second diagram illustrating switching of the mode of the control device and transition of the screen displayed on the display screen. [Figure 16] FIG. 13 is a diagram showing a home screen M9. [Figure 17] FIG. 13 shows a setting confirmation screen M10. [Figure 18] FIG. 11 is a diagram showing a reconfiguration screen M11. [Figure 19] FIG. 13 is a diagram showing a standby screen M12. [Figure 20] FIG. 13 shows a completion screen M13. [Figure 21] FIG. 13 shows a change selection screen M14. [Figure 22] FIG. 15 is a diagram showing a manual change screen M15. [Diagram 23] FIG. 13 shows a setting screen M16. [Figure 24] FIG. 11 is a diagram illustrating mode switching of the control device in the first modified example. [Diagram 25] FIG. 11 is a diagram illustrating mode switching of a control device in a second modified example. [Figure 26] FIG. 13 is a diagram illustrating reflection of an update line in a third modified example. [Figure 27] FIG. 13 is an overall view of an assistance system for a work vehicle in a fourth modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows an overall view of the work vehicle assistance system S in this embodiment. The work vehicle assistance system S is a system in which a server 50 transmits an update line L4 to a work vehicle 1, the work vehicle 1 updates a reference line L1 according to the update line L4, and the work vehicle 1 can perform automatic steering according to a planned travel line L2 based on the updated reference line L1. As shown in Fig. 1, the work vehicle assistance system S includes a work vehicle 1, a server 50, a management terminal 60, and a mobile terminal 70.

[0017] In this embodiment, the work vehicle 1 is a tractor. Note that the work vehicle 1 only needs to have a vehicle body 3 that can travel by either manual steering or automatic steering according to a planned travel line L2 based on a reference line L1, and the work vehicle 1 is not limited to a tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or transplanter, or a construction machine (construction vehicle) such as a loader.

[0018] Fig. 2 is a side view showing the entire work vehicle 1. First, the tractor (work vehicle 1) will be described with reference to Figs. 1 and 2. In the description of this embodiment, the direction in which an operator seated in the driver's seat 10 of the work vehicle 1 faces (the left side in Fig. 2) is referred to as the front, and the opposite direction (the right side in Fig. 2) is referred to as the rear. In addition, the left side of the operator (the front side in Fig. 2) is referred to as the left side, and the right side of the operator (the back side in Fig. 2) is referred to as the right side.

[0019] As shown in Fig. 2, the work vehicle 1 includes 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 the traveling device 7. The vehicle body 3 can travel by either manual steering or automatic steering according to a planned travel line L2 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. 2, the front wheels 7F and the rear wheels 7R are of a tire type, but may be of a crawler type.

[0020] 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. 2, the vehicle body 3 is provided with a driver's seat 10 where an operator 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. The working implement 2 can be attached and detached to the coupling section 8. The work vehicle 1 can tow the working implement 2 by coupling the working implement 2 to the coupling section 8 and driving the traveling device 7. The working implements 2 include a tilling device that performs tilling work, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device 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.

[0021] The working device 2 may be any device that is connected to the coupling portion 8 of the work vehicle 1 or is provided on the work vehicle 1 and performs work, and is not limited to the above-mentioned example. For example, if the work vehicle 1 is a combine harvester, the working device 2 may be a harvesting device that harvests crops, a threshing device that threshes crops, etc. Furthermore, when the work vehicle 1 is a rice transplanter, the work device 2 includes a planting device that plants seedlings.

[0022] As shown in Fig. 1, the work vehicle 1 is equipped with a control device 40 and a storage unit 41. The control device 40 is a device that controls the travel system and the work system of the work vehicle 1. The control device 40 is composed of electric and electronic components, programs, etc. The storage unit 41 is a non-volatile memory or the like, and is capable of storing various programs and the like and various pieces of information relating to the work vehicle 1.

[0023] An operating device 15 for operating the work vehicle 1 is connected to the control device 40. The operating device 15 includes an accelerator member (accelerator pedal, accelerator lever) 16 provided on the vehicle body 3, and a gear shift member (gear shift lever, gear shift switch) 17. The accelerator member 16 is a member with which an operator manually operates the travel speed of the work vehicle 1 (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 input from the accelerator member 16. Specifically, the control device 40 controls the travel speed of the vehicle body 3 based on the amount of operation of the accelerator member 16 and a control map pre-stored in a memory unit 41.

[0024] The shifting member 17 is a member with which an operator 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 input from the shifting member 17. 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 17, but the shifting member 17 may be configured to change the speed stage of the transmission 5 directly, without going through the control device 40.

[0025] As shown in FIG. 1, the work vehicle 1 is equipped with a display device 20 that displays information, and the worker can change various settings of the work vehicle 1 by operating the display device 20. The display device 20 has a display control device 21, a display screen 22, and an operation member 23. The display control device 21 is a device that performs various controls related to the display device 20, and can, for example, control the display screen 22 to display various information on the display screen 22. The display control device 21 is composed of electric and electronic components, programs, and the like. The display control device 21 displays information about the work vehicle 1 acquired by the control device 40 on the display screen 22, and displays a guidance screen on the display screen 22 to guide the worker in operating the work vehicle 1.

[0026] Furthermore, the display control device 21 displays on the display screen 22 an operable display image or an option display image, etc., when the operating member 23 accepts an operation, and accepts changes to the settings of the control device 40 (work vehicle 1). Therefore, the control device 40 can execute changes to the settings of the work vehicle 1 by applying the changes to the settings accepted by the display control device 21. The operation member 23 is an operating tool that accepts operations by an operator. In this embodiment, the operation member 23 is a dial switch that has a plurality of switching positions and can be rotated. The dial switch can also be pressed. The operation member 23 mainly accepts a selection operation of a display image when rotated, and accepts a confirmation operation of the selected display image when pressed.

[0027] In this embodiment, the operation member 23 is a dial switch, but the operation member 23 is not limited to a dial switch and may have a plurality of push button switches. Also, the display device 20 only needs to be able to accept operations from an operator, and instead of or in addition to the operation member 23, the display screen 22 may be a touch panel type that accepts information input by an operator or the like operating the touch panel with his / her finger.

[0028] As shown in Fig. 1, the work vehicle 1 is equipped with a communication device 42. The communication device 42 is capable of communicating with a server 50, which will be described later. The communication device 42 is a device that performs wireless communication, for example, via a data communication network, a mobile phone communication network, or the like. Note that the communication device 42 only needs to be capable of communicating with the server 50, and may be a device that performs wireless communication, for example, 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 vehicle 1 is equipped with a detection device (positioning device) 43. 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 (for example, 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 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 is sufficient for the receiving device 44 to be able to receive a satellite signal transmitted from the positioning satellite, and the attachment location thereof 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 vehicle 1 is 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 operation by an operator, and automatic steering, in which the vehicle body 3 is steered automatically without operation by an operator.

[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 an operator grips the steering handle 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 handle 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 handle 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 performs automatic steering, and automatically steers the vehicle body 3 so that it travels along the planned travel line L2. 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 vehicle 1 is equipped with a steering device 11 having a steering wheel 30, and the steering direction is changed by changing the direction of the front wheels 7F using the steering device 11, but the vehicle body 3 may be capable of changing the steering direction (travel direction) using manual steering and automatic steering. In other words, the steering device 11 is not limited to a configuration in which the steering direction of the front wheels 7F is changed by the steering wheel 30, and the mechanism for changing the travel direction can be any conventional technology as appropriate.

[0035] Next, a description will be given of the control of automatic steering of the vehicle body 3. The work vehicle 1 acquires a predetermined reference line L1, and performs automatic steering based on a planned travel line L2 that is parallel to the reference line L1. It is possible. 1, the control device 40 has an automatic steering control unit 40a. The automatic steering control unit 40a 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.

[0036] As shown in FIG. 3, the automatic steering control unit 40a controls the steering motor 38 of the automatic steering mechanism 37 based on the travel information of the vehicle body 3 when the vehicle body 3 is being manually steered so that the vehicle body 3 travels along the planned travel line L2. The travel information of the vehicle body 3 is information detected by the detection device 43, and is orientation information indicating the position of the vehicle body 3 (vehicle body position P) and the orientation of the vehicle body 3 (vehicle body orientation F). The automatic steering control unit 40a 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 40a is performing automatic steering, the operator can change the travel speed of the vehicle body 3 and the speed stage of the transmission 5 by operating the accelerator member 16 and the speed change member 17.

[0037] The control of the automatic steering mechanism 37 by the automatic steering control unit 40a will be described in detail below. Figures 3(a) to 3(c) show a case where the travel information of the vehicle body 3 is the vehicle body position P. As shown in Figure 3(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 40a maintains the rotation angle of the rotation shaft of the steering motor 38. 3(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 vehicle 1 is positioned on the left side of the planned travel line L2, the automatic steering control unit 40a rotates the rotating shaft of the steering motor 38 so that the steering direction of the work vehicle 1 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 vehicle 1 is positioned on the left side of the planned travel line L2, the automatic steering control unit 40a changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F rightward.

[0038] 3(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 vehicle 1 is located to the right of the planned travel line L2, the automatic steering control unit 40a rotates the rotating shaft of the steering motor 38 so that the steering direction of the work vehicle 1 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 vehicle 1 is located to the right of the planned travel line L2, the automatic steering control unit 40a changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F leftward.

[0039] In the above-mentioned Figs. 3(a) to (c), the travel information of the vehicle body 3 is the vehicle body position P, and 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. 3(d), the travel information of the vehicle body 3 may be direction information indicating the vehicle body direction F. In such a case, when the direction of the planned travel line L2 and the direction (vehicle body direction) F of the proceeding direction (traveling direction) of the work vehicle 1 (vehicle body 3) differ, that is, when the angle θg of the vehicle body direction F with respect to the planned travel line L2 is equal to or greater than a predetermined value, the automatic steering control unit 40a defines the steering angle so that the angle θg becomes zero (the vehicle body direction F matches the direction of the planned travel line L2). In addition, the automatic steering control unit 40a may define the final steering angle in automatic steering based on the steering angle calculated from the deviation (position deviation) and the steering angle calculated from the direction (direction deviation).

[0040] Note that the automatic steering control unit 40a only needs to be able to define the steering angle of the automatic steering, and the method of definition is not limited to the above example. In the following explanation, the traveling information of the vehicle body 3 is azimuth information, the reference line L1 and the planned traveling line L2 are defined by the azimuth of the line itself, and the automatic steering control unit 40a defines the steering angle so that the angle θg becomes zero (the vehicle body azimuth F coincides with the azimuth of the planned traveling line L2).

[0041] As shown in FIG. 1, the work vehicle 1 is also equipped with a mode changeover switch (second operating device) 25 and a steering changeover switch 26. The mode changeover switch 25 is a switch operating device that receives an operation and can be operated to switch between enabling and disabling automatic steering, and is, for example, a push button switch. The mode changeover switch 25 is also connected to the control device 40 and can output an operation signal to the control device 40. The worker can enable or disable automatic steering by pressing the The mode selector switch 25 is operated to switch between the enabled and disabled states. When the mode selector switch 25 is turned ON, the control device 40 enables automatic steering and permits automatic steering by the automatic steering control unit 40a. On the other hand, when the mode selector switch 25 is turned OFF, the control device 40 disables automatic steering and restricts automatic steering by the automatic steering control unit 40a.

[0042] The steering changeover switch 26 is a switch that can be operated to start (set automatic steering) and end (cancel automatic steering). In this embodiment, the steering changeover switch 26 is a lever switch that can be operated by swinging. The steering changeover switch 26 is connected to the control device 40, and can output an operation signal to the control device 40. When automatic steering is enabled, i.e., when the mode changeover switch 25 is turned ON, the automatic steering control unit 40a controls the start or end of automatic steering based on the operation of the steering changeover switch 26. In this embodiment, when the worker wants the work vehicle 1 to perform automatic steering, he operates (start operation) the steering changeover switch 26. In addition, the steering changeover switch 26 can be operated (end operation) while the automatic steering control unit 40a is performing automatic steering to cancel automatic steering.

[0043] As shown in FIG. 1, the control device 40 has a line definition unit 40b. The line definition unit 40b is composed of electric and electronic components provided in the control device 40, a program incorporated in the storage unit 41, and the like. When automatic steering is enabled, that is, when the mode changeover switch 25 is turned ON, the line definition unit 40b defines a reference line L1 based on travel information (e.g., direction information) of the vehicle body 3 when the vehicle body 3 is being manually steered. When the vehicle body 3 is being manually steered, the line definition unit 40b defines a predetermined start point Ps and a predetermined end point Pg, thereby defining direction information of 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 40b defines a direction indicating the reference line L1. The line definition unit 40b stores the defined reference line L1 in the storage unit 41.

[0044] When the travel information is position information of the vehicle body position P, the line definition unit 40b defines the position information of a straight line passing through the start point Ps and the end point Pg as the reference line L1. As shown in FIG. 1, the work vehicle 1 is equipped with a registration switch 27, and the line definition unit 40b acquires a start point Ps and an end point Pg of a reference line L1 in a field G, and defines the reference line L1 based on the acquired start point Ps and end point Pg.

[0045] The registration switch 27 is an operable switch operating tool, for example a push button switch. The registration switch 27 may be configured to be operated by a common operating lever together with the steering changeover switch 26. The registration switch 27 is also connected to the control device 40, and can output an operation signal to the control device 40. The worker operates the registration switch 27 when defining the reference line L1. The line definition unit 40b can define a start point Ps and an end point Pg based on the operation of the registration switch 27.

[0046] Specifically, when the travel information is direction information, the line definition unit 40b acquires direction information and the like of the vehicle body 3 at the start point Ps and the end point Pg from the direction (direction information) of the work vehicle 1 when the registration switch 27 is operated. The line definition unit 40b calculates the average of the direction of the start point Ps and the direction of the end point Pg, and registers the direction of the reference line L1, thereby defining the reference line L1.

[0047] In addition, when the driving information is position information, the line definition unit 40b obtains the start point Ps and the end point Pg from the position of the work vehicle 1 (vehicle body position P) when the registration switch 27 is operated, and defines the reference line L1 by registering the obtained start point Ps and end point Pg. 4, the line definition unit 40b can define a planned traveling line L2 that is parallel to the reference line L1 based on the reference line L1 stored in the storage unit 41. The line definition unit 40b defines the planned traveling line L2 in response to the operation of the steering changeover switch 26.

[0048] The travel information is direction information, and the reference line L1 is determined by the direction of the reference line L1 itself. In this case, when the worker operates (starts) the steering changeover switch 26 while the reference line L1 is stored in the memory unit 41, the line definition unit 40b defines a planned travel line L2 that indicates the same direction as the direction of the reference line L1 based on the direction of the reference line L1, using the current vehicle body position P (start point Ps') where the steering changeover switch 26 is operated as a reference. Also, the end point Pg' of the planned travel line L2 is the position where the steering changeover switch 26 is operated (ends).

[0049] In addition, when 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 worker operates (starts) the steering changeover switch 26 while the reference line L1 is stored in the storage unit 41, the line definition unit 40b acquires the current vehicle body position P at which the steering changeover switch 26 is operated. The line definition unit 40b 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 as the start point Ps'.

[0050] The control device 40 may also be able to transmit the reference line L1 defined by the line definition unit 40b to the server 50 described below via the communication device 42. The line definition unit 40b may define the planned travel line L2 based on the reference line L1 stored in the storage unit 41, and may not be able to define the reference line L1 if the reference line L1 can be acquired from outside. The communication device 42 may also receive an update line L4 from the server 50 that updates the reference line L1 of the control device 40.

[0051] The server 50 is a fixed terminal such as a fixed type computer provided outside the work vehicle 1. 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 transmits the update line L4 to the communication device 42. In this embodiment, the server 50 is also able to receive the reference line L1 transmitted from the communication device 42 and store the reference line L1. The server 50 is able to store a plurality of reference lines L1.

[0052] Note that 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 vehicle 1. For example, in addition to or instead of the reference line L1 transmitted from the communication device 42, the server 50 may store a reference line L1 defined via a terminal or the like communicatively connected to the server 50, or may acquire the reference line L1 stored in a storage medium and store it in the database 53.

[0053] 1, the server 50 has a server control device 51, a server 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 server communication device 52 in the database 53, for example. The server control device 51 is composed of electric and electronic components, programs, etc.

[0054] The server communication device 52 is capable of communicating with the communication device 42 of the work vehicle 1, the management terminal 60, the mobile terminal 70, etc., which will be described later. The server 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 server communication device 52 only needs to be capable of communicating with the work vehicle 1 (communication device 42), the management terminal 60, the mobile terminal 70, etc., and may be, for example, a 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.

[0055] 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. Specifically, the database 53 registers the reference line L1, management information that is identification information of the reference line L1, and work information in association with each other. 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.

[0056] The work information is information about the work of the work vehicle 1 when the vehicle body 3 is manually steered, that is, when the line definition unit 40b defines the reference line L1. The information includes one or more of the following: the field G where the work is to be performed, location information of the field G (for example, location information of the outline of the field G), information on the work vehicle 1, information on the work equipment 2 used by the work vehicle 1 in the work, the work content of the work equipment 2, and the crops to be cultivated in the field G.

[0057] Therefore, the server communication device 52 can extract the reference line L1 stored in the database 53 and transmit it to the communication device 42 as the updated line L4. In addition, if the control device 40 has a function of correcting the reference line L1, or corrects the reference line L1 via a terminal or the like that is communicatively connected to the server 50, the server 50 may be configured to correct (overwrite) the reference line L1 stored in the database 53 based on the correction.

[0058] The management terminal 60 is a terminal such as a smartphone (multi-function mobile phone), tablet, PDA, or a fixed computer such as a personal computer. In this embodiment, the description will proceed assuming that the management terminal 60 is a terminal such as a smartphone. The management terminal 60 is, for example, a terminal operated by a manager who plans work in the field G or a relatively experienced worker. The management terminal 60 has a first terminal control device 61, a first terminal 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 management 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 parts, programs, and the like.

[0059] The first terminal communication device 62 is capable of communicating with the server 50 (server communication device 52). The first terminal 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 first terminal communication device 62 may be a 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 server communication device 52, or the like.

[0060] The first terminal storage unit 63 is a non-volatile memory or the like capable of storing various pieces of information. The first terminal storage unit 63 can store various pieces of information related to the management 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 first terminal communication device 62. The first terminal display unit 64 can display, for example, screens as shown in Figs. 6 to 10. The first terminal display unit 64 may also 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 also be of a non-touch panel type, and in such a case, the management terminal 60 has various switches, and can accept input of information based on the operation of the switches.

[0061] The management terminal 60 can accept the selection of any reference line L1 from among the reference lines L1 stored in the server 50. Specifically, the management terminal 60 registers the reference line L1 for which the selection has been accepted as a candidate (candidate line L3) for the update line L4. The first terminal display unit 64 can display (present) at least one or more reference lines L1 from among the reference lines L1 stored in the server 50.

[0062] As shown in Fig. 1, the management terminal 60 has a management definition unit 61a that accepts the selection of the reference line L1 displayed by the first terminal display unit 64 and directly or indirectly defines a candidate line L3. The management definition unit 61a accepts the selection of an arbitrary reference line L1 from the reference lines L1 displayed by the first terminal display unit 64 as a candidate (candidate line L3) of the reference line L1 used by the work vehicle 1 as a reference for automatic steering. The management definition unit 61a is composed of electric and electronic components provided in the first terminal control device 61, a program incorporated in the first terminal storage unit 63, etc.

[0063] In this embodiment, the management definition 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 first terminal communication device 62 and the server communication device 52. When the server 50 receives the selection information, Based on the information, the candidate line L3 is defined. That is, in this embodiment, the management terminal 60 (management definition unit 61a) indirectly defines the candidate line L3 by accepting the selection of an arbitrary reference line L1.

[0064] 1, the server 50 has a first presenting unit 51a and a first setting unit 51b. The first presenting unit 51a and the first setting unit 51b 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 51a transmits the reference line L1 stored in the server 50 to the management terminal 60, and causes the first terminal control device 61 to indirectly cause the first terminal display unit 64 to display the reference line L1.

[0065] The first setting unit 51b registers (sets) the reference line L1 corresponding to the selection information transmitted by the management definition unit 61a, among the reference lines L1 stored in the server 50, as a candidate line L3. Specifically, the first setting unit 51b rewrites the information 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 51b adds or rewrites an arbitrary character string to the management information assigned to the reference line L1, thereby registering it as the candidate line L3.

[0066] 5 to 10, the flow of defining the candidate line L3 and the transition of the screen on the first terminal display unit 64 will be described below. As shown in Fig. 5, when an operator or the like performs a predetermined operation on the management terminal 60, the first presenting unit 51a causes the first terminal display unit 64 to display a screen on which work information can be selected, as shown in Figs. 6 and 7, and the management definition unit 61a accepts input of the work information. Specifically, as shown in Fig. 5, when an operator or the like performs a predetermined operation on the management terminal 60, the first presenting unit 51a causes the first terminal display unit 64 to display a first management screen M1 on which a field G can be selected as work information (S1).

[0067] 6, the first management screen M1 has a first map screen 101 that displays a plurality of fields G. The first map screen 101 displays a bird's-eye view map 102, an outline 103 of the field G displayed on the map 102, and a field information section 104 that displays information about the field G. The contour 103 of the field G is a display image that can be temporarily selected by operating the management terminal 60. The field information unit 104 displays information about the field G for which a temporary selection has been performed (such as the area, management number, and address of the field G). The field information unit 104 also has an operable forward key 104a. The forward key 104a is an operable display image, and the management definition unit 61a can accept the operation of the forward key 104a and determine the selection of the field G corresponding to the contour 103 for which a temporary selection has been performed.

[0068] 5, when any of the contours 103 of the field G on the first map screen 101 is operated and the forward key 104a is operated (S2, Yes), the management definition unit 61a acquires an operation signal of the contour 103 and accepts the selection of the field G (S3). Upon accepting the selection of the field G (S3), the management definition unit 61a transmits information (first field information) that identifies the field G whose selection has been accepted to the server 50 (S4).

[0069] When the management definition unit 61a transmits the first field information to the server 50 (S4), the first presentation unit 51a may cause the first terminal display unit 64 to display a screen on which other work information can be input. In this embodiment, as shown in Fig. 5, the first presentation unit 51a causes the first terminal display unit 64 to display a second management screen M2 (S5). The second management screen M2 is a screen for inputting the content of the work to be performed by the work vehicle 1 (work content).

[0070] As shown in FIG. 7, the second management screen M2 displays a plurality of first work selection sections 111 that allow a selection operation (input operation) of work content. The first work selection sections 111 are display images that are displayed in plurality on the second management screen M2 and allow a selection operation. Furthermore, each of the first work selection sections 111 corresponds to a different work content. In this embodiment, as shown in FIG. 7, the second management screen M2 displays first work selection sections 111 that correspond to "rotary (cultivation)", "ridge making", "towing", "puddling", "fertilization", and "ridge painting".

[0071] As shown in FIG. 5, in the first work selection section 111 displayed on the second management screen M2, When any first work selection unit 111 is operated (S6, Yes), the management definition unit 61a acquires the operation signal of the first work selection unit 111 and accepts input of work content associated with the first work selection unit 111 (S7). Upon accepting the input of work content (S7), the management definition unit 61a transmits information identifying the accepted work content (first content information) to the server 50 (S8).

[0072] As shown in FIG. 5, when the management definition unit 61a transmits the first content information to the server 50 (S8), the first presentation unit 51a extracts the reference line L1 stored in the database 53 that corresponds to the work information (first field information, first content information) that the management definition unit 61a has accepted as input, and displays the third management screen M3 based on the presentation information of the reference line L1 on the first terminal display unit 64 (S9).

[0073] 8, the third management screen M3 has a second map screen 131 that displays a field G, and a candidate list 135. The second map screen 131 displays a bird's-eye view map 132, an orientation guide section 132a displayed on the map 132, an outline 133 of the field G, and a first virtual line 134. The first virtual line 134 is the reference line L1 corresponding to the work information received as input by the management definition unit 61a, among the reference lines L1 stored in the database 53, and is displayed on the field G. Specifically, the first virtual line 134 is the reference line L1 corresponding to the work information received as input by the management definition unit 61a (first field information, first content information).

[0074] The candidate list 135 displays a list of reference lines L1 corresponding to the work information that the management definition unit 61a has accepted as input. The candidate list 135 displays the orientation, management information, and work information of the reference line L1. Selection keys 135a are arranged near (for example, to the left of) each reference line L1 in the candidate list 135. The selection keys 135a are operable display images, and each corresponds to the reference line L1 (first virtual line 134).

[0075] The selection key 135a can be operated to select the associated reference line L1. The management definition unit 61a can acquire the operation signal of the selection key 135a and update the first virtual line 134 (reference line L1) displayed on the second map screen 131 of the third management screen M3. The candidate list 135 also has a forward key 135b. The forward key 135b is an operable display image, and the management definition unit 61a accepts the operation (selection) of the forward key 135b. By accepting the operation of the forward key 135b, the management definition unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 displayed on the second map screen 131 (the first virtual line 134 corresponding to the operated selection key 135a).

[0076] The third management screen M3 may have a narrowing down section 136 for selecting narrowing down the first virtual lines 134 to be displayed in the candidate list 135. 5, when the worker selects the forward key 135b (S10, Yes), the management definition unit 61a acquires information about the first virtual line 134 corresponding to the selected selection key 135a, and accepts the selection of the reference line L1 corresponding to the first virtual line 134 (S11). The management definition unit 61a transmits the selection information of the reference line L1 whose selection has been accepted to the server 50 (S12).

[0077] When the management definition unit 61a sends the selection information to the server 50 (S12), the first presentation unit 51a displays the fourth management screen M4 on the first terminal display unit 64 to confirm the reference line L1 that the management definition unit 61a has accepted as selected from the reference lines L1 stored in the database 53 (S13). 9, the fourth management screen M4 has a third map screen 141 that displays a field G, a first detail display section 145, and a confirmation key 146. 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 G displayed on the map.

[0078] As shown in FIG. 9, the second virtual line 144 is a line selected by the management definition unit 61a. The reference line L1 is an arbitrary reference line L1 and is displayed on the field G. The first detail display section 145 is an area that displays information about the reference line L1 selected and accepted by the management definition section 61a. The first detail display section 145 displays work information that is stored in the database 53 in association with the reference line L1. The confirmation key 146 is an operable display image. The confirmation key 146 is a key that is used to confirm the selection of the reference line L1 displayed on the fourth management screen M4 (selection confirmation).

[0079] 5, when the confirmation key 146 is operated (S14, Yes), the management definition unit 61a acquires the operation signal of the confirmation key 146 and accepts the selection confirmation of the reference line L1 (S15). The management definition unit 61a transmits the confirmation information of the reference line L1 for which the selection confirmation has been accepted to the server 50 (S16). When the management definition unit 61a sends confirmation information to the server 50 (S16), the first presentation unit 51a causes the first terminal display unit 64 to display the fifth management screen M5 for confirming the reference line L1 and work information for which the management definition unit 61a has received selection confirmation (S17).

[0080] 10, the fifth management screen M5 has a fourth map screen 151 displaying a field G, a first detail input section 155, and a confirmation key 156. The fourth map screen 151 displays a bird's-eye view map 152, and an outline 153 and a third virtual line 154 of the field G displayed on the map. As shown in FIG. 10, the third virtual line 154 is an arbitrary reference line L1 for which the management definition unit 61a has accepted confirmation of selection, and is displayed on the field G.

[0081] The first detail input section 155 is an area where information about work to be performed on the reference line L1 for which the management definition section 61a has accepted confirmation of selection can be input. The first detail input section 155 allows input of, for example, a work width and a lap width as work information. The confirmation key 156 is a key for confirming the selection of the reference line L1 displayed on the fifth management screen M5 (selection confirmation) and for confirming the work information input into the first detail input section 155.

[0082] 5, when the Enter key 156 is operated (S18, Yes), the management definition unit 61a acquires an operation signal of the Enter key 156 and accepts the selection of the reference line L1 and the confirmation of the work information (S19). The management definition unit 61a transmits first confirmation information of the reference line L1 and the work information that have been selected and confirmed to the server 50 (S20). As a result, when the server 50 receives the first confirmation information for the reference line L1 (S20), the first setting unit 51b registers (sets) the reference line L1 for which the management definition unit 61a has accepted the selection confirmation from among the reference lines L1 stored in the database 53 as a candidate line L3 (S21).

[0083] The mobile terminal 70 is a terminal such as a smartphone (multi-function mobile phone), a tablet, a PDA, or a fixed computer such as a personal computer. In this embodiment, the mobile terminal 70 is described as a terminal such as a smartphone. The mobile terminal 70 is a terminal separate from the management terminal 60, and is, for example, a terminal operated by a worker who actually works in the field G. The mobile terminal 70 may also be a terminal operated by a relatively inexperienced worker. The mobile terminal 70 has a second terminal control device 71, a second terminal 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 mobile 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 second terminal communication device 72 is capable of communicating with the server 50 (server communication device 52). The second terminal 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 second terminal communication device 72 only needs to be capable of communicating with the server communication device 52, and may be, for example, a 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 information. The second terminal storage unit 73 can store various information related to the mobile 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 second terminal communication device 72. The second terminal display unit 74 can display, for example, screens as shown in Figs. 12 to 14. 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 mobile terminal 70 has various switches, and can accept input of information based on the operation of the switches.

[0086] The mobile terminal 70 can receive the selection of a candidate line L3 registered by the management terminal 60, and can instruct the server 50 to transmit the selected candidate line L3 as an updated line L4 to the work vehicle 1. Specifically, the mobile terminal 70 receives input of work information, and extracts from the server 50 the candidate line L3 corresponding to the work information, thereby receiving the selection of the candidate line L3.

[0087] In detail, the mobile terminal 70 has an update definition unit 71a that accepts a process for selecting a predetermined candidate line L3 as an update line L4 from among the candidate lines L3 stored in the database 53, and directly or indirectly defines the update line L4. The update definition unit 71a accepts input of work information for selecting a predetermined candidate line L3 as an update line L4 from among the candidate lines L3 stored in the database 53 in response to an operation. The update definition unit 71a accepts input of work information by acquiring work information inputted into the second terminal display unit 74. The update definition unit 71a is composed of electric and electronic components provided in the second terminal control device 71, a program incorporated in the second terminal storage unit 73, and the like.

[0088] In this embodiment, the update definition unit 71a transmits the received work information (input information) to the server 50. The server 50 also extracts a candidate line L3 corresponding to the input information, thereby selecting the candidate line L3. In other words, the mobile terminal 70 receives the input of the work information and has the server 50 extract the candidate line L3, thereby indirectly defining the update line L4.

[0089] The mobile terminal 70 also has an instruction unit 71b. The instruction unit 71b instructs the server 50 to transmit the update line L4 to the communication device 42 in response to an operation. The instruction unit 71b is composed of electric and electronic components provided in the second terminal control device 71, and a program embedded in the second terminal storage unit 73. The instruction unit 71b instructs the server 50 to transmit the update line L4 selected by the update definition unit 71a to the communication device 42.

[0090] 1, the server 50 has a second presenting unit 51c and a second setting unit 51d. The second presenting unit 51c and the second setting unit 51d 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 second presenter 51c transmits the candidate line L3 stored in the server 50 to the mobile terminal 70, and causes the second terminal display unit 74 to display the candidate line L3.

[0091] The second setting unit 51d transmits, from among the candidate lines L3 stored in the server 50, the candidate line L3 for which the update definition unit 71a has accepted confirmation of selection (selection confirmation), as an updated line L4 to the work vehicle 1. Specifically, the second setting unit 51d transmits the updated line L4 to the work vehicle 1 associated with the mobile terminal 70 via the server communication device 52 and the communication device 42.

[0092] Below, using Figures 11 to 14, we will explain the flow in which the update definition unit 71a accepts the selection of the candidate line L3 and the server 50 transmits the candidate line L3 to the work vehicle 1 in response to instructions from the instruction unit 71b, as well as the screen transitions of the second terminal display unit 74. As shown in Fig. 11, when a worker or the like performs a predetermined operation on the mobile terminal 70, the second presenter 51c causes the second terminal display unit 74 to display a screen on which work information can be input. Specifically, the second presenter 51c causes the second terminal display unit 74 to display a first condition screen M6 (S30). The first condition screen M6 displays, among the work information, information on the work vehicle 1, the work information to be used by the work vehicle 1 during the work, and the like. This is a screen where information such as information about the device 2 and the work content of the work device 2 can be input.

[0093] As shown in Fig. 12, the first condition screen M6 displays a second detail input section 160 in which work information can be input. The second detail input section 160 is an area in which an item of work information can be selected. The second detail input section 160 also has a forward key 160a. The forward key 160a is a key for confirming the work information input in the second detail input section 160. 11, when work information is input to second detail input section 160 and forward key 160a is operated (S31, Yes), update definition section 71a acquires the work information input to second detail input section 160 and accepts input of the work content (S32). Update definition section 71a transmits information identifying the work content whose input was accepted (second content information) to server 50 (S33).

[0094] When the update definition unit 71a transmits the second content information to the server 50 (S33), the second presentation unit 51c may cause the second terminal display unit 74 to display a screen on which other work information can be input. In this embodiment, as shown in Fig. 11, the second presentation unit 51c causes the first terminal display unit 64 to display a second condition screen M7 on which a field G can be selected as work information (S34). The second condition screen M7 is a screen for selecting a field G in which the work vehicle 1 will work. As shown in Fig. 13, the second condition screen M7 has a fifth map screen 171 that displays a plurality of fields G. The fifth map screen 171 displays a bird's-eye view map 172, an outline 173 of the field G displayed on the map 172, and a field information section 174 that displays information about the field G.

[0095] The contour 173 of the field G is a display image that can be temporarily selected by operating the mobile terminal 70. The field information unit 174 displays information about the field G for which a temporary selection operation has been performed (such as the area, management number, and address of the field G). The field information unit 174 also has an operable forward key 174a. The forward key 174a is an operable display image, and the update definition unit 71a can accept the operation of the forward key 174a and determine the selection of the field G corresponding to the contour 173 for which a temporary selection operation has been performed.

[0096] 11, when any of the contours 173 of the field G on the fifth map screen 171 is operated and the forward key 174a is operated (S35, Yes), the update definition unit 71a acquires an operation signal of the contour 173 and accepts the selection of the field G (S36). Upon accepting the selection of the field G (S36), the update definition unit 71a transmits information (second field information) that identifies the field G whose selection has been accepted to the server 50 (S37).

[0097] When the update definition unit 71a transmits the second field information to the server 50 (S37), the second presentation unit 51c causes the second terminal display unit 74 to display a confirmation screen M8 (S38). The confirmation screen M8 is a screen for confirming the selection of a candidate line L3 corresponding to the work information received by the update definition unit 71a from among the candidate lines L3 stored in the database 53. As shown in Fig. 14, the confirmation screen M8 has a sixth map screen 181 displaying a field G, a third detailed input section 185, and a confirmation key 186. The sixth map screen 181 displays a bird's-eye view map 182, an outline 183 of the field G displayed on the map, and a fifth virtual line 184.

[0098] As shown in FIG. 14, the fifth virtual line 184 is a candidate line L3 extracted from the database 53 by the second presentation unit 51c based on the work information received by the update definition unit 71a, and is displayed on the field G. The third detail input section 185 is an area where information about the work to be performed on the candidate line L3 extracted by the second presentation section 51c can be input. The third detail input section 185 allows input of, for example, the work width and the lap width as the work information. The confirmation key 186 is a key for confirming the selection of the candidate line L3 displayed on the confirmation screen M8 and for confirming the work information input to the third detail input section 185.

[0099] 11, when the enter key 186 is operated (S39, Yes), the update definition unit 71a acquires the operation signal of the enter key 186 and accepts the selection of the candidate line L3 and the confirmation of the work information (S40). When the update definition unit 71a accepts the selection of the candidate line L3 and the confirmation of the work information (S40), the instruction unit 71b The second determination information of the complement line L3 is transmitted to the server 50, and the update definition unit 71a instructs the server 50 to transmit the selected update line L4 to the communication device 42 (S41).

[0100] As a result, when the server 50 receives the second confirmation information for the candidate line L3 (S41), the second setting unit 51d transmits the candidate line L3 for which the update definition unit 71a has accepted the selection confirmation from among the candidate lines L3 stored in the database 53 to the work vehicle 1 as an updated line L4 (S42). When the communication device 42 receives the update line L4 from the server communication device 52 through S42, the control device 40 executes a process of reflecting or not reflecting the update line L4 according to the state of the equipment provided in the work vehicle 1. The control device 40 reflects the update line L4 when the state of the equipment satisfies a predetermined condition, and does not reflect the update line L4 when the state of the equipment does not satisfy the predetermined condition. The conditions include the state of the control device 40, the state of the automatic steering mechanism 37, the state of the traveling device 7, etc. For example, the control device 40 reflects the update line L4 when the work vehicle 1 has accepted a setting related to automatic steering, when the work vehicle 1 is stopped, or when automatic steering is disabled, etc. On the other hand, the control device 40 does not reflect the update line L4 when the work vehicle 1 has not accepted a setting related to automatic steering, when the work vehicle 1 is traveling, or when automatic steering is enabled, etc.

[0101] Specifically, as shown in Fig. 1, the control device 40 has a status acquisition unit 40c that acquires the status of the equipment provided in the work vehicle 1. The status acquisition unit 40c is composed of electric and electronic components provided in the control device 40, and a program embedded in a storage unit 41. The status of the equipment acquired by the status acquisition unit 40c is mainly the operating status and control status of the equipment. The status acquisition unit 40c acquires what operation the equipment is performing and what control the equipment is performing based on control information in which the control device 40 controls the equipment and information input to the control device 40 from the equipment and various sensors.

[0102] For example, the status acquisition unit 40c acquires control information of the display control device 21 and acquires, as the status of the equipment (control device 40), whether or not the display device 20 is accepting a change to the settings of the work vehicle 1, i.e., whether or not the work vehicle 1 is accepting a change to the settings of the work vehicle 1. The status acquisition unit 40c may acquire an operation signal input from the mode change switch 25 to the control device 40, and acquire, as the status of the equipment (automatic steering mechanism 37), whether automatic steering by the automatic steering control unit 40a is enabled or disabled.

[0103] The status acquisition unit 40c may acquire a vehicle speed signal input to the control device 40 from a vehicle speed sensor that detects the speed of the work vehicle 1, and acquire whether the work vehicle 1 is stopped or traveling as the status of the equipment (traveling device 7). Furthermore, state acquisition unit 40c may acquire a control signal from control device 40 to prime mover 4, and acquire whether or not prime mover 4 is in an idling state as the state of the device (prime mover 4).

[0104] The status acquisition unit 40c may acquire an operation signal input from the operating device 15 to the control device 40, and acquire, as the status of the equipment (the work device 2, the traveling device 7, etc.), whether or not the work vehicle 1 is being operated by the worker. Note that the status of the equipment acquired by the above-mentioned status acquisition unit 40c and the method of acquiring the same are merely examples, and it is sufficient for the status acquisition unit 40c to be able to acquire the status of the equipment installed in the work vehicle 1, and the information acquired and the source of acquisition are not limited to the above-mentioned examples.

[0105] The control device 40 switches between a first mode and a second mode depending on the state acquired by the state acquisition unit 40c. Specifically, as shown in FIG. 1, the control device 40 has a mode switching unit 40d that switches the control device 40 to the first mode or the second mode. The mode switching unit 40d switches the control device 40 to the first mode when the state of the device acquired by the state acquisition unit 40c satisfies a predetermined condition, and switches the control device 40 to the second mode when the predetermined condition is not satisfied. The mode switching unit 40d is composed of electric and electronic components provided in the control device 40, and a program incorporated in the storage unit 41. The first mode is a mode in which the control device 40 reflects the update line L4 transmitted from the server 50. The second mode is a mode in which the control device 40 does not reflect the update line L4 transmitted from the server 50. It is.

[0106] When the control device 40 is in the first mode, the control device 40 permits the communication device 42 to receive the updated line L4 from the server 50. When the control device 40 is in the first mode and the communication device 42 receives the updated line L4 from the server 50, the control device 40 can register the updated line L4 by overwriting the reference line L1 stored in the memory unit 41 with the updated line L4.

[0107] On the other hand, when the control device 40 is in the second mode, it restricts the communication device 42 from receiving the update line L4 from the server 50. Hereinafter, the mode switching by the mode switching unit 40d will be described using as an example a case where the condition for mode switching of the control device 40 by the mode switching unit 40d is whether or not the work vehicle 1 has accepted a setting related to automatic steering. In this embodiment, the mode switching unit 40d switches the control device 40 to the first mode when the work vehicle 1 has accepted a setting related to automatic steering, and switches the control device 40 to the second mode when the work vehicle 1 has not accepted a setting related to automatic steering.

[0108] The work vehicle 1 has a first operating device 221, 251 that receives an operation and changes settings related to automatic steering, and the state acquisition unit 40c acquires whether the settings are to be changed or not changed by the first operating device 221, 251. When the state acquisition unit 40c acquires that the settings are to be changed by the first operating device 221, 251, the mode switching unit 40d switches the control device 40 to the first mode. On the other hand, when the state acquisition unit 40c acquires that the settings are not to be changed by the first operating device 221, 251, the mode switching unit 40d switches the control device 40 to the second mode.

[0109] In this embodiment, the first operating device 221, 251 is a display image that is displayed on the setting confirmation screen M10 and can be operated when the resetting screen M11 is displayed on the display screen 22. In this case, the state acquisition unit 40c acquires whether the display device 20 is in a state for changing the setting related to the automatic steering, and acquires whether the setting is changed or not changed by the first operating device 221, 251.

[0110] The first operating device 221, 251 may be an operating device for operating a trigger related to a change in settings related to automatic steering, and is not limited to a display image displayed on the display screen 22, and may be, for example, a physical switch. As shown in Fig. 1, the display device 20 has a change unit 21a that accepts a change to the update line L4 received by the communication device 42. The change unit 21a is composed of electric and electronic components provided in the display control device 21, a program embedded in the storage unit 41, and the like. For example, when the display screen 22 displays a screen (setting screen M16) for accepting a change to the update line L4, the change unit 21a accepts a change to the update line L4 by accepting an operation from the operation member 23. The control device 40 can apply the change to the update line L4 by overwriting the reference line L1 stored in the storage unit 41 with the changed update line L4.

[0111] 15A to 22, a description will be given of how the support system S of the work vehicle reflects the update line L4, and how the display device 20 changes screens. Note that the control device 40 is switched to the second mode in advance in the initial state. As shown in Fig. 15A, the display control device 21 displays a home screen M9 on the display screen 22 as an initial screen that is displayed when the display device 20 has not been operated for a certain period of time (S50). The home screen M9 is a screen that displays display images of options, and the display control device 21 accepts a selection operation of the display image in response to an operation of the operating member 23. As shown in Fig. 16, the home screen M9 displays a guidance key 201 and a setting key 202 as display images of options.

[0112] The guidance key 201 is a display image that accepts a selection operation for screen transition to a guidance screen (not shown) that provides guidance on operations when performing automatic steering. That is, when the display control device 21 accepts a selection operation of the guidance key 201 (S51, Yes), it displays the guidance screen (S52). On the guidance screen, the user is prompted to perform operations related to automatic steering. Specifically, the guidance screen provides guidance on, for example, operating the mode changeover switch 25 to switch automatic steering from disabled to enabled, and operating the steering changeover switch 26 to start (set automatic steering) and end (cancel automatic steering), etc.

[0113] The setting key 202 is a display image that, when selected, accepts display of a setting confirmation screen M10 that displays settings related to automatic steering. Therefore, when the display control device 21 accepts a selection operation of the setting key 202 (S53, Yes), it causes the display screen 22 to display the setting confirmation screen M10 (S54). As shown in Fig. 17, the setting confirmation screen M10 displays a work information display unit 211, a guidance key 212, and a reset key 213. The work information display unit 211 displays work information of the reference line L1 stored in the memory unit 41. The display control device 21 acquires the work information of the reference line L1 stored in the memory unit 41 via the control device 40, and causes the work information display unit 211 to display the work information. In the example shown in Fig. 16, the work information display unit 211 displays information about the work implement 2 used by the work vehicle 1 in the work (work content, work implement width, lap width) as the work information.

[0114] The guidance key 212 is a display image that accepts a selection operation for screen transition to a guidance screen (not shown) that provides guidance on operations when performing automatic steering. That is, when the display control device 21 accepts a selection operation of the guidance key 212 on the setting confirmation screen M10 (S55, Yes), the display control device 21 displays the guidance screen on the display screen 22 (S52), similarly to the case where the selection operation of the guidance key 201 on the home screen M9 is accepted.

[0115] The reset key 213 is a display image that, when selected, accepts display of a reset screen M11. The reset screen M11 is a screen that accepts selection of a method for changing settings related to automatic steering. When the display control device 21 accepts the selection operation of the reset key 213 (S56, Yes), it displays the reset screen M11 on the display screen 22 (S57).

[0116] 18, the resetting screen M11 displays a first operating tool (download key) 221 and a manual key 222. The download key 221 is a display image that receives an operation and changes settings related to automatic steering. As shown in FIG. 15B, when the display control device 21 receives a selection operation of the download key 221 (S58, Yes), the display control device 21 outputs an operation signal of the download key 221 to the control device 40 (S59).

[0117] When the control device 40 receives an operation signal of the download key 221 (S59), the status acquisition unit 40c acquires a change in the automatic steering setting by the download key (first operating tool) 221 based on the operation signal (S60). When the status acquisition unit 40c acquires a change in the setting related to the automatic steering, that is, when the condition for mode switching is satisfied (S60), the mode switching unit 40d switches the control device 40 to the first mode and permits the communication device 42 to receive the update line L4 from the server 50 (S61). The display control device 21 displays a standby screen M12 as shown in FIG. 19 on the display screen 22 (S62).

[0118] The manual key 222 is a display image that, when selected, causes a screen transition from the reset screen M11 to a manual change screen M15, which will be described later. When the display control device 21 does not accept a selection operation of the download key 221 (S58, No) but accepts a selection operation of the manual key 222 (S63, Yes), the display control device 21 causes the display screen 22 to display a manual change screen M15, which will be described later (S64).

[0119] The standby screen M12 is a screen displayed on the display screen 22 when the control device 40 is in the first mode until the update line L4 is transmitted from the server 50 to the communication device 42. As shown in Fig. 19, the standby screen M12 displays a message prompting the user to operate the mobile terminal 70 to transmit the update line L4 to the server 50. The standby screen M12 also has an interrupt key 231.

[0120] The interruption key 231 is a display image that, when selected, causes a screen transition from the standby screen M12 to the reconfiguration screen M11. As shown in Fig. 15B, when the display control device 21 accepts the selection operation of the interruption key 231 (S65, Yes), the display control device 21 displays the reconfiguration screen M11 on the display screen 22 (S57). Furthermore, when the display control device 21 does not accept the selection operation of the interrupt key 231 (S65, No) and the communication device 42 receives the update line L4 from the server 50, that is, when the state acquisition unit 40c acquires that the automatic steering setting is not to be changed by the download key (first operating tool) 221 (S66, Yes), the mode switching unit 40d switches the control device 40 to the second mode and restricts the communication device 42 from receiving the update line L4 from the server 50 (S67). The control device 40 registers the update line L4 received by the communication device 42 in S66 as the reference line L1 (S68).

[0121] When the control device 40 overwrites the reference line L1 with the updated line L4 and registers the updated line L4 as the reference line L1 (S68), the display control device 21 displays a completion screen M13 as shown in FIG. 20 on the display screen 22 (S69). The completion screen M13 is a screen that displays that the updated line L4 has been transmitted from the server 50 to the communication device 42 and that the updated line L4 has been registered as the reference line L1. The completion screen M13 displays a message that the communication device 42 has received the updated line L4 from the server 50 and has registered the updated line L4 as the reference line L1. The completion screen M13 also has a confirmation key 241 and a change key 242.

[0122] The confirmation key 241 is a display image that, when selected, causes a screen transition from the completion screen M13 to the setting confirmation screen M10. When the display control device 21 accepts the selection operation of the confirmation key 241 (S70, Yes), it causes the setting confirmation screen M10 to be displayed on the display screen 22 (S54). The change key 242 is a display image that, when selected, causes a screen transition from the completion screen M13 to the change selection screen M14. When the display control device 21 does not accept the selection operation of the confirmation key 241 (S70, No) but accepts the selection operation of the change key 242 (S71, Yes), it causes the change selection screen M14 to be displayed on the display screen 22 (S72).

[0123] 21, the change selection screen M14, like the resetting screen M11, displays a first operation tool (download key) 251 and a manual key 252. The download key 251 is a display image that accepts an operation and changes settings related to automatic steering. When the display control device 21 accepts a selection operation of the download key 251 (S73, Yes), it outputs an operation signal of the download key 251 to the control device 40 (S74), and proceeds to the processing of S60.

[0124] The manual key 252 is a display image that, when selected, accepts a screen transition from the change selection screen M14 to the manual change screen M15. When the display control device 21 does not accept a selection operation of the download key 251 (S73, No) but accepts a selection operation of the manual key 252 (S75, Yes), it displays the manual change screen M15 on the display screen 22 (S64).

[0125] When the manual key 222 on the reconfiguration screen M11 or the manual key 252 on the change selection screen M14 is operated, the display control device 21 displays the manual change screen M15 on the display screen 22 as shown in FIG. 22 (S64). The manual change screen M15 is a screen for selecting an item to be changed by operating the display device 20 among the settings related to automatic steering. The manual change screen M15 displays an end key 261 and an item selection key 262. The end key 261 is a display image that accepts an operation and ends the settings related to automatic steering. The end key 261 is a display image that accepts a screen transition from the manual change screen M15 to the setting confirmation screen M10 by being selected. When the display control device 21 accepts the selection operation of the end key 261 (S76, Yes), it displays the setting confirmation screen M10 on the display screen 22 (S54).

[0126] The item selection keys 262 are display images that accept an operation and accept a selection of a target for change among the settings related to automatic steering. The item selection keys 262 include a direction change key 262a that accepts a selection of a change of the reference line L1 (update line L4). When the display control device 21 does not accept a selection operation of the end key 261 (S76, No) and accepts a selection operation of the item selection key 262 (S77, Yes), it displays a screen (setting screen M16) that accepts changes to each setting on the display screen 22 (S78), as shown in FIG. 23. The manual change screen M15 only needs to have the item selection key 262 that accepts a selection of a change to at least the reference line L1 (update line L4) as a setting related to automatic steering, and may have a display image that accepts a selection of other settings as a setting related to automatic steering.

[0127] The setting screen M16 is a screen that accepts changes to the setting of the reference line L1 (update line L4). Fig. 23 shows the setting screen M16 that the display control device 21 displays when the orientation change key 262a is selected and operated from among the item selection keys 262. As shown in Fig. 23, the setting screen M16 has a line display section 271, a line input section 272, and a confirmation key 273.

[0128] The line display unit 271 is a display image that displays the reference line L1 stored in the storage unit 41. In this embodiment, the reference line L1 is defined by the orientation indicating the reference line L1, and therefore the line display unit 271 displays the reference line L1 by the orientation angle. In other words, since the line display unit 271 displays the reference line L1 stored in the storage unit 41, when the reference line L1 is the reference line L1 updated based on the update line L4, it can be said that the display device 20 displays the update line L4 by the line display unit 271.

[0129] The line input unit 272 accepts a change to the reference line L1 stored in the storage unit 41 by accepting an operation of the operating member 23. In this embodiment, since the reference line L1 is defined by an orientation indicating the reference line L1, the line input unit 272 accepts a change to the reference line L1 by accepting an input of an orientation angle. The line input unit 272 displays the reference line L1 stored in the storage unit 41 as an initial value, and changes the display of the azimuth angle in response to the operation of the operating member 23. In other words, since the line input unit 272 accepts a change to the reference line L1 stored in the storage unit 41, when the reference line L1 is the reference line L1 updated based on the update line L4, it can be said that the line input unit 272 accepts a change to the update line L4.

[0130] In this embodiment, the line input unit 272 accepts input of an azimuth angle, but the input method is not limited to the above-mentioned method as long as the operation member 23 can accept an operation to change the reference line L1 stored in the memory unit 41. The confirmation key 273 is a display image that accepts an operation and accepts confirmation of the change to the reference line L1 accepted by the line input unit 272. When the display control device 21 accepts the operation of the confirmation key 273 (S79, Yes), the change unit 21a accepts the change to the reference line L1 (S80). The change unit 21a outputs information (change information) related to the change to the reference line L1 accepted by the line input unit 272 to the control device 40 (S81).

[0131] Thereby, the control device 40 can apply the change to the reference line L1 (updated line L4) by overwriting the reference line L1 (updated line L4) stored in the storage unit 41 with the changed reference line L1 received by the change unit 21a based on the change information (S82). When the control device 40 applies the change to the reference line L1 (S82), the display control device 21 displays a manual change screen M15 on the display screen 22 (S64).

[0132] In the above embodiment, the mode switching unit 40d switches the mode (first mode or second mode) of the control device 40 depending on whether the work vehicle 1 has accepted settings related to automatic steering in order to reflect the update line L4 by the work vehicle assistance system S, but the mode switching unit 40d may switch the mode of the control device 40 on the condition that automatic steering is enabled or disabled. In such a case, the mode switching unit 40d switches the control device 40 to the first mode when the state acquisition unit 40c acquires that automatic steering has been disabled by the second operating device 25, and switches the control device 40 to the second mode when the state acquisition unit 40c acquires that automatic steering has been enabled by the second operating device 25.

[0133] Hereinafter, the mode switching by the mode switching unit 40d in the first modified example and the reflection of the update line L4 by the support system S of the work vehicle will be described with reference to Fig. 24. Note that the control device 40 is switched to the second mode in advance in the initial state. First, the state acquisition unit 40c acquires an operation signal input from the mode changeover switch 25 to the control device 40, and acquires whether the automatic steering by the automatic steering control unit 40a is enabled or disabled as the state of the device (automatic steering mechanism 37) (S80). When the state of the mechanism 37 indicates whether the automatic steering by the automatic steering control unit 40a is enabled or disabled (S80), the mode switching unit 40d checks whether the automatic steering by the automatic steering control unit 40a is disabled (S81).

[0134] If the mode switching unit 40d determines that automatic steering by the automatic steering control unit 40a is disabled (S81, Yes), that is, if the conditions for mode switching are met, it switches the control device 40 to the first mode and allows the communication device 42 to receive the update line L4 from the server 50 (S82). Furthermore, when the communication device 42 receives the updated line L4 from the server 50 (S83, Yes), the control device 40 registers the updated line L4 received by the communication device 42 from the server 50 as the reference line L1 (S84).

[0135] On the other hand, if the mode switching unit 40d determines that automatic steering by the automatic steering control unit 40a is effective (S81, No), i.e., if the conditions for mode switching are not met, it switches the control device 40 to the second mode and restricts the communication device 42 from receiving the update line L4 from the server 50 (S85). The mode switching unit 40d may switch the mode of the control device 40 based on whether the vehicle body 3 is stopped or running. When the status acquisition unit 40c acquires that the vehicle body 3 is stopped, the mode switching unit 40d switches the control device 40 to the first mode, and when the status acquisition unit 40c acquires that the vehicle body 3 is running, the mode switching unit 40d switches the control device 40 to the second mode.

[0136] Hereinafter, the mode switching of the control device 40 in the second modified example and the reflection of the update line L4 by the support system S of the work vehicle will be described with reference to Fig. 25. Note that the control device 40 is switched to the second mode in advance in the initial state. First, the status acquisition unit 40c acquires a vehicle speed signal input from the vehicle speed sensor to the control device 40, and acquires, as the status of the equipment (traveling device 7), whether the work vehicle 1 is stopped or traveling (S90).

[0137] When the state acquisition unit 40c acquires information as to whether the work vehicle 1 is stopped or traveling (S90), the mode switching unit 40d confirms whether the work vehicle 1 is stopped (S91). If the mode switching unit 40d determines that the work vehicle 1 is stopped (S91, Yes), i.e., if the conditions for mode switching are met, it switches the control device 40 to the first mode and allows the communication device 42 to receive the update line L4 from the server 50 (S92).

[0138] Furthermore, when the communication device 42 receives the updated line L4 from the server 50 (S93, Yes), the control device 40 registers the updated line L4 received by the communication device 42 from the server 50 as the reference line L1 (S94). On the other hand, if the mode switching unit 40d determines that the work vehicle 1 is traveling (S91, No), i.e., if the conditions for mode switching are not met, it switches the control device 40 to the second mode and restricts the communication device 42 from receiving the update line L4 from the server 50 (S95).

[0139] In the second modified example described above, the mode switching unit 40d switches to the first mode when the work vehicle 1 is stopped, and switches the control device 40 to the second mode when the work vehicle 1 is traveling, but the above-mentioned mode switching of the control device 40 is merely one example. When the status acquisition unit 40c acquires, as the status of the equipment (traveling device 7), whether the traveling speed of the work vehicle 1 is less than a threshold value or equal to or greater than a threshold value, the mode switching unit 40d may be configured to switch to the first mode when the traveling speed of the work vehicle 1 is less than the threshold value, and to switch to the second mode when the traveling speed of the work vehicle 1 is equal to or greater than the threshold value.

[0140] In addition, when the status acquisition unit 40c acquires a control signal from the control device 40 to the prime mover 4 and acquires whether or not the prime mover 4 is idling as the status of the equipment (prime mover 4), the mode switching unit 40d may be configured to switch the control device 40 to the first mode when the prime mover 4 is idling, and to the second mode when the prime mover 4 is not idling.

[0141] The status acquisition unit 40c acquires an operation signal input from the operation device 15 to the control device 40, and acquires the status of the equipment (the traveling device 7, the work device 2, etc.) by acquiring the status of the work vehicle 1 by the worker. When obtaining information on whether or not the work vehicle 1 is being operated, the mode switching unit 40d may be configured to switch the control device 40 to the first mode when the work vehicle 1 is being operated by a worker, and to switch the control device 40 to the second mode when the work vehicle 1 is not being operated by the worker.

[0142] The mode switching unit 40d may switch the mode of the control device 40 based on a plurality of conditions, and may appropriately combine the device state acquired by the above-mentioned state acquisition unit 40c with the mode switching conditions. For example, the mode switching unit 40d may switch the control device 40 to the first mode when the work vehicle 1 has accepted a setting related to automatic steering and the state acquisition unit 40c has acquired that the work vehicle 1 is stopped. On the other hand, the mode switching unit 40d may switch the control device 40 to the second mode when the state acquisition unit 40c has acquired that the work vehicle 1 has not accepted a setting related to automatic steering or that the work vehicle 1 is traveling.

[0143] Furthermore, the mode switching unit 40d may switch the control device 40 to the first mode when the second operating device 25 has switched the automatic steering to disabled and the status acquisition unit 40c has acquired that the work vehicle 1 is stopped. On the other hand, the mode switching unit 40d may switch the control device 40 to the second mode when the second operating device 25 has switched the automatic steering to enabled or the status acquisition unit 40c has acquired that the work vehicle 1 is traveling.

[0144] In addition, the control device 40 needs to reflect the update line L4 transmitted from the server 50 in the first mode and not reflect the update line L4 transmitted from the server 50 in the second mode, and the method of not reflecting the update line L4 is not limited to restricting the reception of the update line L4 by the communication device 42. For example, in the first mode, the control device 40 may register the update line L4 received by the communication device 42 from the server 50 as the reference line L1, and in the second mode, the control device 40 may hold the update line L4 received by the communication device 42 from the server 50 without registering it as the reference line L1, and when switching to the first mode, register the held update line L4 as the reference line L1. Specifically, the control device 40 holds the update line L4 by temporarily storing the update line L4 in the storage unit 41. Note that, after holding the update line L4, if the communication device 42 receives a new update line L4, the control device 40 deletes the held update line L4.

[0145] 26, the reflection of the update line L4 by the support system S of the work vehicle in the third modified example will be described using an example in which the mode switching unit 40d switches the mode of the control device 40 when the vehicle body 3 is stopped or traveling. Note that the control device 40 is switched to the second mode in advance in the initial state. First, the control device 40 checks whether the communication device 42 has received the update line L4 from the server 50 (S100). When the control device 40 checks that the communication device 42 has received the update line L4 from the server 50 (S100, Yes), the status acquisition unit 40c acquires a vehicle speed signal input to the control device 40 from the vehicle speed sensor, and acquires whether the work vehicle 1 is stopped or traveling as the status of the equipment (traveling device 7) (S101).

[0146] When the state acquisition unit 40c acquires information as to whether the work vehicle 1 is stopped or traveling (S101), the mode switching unit 40d confirms whether the work vehicle 1 is stopped (S102). When the mode switching unit 40d determines that the work vehicle 1 is stopped (S102, Yes), that is, when the condition for mode switching is satisfied, it switches the control device 40 to the first mode (S103). The control device 40 registers the updated line L4 received by the communication device 42 from the server 50 as the reference line L1 (S104).

[0147] On the other hand, when the mode switching unit 40d determines that the work vehicle 1 is traveling (S102, No), that is, when the conditions for mode switching are not satisfied, it switches the control device 40 to the second mode (S105). The control device 40 holds the updated line L4 received by the communication device 42 from the server 50 without registering it as the reference line L1 (S106). The control device 40 determines that the communication device 42 has not received the update line L4 from the server 50. If the update line L4 is stored in the memory unit 41 (S107, Yes), the status acquisition unit 40c acquires a vehicle speed signal input from the vehicle speed sensor to the control device 40, and acquires whether the work vehicle 1 is stopped or traveling as the status of the equipment (traveling device 7) (S108).

[0148] When the state acquisition unit 40c acquires information as to whether the work vehicle 1 is stopped or traveling (S108), the mode switching unit 40d confirms whether the work vehicle 1 is stopped (S109). When the mode switching unit 40d determines that the work vehicle 1 is stopped (S109, Yes), that is, when the condition for mode switching is satisfied, the mode switching unit 40d switches to the first mode (S110). The control device 40 registers the held updated line L4 as the reference line L1 (S111).

[0149] On the other hand, when the mode switching unit 40d determines that the work vehicle 1 is traveling (S109, No), that is, when the condition for mode switching is not satisfied, it switches to the second mode (S112). The control device 40 does not register the held update line L4 as the reference line L1, and continues to hold it (S113). In the above-mentioned third modified example, the predetermined condition for the mode switching unit 40d to switch the mode of the control device 40 is when the vehicle body 3 is stopped and traveling, but the present invention can also be applied to cases where the condition is whether or not the work vehicle 1 has accepted settings related to automatic steering. Therefore, when the condition is whether or not the work vehicle 1 has accepted settings related to automatic steering, in processing when there is a retained update line L4, the display control device 21 may display, on the display screen 22, instead of the standby screen M12, a screen (not shown) indicating that the retained update line L4 is registered as the reference line L1.

[0150] Furthermore, in the first to third modified examples described above, the server 50 transmits the update line L4 to the communication device 42 in response to instructions from the instruction unit 71b. However, in the second mode as in the third modified example, if the communication device 42 retains the update line L4 received from the server 50 without registering it as the reference line L1, the server 50 may transmit the update line L4 to the communication device 42 in response to the position of the vehicle body 3, regardless of instructions from the instruction unit 71b.

[0151] In such a case, the database 53 stores the multiple reference lines L1 (update lines L4) in association with the position information of the field G. Specifically, the database 53 stores the position information of the field G as work information stored in association with the reference line L1. Furthermore, the communication device 42 transmits the position of the vehicle body 3 detected by the detection device 43 to the server 50 at a predetermined period.

[0152] 27, the server 50 has a transmission unit 51e. The transmission unit 51e transmits an update line L4 stored in the database 53 and corresponding to the position to the communication device 42, according to the position of the vehicle body 3 transmitted from the communication device 42. The transmission unit 51e is provided in the server control device 51, and is composed of electric and electronic components, programs, etc. provided in the server control device 51.

[0153] The transmitter 51e acquires the current vehicle body position P of the work vehicle 1 via the server communication device 52 and the communication device 42. The transmitter 51e determines in which field G the work vehicle 1 is located, based on the position information indicated by the acquired vehicle body position P. The transmitter 51e acquires from the database 53 a reference line L1 which corresponds to the field G in which the work vehicle 1 is located, and which corresponds to information on the work vehicle 1, information on the work implement 2 used in work by the work vehicle 1, the work content of the work implement 2, and information on the crops cultivated in the field G, etc. The transmitter 51e transmits the acquired reference line L1 as an update line L4 to the control device 40 via the communication device 42 and the server communication device 52.

[0154] In the above embodiment, the management terminal 60 has the management definition unit 61a. However, the management terminal 60 does not define the candidate line L3 in advance, and the update definition unit 71a defines the reference line L1 (update line L2) stored in the database 53 instead of the candidate line L3. From 4), a configuration may be adopted in which a predetermined update line L4 is selected in response to an operation. The above-mentioned work vehicle assistance system S comprises a work vehicle 1 having a vehicle body 3 capable of traveling with either manual steering by the steering device 11 or automatic steering by the steering device 11, a control device 40 that defines a planned traveling line L2 in automatic steering based on a reference line L1 and controls the automatic steering, and a communication device 42 that receives an updated line L4 that updates the reference line L1 of the control device 40, and a server 50 that transmits the updated line L4 to the communication device 42, and the control device 40 has a status acquisition unit 40c that acquires the status of equipment provided on the work vehicle 1, and switches between a first mode that reflects the updated line L4 transmitted from the server 50 and a second mode that does not reflect the updated line L4 transmitted from the server 50 depending on the status acquired by the status acquisition unit 40c.

[0155] According to the above configuration, even if the server 50 transmits the reference line L1 to the communication device 42, the control device 40 in the second mode does not reflect the updated line L4 and controls the automatic steering based on the reference line L1. As a result, the control device 40 does not control the automatic steering based on the reference line L1 updated by the updated line L4, and therefore it is possible to prevent the vehicle from traveling along a route different from the intention.

[0156] In addition, the work vehicle 1 has a first operating device 221, 251 that accepts operations and changes settings related to automatic steering, and the status acquisition unit 40c acquires whether the settings are changed or not changed by the first operating device 221, 251, and the control device 40 switches to the first mode when the status acquisition unit 40c acquires that the settings are changed by the first operating device 221, 251, and switches to the second mode when the status acquisition unit 40c acquires that the settings are not changed by the first operating device 221, 251.

[0157] According to the above configuration, the control device 40 can suppress reflecting the reception of the update line L4 when no settings regarding automatic steering have been made, i.e., when the operator does not intend to change the settings regarding automatic steering. In addition, the work vehicle 1 has a second operating device 25 that accepts operation and switches automatic steering between enabled and disabled, and the status acquisition unit 40c acquires whether automatic steering is enabled or disabled by the second operating device 25, and the control device 40 switches to the first mode when the status acquisition unit 40c acquires that automatic steering has been switched to disabled by the second operating device 25, and switches to the second mode when the status acquisition unit 40c acquires that automatic steering has been switched to enabled by the second operating device 25.

[0158] According to the above configuration, the control device 40 can reflect the reception of the update line L4 only when automatic steering is not being performed. Therefore, when the control device 40 is controlling automatic steering, the reception of the update line L4 is not reflected during the control, so that automatic steering along a route different from the intention can be suppressed. In addition, the status acquisition unit 40c acquires whether the vehicle body 3 has stopped moving or is moving, and the control device 40 switches to the first mode if the status acquisition unit 40c acquires that the vehicle body 3 has stopped moving, and switches to the second mode if the status acquisition unit 40c acquires that the vehicle body 3 is moving.

[0159] According to the above configuration, the control device 40 can reflect the reception of the update line L4 only when the vehicle is stopped. Therefore, while the vehicle body 3 is traveling, that is, at least when the control device 40 is controlling the automatic steering, it is possible to suppress the reflection of the reception of the update line L4. In addition, when in the first mode, the control device 40 permits the communication device 42 to receive the update line L4 from the server 50, and when in the second mode, restricts the communication device 42 from receiving the update line L4 from the server 50.

[0160] According to the above configuration, even if the server 50 attempts to transmit the reference line L1 to the communication device 42, the communication device 42 does not receive the reference line L1 in the second mode, and therefore the control device 40 does not reflect the updated line L4. This makes it possible to prevent the control device 40 from controlling the vehicle body 3 along a route different from the intended one. In addition, when the control device 40 is in the first mode, the communication device 42 receives from the server 50 The communication device 42 registers the received update line L4 as the reference line L1, and when in the second mode, the communication device 42 retains the update line L4 received from the server 50 without registering it as the reference line L1, and when switching to the first mode, registers the retained update line L4 as the reference line L1.

[0161] According to the above configuration, even if the server 50 attempts to transmit the reference line L1 to the communication device 42, the control device 40 does not register the updated line L4 in the second mode. Also, the control device 40 can register the held updated line L4 by switching to the first mode. This allows the control device 40 to efficiently register the updated line L4 when switching to the first mode by receiving the updated line L4 in advance in the second mode while suppressing control of the vehicle body 3 along a route different from the intended one.

[0162] The work vehicle 1 also has a display device 20 that displays the updated line L4 received by the communication device . According to the above configuration, the operator can easily know whether or not the update line L4 is the intended one by checking the display device 20. The display device 20 also includes a change unit 21a that changes the update line L4 received by the communication device 42 in response to an operation.

[0163] According to the above configuration, the operator can change the update line L4 by operating the display device 20. Therefore, the control device 40 can register a more appropriate reference line L1 based on the update line L4 transmitted from the server 50. In addition, the work vehicle 1 has a detection device 43 that detects the position of the vehicle body 3, and the communication device 42 transmits the position of the vehicle body 3 detected by the detection device 43 to the server 50, and the server 50 transmits an update line L4 to the communication device 42 according to the position of the vehicle body 3.

[0164] According to the above configuration, the control device 40 can automatically update the reference line L1 in accordance with the position of the vehicle body 3. The server 50 also has a database 53 that stores multiple update lines L4 and stores the multiple update lines L4 in association with position information of the field G, and a transmission unit 51e that transmits the update line L4 stored in the database 53 and corresponding to the position to the communication device 42 in accordance with the position of the vehicle body 3 transmitted from the communication device 42.

[0165] According to the above configuration, the control device 40 can automatically update the reference line L1 appropriate for work in the field G according to the position of the vehicle body 3. In addition, the work vehicle assistance system S is equipped with a mobile terminal 70 that communicates with the communication device 42 and the server 50, and the mobile terminal 70 has an instruction unit 71b that instructs the server 50 to send an update line L4 to the communication device 42 in response to operation.

[0166] According to the above configuration, even if the instruction unit 71b of the mobile terminal 70 instructs the server 50 to transmit the updated line L4, the control device 40 does not reflect the updated line L4 in the second mode and controls the vehicle body 3 based on the reference line L1. Therefore, even if an operator mistakenly operates the mobile terminal 70 to transmit the updated line L4 or another operator operates the mobile terminal 70 to transmit the updated line L4, the control device 40 does not automatically steer based on the reference line L1 updated by the updated line L4, and therefore it is possible to prevent the vehicle from traveling along a route different from the intention.

[0167] In addition, the server 50 has a database 53 that stores multiple update lines L4, and the mobile terminal 70 accepts a process of selecting a specific update line L4 from the update lines L4 stored in the database 53 and has an update definition unit 71a that defines the update line L4, and the instruction unit 71b instructs the server 50 to transmit the update line L4 defined by the update definition unit 71a to the communication device 42.

[0168] According to the above configuration, an arbitrary update line L4 defined by the update definition unit 71a of the mobile terminal 70 can be transmitted to the communication device 42. This allows the work vehicle 1 to perform automatic steering along the planned travel line L2 based on a more appropriate reference line L1. 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. For example, the modified examples described in the above-mentioned embodiments may be appropriately combined. [Explanation of symbols]

[0169] 1 Work vehicle 3. Body 11 Steering gear 20 Display device 21a Changes 25 2nd operating tool 40 Control device 40c Status acquisition unit 42 Communication Equipment 43 Detection Device 50 Servers 51g Transmitter 53 Database 70 Mobile Devices 71b Instruction section 221 1st operating tool 251 1st operating tool G Field L1 Reference Line L2 Planned running line L4 Update Line S Assistance System

Claims

1. A work vehicle having a vehicle body capable of traveling by either manual steering using a steering device or automatic steering using the steering device, a control device that defines a planned traveling line in the automatic steering based on a reference line and controls the automatic steering, and a communication device that receives an update line that updates the reference line of the control device; a server that transmits the update line to the communication device; Equipped with The control device includes: A status acquisition unit that acquires a status of a device provided in the work vehicle, An assistance system for a work vehicle that switches between a first mode that reflects the update line transmitted from the server and a second mode that does not reflect the update line transmitted from the server depending on the state acquired by the state acquisition unit.

2. The work vehicle has a first operating tool that receives an operation and changes a setting related to the automatic steering, the state acquisition unit acquires whether the setting is changed or not changed by the first operating tool, The control device includes: switching to the first mode when the state acquisition unit acquires that the setting is to be changed by the first operating tool; The work vehicle assistance system according to claim 1 , wherein the mode is switched to the second mode when the state acquisition unit acquires that the setting is not to be changed by the first operating tool.

3. The work vehicle has a second operating tool that receives an operation and switches the automatic steering between enabled and disabled, The state acquisition unit acquires whether the automatic steering by the second operating tool is enabled or disabled, The control device includes: When the state acquisition unit acquires that the automatic steering has been disabled by the second operating tool, the automatic steering mode is switched to the first mode; The work vehicle assistance system according to claim 1 , wherein the mode is switched to the second mode when the state acquisition unit acquires that the automatic steering has been switched to enabled by the second operating tool.

4. The state acquisition unit acquires whether the vehicle body is stopped or running, The control device includes: When the state acquisition unit acquires that the vehicle body has stopped traveling, the vehicle mode is switched to the first mode; The work vehicle assistance system according to claim 1 , wherein the mode is switched to the second mode when the state acquisition unit acquires that the vehicle body is traveling.

5. The control device includes: permitting the communication device to receive the update line from the server when in the first mode; The work vehicle assistance system according to claim 1 , wherein when in the second mode, the communication device is restricted from receiving the update line from the server.

6. The control device includes: When in the first mode, the communication device registers the updated line received from the server as the reference line; 2. The work vehicle assistance system according to claim 1, wherein, when in the second mode, the communication device retains the updated line received from the server without registering it as the reference line, and when switching to the first mode, the communication device registers the retained updated line as the reference line.

7. The work vehicle assistance system according to claim 1 , wherein the work vehicle has a display device that displays the updated line received by the communication device.

8. The support system for a work vehicle according to claim 7 , wherein the display device has a change unit that accepts a change to the update line received by the communication device.

9. The work vehicle has a detection device that detects a position of the vehicle body, The communication device transmits the position of the vehicle body detected by the detection device to the server; The work vehicle assistance system according to claim 1 , wherein the server transmits the update line to the communication device in accordance with a position of the vehicle body.

10. The server, a database that stores a plurality of the update lines and associates each of the plurality of update lines with position information of a farm field; a transmitting unit configured to transmit to the communication device the update line stored in the database and corresponding to the vehicle body position transmitted from the communication device in response to the vehicle body position; 10. The work vehicle assistance system according to claim 9, further comprising:

11. a mobile terminal that communicates with the communication device and the server; The support system for a work vehicle according to claim 1 , wherein the mobile terminal has an instruction unit that instructs the server to transmit the update line to the communication device in response to an operation of the mobile terminal.

12. The server has a database that stores a plurality of the update lines; the mobile terminal has an update definition unit that accepts a process of selecting a predetermined update line from the update lines stored in the database and defines the update line; The support system for a work vehicle according to claim 11 , wherein the instruction unit instructs the server to transmit the update line defined by the update definition unit to the communication device.

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