Management System

Abstract

To properly administrate time information and position information of a work vehicle automatically steered in a farm field, depending on a setting mode.SOLUTION: An administration system S comprises a work vehicle 1 and a server 50. The work vehicle 1 comprises; a setting switch 17 which sets whether a setting mode for setting before the start of automatic steering is effective or not; a first storage device 41 which stores relation information in which setting mode information indicative of whether the setting mode is effective or not, time information measured by a time measuring device 40a, and position information of a vehicle body 3 are made to correspond to each other; and a first communication device 42 which transits to the server 50 the relation information stored by the first storage device 41. The server 50 comprises: a second communication device 52 which receives the relation information transmitted from the first communication device 42; a second storage device 53 which stores the relation information received by the second communication device 52; and an information administration unit 51a which on the basis of the setting mode information, administers the relation information stored by the second storage device 53.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to a management system for managing information relating to work in a farm field by a work vehicle. [Background technology]

[0002] Patent Document 1 describes a management system that supports a first work vehicle having a vehicle body capable of traveling by either manual steering using a steering wheel or automatic steering based on a traveling reference line, and a registration switch that sets the traveling reference line, and a second work vehicle having a vehicle body capable of traveling by either manual steering or automatic steering based on the traveling reference line. This management system includes a server having a storage device that stores reference information related to the traveling reference line set by the first work vehicle, and a communication device that transmits the reference information stored in the storage device to the second work vehicle. With this configuration, the reference information can be easily shared with the second work vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-7334 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the management system described in Patent Document 1 cannot appropriately manage time information and position information of a work vehicle automatically steered in a farm field according to the set mode. In view of the above problems, the present invention has an object to provide a management system that can appropriately manage time information and position information of a work vehicle automatically steered in a farm field according to the set mode. [Means for solving the problem]

[0005] A management system according to one embodiment of the present invention includes a work vehicle and a server, wherein the work vehicle includes a work device, a vehicle body capable of running with either manual steering or automatic steering based on a reference line, a position detection device for detecting the position of the vehicle body, a timing device, a setting switch for enabling or disabling a setting mode for setting before the automatic steering is started, a first storage device for storing setting mode information indicating whether the setting mode is enabled or disabled, time information measured by the timing device, position information of the vehicle body, and setting information of the work vehicle, and a first communication device for transmitting the relationship information stored in the first storage device to the server, wherein the server includes a second communication device for receiving the relationship information transmitted from the first communication device, a second storage device for storing the relationship information received by the second communication device, and an information management unit for managing the relationship information stored in the second storage device based on the setting mode information.

[0006] The server may include a map storage device that stores a field map, and an identification unit that identifies the corresponding field for each of the multiple position information by performing an inside / outside determination for whether or not each of the multiple position information, which is arranged in chronological order and in which the setting mode indicated by the setting mode information is valid, is within the field indicated by the field map among the relationship information stored in the second storage device, and identifies the work time of the work vehicle based on the time information associated with a series of the position information in which the same field is identified consecutively.

[0007] The server comprises a map storage device that stores a field map, and an identification unit that identifies the work time of the work vehicle based on the time information associated with a group of position information arranged in chronological order for which the setting mode indicated by the setting mode information is valid among the relationship information stored in the second storage device, calculates a first center of gravity by aggregating the group of position information, identifies the center of gravity closest to the first center of gravity among the centers of gravity of a plurality of fields included in the field map, and identifies the field with the closest center of gravity as the field.

[0008] The information management unit may manage the field identified by the identification unit, the work time identified by the identification unit, and the relationship information in the second storage device corresponding to the work time in association with each other. The field map may include at least a map indicating a first field, and the identification unit may identify the time indicated by the time information corresponding to the last position information within the first field as the end time of the work time when the setting mode of the setting mode information remains active and the position information changes from a value indicating a position within the first field to a value indicating a position other than the first field or when the value indicating a position other than the first field continues over a first judgment period.

[0009] The identification unit may not determine the end time of the work time as the time when the setting mode of the setting mode information remains active and the position information becomes a value indicating a position within the first field within the first judgment period from the time when the position information changed from a value indicating a position within the first field to a value indicating a position other than the first field. When the setting mode of the setting mode information remains active and the time information is a day later than the work day, the identification unit may determine that the time indicated by the time information corresponding to the last position information in the first field on the work day is the final work time on the work day, and may identify the time from the time indicated by the time information corresponding to the first position information in the first field on the later day to the time indicated by the time information corresponding to the last position information in the first field on the later day as the work time on the later day.

[0010] The identification unit may distinguish between an earlier work time in the first field and a later work time on the same day when the location information becomes a value indicating a position within the first field on the same day as the day when the setting mode of the setting mode information is switched to disabled and the location information changes from a value indicating a position within the first field to a value indicating a position other than the first field. The identification unit may be configured to determine the work time by combining an earlier work time in the first field and a later work time on the same day when the setting mode of the setting mode information remains active and the location information becomes a value indicating a position within the first field on the same day as the day on which the time belongs to when the location information changed from a value indicating a position within the first field to a value indicating a position other than the first field.

[0011] The field map includes at least a map indicating a first field and a map indicating a second field other than the first field, and the identification unit may identify the time indicated by the time information corresponding to first position information in the second field as the start time of the work time when the setting mode of the setting mode information remains active and the position information changes from a value indicating a position in the first field to a value indicating a position in the second field or when the position information in the second field continues over a second judgment period.

[0012] The work vehicle may be equipped with a control device that generates the relationship information and stores it in the first storage device, and when the setting mode is enabled, the control device may generate the relationship information and cause it to be transmitted from the first communication device to the server, and when the setting mode is disabled, the control device may generate relationship information that corresponds to the time information and the position information and cause it to be transmitted from the first communication device to the server.

[0013] The work vehicle may be equipped with a control device that generates first relationship information that corresponds the time information and the position information as the relationship information and stores it in the first storage device each time a predetermined first period elapses, and when a predetermined second period that is longer than the first period elapses, causes the first communication device to transmit to the server the multiple pieces of relationship information generated during the second period and stored in the first storage device.

[0014] The information management unit may be configured to, when arranging the multiple pieces of first relationship information stored in the second storage device in chronological order based on the time information, retain only one of the multiple pieces of first relationship information included in a predetermined third period that is longer than the first period and shorter than the second period, and delete the rest, for each third period. Effect of the Invention

[0015] According to the above management system, time information and position information of a work vehicle automatically steered in a farm field can be appropriately managed according to the set mode. [Brief description of the drawings]

[0016] [Figure 1] 1 is an overall view of a management system S in a first embodiment. [Figure 2A] FIG. 1 is a first diagram illustrating automatic steering. [Figure 2B] FIG. 1 is a first diagram illustrating automatic steering. [Figure 2C] FIG. 1 is a first diagram illustrating automatic steering. [Figure 2D] FIG. 1 is a first diagram illustrating automatic steering. [Diagram 3] FIG. 13 is a diagram showing an example in which the line definition unit 40c defines a reference line L1 and a planned travel line L2. [Figure 4] 1 is a diagram showing a reference line L1 and a planned travel line L2. [Figure 5A] FIG. 13 is a flowchart showing how to perform manual steering and define a reference line L1. [Figure 5B] FIG. 13 is a flowchart showing a process of defining a planned driving line L2 and performing automatic steering. [Figure 6] FIG. 13 is a flowchart showing how the correction unit 40c1 corrects the reference line L1. [Figure 7] 11 is a diagram illustrating the correction of the planned travel line L2 and the reference line L1 by the correction unit 40c1. FIG. [Figure 8A] FIG. 13 is a diagram showing an example of relationship information RD. [Figure 8B] FIG. 4 is a diagram showing an example of first setting information. [Figure 8C] 6A to 6C are diagrams illustrating an example of second setting information and third setting information. [Figure 9A] 1 is a diagram showing a travel route of a work vehicle 1 and each piece of position information PI acquired for each first period. FIG. [Figure 9B] 9B is a diagram showing the start and end points of a reference line L1 on the travel route shown in FIG. 9A and the start and end positions of automatic steering. FIG. [Figure 9C] FIG. 9B is a diagram showing setting information SI (changed) of the work vehicle 1 on the travel route shown in FIG. 9A. [Figure 10A] 13 is a diagram showing an example of relationship information RD that is generated by the work vehicle 1 during a second period and transmitted to the server 50. FIG. [Figure 10B] FIG. 13 is a diagram showing an example of management in which duplicate relationship information RD is deleted in the server 50. [Figure 11] 4 is a flowchart showing processing performed by a control device 40 of the work vehicle 1. [Figure 12A] 13 is a flowchart showing a management process of relationship information RD performed by the server control device 51. [Figure 12B] 13 is a flowchart showing a management process in a modified example of the first embodiment. [Figure 13] 11 is a diagram showing a flow in which the work vehicle 1 downloads and executes relationship information RD managed by the server 50. FIG. [Figure 14] FIG. 11 is an overall view of a management system S according to a second embodiment. [Figure 15A] FIG. 11 is a diagram illustrating an example of a task time management process in the second embodiment. [Figure 15B] FIG. 11 is a diagram showing an example of a farm field determination process in the second embodiment. [Figure 15C] FIG. 13 is a diagram showing an example in which the position information of the work vehicle is deemed to have entered a second field H2 when there is a position deviation in the GPS position information or the field map MP. [Figure 15D]FIG. 13 is a diagram showing that even when there is a position deviation in the GPS position information or the field map MP, the position information of the work vehicle is correctly determined to be located in the first field H1. [Figure 15E] FIG. 11 is a diagram illustrating an example of an operation time specification process in the second embodiment. [Figure 15F] FIG. 13 is a diagram illustrating an example of a task time management process in the third embodiment. [Figure 16] FIG. 13 is a diagram showing an example of data linking a farm field, a work time, and setting information SI. [Figure 17] FIG. 1 is a side view of a tractor (work vehicle 1). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [First embodiment] Fig. 1 shows an overall view of the management system S in the first embodiment. As shown in Fig. 1, the management system S includes a work vehicle 1 and a server 50. The work vehicle 1 is capable of communicating with the server 50. The management system S in the first embodiment can transmit relationship information RD, including setting information SI of the work vehicle 1 that is automatically steered, to the server 50, and store and manage the relationship information RD in the server 50.

[0018] First, the work vehicle 1 will be described with reference to Fig. 17. Fig. 17 is a side view of the work vehicle 1. As shown in Fig. 17, in this embodiment, the work vehicle 1 is a tractor. Note that 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 work machine. As shown in Fig. 17, 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 based on a reference line L1.

[0019] The traveling device 7 is a device having front wheels 7F and rear wheels 7R. In the example shown in Fig. 17, the front wheels 7F and rear wheels 7R are of a tire type, but may be of a crawler type. 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 travel of the traveling device 7. In addition, as shown in Fig. 17, the vehicle body 3 is provided with a driver's seat 10 in which a driver sits.

[0020] In the description of this embodiment, the direction in which the driver seated in the driver's seat 10 of the work vehicle 1 faces (left side in FIG. 17) is referred to as the forward direction, and the opposite direction (right side in FIG. 17) is referred to as the rearward direction. The left side of the driver (the near side in FIG. 17) is referred to as the left side, and the right side of the driver (the far side in FIG. 17) is referred to as the right side. The direction perpendicular to the fore-aft direction of the vehicle body 3 is sometimes referred to as the vehicle body width direction (width direction). 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 implement 2 may be any implement that is coupled to the coupling portion 8 of the working vehicle 1 or is provided on the working vehicle 1 and performs work, and is not limited to the above-mentioned example. For example, if the working vehicle 1 is a combine harvester, the working implement 2 includes a harvesting implement that harvests crops and a threshing implement that threshes crops. Also, if the working vehicle 1 is a rice transplanter, the working implement 2 includes a planting implement that plants seedlings.

[0022] As shown in Fig. 1, the work vehicle 1 is equipped with a control device 40 and a first storage device 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 control device 40 has a timing device 40a that measures (times) time. The timing device 40a is, for example, a real-time clock, and measures time (year, date, time).

[0023] The first storage device 41 is a non-volatile memory or the like, and can store various programs and various information related to the work vehicle 1. For example, the control device 40 can store in the first storage device 41 the time measured by the timing device 40a and other information in association with each other. The control device 40 is connected to an accelerator member (accelerator pedal, accelerator lever) 15 and a gear shift member (gear shift lever, gear shift switch) 16 that are provided on the vehicle body 3. The accelerator member 15 is a member that the driver manually operates the traveling speed of the work vehicle 1 (vehicle body 3), i.e., the vehicle speed. The control device 40 controls the traveling speed of the vehicle body 3 based on an operation signal output from the accelerator member 15. Specifically, the control device 40 controls the traveling speed of the vehicle body 3 based on the amount of operation of the accelerator member 15 and a control map that is pre-stored in the first storage device 41.

[0024] The shifting member 16 is a member with which the driver manually operates the speed stage of the transmission 5. The control device 40 changes the speed stage of the transmission 5 based on an operation signal output from the shifting member 16. Note that in this embodiment, the control device 40 changes the speed stage of the transmission 5 based on the operation of the shifting member 16, but the shifting member 16 may be configured to change the speed stage of the transmission 5 directly, without going through the control device 40.

[0025] As shown in Fig. 1, the work vehicle 1 is equipped with a first communication device 42. The first communication device 42 is capable of communicating with a server 50. The first 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. The first communication device 42 is a communication module that performs either direct communication or indirect communication with the server 50, and may perform 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.

[0026] As shown in FIG. 1, the work vehicle 1 is equipped with a position detection device (positioning device) 43. The position 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 position detection device 43 receives a satellite signal (position of the positioning satellite, transmission time, etc.) transmitted from the positioning satellite, and detects the position information (e.g., latitude and longitude) based on the satellite signal. The position detection device 43 has a receiving device 44 and an inertial measurement unit (IMU) 45. The receiving device 44 is a device that has an antenna and the like and receives a satellite signal transmitted from the positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 45. In this embodiment, the receiving device 44 is attached to a ROPS provided on the vehicle body 3. It should be noted that the receiving device 44 is only required to be able to receive satellite signals transmitted from positioning satellites, and its attachment location is not limited to the ROPS.

[0027] 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 the driver's operation, and automatic steering, in which the vehicle body 3 is steered automatically without the driver's operation.

[0028] 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.

[0029] Therefore, when the driver grips the steering wheel 30 and operates it in a first direction or a second direction opposite to the first direction, the switching position and opening degree of the control valve 34 are switched corresponding to the rotation direction of the steering wheel 30. Therefore, the steering cylinder 35 expands and contracts to the left or right according to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. In other words, the traveling direction of the vehicle body 3 can be changed to the left or right by manually steering the steering wheel 30.

[0030] As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that automatically steers the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position P) detected by the position detection device 43. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the vehicle body position P. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating together with the steering shaft 31, and a gear provided on the drive shaft of the steering motor 38 and rotating together with the drive shaft. When the drive shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (turns) via the gear mechanism 39, and the steering direction of the front wheels 7F can be changed so that the vehicle body position P coincides with the planned travel line L2.

[0031] In this embodiment, the work vehicle 1 is equipped with a steering device 11 having a steering handle 30, and the steering direction is changed by changing the direction of the front wheels 7F using the steering device 11, but this is not limited to this. The vehicle body 3 only needs to be able to change the steering direction (traveling direction) using manual steering and automatic steering, and the mechanism for changing the traveling direction is not limited to the mechanism described above. Next, a description will be given of the control of automatic steering of the vehicle body 3. The work vehicle 1 acquires a predetermined reference line L1, and can perform automatic steering based on a planned travel line L2 that is parallel to the reference line L1. In automatic steering, the automatic steering mechanism 37 automatically steers the traveling direction of the work vehicle 1 (vehicle body 3) so that the vehicle body position P detected by the position detection device 43 coincides with the planned travel line L2.

[0032] 1, the control device 40 has an automatic steering control section 40b. The automatic steering control section 40b is provided in the control device 40, and is composed of electric and electronic components provided in the control device 40, a program incorporated in the first storage device 41, etc. 2A, the automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the intended travel line L2. When the automatic steering control unit 40b is performing automatic steering, the driver can change the travel speed of the vehicle body 3 and the speed stage of the transmission 5 by operating the accelerator member 15 and the speed change member 16.

[0033] Hereinafter, a detailed description will be given of the control of the automatic steering mechanism 37 by the automatic steering control unit 40b. As shown in Fig. 2A, when the deviation between the vehicle body position P and the planned travel line L2 is less than a predetermined value, the automatic steering control unit 40b maintains the rotation angle of the rotation shaft of the steering motor 38. 2B, 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 40b rotates the rotating shaft of the steering motor 38 so that the steering direction of the work vehicle 1 is rightward. That is, 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 40b changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F rightward.

[0034] 2C, 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 40b 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 40b changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F leftward.

[0035] In the above-mentioned FIG. 2A to FIG. 2C, 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. In contrast, as shown in FIG. 2D, when the orientation of the planned travel line L2 and the orientation (vehicle body orientation) F1 of the moving direction (traveling direction) of the work vehicle 1 (vehicle body 3) are different, that is, when the angle θg of the vehicle body orientation F1 with respect to the planned travel line L2 is equal to or greater than a predetermined value, the automatic steering control unit 40b may define the steering angle so that the angle θg becomes zero (the vehicle body orientation F1 coincides with the orientation of the planned travel line L2). In addition, the automatic steering control unit 40b may define the final steering angle in the automatic steering based on the steering angle calculated from the deviation (position deviation) and the steering angle calculated from the orientation (orientation deviation). Note that the automatic steering control unit 40b only needs to define the steering angle of the automatic steering, and the method of definition is not limited to the above-mentioned example.

[0036] The work vehicle 1 is equipped with a display device 25. The display device 25 is, for example, a liquid crystal display panel, an organic EL panel, or the like. The display device 25 is connected to the control device 40 and can perform display related to the work vehicle 1 and display related to the work device 2. The display device 25 may also have a touch panel function. For example, the display device 25 has a display screen such as a touch display that allows input operations, and outputs input information (information related to automatic steering of the work vehicle 1, work information of the work device 2, etc.) to the control device 40. In this way, the display device 25 may be equipped with an input device (input interface). In this case, the display device 25 can accept input of various information from the driver. The control device 40 can store information output from the display device 25 (input device) (information related to automatic steering of the work vehicle 1, work information of the work device 2, etc.) in the first storage device 41.

[0037] As shown in FIG. 1, the work vehicle 1 is equipped with a setting switch 17. The setting switch 17 is connected to the control device 40. The setting switch 17 is a switch that switches to a setting mode in which at least settings before the start of automatic steering are made. The setting mode is a mode in which various settings related to automatic steering are made before the start of the automatic steering, for example, a mode in which the start point and end point of the reference line L1 are set. The setting mode is also a mode in which automatic steering based on the planned travel line L2 is possible after the reference line L1 is set.

[0038] The setting switch 17 can be switched between ON and OFF, and when it is ON, it outputs a signal indicating that the setting mode is enabled to the control device 40, and when it is OFF, it outputs a signal indicating that the setting mode is disabled to the control device 40. Furthermore, when the setting switch 17 is ON, it outputs a signal indicating that the setting mode is enabled to the display device 25, which will be described later, and when it is OFF, it outputs a signal indicating that the setting mode is disabled to the display device 25.

[0039] Fig. 3 is a diagram showing an example in which the line definition unit 40c defines the reference line L1 and the planned travel line L2. As shown in Fig. 3, the driver basically turns the setting switch 17 ON when the work vehicle 1 is to enter a farm field H (for example, immediately before, at, or after entry). The driver also turns the setting switch 17 OFF when the work vehicle 1 is to leave the farm field H (for example, before, at, or immediately after leaving).

[0040] As shown in Fig. 1, the work vehicle 1 is also equipped with a steering changeover switch 19. The steering changeover switch 19 is a switch that can be operated to start (set automatic steering) and end (cancel automatic steering). In this embodiment, the steering changeover switch 19 is a lever switch that can be operated by swinging, as shown in Fig. 3. The steering changeover switch 19 is connected to a control device 40, and can output an operation signal to the control device 40.

[0041] When the setting switch 17 is ON (setting mode), the automatic steering control unit 40b starts or ends automatic steering based on the operation of the steering changeover switch 19. In other words, when the setting switch 17 is OFF (not in the setting mode), even if the steering changeover switch 19 is operated, the automatic steering control unit 40b does not start automatic steering. Specifically, when the driver turns the setting switch 17 ON and then operates the steering changeover switch 19 (third operation), the automatic steering control unit 40b starts automatic steering of the work vehicle 1. Also, when the steering changeover switch 19 is operated (fourth operation) during automatic steering of the work vehicle 1, the automatic steering control unit 40b ends the automatic steering of the work vehicle 1. Note that the steering changeover switch 19 and a registration switch 18 described later may be configured to be operated by a common operating member 21 as shown in FIG. 17, and the configuration is not limited to the above-mentioned configuration.

[0042] 8A is a diagram showing an example of relationship information RD. The control device 40 generates relationship information RD that associates time information TI measured by the timing device 40a with at least one of position information PI (e.g., latitude, longitude) of the vehicle body 3 detected by the position detection device 43 and setting information SI of the work vehicle 1, and stores the information in the first storage device 41. The setting information SI of the work vehicle 1 has first setting information (main information), second setting information (flag information), and third setting information (status information).

[0043] FIG. 8B is a diagram showing an example of the first setting information. As shown in FIG. 8B, the first setting information includes various data D1 to D7. Data D1 indicates a reference line L1 or a reference line direction indicating the traveling direction of the vehicle during automatic steering. Data D2 indicates a type of work during automatic steering (e.g., rotary, ridge making, plowing, etc.). Data D3 indicates a working width during automatic steering (e.g., working width, ridge width, etc.). The ridge width is the width of the ridges to be created that is set when making ridges. Data D4 indicates an overlap width (lap allowance) that is the overlap width of the working range, the number of ridges, etc. The number of ridges is the number of ridges to be created that is set when making ridges. Data D5 indicates a working route that indicates a set route (e.g., type of route, adjacent turn, skip one turn, etc.). Data D6 indicates sensitivity adjustment of control during automatic steering (e.g., control gain that is a control parameter, etc.). Data D7 indicates a setting status regarding the setting of the reference line L1. For example, this setting status indicates a method for setting the reference line L1 or the reference line direction, such as acquiring the start point and the end point, calculating the reference line L1 or the reference line direction, downloading it from the server 50, or the like.

[0044] FIG. 8C is a diagram showing an example of the second setting information and the third setting information. The second setting information includes a setting mode flag FL1, a start point flag FL2, an end point flag FL3, and a straight-line assist flag FL4. The setting mode flag FL1 is a value indicating a state in which an automatic steering-related operation is possible, and is turned on when the setting switch 17 is turned on (in the setting mode), and is turned off when the setting switch 17 is turned off (not in the setting mode). The start point flag FL2 is a flag indicating that the start point Ps has been acquired, and is turned on when the start point Ps of the reference line L1 has been set, and is turned off when the start point Ps of the reference line L1 has not been set. The end point flag FL3 is a flag indicating that the end point Pg has been acquired, and is turned on when the end point Pg of the reference line L1 has been set, and is turned off when the end point Pg of the reference line L1 has not been set. The straight-line assist flag FL4 is a flag indicating that automatic steering is being performed, and is turned on when the steering changeover switch 19 is operated a third time while the setting mode flag FL1 is on, and is turned off when the steering changeover switch 19 is operated a fourth time. The third setting information includes data D8. The data D8 indicates a positioning situation such as independent positioning or relative positioning. The latitude PY and longitude PX shown in Fig. 8C are position information PI, and are information indicating latitude and information indicating longitude, respectively.

[0045] The control device 40 causes the first communication device 42 to transmit the relationship information RD stored in the first storage device 41 to the server 50. Here, the generation and storage of relationship information RD in the work vehicle 1 will be described. The content of the relationship information RD varies depending on the generation conditions, and the information is generated at various times. The control device 40 generates relationship information RD (e.g., first relationship information 1RD, second relationship information 2RD, third relationship information 3RD, etc.) whose content varies depending on the generation conditions.

[0046] 8A, when the first generation condition is met (every time a predetermined first period (e.g., 6 seconds) elapses), the control device 40 generates first relationship information 1RD that associates time information TI measured by the timing device 40a with position information PI of the vehicle body 3 detected by the position detection device 43 as relationship information RD and stores it in the first storage device 41. In other words, the control device 40 generates relationship information RD (first relationship information 1RD that associates time information TI with position information PI) every time a first period (6 seconds) elapses, regardless of whether the control device 40 is in the setting mode or not, and stores it in the first storage device 41.

[0047] Furthermore, when the second generation condition is met (when the setting mode flag FL1 of the second setting information is changed), the control device 40 generates second relationship information 2RD that associates time information TI with the setting mode flag FL1 of the second setting information of the setting information SI of the work vehicle 1 as relationship information RD and stores it in the first storage device 41. In other words, when an instruction to change the setting mode is given, the control device 40 generates relationship information RD (second relationship information 2RD that associates time information TI with the setting mode flag FL1) and stores it in the first storage device 41.

[0048] Furthermore, when the third generation condition is met (when the straight-line assist flag FL4 of the second setting information is changed), the control device 40 generates third relationship information 3RD that associates time information TI, the straight-line assist flag FL4 of the second setting information of the setting information SI of the work vehicle 1, and the first setting information of the setting information SI of the work vehicle 1 as relationship information RD and stores it in the first storage device 41. In other words, when automatic steering is started or ended, the control device 40 generates relationship information RD (third relationship information 3RD that associates time information TI, the straight-line assist flag FL4, and the first setting information) and stores it in the first storage device 41.

[0049] In addition, when an instruction to change the first setting information of the setting information SI of the work vehicle 1 is given, the control device 40 generates relationship information RD (i.e., relationship information RD linking the time information TI and the first setting information) and stores it in the first storage device 41. In addition, when an instruction to change the start point flag FL2 or the end point flag FL3 of the second setting information of the setting information SI of the work vehicle 1 is given (when the registration switch 18 is operated), the control device 40 generates relationship information RD (i.e., relationship information RD linking the time information TI, the position information PI, and the start point flag FL2 or the end point flag FL3 of the second setting information) and stores it in the first memory device 41.

[0050] Next, the timing of the work vehicle 1 transmitting the relationship information RD to the server 50 will be described. The control device 40 causes the first communication device 42 to transmit to the server 50 a plurality of pieces of relationship information RD generated during the second period and stored in the first storage device 41 every time a predetermined second period (e.g., 10 minutes) longer than the first period (6 seconds) elapses. That is, during the second period (10 minutes), one piece of first relationship information 1RD is generated sequentially every first period (6 seconds), and when the second and third generation conditions are satisfied, the second and third relationship information 2RD and 3RD are generated. For this reason, a plurality of pieces of relationship information RD (e.g., 100 or more pieces) generated during the second period (10 minutes) are transmitted to the server 50 at once immediately after the second period (10 minutes) elapses. The control device 40 has a timekeeping function (e.g., a software clock) and can determine whether the first period, the second period, and the like have cyclically elapsed. It should be noted that the first period and the second period may be values ​​other than the above values ​​(6 seconds, 10 minutes) as long as the relationship of first period≦second period is satisfied.

[0051] As shown in FIG. 1, the work vehicle 1 includes a line definition unit 40c. Specifically, the line definition unit 40c is provided in the control device 40, and is composed of electric and electronic components provided in the control device 40, and a program incorporated in the first storage device 41. When in the setting mode, the line definition unit 40c defines a reference line L1 based on travel information of the vehicle body 3 when the vehicle body 3 is being manually steered. The travel information of the vehicle body 3 is position information PI detected by the position detection device 43. In this embodiment, the travel information of the vehicle body 3 is position information PI of the vehicle body position P, and as shown in FIG. 3, when the vehicle body 3 is being manually steered, the line definition unit 40c defines a predetermined start point Ps and a predetermined end point Pg, thereby defining the position information PI of a straight line passing through the start point Ps and the end point Pg as the reference line L1. The line definition unit 40c stores the defined reference line L1 in the first storage device 41.

[0052] When the traveling information of the vehicle body 3 is position information PI of the vehicle body position P, the position detection device 43 is required to be able to detect at least the position information PI (vehicle body position P) of the vehicle body 3, and does not have to be able to detect the orientation (vehicle body orientation F1) of the vehicle body 3. Hereinafter, for convenience of explanation, the position detection device 43 that can detect at least the position information PI (vehicle body position P) of the vehicle body 3 may be referred to as the first position detection device 43A. In this embodiment, the travel information is the position information PI of the vehicle body position P, but the travel information may be orientation information indicating the orientation of the vehicle body 3 (vehicle body orientation F1). In this case, the line definition unit 40c defines the orientation indicated by a straight line passing through the start point Ps and the end point Pg as the reference line L1. In other words, the line definition unit 40c defines the orientation indicating the reference line L1.

[0053] In addition, when the traveling information of the vehicle body 3 is orientation information indicating the vehicle body orientation F1, the position detection device 43 is only required to be able to detect at least the vehicle body orientation F1 of the vehicle body 3, and is not required to be able to detect the position information PI of the vehicle body 3. Hereinafter, for convenience of explanation, the position detection device 43 that can detect at least the orientation information (vehicle body orientation F1) of the vehicle body 3 may be referred to as the second position detection device 43B. 1, the work vehicle 1 is equipped with a registration switch 18. When in the setting mode, the line definition unit 40c acquires a start point Ps and an end point Pg of a reference line L1 in the field H, and defines the reference line L1 based on the acquired start point Ps and end point Pg.

[0054] The registration switch 18 is an operable switch operating tool, for example a push button switch. The registration switch 18 is also connected to the control device 40 and can output an operation signal to the control device 40. The driver operates the registration switch 18 when defining the reference line L1. The line definition unit 40c can define a start point Ps and an end point Pg based on the operation of the registration switch 18.

[0055] Specifically, when the driving information is position information PI, the line definition unit 40c 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 18 is operated, and defines the reference line L1 by registering the obtained start point Ps and end point Pg. When the travel information is direction information, the line definition unit 40c acquires direction information 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 18 is operated. The line definition unit 40c 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 to define the reference line L1.

[0056] The relationship between the travel information acquired by the line definition unit 40c and the operation of the registration switch 18 will be described below, taking as an example a case where the travel information is position information PI. Specifically, when the driver operates the registration switch 18 (first operation) while the vehicle body 3 is being manually steered, the line definition unit 40c defines the current vehicle body position P detected by the position detection device 43 as the start point Ps of the reference line L1. In addition, when the driver operates the registration switch 18 (second operation) after the first operation, the line definition unit 40c defines the current vehicle body position P detected by the position detection device 43 as the end point Pg of the reference line L1.

[0057] In detail, the line definition unit 40c stores in the first storage device 41 time information TI indicating the time when the registration switch 18 was operated for the first or second time, relationship information RD including identification information (start point flag FL2, end point flag FL3) indicating the start point Ps or end point Pg, and the vehicle body position P at the time when the first or second operation was performed, and registers the start point Ps or end point Pg to define the reference line L1. For example, the line definition unit 40c registers in the first storage device 41 position information PI of the start point Ps and end point Pg of the defined reference line L1.

[0058] In the above-described embodiment, the first storage device 41 stores the position information PI of the start point Ps and the end point Pg of the reference line L1 as the reference line L1, but is not limited to this. For example, the first storage device 41 may store data (azimuth or function) or the like indicating the reference line L1 itself as the reference line L1. Note that even when the first storage device 41 stores data (azimuth or function) or the like indicating the reference line L1 itself as the reference line L1, the first storage device 41 stores the position information PI of the start point Ps and the end point Pg of the defined reference line L1.

[0059] As shown in FIG. 4, the line definition unit 40c can define a planned travel line L2 parallel to the reference line L1 based on the reference line L1 stored in the first storage device 41. The line definition unit 40c defines the planned travel line L2 in response to the operation of the steering changeover switch 19 (third operation). First, an example will be described in which the travel information is position information PI and the reference line L1 is defined by the position information PI of the start point Ps and the end point Pg. When the driver operates the steering changeover switch 19 (third operation) in a state in which the reference line L1 is stored in the first storage device 41, the line definition unit 40c acquires the current vehicle body position P at which the steering changeover switch 19 is operated. The line definition unit 40c defines the planned travel line L2 by shifting the reference line L1 in parallel based on the start point Ps' and the start point Ps of the reference line L1, with the current vehicle body position P as the start point Ps'. That is, the planned travel line L2 located at the start point Ps' is defined.

[0060] In addition, when the driving information is direction information, etc., and the reference line L1 is defined by the direction of the reference line L1 itself, the line definition unit 40c defines a planned driving line L2 indicating the same direction as the direction of the reference line L1 based on the direction of the reference line L1, using the current vehicle position P at which the steering switch 19 is operated as a reference. Here, the definition of the reference line L1 by the line definition unit 40c will be described with reference to Figs. 3, 4, and 5A. As shown in Fig. 3, the driver turns on the setting switch 17 (i.e., the setting mode) when the work vehicle 1 enters the field H. Then, when defining the reference line L1, the driver manually steers the work vehicle 1 (body 3) around the inside boundary of the field H (around as shown by the arrow) as shown in Fig. 4 before performing automatic steering, sets the headland area A1, and sets the area inside the headland area A1 as the working area A2. After that, the driver moves the work vehicle 1 (body 3) from the vicinity of the headland (headland on the lower side of the paper in Fig. 3) in a predetermined third direction of the field H to an arbitrary position (start point Ps) and operates the registration switch 18 as shown in Fig. 3.

[0061] 5A, the line definition unit 40c checks whether the registration switch 18 has been operated (first operation) (S1). Specifically, the line definition unit 40c checks whether the first operation has been performed based on an operation signal output from the registration switch 18 to the control device 40. When the line definition unit 40c confirms that the registration switch 18 has been operated (first operation) (Yes in S1), it defines the current vehicle body position P (position information PI) detected by the position detection device 43, i.e., the latest position information PI, as the start point Ps of the reference line L1 (S2). Specifically, the line definition unit 40c stores in the first storage device 41 relationship information RD that associates the time information TI at which the registration switch 18 was operated for the first time, identification information indicating that it is the start point Ps (start point flag FL2 is on), and the vehicle body position P detected by the position detection device 43 at the time the first operation was performed.

[0062] When the driver operates the registration switch 18 (Yes in S1) to cause the line definition unit 40c to define the start point Ps (S2), the driver drives the work vehicle 1 a predetermined distance using manual steering. In detail, the driver moves the work vehicle 1, for example, to the vicinity of the headland in the fourth direction, which is the opposite side to the third direction of the field H (the headland on the upper side of the paper in FIG. 3). When the line definition unit 40c defines the start point Ps of the reference line L1 (S2), it checks whether the registration switch 18 has been operated (second operation) (S3). Specifically, the line definition unit 40c checks whether the second operation has been performed based on the operation signal output from the registration switch 18 to the control device 40.

[0063] When the line definition unit 40c confirms that the registration switch 18 has been operated (second operation) (Yes in S3), the position detection device 43 defines the current vehicle body position P (position information PI), i.e., the latest position information PI, as the end point Pg of the reference line L1 (S4). Specifically, the line definition unit 40c stores in the first storage device 41 relationship information RD that associates the time information TI at which the registration switch 18 is operated for the second time, identification information indicating that it is the end point Pg (end point flag FL3 is on), and the vehicle body position P detected by the position detection device 43 at the time when the second operation was performed. In addition, the line definition unit 40c registers in the first storage device 41 the position information PI of the start point Ps and the end point Pg of the defined reference line L1.

[0064] Thus, the line definition unit 40c can define the start point Ps and the end point Pg of the reference line L1, thereby defining a straight line or a direction connecting the start point Ps and the end point Pg as the reference line L1. Next, a case where the automatic steering control unit 40b changes the steering angle of the steering device 11 based on the deviation between the vehicle body position P and the planned travel line L2 will be described with reference to Figures 3 and 5B. After the line definition unit 40c defines the reference line L1, the work vehicle 1 is automatically steered based on the planned travel line L2 that is parallel to the reference line L1. When automatically steering the work vehicle 1, the driver moves the work vehicle 1 to a position (start point Ps') where automatic steering is to be performed.

[0065] 5B, the line definition unit 40c checks whether or not the reference line L1 is stored in the first storage device 41 (S11). When the line definition unit 40c checks that the reference line L1 is stored in the first storage device 41 (Yes in S11), it acquires the reference line L1 from the first storage device 41 (S12). Specifically, the line definition unit 40c acquires, as the reference line L1, position information PI of a straight line connecting the start point Ps and the end point Pg, or data (direction or function) indicating the reference line L1 itself.

[0066] When the line definition unit 40c acquires the reference line L1 from the first storage device 41 (S12), it checks whether the steering changeover switch 19 has been operated (third operation) or not (S13). Specifically, the line definition unit 40c checks whether the steering changeover switch 19 has been operated (third operation) or not based on the operation signal output from the steering changeover switch 19 to the control device 40. When the line definition unit 40c confirms that the steering changeover switch 19 has been operated (Yes in S13), it defines the planned travel line L2 (S14). Specifically, the line definition unit 40c acquires, for example, the current vehicle body position P (position information PI), i.e., the latest position information PI, as a start point Ps' of the planned travel line L2. The line definition unit 40c defines the planned travel line L2 by shifting the start point Ps of the reference line L1 in parallel to the start point Ps', or defines the planned travel line L2 that uses the current vehicle body position P as a reference and indicates the same orientation as the reference line L1. The line definition unit 40c also holds the start point Ps' in the first storage device 41.

[0067] When the line definition unit 40c defines the planned travel line L2 (S14), the automatic steering control unit 40b starts automatic steering and controls the automatic steering mechanism 37 so that the traveling direction of the work vehicle 1 (vehicle body 3) follows the planned travel line L2. Specifically, when the travel information is the vehicle body position P (position information PI), the automatic steering control unit 40b checks whether the deviation between the latest vehicle body position P detected by the position detection device 43 and the planned travel line L2 is less than a predetermined value (S15).

[0068] When the automatic steering control unit 40b confirms that the deviation between the latest vehicle position P detected by the position detection device 43 and the planned driving line L2 is less than a predetermined value (Yes in S15), it controls the automatic steering mechanism 37 to maintain the rotation angle of the rotation shaft of the steering motor 38 (S16). When the automatic steering control unit 40b confirms that the deviation between the latest vehicle position P detected by the position detection device 43 and the planned driving line L2 is greater than or equal to a predetermined value (No in S15), it checks whether the vehicle position P is located on the left side of the planned driving line L2 (S17).

[0069] When the automatic steering control unit 40b confirms that the vehicle position P is located on the left side of the planned driving line L2 (Yes in S17), it controls the automatic steering mechanism 37 to rotate the rotating shaft of the steering motor 38, change the steering angle, and steer the front wheels 7F to the right so that the steering direction of the work vehicle 1 is to the right (S18). On the other hand, when the automatic steering control unit 40b confirms that the vehicle position P is not located on the left side of the planned travel line L2, that is, that the vehicle position P is located on the right side of the planned travel line L2 (No in S17), it controls the automatic steering mechanism 37 to rotate the rotating shaft of the steering motor 38, change the steering angle, and steer the front wheels 7F to the left so that the steering direction of the work vehicle 1 is to the left (S19).

[0070] In addition, when the automatic steering control unit 40b is performing automatic steering, the traveling speed (vehicle speed) of the work vehicle 1 (vehicle body 3) is changed by the driver manually changing the amount of operation of the accelerator member 15 (accelerator pedal, accelerator lever) or by operating the gear shift member 16 (gear shift lever, gear shift switch). Furthermore, when the automatic steering control unit 40b performs automatic steering and controls the automatic steering mechanism 37 (S16, S18, S19), it checks whether the steering changeover switch 19 has been operated (fourth operation) (S20). Specifically, the line definition unit 40c checks whether the steering changeover switch 19 has been operated (fourth operation) based on the operation signal output from the steering changeover switch 19 to the control device 40.

[0071] When the automatic steering control unit 40b confirms that the steering changeover switch 19 has been operated (fourth operation) (Yes in S20), it ends the automatic steering (S21). Therefore, the driver can end the automatic steering by operating the steering changeover switch 19 at any time, that is, at any position (end point Pg'), after the automatic steering control unit 40b starts the automatic steering. In other words, the end point Pg' is not defined in advance for the planned travel line L2 defined by the line definition unit 40c, and the length from the start point Ps' to the end point Pg' of the planned travel line L2 can be set longer or shorter than the reference line L1. In other words, the planned travel line L2 is not associated with the length of the reference line L1, and the planned travel line L2 allows the vehicle to travel a distance longer than the length of the reference line L1 while automatically steering.

[0072] 1, the work vehicle 1 is equipped with a correction switch 20, and can correct the reference line L1 based on the operation of the correction switch 20. The correction switch 20 is an operable operating tool, and is configured, for example, as a push switch that can be pressed or a slide switch that can be slid. The correction switch 20 is also connected to the control device 40 so as to be able to communicate with the control device 40, and can output an operation signal to the control device 40.

[0073] The line definition unit 40c also has a correction unit 40c1. The correction unit 40c1 corrects and redefines the reference line L1 based on the operation of the correction switch 20, and corrects the steering of the vehicle body 3 during automatic steering. The correction unit 40c1 is composed of electric and electronic components provided in the control device 40, a program incorporated in the first storage device 41, etc. In this embodiment, the correction unit 40c1 corrects the planned travel line L2 and corrects the reference line L1 in response to the operation of the correction switch 20. The correction unit 40c1 corrects the planned travel line L2 and the reference line L1 stored in the first storage device 41 by a correction amount h based on the operation of the correction switch 20, for example.

[0074] Specifically, the correction unit 40c1 defines the correction amount h based on the number of times the correction switch 20 is operated. The correction unit 40c1 obtains the number of times the correction switch 20 is operated based on an operation signal output from the correction switch 20, and defines (calculates) the correction amount h. For example, the correction unit 40c1 defines the correction amount h as the product of the number of times the correction switch 20 is operated and the correction amount h per one operation. That is, the correction unit 40c1 increases the correction amount h (degree of correction) according to the number of times the correction switch 20 is operated, and the correction amount h defined by the correction unit 40c1 is proportional to the number of times the correction switch 20 is operated. For example, the correction amount h increases by several centimeters or several tens of centimeters each time the correction switch 20 is operated.

[0075] 1, the correction switch 20 includes a first push switch 20a for commanding a correction to one side in the width direction of the vehicle body 3, i.e., to the left, and a second push switch 20b for commanding a correction to the other side in the width direction of the vehicle body 3, i.e., to the right. In the following description, as shown in FIG 7, a correction amount h indicating a correction to the left will be expressed as a positive number (h>0), and a correction amount h indicating a correction to the right will be expressed as a negative number (h<0). Furthermore, the correction switch 20 is not limited to a push switch, but may be a slide switch whose operation amount is changeable. In such a case, the correction unit 40c1 defines the correction amount h based on the operation amount (displacement amount) of the slide switch. Hereinafter, the correction of the planned travel line L2 and the reference line L1 based on the correction amount h by the correction unit 40c1 will be described with reference to FIG. 6 and FIG.

[0076] 6, the correction unit 40c1 judges whether the automatic steering control unit 40b is performing automatic steering (S30). For example, when the steering changeover switch 19 is operated to the third position, or when it is confirmed that a control signal is being output from the automatic steering control unit 40b to the automatic steering mechanism 37, the correction unit 40c1 judges that the automatic steering control unit 40b is performing automatic steering. When the automatic steering control unit 40b determines that automatic steering is being performed (Yes in S30), the correction unit 40c1 determines whether the correction switch 20 is being operated (S31). When the control device 40 acquires an operation signal from the correction switch 20, the correction unit 40c1 determines that the correction switch 20 has been operated.

[0077] When the correction unit 40c1 determines that the correction switch 20 has been operated (Yes in S31), it corrects the planned travel line L2 in accordance with the operation of the correction switch 20 (S32). Specifically, as shown in Fig. 7, the correction unit 40c1 corrects the planned travel line L2 by shifting the planned travel line L2 in accordance with the correction amount h. In other words, the movement trajectory of the work vehicle 1 moves in the width direction by the correction amount h.

[0078] After correcting the intended travel line L2 (S32), the correction unit 40c1 stores the correction amount h in the first storage device 41 (S33). When the correction unit 40c1 stores the correction amount h in the first storage device 41, it judges whether or not the automatic steering control unit 40b has ended automatic steering (S33). For example, when the steering changeover switch 19 is operated to the fourth position, or when it is confirmed that a control signal is not being output from the automatic steering control unit 40b to the automatic steering mechanism 37, the correction unit 40c1 judges that the automatic steering control unit 40b has ended automatic steering.

[0079] When the automatic steering control unit 40b determines that automatic steering has ended (Yes in S33), the correction unit 40c1 corrects the reference line L1 stored in the first storage device 41 (S34). In this embodiment, as shown in FIG. 7, the correction unit 40c1 corrects the reference line L1 by redefining the end point Pgh of the corrected reference line L1', that is, by overwriting the end point Pg of the reference line L1 stored in the first storage device 41 with the end point Pgh. The correction unit 40c1 calculates the corrected end point Pgh based on the length between the start point Ps and the end point Pg of the reference line L1 (length of the reference line L1, first distance) K1, the length between the start point Ps' and the end point Pgh' of the corrected planned travel line L2' (length of the corrected planned travel line L2, third distance) K3, and the total correction amount ha, which is the sum of the correction amounts h.

[0080] 7, the ratio (K3:ha) between the third distance K3 and the total correction amount ha is equal to the ratio (K1:K4) between the first distance K1 and the fourth distance K4 (the length between the end point Pg before correction and the end point Pgh after correction). Therefore, the correction unit 40c1 calculates the ratio (K3:ha) between the third distance K3 and the total correction amount ha, and calculates the fourth distance K4 from the ratio and the first distance K1, thereby calculating the position information PI of the end point Pgh after correction.

[0081] Specifically, first, after S33, the correction unit 40c1 acquires the current vehicle position P (position information PI) when the steering switch 19 is operated for the fourth time, i.e., the latest position information PI, as the end point Pgh' of the corrected planned driving line L2' (S34a). When the correction unit 40c1 acquires the end point Pgh' (S34a), it calculates a third distance K3 based on the end point Pgh' and the start point Ps' stored in the first storage device 41 (S34b). Furthermore, when the correction unit 40c1 calculates the third distance K3, it calculates a total correction amount ha based on the correction amount h stored in the first storage device 41 (S34c).

[0082] After calculating the total correction amount ha (S34c), the correction unit 40c1 acquires the start point Ps and the end point Pg of the reference line L1 stored in the first storage device 41 (S34d). After acquiring the start point Ps and the end point Pg (S34d), the correction unit 40c1 calculates a first distance K1 from the start point Ps and the end point Pg (S34e). In this embodiment, since the position information PI is information represented by latitude and longitude, the correction unit 40c1 calculates the first distance K1 from the latitude and longitude of the start point Ps and the latitude and longitude of the end point Pg.

[0083] After calculating the first distance K1 (S34e), the correction unit 40c1 calculates the ratio (K3:ha) between the third distance K3 and the total correction amount ha, and calculates the fourth distance K4 from this ratio and the first distance K1 to calculate the position information PI of the corrected end point Pgh (S34f). When the correcting unit 40c1 calculates the position information PI of the corrected end point Pgh (S34f), it overwrites the pre-correction end point Pg stored in the first storage device 41 with the corrected end point Pgh (S34g).

[0084] This allows the correction unit 40c1 to correct the planned travel line L2 and the reference line L1. In addition, when the reference line L1 stored in the first storage device 41 is data (azimuth or function) indicating the reference line L1 itself, the correction unit 40c1 can similarly correct the data using trigonometric functions or the like. In addition, the correction unit 40c1 only needs to be able to correct the reference line L1, and the correction method is not limited to the above-mentioned method. In addition, when the reference line L1 is corrected by the correction unit 40c1, the control device 40 changes the value of the data D1 of the relationship information RD shown in FIG. 8A to a value indicating the corrected reference line L1 and stores it in the first storage device 41.

[0085] Furthermore, the line definition unit 40c can transmit the defined reference line L1 to a server 50 described later via the first communication device 42. Furthermore, the first communication device 42 can receive the reference line L1 from the server 50. The control device 40 stores the reference line L1 received by the first communication device 42 in the first storage device 41. This allows the automatic steering control unit 40b to perform automatic steering based on the received reference line L1.

[0086] Next, the server 50 will be described. As shown in Fig. 1, 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 has a server control device 51, a second communication device 52, a second storage device 53, and a map storage device 54. The server control device 51 is a device that performs various controls related to the server 50. The server control device 51 is composed of electric and electronic components, programs, etc. The server control device 51 stores information (e.g., related information RD) received by the second communication device 52 in the second storage device 53.

[0087] The second communication device 52 is capable of communicating with the first communication device 42 of the work vehicle 1. The second communication device 52 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 second communication device 52 is a communication module that performs either direct communication or indirect communication with the work vehicle 1 (first communication device 42), and may perform 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.

[0088] The second storage device 53 is a non-volatile memory or the like capable of storing various programs and various information. The second storage device 53 stores the relationship information RD received by the second communication device 52. Therefore, the second storage device 53 can store the data D1 of the first setting information included in the relationship information RD (i.e., the reference line L1 defined by the line definition unit 40c).

[0089] The map storage device 54 stores one or more field maps MP indicating the field H. The field map MP is map information having the field H and position information PI of the field H. In the embodiment, the map storage device 54 pre-stores a field map MP1 indicating the first field H1 and a field map MP2 indicating the second field H2. Note that the map information may be data that associates a bird's-eye view map, the outline of the field H on the map, and the position information PI of each map and the field H.

[0090] The server 50 has an information management unit 51a. The information management unit 51a is provided in a server control device 51, and is composed of electric and electronic components provided in the server control device 51, a program installed in the server control device 51, etc. The information management unit 51a manages the information stored in the second storage device 53. The information management unit 51a has a function of deleting duplicate information and a function of thinning out information stored in the second storage device 53, and can efficiently manage information.

[0091] Specifically, when the information management unit 51a arranges multiple pieces of relationship information RD stored in the second storage device 53 in chronological order based on the time information TI, it deletes any setting information SI that has the same content as the immediately preceding setting information SI from the multiple setting information SI arranged in chronological order. Furthermore, when the information management unit 51a arranges the multiple pieces of first relationship information 1RD in chronological order based on the time information TI, it keeps only one piece of first relationship information 1RD included in a predetermined third period (e.g., one minute) and deletes the rest, for each third period. The third period (e.g., one minute) is longer than the first period (e.g., six seconds) and shorter than the second period (e.g., ten minutes). That is, the first relationship information 1RD is thinned out to one piece per minute.

[0092] 9A to 9C, the generation, storage and transmission of relationship information RD by the control device 40 of the work vehicle 1 and the management of relationship information RD received by the server 50 from the work vehicle 1 will be specifically described. FIG. 9A is a diagram showing the travel route of the work vehicle 1 and each piece of position information PI acquired for each first period. FIG. 9B is a diagram showing the start and end points of the reference line L1 on the travel route shown in FIG. 9A, and the respective positions of the start and end of automatic steering. FIG. 9C is a diagram showing setting information SI (changed) of the work vehicle on the travel route shown in FIG. 9A.

[0093] As shown in Fig. 9A, the control device 40 of the work vehicle 1 acquires position information PI of the vehicle body 3 detected by the position detection device 43 every time a first period (6 seconds) has elapsed from a predetermined reference time point. Here, the predetermined reference time point is the time point when the driver turns on the ignition key (the timing when the engine is started), but it may also be the time point when the control device 40 is started up, the time point when an operation is performed on the start icon displayed on the display device 25, etc. The multiple black dots shown in Fig. 9A each indicate the point where the position information PI of the vehicle body 3 is acquired at a cycle of the first period (6 seconds).

[0094] 9B, the white circles at the upper and lower ends of the reference line L1 indicate the start and end points of the reference line L1, and the white circles on the planned travel line L2 indicate the start and end positions of the automatic steering, respectively. The multiple white circles shown in Fig. 9C each indicate relationship information RD including setting information SI (changed) for the work vehicle 1 on the travel route shown in Fig. 9A. Of the multiple relationship information RD stored in the second storage device 53 of the server 50, the relationship information RD1 to RDn-1 at the multiple white circles shown in Fig. 9C is data that will not be deleted and will continue to be stored.

[0095] Fig. 10A is a diagram showing an example of relationship information RD that the work vehicle 1 generated during a certain period and transmitted to the server 50. Note that the interval between the up and down arrows shown in Fig. 10A is all 6 seconds. The time from time t_1 to time t_2 is 6 seconds. In particular, the time from time t_2 to time t_4, the time from time t_4 to time t_6, the time from time t_7 to time t_9, and the time from time t_15 to time t_17 are also each 6 seconds. Fig. 11 is a flowchart showing the processing performed by the control device 40 of the work vehicle 1.

[0096] As shown in FIG. 11, the control device 40 judges whether the first period (6 seconds) has elapsed (S41). When the control device 40 judges that the first period has elapsed (Yes in S41), it generates the first relationship information 1RD (relationship information RD) (S42). Specifically, as shown in FIG. 10A, the control device 40 generates the first relationship information 1RD in which time information TI indicating the time at which the first period has elapsed is associated with position information PI of the vehicle body 3 detected by the position detection device 43 at this time. For example, when 6 seconds have elapsed, the first relationship information 1RD in which time information TI (= t_1) is associated with position information PI (= p_1) of the vehicle body 3 is generated. The control device 40 stores the generated first relationship information 1RD in the first storage device 41 (S43).

[0097] When the control device 40 determines that the first period has not elapsed (No in S41), it determines whether or not a switch has been operated (S47). Specifically, if the setting switch 17, the registration switch 18, the steering changeover switch 19, the correction switch 20, or various switches displayed on the display device 25 have been operated, the control device 40 determines that a switch has been operated (Yes in S47), generates related information RD (S42), stores it in the first storage device 41 (S43), and proceeds to S44. For example, at the time point of time information TI (= t_3) shown in Fig. 10A, the setting switch 17 is operated to change the setting mode flag FL1, so the control device 40 generates second relationship information 2RD (relationship information RD) in which the setting information SI has changed, and stores it in the first storage device 41. In other words, at this time information TI (= t_3), the second relationship information 2RD corresponds to the time information TI (= t_3) and the setting mode flag FL1 (= f1_1) of the second setting information of the setting information SI of the work vehicle 1.

[0098] For example, at the time point of time information TI (= t_5) shown in FIG. 10A, the steering switch 19 is operated to change the straight-line assist flag FL4, so the control device 40 generates third relationship information 3RD (relationship information RD) in which the setting information SI has changed, and stores it in the first storage device 41. That is, at this time information TI (= t_5), the third relationship information 3RD is generated in which the time information TI (= t_5), the straight-line assist flag FL4 (= f4_1) of the second setting information of the setting information SI of the work vehicle 1, and the first setting information (= d_1) of the setting information SI of the work vehicle 1 are associated with each other. Also, at time information TI (= t_8), the third relationship information 3RD is generated in which the time information TI (= t_8), the straight-line assist flag FL4 (= f4_2) of the second setting information of the setting information SI of the work vehicle 1, and the first setting information (= d_1) of the setting information SI of the work vehicle 1 are associated with each other. In addition, for time information TI (= t_16), third relationship information 3RD is generated which associates the time information TI (= t_16), the straight-line assist flag FL4 (= f4_3) of the second setting information of the setting information SI of the work vehicle 1, and the first setting information (= d_2) of the setting information SI of the work vehicle 1.

[0099] Moreover, the various switches displayed on the display device 25 include first to seventh display switches for changing the values ​​of the data D1 to D7 shown in Fig. 8B. That is, the first to seventh display switches are switches for changing the reference line orientation, work type status, work width, lap allowance, work path, control gain, and setting status, respectively. Therefore, when any of the first to seventh display switches is operated, the control device 40 generates relationship information RD in which the setting information SI has changed, and stores it in the first storage device 41. Furthermore, when the correction switch 20 is operated, the control device 40 generates relationship information RD in which the setting information SI has changed, and stores it in the first storage device 41.

[0100] On the other hand, if the setting switch 17, the registration switch 18, the steering changeover switch 19, etc. have not been operated (No in S47), the control device 40 proceeds to S44. The control device 40 determines whether the second period (e.g., 10 minutes) has elapsed (S44). When the control device 40 determines that the second period has elapsed (Yes in S44), it causes the first communication device 42 to transmit the relationship information RD to the server 50 (S45). Specifically, multiple pieces of relationship information RD (e.g., 100 or more pieces) generated during the second period (10 minutes) are transmitted from the first communication device 42 to the server 50 immediately after the second period (10 minutes) has elapsed. Note that the control device 40 transmits multiple pieces of relationship information RD every time the second period (10 minutes) has elapsed from the reference time point.

[0101] The control device 40 judges whether or not the process has ended (S46). For example, when the driver turns off the ignition key, the control device 40 judges that the process has ended (Yes in S46) and ends this process. On the other hand, when the driver has not turned off the ignition key, the control device 40 judges that the process has not ended (No in S46) and returns to S41. When the control device 40 determines that the second period has not elapsed (No in S44), it determines whether or not the process has ended (S48). If the driver has not turned off the ignition key, the control device 40 determines that the process has not ended (No in S48) and returns to S41. On the other hand, when the driver turns off the ignition key, the control device 40 determines that the process has ended (Yes in S48). Then, the control device 40 causes the relevant information RD generated up until the time the ignition key was turned off, that is, the relevant information RD for a period less than the second period (10 minutes), to be transmitted (S45), determines that the process has ended (Yes in S46), and ends this process.

[0102] Next, information management in the server 50 will be described. The server 50 receives a plurality of pieces of related information RD from the work vehicle 1, for example, for each second period, and stores the pieces of related information RD in the second storage device 53. The information management unit 51a of the server control device 51 manages the information stored in the second storage device 53. Fig. 12A is a flowchart showing the management process of the related information RD performed by the server control device 51.

[0103] The information management unit 51a judges whether it is time for management (S51). Here, the management timing is the timing of a management cycle (every day, every week) that is predetermined in the server 50, but is not limited thereto. The management timing may be, for example, the timing when the manager issues a management start instruction to the server 50. The management timing may be the timing when, for the multiple relationship information RD stored in the second storage device 53, multiple pieces of relationship information RD are identified in order of time lapse from the relationship information RD in which the setting mode is changed from invalid to valid to the relationship information RD in which the setting mode is changed from valid to invalid. The management timing may be the timing when multiple pieces of relationship information RD (for example, 100 or more pieces) generated in the second period (10 minutes) shown in FIG. 10A are recorded. When the information management unit 51a judges that it is not time for management (No in S51), it returns to S51 and waits until it is time for management.

[0104] On the other hand, when the information management unit 51a determines that it is time for management (Yes in S51), it reads out the multiple pieces of third relationship information 3RD stored in the second storage device 53 in chronological order (S52). FIG. 10B is a diagram showing an example in which duplicate relationship information RD is deleted and managed in the server 50. The information management unit 51a determines whether or not the first setting information of the setting information SI of the current third relationship information 3RD is the same as that of the previous time (S53). When the information management unit 51a determines that the first setting information of the current setting information SI is the same (Yes in S53), it deletes the current third relationship information 3RD (S54). As shown in FIG. 10B, the information management unit 51a determines, for example, that the first setting information (=d_1) of the setting information SI of the third relationship information 3RD including time information TI (=t_8) is the same as the first setting information (=d_1) of the setting information SI of the third relationship information 3RD including the immediately preceding time information TI (=t_5), and deletes the third relationship information 3RD including the time information TI (=t_8).

[0105] On the other hand, if the information management unit 51a determines that the current setting information SI is not the same (No in S53), it does not delete the current setting information SI and proceeds to S55. As shown in Fig. 10B, the information management unit 51a determines that the first setting information (=d_2) of the setting information SI of the third relationship information 3RD including the time information TI (=t_16) is not the same as the first setting information (=d_1) of the setting information SI of the third relationship information 3RD including the immediately preceding time information TI (=t_5), and does not delete the third relationship information 3RD including the time information TI (=t_16). The information management unit 51a judges whether or not there is the next setting information SI (S55). If the information management unit 51a judges that there is the next setting information SI (Yes in S55), the process returns to S53.

[0106] On the other hand, when the information management unit 51a determines that there is no next setting information SI (No in S55), it arranges the multiple pieces of first relationship information 1RD stored in the second storage device 53 in chronological order and divides them into third periods (e.g., 1 minute) (S56). The information management unit 51a performs the process of leaving only one of the multiple pieces of first relationship information 1RD included in the third period (for example, 1 minute) and deleting the rest for each third period (S57). That is, the information management unit 51a thins out the information to one piece of first relationship information 1RD per minute. As shown in FIG. 10B, if the multiple pieces of first relationship information 1RD included in the third period (for example, 1 minute) include multiple pieces of first relationship information 1RD from time t_1 to time t_17 and the subsequent times (1 minute), only the first relationship information 1RD including the first time information TI (= t_1) is left here, and all the remaining pieces of first relationship information 1RD from time t_2 to time t_17 and the subsequent times (1 minute) are deleted.

[0107] The information management unit 51a judges whether or not there is a next third period for the plurality of pieces of first relationship information 1RD (S58). If there is a next third period for the plurality of pieces of first relationship information 1RD (Yes in S58), the information management unit 51a returns to S57, and if there is no next third period for the plurality of pieces of first relationship information 1RD (No in S58), the information management unit 51a ends this process. Of the multiple pieces of relationship information RD stored in the second storage device 53 of the server 50, as shown in Fig. 10B, the relationship information RD marked with an "x" is deleted. For example, the first relationship information 1RD is thinned to one piece per minute, and as for the third relationship information 3RD, the third relationship information 3RD that overlaps with the previous information is deleted. In this way, it is possible to significantly reduce the storage capacity while appropriately managing important relationship information RD that is related to the automatic steering of the work vehicle 1 in the field H.

[0108] The management system S of the first embodiment described above includes a work vehicle 1 and a server 50. The work vehicle 1 includes a work device 2, a vehicle body 3 capable of traveling by either manual steering or automatic steering based on a reference line L1, a position detection device 43 that detects the position of the vehicle body 3, a timing device 40a, a first storage device 41 that stores relationship information RD that associates time information TI measured by the timing device 40a with at least one of setting information SI of the work vehicle 1 and position information PI of the vehicle body 3 when the vehicle body 3 is automatically steered, and a first communication device 42 that transmits the relationship information RD stored in the first storage device 41 to the server 50. The server 50 includes a second communication device 52 that receives the relationship information RD transmitted from the first communication device 42, and a second storage device 53 that stores the relationship information RD received by the second communication device 52. According to the above configuration, when the vehicle body 3 is automatically steered based on the reference line L1 in the field H, the time information TI and the setting information SI of the work vehicle 1 are stored in the server 50. That is, each time automatic steering is performed in the field H, the setting information SI and time information TI of the work vehicle 1 can be stored in the server 50. Therefore, the setting information SI of the work vehicle 1 set for field work can be managed on a task-by-task basis.

[0109] The work vehicle 1 also includes a steering changeover switch 19 that instructs the start and end of automatic steering, an automatic steering mechanism 37 that performs automatic steering of the vehicle body 3 based on the position of the vehicle body 3 detected by the position detection device 43 and the reference line L1 when the steering changeover switch 19 is instructed to start automatic steering, and a control device 40 that generates related information RD and stores it in the first storage device 41 when the steering changeover switch 19 is instructed to start or end automatic steering. According to the above configuration, the related information RD including the setting information SI of the work vehicle 1 is generated and stored in the first storage device 41 when the automatic steering starts and ends. The related information RD stored in the first storage device 41 is transmitted from the first communication device 42 of the work vehicle 1 to the server 50. Therefore, the setting information SI at the start of automatic steering and the setting information SI at the end of automatic steering can be reliably stored in the server 50. In addition, the start and end of automatic steering can be accurately identified in the server 50.

[0110] Furthermore, when an instruction to change the setting information SI of the work vehicle 1 is given, the control device 40 generates relationship information RD and stores it in the first storage device 41. According to the above configuration, when the setting information SI of the work vehicle 1 is changed during automatic steering, the changed relationship information RD is generated and stored in the first storage device 41. The changed relationship information RD stored in the first storage device 41 is transmitted from the first communication device 42 of the work vehicle 1 to the server 50. For this reason, the setting information SI changed during automatic steering can be reliably stored in the server 50. Furthermore, the server 50 can accurately identify that the setting information SI has been changed during automatic steering.

[0111] Furthermore, the control device 40 generates relationship information RD and stores it in the first storage device 41 every time a predetermined first period has elapsed. The first communication device 42 transmits the relationship information RD stored in the first storage device 41 to the server 50. According to the above configuration, regardless of the presence or absence of the setting mode, the first relationship information 1RD in which the time information TI and position information PI of the work vehicle 1 are associated is transmitted, so that the time information TI and position information PI of the work vehicle 1 can be managed by the server 50.

[0112] Furthermore, when a second predetermined period longer than the first period has elapsed, the control device 40 causes the first communication device 42 to transmit to the server 50 a plurality of pieces of related information RD generated during the second period and stored in the first storage device 41. According to the above configuration, when the vehicle body 3 is automatically steered based on the reference line L1 in the field H, the first related information 1RD is generated each time the first period elapses, and when a second period longer than the first period elapses, the plurality of pieces of related information RD (such as the first to third related information 1RD to 3RD) generated during the second period are transmitted to the server 50. Therefore, compared to a configuration in which information is constantly transmitted, it is only necessary to transmit information every first period, and the transmission processing burden on the work vehicle 1 can be reduced. Also, the frequency of storage in the server 50 can be reduced to about once per second period.

[0113] The server 50 also includes an information management unit 51a that manages the information stored in the second storage device 53. When the multiple pieces of relationship information RD stored in the second storage device 53 are arranged in chronological order based on the time information TI, the information management unit 51a deletes the multiple pieces of setting information SI arranged in chronological order that have the same content as the immediately preceding setting information SI. With the above configuration, for the multiple pieces of setting information SI arranged in chronological order, only the setting information SI that has changed to a content different from the immediately preceding setting information SI is stored, and the setting information SI that has the same content as the immediately preceding setting information SI, that is, the duplicated setting information SI, can be deleted. Therefore, the actually used setting information SI can be efficiently managed without duplication.

[0114] Furthermore, when the multiple pieces of first relationship information 1RD are arranged in chronological order based on the time information TI, the information management unit 51a performs the process of leaving only one piece of first relationship information 1RD included in a predetermined third period (for example, one minute) and deleting the rest for each third period. Therefore, the multiple pieces of first relationship information 1RD can be thinned out to only one piece for each third period and managed. This makes it possible to reduce the storage capacity of the relationship information RD in the server 50.

[0115] Furthermore, the information management unit 51a may set the time indicated by the time information TI associated with the setting information SI that has changed among the multiple setting information SI arranged in chronological order as the starting point of the third period. Incidentally, as shown in Fig. 13, it is also possible for the work vehicle 1 to download and utilize the setting information SI of the relationship information RD managed in the second storage device 53 of the server 50. Fig. 13 is a diagram showing the flow in which the work vehicle 1 downloads and executes the relationship information RD managed by the server 50.

[0116] As shown in FIG. 13, the control device 40 of the work vehicle 1 communicates with the server 50 via the first communication device 42 to acquire selection item information indicating the field H and the setting information SI managed by the server 50. Based on the acquired selection item information, the control device 40 causes the display device 25 to display an instruction button for requesting the setting information SI stored in the server 50. When the instruction button on the display device 25 is touched (S91), the control device 40 causes the first communication device 42 to transmit a request signal for the setting information SI to the server 50, and requests transmission of the setting information SI (S92). For example, the request signal for the setting information SI includes information for identifying the field H (information indicating the field H selected by the driver from the fields H displayed on the display device 25, or the position information PI of the work vehicle 1, etc.).

[0117] When the server 50 receives the request signal for the setting information SI, it selects corresponding setting information SI from the multiple setting information SI stored in the second storage device 53 based on the information for identifying the field H (S93). If the driver has selected a field H, it selects the setting information SI for the selected field H, and if the driver has not selected a field H, it determines that the field H is the field H that includes the position information PI of the work vehicle 1 or a nearby field H, and selects the setting information SI for the determined field H. The server 50 then transmits the selected setting information SI to the work vehicle 1 via the second communication device 52 (S94).

[0118] The control device 40 of the work vehicle 1 sets the reference line L1 (S95) using the data D1 (reference line L1 or reference line orientation) included in the setting information SI received by the first communication device 42. When the steering changeover switch 19 is instructed to start automatic steering (S96), the automatic steering mechanism 37 of the work vehicle 1 performs automatic steering of the vehicle body 3 based on the position of the vehicle body 3 detected by the position detection device 43 and the setting information SI received by the first communication device 42 (S97). The work device 2 performs work based on the setting information SI received by the first communication device 42 (S98).

[0119] As described above, when the server 50 receives a request to send setting information SI from the work vehicle 1, it transmits the setting information SI stored in the second storage device 53 to the work vehicle 1 via the second communication device 52, and when the steering changeover switch 19 is instructed to start automatic steering, the automatic steering mechanism 37 performs automatic steering of the vehicle body 3 based on the position of the vehicle body 3 detected by the position detection device 43 and the setting information SI received by the first communication device 42, and the work device 2 performs work based on the setting information SI received by the first communication device 42. According to the above configuration, the work vehicle 1 can download the setting information SI stored in the server 50 and perform automatic steering and work using this setting information SI.

[0120] 13, the server 50 transmits the setting information SI, but it may transmit the setting information SI and the position information PI, or the relationship information RD, to the work vehicle 1. Furthermore, the control device 40 of the work vehicle 1 may cause the work device 2 to execute the same work content as the previous time for each planned travel line L2, based on the received setting information SI and position information PI, or the relationship information RD.

[0121] [Modification of the first embodiment] Fig. 12B is a flowchart showing a management process in a modified example of the first embodiment. In the modified example of the first embodiment, the information management unit 51a of the server control device 51 executes the management process shown in Fig. 12B instead of the management process shown in Fig. 12A. When the information management unit 51a arranges multiple pieces of relationship information RD stored in the second storage device 53 in chronological order based on the time information TI, for multiple pieces of setting information SI arranged in chronological order, it retains the relationship information RD of the setting information SI that is different from the immediately preceding setting information SI and deletes the relationship information RD of the setting information SI that is the same as the immediately preceding setting information SI.

[0122] The information management unit 51a determines whether it is management time (S81), and if it is determined that it is management time (Yes in S81), it reads out a plurality of pieces of relationship information RD stored in the second storage device 53 in chronological order (S82). On the other hand, if the information management unit 51a determines that it is not management time (No in S81), it returns to S81 and waits until it is management time.

[0123] The information management unit 51a judges whether the current setting information SI has been changed from the immediately previous setting information SI for the multiple pieces of relationship information RD stored in the second storage device 53 (S83). If the information management unit 51a judges that the current setting information SI has been changed (Yes in S83), it stores the current setting information SI, that is, the changed setting information SI (S84). On the other hand, if the information management unit 51a judges that the current setting information SI has not been changed (No in S83), it deletes the current setting information SI (S85).

[0124] The information management unit 51a judges whether or not there is the next relationship information RD (S86). When the information management unit 51a judges that there is the next relationship information RD (Yes in S86), the process returns to S83. On the other hand, when the information management unit 51a judges that there is not the next relationship information RD (No in S86), the process ends. As shown in Figure 9C, the relationship information RD at the two white circle points on the first planned driving line L2, that is, the relationship information RD regarding each position of the start and end of automatic steering for the first planned driving line L2, is left in the second memory device 53, and the relationship information RD regarding other positions on the first planned driving line L2 is deleted from the second memory device 53.

[0125] In a modified example of the first embodiment, when the information management unit 51a arranges multiple pieces of relationship information RD stored in the second storage device 53 in chronological order based on the time information TI, for multiple pieces of setting information SI arranged in chronological order, it retains the relationship information RD of the setting information SI that is different from the immediately preceding setting information SI, and deletes the relationship information RD of the setting information SI that is the same as the immediately preceding setting information SI. According to the above configuration, for multiple pieces of relationship information RD arranged in chronological order, relationship information RD of setting information SI different from the immediately preceding setting information SI is kept, and relationship information RD of setting information SI the same as the immediately preceding setting information SI is deleted. Therefore, it is possible to appropriately keep only relationship information RD of setting information SI that has changed. This makes it possible to further reduce the storage capacity of the location information PI of the server 50.

[0126] Furthermore, when the information management unit 51a arranges the multiple pieces of relationship information RD stored in the second storage device 53 in chronological order based on the time information TI, it may delete the multiple pieces of setting information SI arranged in chronological order that have the same contents as one piece of setting information SI during the same day. In this case, it is possible to leave only the setting information SI whose contents are different during the same day. Therefore, it is possible to manage the setting information SI that has actually been used more efficiently.

[0127] [Second embodiment] 14 shows an overall view of the management system S in the second embodiment. The information management unit 51a of the server 50 in the second embodiment can further manage multiple pieces of relationship information RD stored in the second storage device 53 based on the setting mode information. Therefore, the multiple pieces of relationship information RD stored in the second storage device 53 can be managed for each field H. Note that the same components as in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0128] As in the first embodiment, the control device 40 of the work vehicle 1 stores relationship information RD in the first storage device 41, as shown in Fig. 8A. The relationship information RD is information that associates time information TI, position information PI, and setting information SI of the work vehicle 1, and includes setting mode information (setting mode flag FL1) that indicates whether the setting mode is enabled or disabled. 14, the server 50 of the second embodiment further includes a specification unit 51b. That is, the server 50 includes an information management unit 51a and a specification unit 51b. The specification unit 51b is provided in the server control device 51, and is configured by electric and electronic components provided in the server control device 51, a program installed in the server control device 51, etc.

[0129] The identification unit 51b identifies the work time of the work vehicle 1 based on the time information TI associated with a group of position information PI arranged in chronological order in which the setting mode indicated by the setting mode information (setting mode flag FL1) is active, among the relationship information RD stored in the second storage device 53. The identification unit 51b then calculates a first center of gravity CG1 (see FIG. 15D, described later) by aggregating the group of position information PI. The identification unit 51b then identifies the center of gravity MG closest to the first center of gravity CG1, among the centers of gravity MG of the multiple fields included in the field map MP. The identification unit 51b then identifies the field H of the closest center of gravity MG as the field H.

[0130] The information management unit 51a associates the field H identified by the identification unit 51b, the work time identified by the identification unit 51b, and the relationship information RD in the second storage device 53 corresponding to this work time. In addition, when the setting mode of the setting mode information remains active and the position information PI changes from a value indicating a position within the first field H1 to a value indicating a position other than the first field H1, or the value indicating a position other than the first field H1 continues over a first judgment period (e.g., one hour), the identification unit 51b identifies the time indicated by the time information TI corresponding to the last position information PI within the first field H1 as the end time of the work time.

[0131] In addition, if the setting mode of the setting mode information remains active and the position information PI changes from a value indicating a position within the first field H1 to a value indicating a position other than the first field H1 within the first judgment period, the identification unit 51b does not determine the time of change to be the end time of the work time. In addition, when the setting mode of the setting mode information remains active and the time information TI is a day later than the work day, the identification unit 51b determines the time indicated by the time information TI corresponding to the last position information PI in the first field H1 on the work day to be the final work time on the work day, and identifies the time from the time indicated by the time information TI corresponding to the first position information PI in the first field H1 on the later day to the time indicated by the time information TI corresponding to the last position information PI in the first field H1 on the later day as the work time on the later day.

[0132] In addition, when the setting mode of the setting mode information remains enabled and the position information PI becomes a value indicating a position within the first field H1 on the same day as the day on which the time belongs to the time when the position information PI changed from a value indicating a position within the first field H1 to a value indicating a position other than the first field H1, the identification unit 51b determines that the combined work time is the previous work time for the first field H1 and the subsequent work time on the same day, regardless of whether the setting mode of the setting mode information is enabled or disabled.

[0133] In addition, when the setting mode of the setting mode information remains active and the position information PI changes from a value indicating a position in the first field H1 to a value indicating a position in the second field H2 or the position information PI in the second field H2 continues throughout the second judgment period, the identification unit 51b identifies the time indicated by the time information TI corresponding to the first position information PI in the second field H2 as the start time of the work time.

[0134] Here, information management in the server 50 of the management system S in the second embodiment will be described. FIG. 15A is a diagram showing an example of work time management processing in the second embodiment. As in the first embodiment, the server 50 has the second communication device 52 receive a plurality of pieces of related information RD transmitted from the first communication device 42 of the work vehicle 1 and store them in the second storage device 53. Here, as shown in FIG. 9A, when the work vehicle 1 enters the first field H1, the setting switch 17 shown in FIG. 14 is turned on (it does not matter whether the setting switch 17 is turned off when the work vehicle 1 leaves the first field H1), and the work vehicle 1 performs work in the first field H1 (whether the work is completed or not) will be described below.

[0135] 15A, the information management unit 51a determines whether or not it is time for management (S61). If it determines that it is not time for management (No in S61), the information management unit 51a returns to S61 and waits until it is time for management. On the other hand, when the information management unit 51a determines that it is time for management (Yes in S61), the identification unit 51b performs a determination process for the field H using the multiple pieces of relationship information RD stored in the second storage device 53 (S62).

[0136] The determination process of the field H will be described with reference to FIG. 15B. FIG. 15B is a diagram showing an example of the determination process of the field H in the second embodiment. Specifically, the identification unit 51b identifies a group of multiple relationship information RD for which the setting mode indicated by the setting mode information remains active among the multiple relationship information RD stored in the second storage device 53, and acquires position information PI of the identified group of multiple relationship information RD (S621). That is, the identification unit 51b acquires a group of position information PI when the setting mode is active. For example, the identification unit 51b may acquire position information PI of a group of first relationship information 1RD included in the period from the time indicated by the time information TI at which the setting mode flag FL1 of the second relationship information 2RD is on to the time indicated by the time information TI at which the setting mode flag FL1 of the second relationship information 2RD is off.

[0137] Fig. 15C is a diagram showing an example in which the position information PI of the work vehicle 1 is determined to have entered the second field H2 when there is a positional deviation in the GPS position information or the field map MP. As shown on the left side of Fig. 15C, when there is a deviation in the GPS position information PI, even if the work vehicle 1 travels on the actual travel line indicated by the arrow in the first field H1, the position information PI indicated by the white circle may be determined to be located in the second field H2. Also, as shown on the right side of Fig. 15C, when there is a positional deviation in the field map MP, even if the work vehicle 1 travels on the actual travel line indicated by the arrow in the first field H1 and there is no deviation in the GPS position information PI, the position information PI indicated by the white circle may be determined to be located in the second field H2 according to the field map MP2.

[0138] In contrast to this, in the second embodiment, by S621 to S625 shown in Fig. 15B, even if there is a positional deviation in the GPS position information PI or the field map MP, as shown in Fig. 15D, it can be correctly determined that the position information PI of the work vehicle 1 is located in the first field H1. Fig. 15D is a diagram showing that even if there is a positional deviation in the GPS position information PI or the field map MP, it is correctly determined that the position information PI of the work vehicle 1 is located in the first field H1.

[0139] The identification unit 51b calculates the first center of gravity CG1 by using all of the group of position information PI when the setting mode is active (S622). As shown in FIG. 9C, the identification unit 51b calculates the center of gravity of the position information PI or the center of gravity of a shape including these position information PI as the first center of gravity CG1 based on each of the position information PI of the plurality of pieces of relationship information RD1 to RDn-1. In this case, in order to make it easier to understand the calculation of the first center of gravity CG1, an example will be described in which the group of position information PI when the setting mode is active is a plurality of position information PI that coincides with a movement route that goes around once along the inner circumference of the rectangular first field H1, as shown in FIG. 15D. That is, the work vehicle 1 goes around along the inner boundary of the first field H1 immediately after entering the rectangular first field H1, for example, so that the position information PI of the work vehicle 1 are arranged in a rectangular shape. The specification unit 51b then calculates the center of gravity of the plurality of pieces of position information PI arranged in a rectangular shape, or the center of gravity of the outline (rectangular or approximately rectangular travel route shape) formed by the plurality of pieces of position information PI, as the first center of gravity CG1.

[0140] The determination unit 51b calculates the first center of gravity CG1 using all of the group of position information PI when the setting mode is active, but is not limited to this. For example, as shown in Fig. 15D, the determination unit 51b may calculate the first center of gravity CG1 based on a plurality of pieces of position information PI for one revolution along the inner boundary of the first field H1, or a plurality of pieces of position information PI corresponding to a predetermined initial period immediately after entry into the first field H1. The determination unit 51b may also use, as the first center of gravity CG1, the center, average point, or the like of the plurality of pieces of position information PI, instead of the first center of gravity CG1 of the plurality of pieces of position information PI. The identification unit 51b acquires a field map MP indicating the field H stored in the map storage device 54 (S623). For example, as shown in Fig. 15D, the identification unit 51b acquires a field map MP1 indicating the first field H1 and a field map MP2 indicating the second field H2.

[0141] The identifying unit 51b acquires the center of gravity MG of the acquired field map MP (S624). Specifically, the map storage device 54 stores in advance the field map MP associated with auxiliary information indicating the center of gravity of the field H. The auxiliary information is information on the center of gravity position (center of the field H). Specifically, the map storage device 54 associates the field map MP1 indicating the first field H1 with auxiliary information indicating the center of gravity MG1 of the first field H1, and associates the field map MP2 indicating the second field H2 with auxiliary information indicating the center of gravity MG2 of the second field H2. Therefore, the identifying unit 51b acquires the center of gravity MG (center of gravity position) of each field H based on the auxiliary information. Specifically, the identification unit 51b acquires the center of gravity MG1 of the first field H1 using the additional information of the field map MP1, and acquires the center of gravity MG2 of the second field H2 using the additional information of the field map MP2. As shown in Fig. 15D, the identification unit 51b acquires the center of gravity MG1 of the first field H1 and the center of gravity MG2 of the second field H2. Note that if the additional information (i.e., information indicating the position of the center of gravity of the field H) is not stored for the field map MP, the identification unit 51b can determine the position of the center of gravity of the field H using the latitude and longitude (map data) corresponding to the contour line (each side) of the field H.

[0142] The identifying unit 51b identifies the center of gravity closest to the first center of gravity CG1 among the centers of gravity MG of the multiple fields H included in the field map MP (S625). In FIG. 15D, the identifying unit 51b calculates a first straight-line distance LG1 that connects the first center of gravity CG1 and the center of gravity MG1 of the first field H1 at the shortest distance based on the position of the first center of gravity CG1 and the position of the center of gravity MG1 of the first field H1. The identifying unit 51b calculates a second straight-line distance LG2 that connects the first center of gravity CG1 and the center of gravity MG2 of the second field H2 at the shortest distance based on the position of the first center of gravity CG1 and the position of the center of gravity MG2 of the second field H2. The identifying unit 51b compares the first straight-line distance LG1 with the second straight-line distance LG2 to identify the shortest straight-line distance among these straight-line distances. Here, the specification unit 51b determines that the first linear distance LG1 is shorter than the second linear distance LG2, and therefore specifies the center of gravity closest to the first center of gravity CG1 as the center of gravity MG1.

[0143] Returning to FIG. 15A, the identifying unit 51b identifies the first field H1 of the center of gravity MG1 that has been identified as being closest to the first center of gravity CG1 (S63). The identifying unit 51b executes a work time identifying process (S64). The identifying unit 51b identifies the work time of the work vehicle 1 based on the time information associated with the position information PI of the identified first field H1. The work time identifying process will be described with reference to Fig. 15E. Fig. 15E is a diagram showing an example of the work time identifying process in the second embodiment.

[0144] As shown in FIG. 15E, the identification unit 51b determines whether or not there is any position information PI other than the position information PI located in the first field H1 identified by the identification unit 51b, that is, whether or not there is any position information PI outside the first field H1, for the position information PI of the series of relationship information RD for which the setting mode is active (S71). If the identification unit 51b determines that there is position information PI outside the first field H1 (Yes in S71), it determines whether or not there is a date change for the time information TI of the series of relationship information RD (S72). If the identification unit 51b determines that there is no date change (No in S72), it determines whether or not there is a return to the first field H1 within a first judgment period (S73). For example, the identification unit 51b identifies the time when the vehicle is located outside the first field H1 based on the time information TI of the series of relationship information RD, and determines whether or not this time is within the first judgment period.

[0145] When the specification unit 51b determines that the work vehicle 1 has not returned to the first field H1 within the first judgment period (No in S73), it specifies the relationship information RD including the position information PI indicating the first field H1 among the series of relationship information RD, and sets the last time within the first field H1 among the relationship information RD within the first field H1 as the end time of the work time (S74). For example, if the driver of the work vehicle 1 forgets to disable the setting mode and leaves the first field H1 and does not return to the first field H1 within the first judgment period, in other words, if the setting mode remains enabled and the work vehicle 1 leaves the first field H1 and does not return to the first field H1 within the first judgment period, the time of leaving the first field H1 can be set as the end time of the work time.

[0146] On the other hand, in S72, if the identification unit 51b determines that there has been a date change (Yes in S72), that is, if it determines that the time information TI has become a day later than the work day, it determines that the time indicated by the time information TI corresponding to the last position information PI in the first field H1 on the work day is the final work time on the work day, and identifies the time from the time indicated by the time information TI corresponding to the first position information PI in the first field H1 on the later day to the time indicated by the time information TI corresponding to the last position information in the first field H1 on the later day as the work time on the later day (S76). For example, the identification unit 51b divides the series of relationship information RD into a first group whose time information TI is a work day and a second group whose days are later than the work day, and identifies the last time among the multiple time information TI of the first group as the final work time on the work day and identifies it as the work time on the work day, and identifies the period from the time indicated by the time information TI corresponding to the first position information PI in the first field H1 to the time indicated by the time information TI corresponding to the last position information in the first field H1 among the multiple time information TI of the second group as the work time on the later day.

[0147] On the other hand, in S71, when the identifying unit 51b determines that there is no position information PI outside the first field H1 (field H) for the position information PI of the series of relationship information RD (No in S71), it determines whether or not the date has been changed for the time information TI of the series of relationship information RD (S72A). When the identifying unit 51b determines that the date has not been changed (No in S72A), it identifies the time from the time indicated by the first time information TI to the time indicated by the last time information TI in the series of relationship information RD as the work time (S75), and ends this process. For example, when the driver of the work vehicle 1 disables the setting mode when exiting the first field H1, that is, when the setting switch 17 is correctly operated when entering and exiting the first field H1, the work time in the first field H1 can be correctly identified.

[0148] On the other hand, in S72A, if the identification unit 51b determines that there has been a date change (Yes in S72A), that is, if it determines that the time information TI is a day later than the work day, it determines that the time indicated by the time information TI corresponding to the last position information PI in the first field H1 on the work day is the final work time on the work day, and identifies the time from the time indicated by the time information TI corresponding to the first position information PI in the first field H1 on the later day to the time indicated by the time information TI corresponding to the last position information in the first field H1 on the later day as the work time on the later day (S72B). For example, the identification unit 51b divides the series of relationship information RD into a first group whose time information TI is a work day and a second group whose days are later than the work day, and identifies the last time of the multiple pieces of time information TI in the first group as the final work time on the work day, and identifies the time from the time indicated by the time information TI corresponding to the first piece of position information PI in the first field H1 to the time indicated by the time information TI corresponding to the last piece of position information in the first field H1, among the multiple pieces of time information TI in the second group, as the work time on the later day. For example, if the driver of the work vehicle 1 leaves the setting mode enabled (forgets to disable it) and leaves the work vehicle 1 in the first field H1, and works on the following day or later, the work time can be divided by date.

[0149] Furthermore, in S73, when the specification unit 51b determines that the work vehicle 1 has returned to the field H within the first judgment period (Yes in S73), the specification unit 51b combines the previous work time and the next work time into a work time (S77) and ends this process. For example, if the setting mode remains active and the work vehicle 1 temporarily leaves the first field H1 and returns (i.e., if it returns within the first judgment period), the time when the work vehicle 1 leaves the first field H1 is not set as the end time of the work time, and the work time can be continuously managed. In detail, if the work vehicle 1 leaves the first field H1 once but returns within the first judgment period, the previous work time separated by the exit from the first field H1 and the subsequent work time generated by re-entry are combined to form a single work time.

[0150] After S74, the specification unit 51b specifies the time from the time indicated by the first time information TI in the series of relationship information RD to the end time of the previous work time specified in S74 (the last time in the first field H1) as the previous work time (S78). For example, even if the driver of the work vehicle 1 forgets to disable the setting mode and enters the second field H2, that is, even if the work vehicle 1 leaves the first field H1 and enters the second field H2 with the setting mode still enabled, the time of entry into the second field H2 can be set as the start time of the work time. After S78, the specification unit 51b specifies the first time in the next field H (the second field H2) as the start time of the next work time (S79), and ends this process.

[0151] Returning to FIG. 15A, the information management unit 51a manages the field H identified by the identification unit 51b, the work time identified by the identification unit 51b, and the relationship information RD in the second storage device 53 corresponding to the work time of the first field H1 in association with each other (S65). FIG. 16 is a diagram showing an example of data linking the field H, the work time, and the setting information SI. As shown in FIG. 16, the information management unit 51a generates data linking field information HI indicating the first field H1 (field number H01), work time information WI indicating the work time, and the setting information SI of the relationship information RD (i.e., first field work data FWI1), and stores the data in the second storage device 53. The work time information WI indicates the time from the time of entry into the first field H1 to the time of exiting the first field H1. The first field work data FWI1 may be data from which duplicate information has been deleted, as in the first embodiment.

[0152] The identification unit 51b determines whether or not there is the next set of relationship information RD (S66). If the identification unit 51b determines that there is the next set of relationship information RD (Yes in S66), the process proceeds to S62. The identification unit 51b executes the above-mentioned S62 to S64 to identify the work time of the second field H2. The information management unit 51a then manages the field H identified by the identification unit 51b, the work time of the second field H2 identified by the identification unit 51b, and the relationship information RD in the second storage device 53 corresponding to the work time of the second field H2 in association with each other (S65). 16, the information management unit 51a generates data linking field information HI indicating the second field H2 (field number H02), work time information WI indicating work time, and setting information SI for the relationship information RD (i.e., second field work data FWI2), and stores the data in the second storage device 53. Note that the first and second field work data FWI1, FWI2 may be data from which duplicate information has been deleted, as in the first embodiment. For example, the multiple pieces of relationship information RD saved on a field-by-field basis may be made up of thinned first relationship information 1RD, second relationship information 2RD, and third relationship information 3RD from which information duplicated with the previous piece has been deleted.

[0153] When the specification unit 51b determines that there is no next series of relationship information RD (No in S66), the specification unit 51b ends this process. The management system S of the second embodiment described above includes a work vehicle 1 and a server 50. The work vehicle 1 includes a setting switch 17 for setting the setting mode for setting before the start of automatic steering to be enabled or disabled, a first storage device 41 for storing relationship information RD that associates setting mode information indicating whether the setting mode is enabled or disabled, time information TI clocked by the timing device 40a, position information PI of the vehicle body 3, and setting information SI of the work vehicle 1, and a first communication device 42 for transmitting the relationship information RD stored in the first storage device 41 to the server 50. The server 50 includes a second communication device 52 for receiving the relationship information RD transmitted from the first communication device 42, a second storage device 53 for storing the relationship information RD received by the second communication device 52, and an information management unit 51a for managing the relationship information RD stored in the second storage device 53 based on the setting mode information. According to the above configuration, the information management unit 51a manages the relationship information RD stored in the second storage device 53 based on the setting mode information. That is, the storage of the time information TI and the position information PI is managed based on the setting mode information. For example, the time information TI and the position information PI when the setting mode is valid can be stored. Therefore, the time information TI and the position information PI can be appropriately managed according to the setting mode.

[0154] The server 50 also includes a map storage device 54 that stores the field map MP, and an identification unit 51b. The identification unit 51b identifies the work time of the work vehicle 1 based on time information TI associated with a group of position information PI arranged in chronological order in which the setting mode indicated by the setting mode information (setting mode flag FL1) is active among the relationship information RD stored in the second storage device 53, calculates a first center of gravity CG1 by aggregating the group of position information PI, identifies the center of gravity MG closest to the first center of gravity CG1 among the centers of gravity MG of the multiple fields included in the field map MP, and identifies the field H of the closest center of gravity MG as field H. According to the above configuration, the identification unit 51b identifies the field H whose center of gravity MG is closest to the first center of gravity CG1 identified by the position information PI when the setting mode is active as the field H where the work vehicle 1 worked. Therefore, even if there is an error in the position information PI or the field map MP, the field H can be accurately identified.

[0155] Furthermore, the information management unit 51a associates the field H identified by the identification unit 51b, the work time identified by the identification unit 51b, and relationship information RD in the second storage device 53 corresponding to the work time. According to the above configuration, the server 50 can manage the field H, the work time, and the relationship information RD corresponding to the work time in association with each other. Moreover, the field map MP includes at least the first field H1, and the identifying unit 51b identifies the time indicated by the time information TI corresponding to the last position information PI in the first field H1 as the end time of the work time when the setting mode of the setting mode information remains active and the position information PI changes from a value indicating a position in the first field H1 to a value indicating a position other than the first field H1 or the value indicating a position other than the first field H1 continues over the first judgment period. According to the above configuration, when the driver of the work vehicle 1 forgets to disable the setting mode and leaves the first field H1, that is, when the work vehicle 1 leaves the first field H1 with the setting mode still active, the time of leaving the first field H1 can be set as the end time of the work time. This allows the work time to be appropriately divided by field.

[0156] Furthermore, when the setting mode of the setting mode information remains active and the position information PI changes from a value indicating a position in the first field H1 to a value indicating a position outside the first field H1 within the first judgment period, the identifying unit 51b does not set the time of change as the end time of the work time. According to the above configuration, when the setting mode remains active and the work vehicle 1 temporarily leaves the first field H1 and returns, the time of leaving the first field H1 is not set as the end time of the work time, and the work time can be continuously managed. This makes it possible to prevent the work time from being divided inappropriately. Therefore, the work time can be divided appropriately by field.

[0157] Furthermore, when the setting mode of the setting mode information remains active and the time information TI is a day later than the work day, the identifying unit 51b determines the time indicated by the time information TI corresponding to the last position information PI in the first field H1 on the work day as the final work time on the work day, and identifies the time from the time indicated by the time information TI corresponding to the first position information PI in the first field H1 on the later day to the time indicated by the time information TI corresponding to the last position information in the first field H1 as the work time on the later day. According to the above configuration, when the driver of the work vehicle 1 leaves the setting mode active (forgets to disable it) and leaves the work vehicle 1 in the field, and works on the following day or later, the work time can be divided by date. This allows the work time to be appropriately divided based on the date.

[0158] Furthermore, when the setting mode of the setting mode information is switched to invalid and the position information PI becomes a value indicating a position in the first field H1 on the same day as the day that includes the time when the value indicating a position in the first field H1 is changed to a value indicating a position other than the first field H1, the identification unit 51b distinguishes between the previous work time for the first field H1 and the subsequent work time on the same day. According to the above configuration, when the setting mode is correctly operated when entering and exiting the first field H1, and the work vehicle 1 once leaves the first field H1 but returns on the same day, the previous work time separated by the exit from the first field H1 and the subsequent work time generated by the re-entry can be treated as separate work times. In other words, even if they are on the same day, they can be managed as separate work times by switching the setting mode to invalid. Therefore, the work time can be appropriately divided by the setting mode unit.

[0159] Furthermore, when the setting mode of the setting mode information remains active, and the position information PI becomes a value indicating a position in the first field H1 on the same day as the day that the time belongs to when the value indicating a position in the first field H1 changes to a value indicating a position other than the first field H1, the identifying unit 51b determines the work time as a combination of the previous work time for the first field H1 and the subsequent work time on the same day. According to the above configuration, when the setting mode remains active, and the work vehicle 1 once leaves the first field H1 but returns on the same day, the previous work time separated by the exit from the first field H1 and the subsequent work time generated by the re-entry can be combined to form one work time. It is possible to prevent multiple work times from being generated on the same day. Therefore, the work time can be appropriately divided by work day unit.

[0160] Furthermore, when the setting mode of the setting mode information remains active and the position information PI changes from a value indicating a position in the first field H1 to a value indicating a position in the second field H2, or when the position information PI in the second field H2 continues over the second judgment period, the identifying unit 51b identifies the time indicated by the time information TI corresponding to the first position information PI in the second field H2 as the start time of the work time. According to the above configuration, even if the driver of the work vehicle 1 forgets to disable the setting mode and enters the second field H2, that is, even if the work vehicle 1 leaves the first field H1 and enters the second field H2 with the setting mode still active, the time of entry into the second field H2 can be determined as the start time of the work time, and the start of the work time can be appropriately divided by field.

[0161] [Third embodiment] The identification unit 51b of the server 50 in the third embodiment identifies the corresponding field H for each of the multiple position information PI by performing an inside / outside determination as to whether or not the multiple position information PI, which is arranged in chronological order and for which the setting mode indicated by the setting mode information (setting mode flag FL1) is active, is within the field H indicated by the field map MP, among the relationship information RD stored in the second storage device 53, and identifies the work time of the work vehicle 1 based on the time information TI associated with the series of position information PI in which the same field H is consecutively identified.

[0162] Here, a description will be given of the work time management process in the server 50 of the management system S in the third embodiment. Fig. 15F is a diagram showing an example of the work time management process in the third embodiment. 15F, the information management unit 51a determines whether or not it is time for management (S61). If it determines that it is not time for management (No in S61), the information management unit 51a returns to S61 and waits until it is time for management.

[0163] On the other hand, when the information management unit 51a determines that it is time for management (Yes in S61), the identification unit 51b performs inside / outside determination processing for the field H using the plurality of pieces of relationship information RD stored in the second storage device 53 (S62A), and identifies the corresponding field for each of the plurality of pieces of position information PI (S63A). Specifically, the identification unit 51b performs inside / outside determination (S62A) for each of the plurality of pieces of position information PI, which are arranged in chronological order and in which the setting mode indicated by the setting mode information is valid, to determine whether the piece is within the field H indicated by the field map MP, thereby identifying the corresponding field for each of the plurality of pieces of position information PI (S63A). For example, the identification unit 51b may acquire a group of position information PI of the first relationship information 1RD included between the time indicated by the time information TI at which the setting mode flag FL1 of the second relationship information 2RD is on and the time indicated by the time information TI at which the setting mode flag FL1 of the second relationship information 2RD is off.

[0164] Next, the identification unit 51b determines whether or not there is next position information PI (S63B), and if it determines that there is next position information PI (Yes in S63B), it returns to S63A. On the other hand, if the identification unit 51b determines that there is no next position information PI (No in S63B), it identifies the work time of the work vehicle 1 based on the time information TI associated with the series of position information PI in which the same field H is identified consecutively (S64A). That is, the identification unit 51b identifies the section in which the same field H continues as the work time.

[0165] The information management unit 51a manages the field H identified by the identification unit 51b, the work time identified by the identification unit 51b, and the relationship information RD in the second storage device 53 corresponding to the work time of the first field H1 in association with each other (S65). The identification unit 51b determines whether or not there is a next series of relationship information RD (S66). If the identification unit 51b determines that there is a next series of relationship information RD (Yes in S66), it proceeds to S62A. On the other hand, if the identification unit 51b determines that there is not a next series of relationship information RD (No in S66), it ends this process.

[0166] The server 50 of the management system S of the third embodiment described above includes a map storage device 54 that stores a field map MP, and an identification unit 51b. The identification unit 51b performs an inside / outside determination for each of a plurality of pieces of position information PI, which are arranged in chronological order and in which the setting mode indicated by the setting mode information (setting mode flag FL1) is active, among the relationship information RD stored in the second storage device 53, to determine whether or not they are within the field H indicated by the field map MP, thereby identifying the corresponding field H for each of the plurality of pieces of position information PI, and identifying the work time of the work vehicle 1 based on the time information TI associated with a series of position information PI in which the same field H is identified consecutively. According to the above configuration, the field H, the work time of the work vehicle 1, and the setting information SI of the work vehicle 1 set in the field work can be appropriately managed. In addition, since the work time of the work vehicle 1 is identified based on the time information TI associated with the position information PI located within the field H, the work time can also be accurately identified.

[0167] Furthermore, when an instruction to start or end automatic steering is given to the steering changeover switch 19, the control device 40 may generate relationship information RD including the setting information SI of the work vehicle 1 and transmit it to the first communication device 42. In other words, at the start and end of automatic steering, the relationship information RD (the setting information SI, time information TI and position information PI of the work vehicle 1) is transmitted. Therefore, the start and end of automatic steering can be accurately identified in the server 50.

[0168] At least one of the first period and the second period may be set to a different value between manual steering and automatic steering. For example, the first period in the case of automatic steering may be shorter than the first period in the case of manual steering. In this case, the server 50 can acquire more relevant information RD in the case of automatic steering, and the server 50 can acquire less relevant information RD in the case of manual steering. Also, the second period in the case of manual steering may be longer than the second period in the case of automatic steering. In this case, the frequency of information transmission to the server 50 can be maintained in the case of automatic steering, while the frequency of information transmission to the server 50 can be reduced in the case of manual steering.

[0169] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0170] 1 Work vehicle 2. Working Equipment 3. Body 19 Steering switch 18 Registration Switch 37 Automatic steering mechanism 40 Control device 40a timing device 41 1st storage device 42 First communication device 43 Position detection device 50 Servers 51 Server control device 51a Information Management Department 51b Specific part 52 Second communication device 53 2nd storage device H Field H1 First Field H2 No. 2 field L1 Reference Line L2 Planned running line S Management System

Claims

1. In a management system including a work vehicle and a server, The work vehicle is A working device; A vehicle body capable of running either by manual steering or automatic steering based on a reference line; a position detection device for detecting a position of the vehicle body; A timing device; A setting switch for setting whether to enable or disable a setting mode for setting before the start of the automatic steering; a first storage device that stores setting mode information indicating whether the setting mode is enabled or disabled, time information measured by the timing device, position information of the vehicle body, and relationship information that associates the setting information of the work vehicle; a first communication device that transmits the relationship information stored in the first storage device to the server; The server, a second communication device that receives the related information transmitted from the first communication device; a second storage device that stores the related information received by the second communication device; an information management unit that manages the relationship information stored in the second storage device based on the setting mode information.

2. The server, a map storage device that stores a farm field map; the setting mode indicated by the setting mode information being valid and arranged in chronological order among the relationship information stored in the second storage device, by performing an inside / outside determination as to whether each of the plurality of pieces of position information is within the field indicated by the field map, and identifying the corresponding field for each of the plurality of pieces of position information, and identifying the work time of the work vehicle based on the time information associated with a series of pieces of position information in which the same field is identified consecutively.

3. The server, a map storage device that stores a farm field map; 2. The management system according to claim 1, further comprising an identification unit that identifies a work time of the work vehicle based on the time information associated with a group of position information arranged in chronological order for which the setting mode indicated by the setting mode information is valid among the relationship information stored in the second storage device, calculates a first center of gravity by aggregating the group of position information, identifies the center of gravity closest to the first center of gravity among the centers of gravity of a plurality of fields included in the field map, and identifies the field with the closest center of gravity as the field.

4. The management system according to claim 2 or 3, further comprising an information management unit that associates and manages the field identified by the identification unit, the work time identified by the identification unit, and the relationship information in the second storage device corresponding to the work time.

5. The farm field map includes a map showing at least a first farm field, 5. The management system of claim 4, wherein the identification unit identifies the time indicated by the time information corresponding to the last position information within the first field as the end time of the work time when the setting mode of the setting mode information remains active and the position information changes from a value indicating a position within the first field to a value indicating a position other than the first field or when the value indicating a position other than the first field continues over a first judgment period.

6. 6. The management system according to claim 5, wherein the identification unit does not set the time at which the setting mode of the setting mode information remains active and the position information becomes a value indicating a position within the first field within the first judgment period from the time at which the position information changed from a value indicating a position within the first field to a value indicating a position other than the first field.

7. The farm field map includes a map showing at least a first farm field, 5. The management system described in claim 4, wherein, when the setting mode of the setting mode information remains active and the time information is a day later than the work day, the identification unit determines the time indicated by the time information corresponding to the last position information in the first field on the work day as the final work time on the work day, and identifies the work time on the later day as the time from the time indicated by the time information corresponding to the first position information in the first field on the later day to the time indicated by the time information corresponding to the last position information in the first field.

8. The farm field map includes a map showing at least a first farm field, 5. The management system according to claim 4, wherein the identification unit distinguishes between an earlier work time in the first field and a later work time on the same day when the location information becomes a value indicating a position within the first field on the same day as the day on which the setting mode of the setting mode information is switched to disabled and the location information changes from a value indicating a position within the first field to a value indicating a position other than the first field.

9. The farm field map includes a map showing at least a first farm field, 5. The management system described in claim 4, wherein when the setting mode of the setting mode information remains active and the location information becomes a value indicating a position within the first field on the same day as the day on which the time when the location information changed from a value indicating a position within the first field to a value indicating a position other than the first field belongs to, the identification unit determines that the previous work time in the first field and a subsequent work time on the same day are combined into a single work time.

10. The farm field map includes at least a map showing a first farm field and a map showing a second farm field other than the first farm field, The management system described in claim 4, wherein the identification unit identifies the time indicated by the time information corresponding to first position information within the second field as the start time of the work time when the setting mode of the setting mode information remains active and the position information changes from a value indicating a position within the first field to a value indicating a position within the second field or when the position information within the second field continues over a second judgment period.

11. The work vehicle is The management system described in claim 4, further comprising a control device that generates first relationship information that corresponds the time information and the location information as the relationship information and stores it in the first storage device each time a predetermined first period has elapsed, and when a predetermined second period that is longer than the first period has elapsed, causes the first communication device to transmit to the server the multiple pieces of relationship information generated during the second period and stored in the first storage device.

12. The management system described in claim 11, wherein the information management unit, when arranging the multiple pieces of first relationship information stored in the second storage device in chronological order based on the time information, retains only one of the multiple pieces of first relationship information included in a predetermined third period that is longer than the first period and shorter than the second period, and deletes the rest, for each third period.

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