Driving support system for agricultural machinery

Abstract

The purpose of the present invention is to work efficiently by suppressing the occurrence of an unworked area (Ed).　A travel assistance system (S) for an agricultural machine (1) comprises: a traveling device (4) installed in the agricultural machine (1); a first acquisition unit (71) for acquiring a traveling route (L) which is created in a field (F) showing an agricultural field (G) and along which the agricultural machine (1) travels; a correction unit (75) for correcting the traveling route (L) acquired by the first acquisition unit (71); and a controller (40) for controlling the traveling device (4) on the basis of the traveling route (L) corrected by the correction unit (75). The travel route (L) includes a plurality of lines (R) connected to each other. The correction unit (75) has a creation unit (75b) for creating an auxiliary line (Ha) running from the end (r1a) of a first line (R1), which is one of the plurality of lines (R), toward the beginning (r2b) of a second line (R2), which is another line connected to the end (r1a) of the first line (R1), while inclining against the second line (R2).

Description

[Technical field]

[0001] The present invention relates to a driving support system for agricultural machinery such as a tractor. [Background technology]

[0002] Conventionally, as disclosed in Patent Document 1, when an agricultural machine equipped with a transplanting agricultural machine as a working implement performs transplanting work in a farm field, the agricultural machine leaves a headland of the farm field and makes a back and forth planting run around the inside of the headland, and then makes a circular planting run around the remaining headland. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication "JP Patent Publication No. 2006-204174" Summary of the Invention [Problem to be solved by the invention]

[0004] However, when agricultural machinery travels around the outside of the headland of a field to plant, there are areas (prohibited areas) where entry is prohibited in advance, such as near the ridges (ridge edges) and areas where transplanting work has already been completed (already cultivated land), and the agricultural machinery may not have space to turn.On the other hand, if the agricultural machinery stops work midway to secure space to turn, there is a risk that areas where transplanting work has not been completed (unworked areas) will be created.

[0005] The present invention has been made to solve such problems with the conventional technology, and has an object to provide a driving support system for agricultural machinery that suppresses the occurrence of unworked areas and enables work to be performed efficiently. [Means for solving the problem]

[0006] A driving assistance system for an agricultural machine according to one embodiment of the present invention comprises a driving device provided on the agricultural machine to which a work implement can be attached, a first acquisition unit that acquires a driving route created in a field representing a farm field and along which the agricultural machine travels, a correction unit that corrects the driving route acquired by the first acquisition unit, and a control device that controls the driving device based on the driving route after correction by the correction unit, wherein the driving route includes a plurality of lines connected to each other, and the correction unit has a creation unit that creates an auxiliary line that runs from an end end of a first line, which is one of the plurality of lines, to a starting end of a second line, which is another line connected to the end end of the first line, and is inclined relative to the second line.

[0007] The agricultural machinery driving assistance system may include a position detection device that detects the position of the agricultural machinery, and the control device may have an automatic driving control unit that controls the steering and vehicle speed of the driving device based on the driving route after it has been corrected by the correction unit and the position of the agricultural machinery detected by the position detection device.

[0008] The agricultural machinery driving assistance system may include a position detection device that detects the position of the agricultural machinery, and the control device may have an automatic steering control unit that controls the steering of the driving device based on the driving route after it has been corrected by the correction unit and the position of the agricultural machinery detected by the position detection device.

[0009] A driving assistance system for agricultural machinery according to one embodiment of the present invention includes a first acquisition unit that acquires a driving route created in a field representing a farm field and along which an agricultural machine capable of being fitted with a work implement drives, a correction unit that corrects the driving route acquired by the first acquisition unit, and a display device that displays the driving route after it has been corrected by the correction unit, wherein the driving route includes a plurality of lines that are connected to each other, and the correction unit has a creation unit that creates an auxiliary line that runs from an end end of a first line, which is one of the plurality of lines, to a starting end of a second line, which is another line connected to the end end of the first line, and is inclined relative to the second line.

[0010] The creation unit may create the auxiliary line such that the auxiliary line and the second line form an acute angle.

[0011] The creation unit may create the auxiliary line so that a starting end of the auxiliary line intersects with an end end of the first line, extends in a straight line from the end end of the first line, and the end end of the auxiliary line curves along a starting end of the second line, the starting end of the auxiliary line and the second line form an acute angle, and the auxiliary line is inclined with respect to the second line.

[0012] The creation unit may create the auxiliary line such that an angle formed between a start end of the auxiliary line and the second line is smaller than an angle formed between the first line and the second line.

[0013] When the first line and the second line form an obtuse angle, the creation unit may create the auxiliary line that is inclined so that the angle formed between a starting end of the auxiliary line and the second line is smaller than when the first line and the second line form an acute angle or a right angle.

[0014] The agricultural machine driving assistance system includes a second acquisition unit that acquires specification information of the agricultural machine and / or the work implement, and a third acquisition unit that acquires information of the field, and the correction unit has a modification unit that shortens end portions of the multiple lines based on the specification information acquired by the second acquisition unit and the information of the field acquired by the third acquisition unit so that the agricultural machine does not enter a prohibited area in the field where the agricultural machine is prohibited from entering, and the creation unit may form the auxiliary line so that it extends from the end portion of the first line shortened by the modification unit toward the starting end of the second line and is inclined relative to the second line.

[0015] The agricultural machinery driving assistance system may include a definition unit that defines a virtual first reference position in front of the agricultural machinery based on the specification information acquired by the second acquisition unit, and the third acquisition unit may acquire position information of the prohibited area as information of the field, and the change unit may shorten end portions of the multiple lines based on the position information of the prohibited area and the first reference position so that the first reference position does not enter the prohibited area.

[0016] When the first line and the second line form an acute angle less than a predetermined angle, the definition unit defines a virtual second reference position forward of the first reference position, and the modification unit shortens end portions of the multiple lines based on position information of the multiple lines, position information of the prohibited area, and the second reference position, and the length by which the modification unit shortens the multiple lines based on the second reference position may be longer than the length by which the modification unit shortens the multiple lines based on the first reference position.

[0017] When the length of the plurality of lines shortened by the changing unit is equal to or greater than a preset length, the creating unit may create a plurality of the auxiliary lines adjacent to each other.

[0018] The third acquisition unit may acquire, from the field information, location information of the prohibited area, location information of an area other than the field, and / or location information of an area of ​​the field where the work device has completed work.

[0019] The creation unit may create an inclined auxiliary line such that a starting end of the auxiliary line is perpendicular to an end end of the first line, a middle portion of the auxiliary line curves toward the starting end of the second line, and an end end of the auxiliary line curves along the second line.

[0020] The creation unit may create the auxiliary line so that, when the agricultural machine is located at the starting end of the auxiliary line, the working area of ​​the work device overlaps with the starting end of a unit work section on the second line in which the work device performs work.

[0021] The agricultural machinery driving assistance system includes a route creation unit that defines the multiple lines in the field and creates the driving route, and the route creation unit may create the first line and the second line so that an end end of a unit work section in which the work device performed work on the first line coincides or overlaps with a starting end of a unit work section in which the work device performed work on the second line.

[0022] The agricultural machinery driving assistance system may include a route creation unit that defines the multiple lines in the field and creates the driving route, and the route creation unit creates the driving route for the agricultural machinery to travel around the field in a predetermined circular direction, and the starting ends of the multiple lines may be adjacent to each other and connected to the ending ends of other lines in the same circle, forming multiple circular paths.

[0023] The route creation unit may create the travel route such that the agricultural machine travels in the order of an innermost revolution to an outermost revolution among the plurality of revolutions. Effect of the Invention

[0024] According to the above-described agricultural machine driving support system, the occurrence of unworked areas can be suppressed, and work can be carried out efficiently. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a block diagram of an agricultural machine according to a first embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 1 is a diagram illustrating automatic driving. [Figure 4] FIG. 13 is a diagram illustrating an example of a field registration screen. [Figure 5A] FIG. 13 is a diagram showing how the contour of a farm field is calculated from positioning points. [Figure 5B] FIG. 13 is a diagram showing how the contour of a farm field is determined from inflection points. [Figure 5C] FIG. 1 is a diagram showing how to obtain the contour of a field from its edge. [Figure 6A] FIG. 2 is a diagram illustrating a travel line and a unit work section, etc. [Figure 6B] FIG. 13 is a diagram illustrating inner lines and the like. [Figure 7] FIG. 6B is a diagram showing a unit task section different from that shown in FIG. 6A. [Figure 8] FIG. 1 is a first diagram showing an example of a setting screen. [Figure 9] 1A and 1B are diagrams for explaining a reference position, a working range, etc. [Figure 10] FIG. 13 is a diagram illustrating the creation of a swivel portion. [Figure 11A] FIG. 1 is a first diagram showing an agricultural machine traveling along a travel route and approaching a prohibited area. [Figure 11B] FIG. 13 is a diagram illustrating line shortening. [Figure 11C] FIG. 11 is a first diagram illustrating the creation of an auxiliary line. [Figure 11D] FIG. 2 is a diagram showing an agricultural machine traveling on a connecting line. [Figure 11E] FIG. 13 is a diagram showing an agricultural machine traveling on a connecting line and reaching a second line. [Figure 11F] FIG. 1 is a diagram showing an agricultural machine reversing along an auxiliary line (auxiliary work line). [Figure 11G] FIG. 1 is a diagram showing an agricultural machine moving forward on an auxiliary line (auxiliary work line). [Figure 11H] FIG. 13 is a diagram showing an agricultural machine traveling from an auxiliary work line to a transition line. [Figure 11I] FIG. 11 is a diagram showing an agricultural machine reversing along a second line. [Figure 11J] FIG. 11 shows an agricultural machine moving forward on a second line. [Figure 12A] FIG. 2 is a second diagram showing the agricultural machine traveling along the travel route and approaching a prohibited area. [Figure 12B] FIG. 2 is a second diagram illustrating the creation of auxiliary lines. [Figure 13A] FIG. 3 is a third diagram showing an agricultural machine traveling along a travel route and approaching a prohibited area. [Figure 13B]FIG. 3 is a third diagram illustrating the creation of auxiliary lines. [Figure 14A] FIG. 4 shows an agricultural machine traveling along a travel route and approaching a prohibited area. [Figure 14B] FIG. 4 is a fourth diagram illustrating the creation of auxiliary lines. [Figure 15] FIG. 13 is a diagram illustrating the creation of a plurality of auxiliary lines. [Figure 16] 1 is a diagram for explaining the positional relationship between a work area, a first auxiliary work section, an unworked area, etc. FIG. [Figure 17A] 13A and 13B are diagrams illustrating the creation of auxiliary lines in a modified example. [Figure 17B] FIG. 13 is a diagram showing an agricultural machine traveling on an auxiliary line in a modified example. [Figure 18] FIG. 4 is a diagram showing a series of steps performed by a correction unit to correct a travel route in the first embodiment. [Figure 19] FIG. 4 is a diagram showing a series of flows of an auxiliary line traveling process in the first embodiment. [Figure 20] FIG. 11 is a block diagram of an agricultural machine according to a second embodiment. [Figure 21] FIG. 11 is a block diagram of an agricultural machine according to a third embodiment. [Figure 22] FIG. 2 is a second diagram showing an example of a setting screen. [Diagram 23] FIG. 13 is a diagram showing an example of a result screen. [Figure 24] FIG. 11 is a diagram showing a series of steps performed by a correction unit to correct a travel route in the third embodiment. [Diagram 25] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0027] [First embodiment] 1 is a diagram showing one embodiment of a driving support system S for an agricultural machine 1. The driving support system S for the agricultural machine 1 is a system for supporting the driving and work of the agricultural machine 1, and is a system that suppresses the occurrence of unworked areas Ed and enables work to be performed efficiently.

[0028] As shown in FIG. 25, in this embodiment, the agricultural machine 1 is a tractor equipped with a working device 60. The agricultural machine 1 is not limited to a tractor, and may be any agricultural machine 1 to which the working device 60 can be attached, such as a rice transplanter or a combine harvester. For convenience of explanation, the following description will be given taking the agricultural machine 1 as a tractor. In addition, the front side (arrow AR1 direction in FIG. 25) of the operator (driver) seated in the driver's seat 7 of the agricultural machine 1 as the front, the rear side of the operator (arrow AR2 direction in FIG. 25) as the rear, the left side of the operator as the left side (the front side of FIG. 25), and the right side of the operator as the right side (the back side of FIG. 25). In addition, the horizontal direction perpendicular to the front-rear direction of the agricultural machine 1 will be described as the width direction.

[0029] As shown in Fig. 1 and Fig. 25, the agricultural machine 1 includes a vehicle body 2, a prime mover 8, a first hydraulic pump 9, a transmission 11, and a coupling device 30. The vehicle body 2 has a traveling device 4 and is capable of traveling. The traveling device 4 is a device having front wheels 4A and rear wheels 4B. The front wheels 4A and rear wheels 4B may be of a tire type or a crawler type.

[0030] As shown in FIG. 1, the front wheels 4A are connected by an arm (knuckle arm) 5 that changes the direction of the front wheels 4A. The vehicle body 2 can perform straight running, in which the vehicle body 2 moves straight, and turning running, in which the vehicle body 2 turns, by changing the direction of the front wheels 4A by the knuckle arm 5. In other words, the agricultural machine 1 can perform turning running by combining a plurality of turning runnings and moving forward with the front wheels 4A facing one side in the width direction and moving backward with the front wheels 4A facing the other side in the width direction. Note that the vehicle body 2 only needs to be capable of straight running and turning running, and instead of or in addition to the above configuration, the vehicle body 2 may be configured to perform straight running and turning running by changing the rotation speed of one side (left side) and the other side (right side) of the front wheels 4A and the rear wheels 4B.

[0031] The vehicle body 2 is provided with a PTO shaft 6 that outputs the power of a prime mover 8 to the outside, and a driver's seat 7 in which an operator is seated.

[0032] The prime mover 8 is a diesel engine, an electric motor, or the like, and in this embodiment is configured as a diesel engine. The transmission 11 is capable of switching the propulsive force of the traveling device 4 by changing gears, and is also capable of switching the traveling device 4 between forward and reverse. The first hydraulic pump 9 is provided in the vehicle body 2, and is a device that discharges hydraulic oil. The first hydraulic pump 9 is connected to the prime mover 8, for example, and discharges hydraulic oil by the power output by the prime mover 8.

[0033] The coupling device 30 is provided to the vehicle body 2 so as to be able to swing freely, and couples the working device 60 to the vehicle body 2. Specifically, the coupling device 30 is provided at the rear of the vehicle body 2. Furthermore, the coupling device 30 can swing by a hydraulic device 31 driven by hydraulic oil discharged by a first hydraulic pump 9. The working device 60 can be attached and detached to the rear of the coupling device 30. By coupling the working device 60 to the coupling device 30, the working device 60 can be towed by the vehicle body 2.

[0034] The working device 60 is a device that can be attached to the vehicle body 2, and when the agricultural machine 1 is a tractor, the working device 60 is connected to the vehicle body 2 via the coupling device 30. The working device 60 may be operated by power input from an external source, for example, power input from the PTO shaft 6, or may have a hydraulic device (not shown) that is driven by hydraulic oil discharged from the first hydraulic pump 9 and be operated by the hydraulic device. The working device 60 is a cultivating device that cultivates, a ridge forming device that forms ridges, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticides and controls pests, a seed spreading device that performs seeding work, a transplanter that plants crops (seedlings), a harvesting device that harvests crops, a reaping device that reaps pasture grass, etc., a spreading device that spreads pasture grass, etc., a grass collecting device that collects pasture grass, etc., a shaping device that shapes pasture grass, etc. That is, the coupling device 30 can select various types of working devices 60 as described above and connect them to the vehicle body 2.

[0035] For convenience of explanation, the following description will be given taking as an example a case where the widthwise center of the working implement 60 and the widthwise center of the agricultural machine 1 coincide in the width direction, excluding a case where the widthwise center of the working implement 60 and the widthwise center of the agricultural machine 1 are misaligned (offset) in the width direction. However, the present invention can also be applied to a case where the widthwise center of the working implement 60 and the widthwise center of the agricultural machine 1 are misaligned (offset) in the width direction, and can be applied by appropriately changing the position of the agricultural machine 1 (vehicle body position VP) in the processing of the control device 40 etc. described later.

[0036] The transmission 11 will be described in detail below. As shown in Fig. 1, the transmission 11 includes a main shaft (drive shaft) 11a, a main speed change section 11b, an auxiliary speed change section 11c, a shuttle section 11d, a PTO power transmission section 11e, and a front speed change section 11f. The drive shaft 11a is rotatably supported in a housing case (transmission case) of the transmission 11, and power is transmitted from a crankshaft of the prime mover 8 to the drive shaft 11a. The main speed change section 11b has a plurality of gears and a shifter that changes the connection of the gears. The main speed change section 11b changes and outputs (shifts) the rotation input from the drive shaft 11a by appropriately changing the connection (meshing) of the plurality of gears with the shifter.

[0037] The sub-transmission unit 11c, like the main transmission unit 11b, has a plurality of gears and a shifter that changes the connection of the plurality of gears. The sub-transmission unit 11c changes and outputs (shifts) the rotation input from the main transmission unit 11b by appropriately changing the connection (meshing) of the plurality of gears with the shifter.

[0038] The shuttle section 11d has a shuttle shaft 12 and a forward / reverse switching section 13. Power output from the sub-transmission section 11c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching section 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse movement of the agricultural machine 1, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 17R. The rear wheel differential device 17R rotatably supports a rear axle 18R to which the rear wheels 4B are attached.

[0039] The PTO power transmission section 11e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and is capable of transmitting power from the propulsion shaft 11a. The PTO propulsion shaft 14 is connected to the PTO shaft 6 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and switches between a state in which the power of the propulsion shaft 11a is transmitted to the PTO propulsion shaft 14 and a state in which the power of the propulsion shaft 11a is not transmitted to the PTO propulsion shaft 14 by switching the hydraulic clutch on and off.

[0040] The front transmission unit 11f has a first clutch 16A and a second clutch 16B. The first clutch 16A and the second clutch 16B can transmit power from the drive shaft 11a, for example, the power of the shuttle shaft 12 is transmitted via a gear and a transmission shaft. The power from the first clutch 16A and the second clutch 16B can be transmitted to the front axle 18F via a front transmission shaft 19. Specifically, the front transmission shaft 19 is connected to a front wheel differential device 17F, and the front wheel differential device 17F rotatably supports the front axle 18F to which the front wheels 4A are attached.

[0041] The first clutch 16A and the second clutch 16B are composed of hydraulic clutches or the like. An oil passage is connected to the first clutch 16A, and the oil passage is connected to a first operating valve 25a to which hydraulic oil discharged from the first hydraulic pump 9 is supplied. The first clutch 16A is switched between an engaged state and a disengaged state depending on the opening degree of the first operating valve 25a. An oil passage is connected to the second clutch 16B, and the oil passage is connected to a second operating valve 25b. The second clutch 16B is switched between an engaged state and a disengaged state depending on the opening degree of the second operating valve 25b. The first operating valve 25a and the second operating valve 25b are, for example, two-position switching valves with solenoid valves, and are switched between an engaged state and a disengaged state by energizing or deenergizing a solenoid of the solenoid valve.

[0042] When the first clutch 16A is in a disengaged state and the second clutch 16B is in an engaged state, the power of the shuttle shaft 12 is transmitted to the front wheels 4A through the second clutch 16B. As a result, the front wheels 4A and the rear wheels 4B are driven by power in a four-wheel drive (4WD) state, and the rotation speeds of the front wheels 4A and the rear wheels 4B are substantially the same (4WD constant speed state). On the other hand, when the first clutch 16A is in an engaged state and the second clutch 16B is in a disengaged state, the vehicle is in a four-wheel drive state, and the rotation speed of the front wheels 4A is faster than the rotation speed of the rear wheels 4B (4WD speed increase state). Also, when the first clutch 16A and the second clutch 16B are in an engaged state, the power of the shuttle shaft 12 is not transmitted to the front wheels 4A, and the vehicle is in a two-wheel drive (2WD) state, in which the rear wheels 4B are driven by power.

[0043] As shown in Fig. 1, the agricultural machine 1 has an operating device 20 for operating the agricultural machine 1. The operating device 20 is provided around the driver's seat 7, and is capable of operating the prime mover 8, the transmission 11, the traveling device 4, etc. The operating device 20 includes, for example, a first operating lever 21, a second operating lever 22, and a steering device 23, and the first operating lever 21 and the second operating lever 22 can be held and tilted by an operator. The first operating lever 21 is a device capable of operating the raising and lowering of the coupling device 30, and the second operating lever 22 is a device capable of operating the working device 60 connected to the coupling device 30.

[0044] The steering device 23 is a device capable of manual steering for steering the vehicle body 2 by an operator, and is capable of straight-line operation and turning operation of the vehicle body 2. As shown in FIG. 25, the steering device 23 is provided in front of the driver's seat 7. As shown in FIG. 1, the steering device 23 has a steering handle (steering wheel) 23a and a steering shaft (rotating shaft) 23b that rotatably supports the steering handle 23a. The steering device 23 also has an auxiliary mechanism (power steering device) 35. The auxiliary mechanism 35 assists the rotation of the steering shaft 23b (steering handle 23a) by hydraulic pressure or the like. The auxiliary mechanism 35 includes a second hydraulic pump 36a, an auxiliary control valve 36b to which hydraulic oil discharged from the second hydraulic pump 36a is supplied, and a steering cylinder 36c operated by the auxiliary control valve 36b. The auxiliary control valve 36b is, for example, a three-position switching valve that can be switched by moving a spool or the like, and switches according to the steering direction (rotation direction) of the steering shaft 23b. The steering cylinder 36c is connected to the knuckle arm 5 that changes the direction of the front wheels 4A.

[0045] Therefore, when an operator grips and operates the steering handle 23a, the switching position and opening of the auxiliary control valve 36b are switched in response to the rotation direction of the steering handle 23a, and the steering cylinder 36c expands or contracts to the left or right according to the switching position and opening of the auxiliary control valve 36b, thereby changing the steering direction of the front wheels 4A. In other words, the traveling direction of the vehicle body 2 can be changed to the left or right by manually steering the steering handle 23a.

[0046] As shown in FIG. 2, the connecting device 30 has a lift arm 30a, a lower link 30b, a top link 30c, a lift rod 30d, and a lift cylinder 31. The front end of the lift arm 30a is supported on the upper rear part of a case (transmission case) that houses the transmission 11 so as to be able to swing upward or downward. The lift arm 30a swings (lifts up and down) by driving the lift cylinder 31. The lift cylinder 31 is a hydraulic device composed of a hydraulic cylinder. The lift cylinder 31 is connected to the first hydraulic pump 9 via a control valve 25c. The control valve 25c is an electromagnetic valve or the like, and by changing the opening degree, the flow rate of hydraulic oil is changed to extend and retract the lift cylinder 31.

[0047] The front end of the lower link 30b is supported by the rear lower part of the transmission 11 so as to be able to swing upward or downward. The front end of the top link 30c is supported by the rear part of the transmission 11 so as to be able to swing upward or downward, above the lower link 30b. The lift rod 30d connects the lift arm 30a and the lower link 30b. The working device 60 is connected to the rear part of the lower link 30b and the rear part of the top link 30c. When the lift cylinder 31 is driven (extends and retracts), the lift arm 30a rises and lowers, and the lower link 30b connected to the lift arm 30a via the lift rod 30d rises and lowers. This allows the connecting device 30 to be switched between a non-working state in which the working device 60 moves upward with the front part of the lower link 30b as a fulcrum, and a working state in which the working device 60 moves downward. The non-working state is a state in which the connecting device 30 raises the working device 60 and the working device 60 does not perform work. The working state is a state in which the connecting device 30 has lowered the working device 60 and the working device 60 is performing work.

[0048] As shown in FIG. 1, the travel support system S of the agricultural machine 1 includes a control device 40 and a storage unit 41. The control device 40 and the storage unit 41 are provided in the agricultural machine 1. The control device 40 is a device configured from electric and electronic circuits, programs stored in a CPU, etc. The control device 40 controls various devices of the agricultural machine 1. Specifically, the control device 40 can control the hydraulic equipment (lift cylinder) 31, the working equipment 60, and changing the output of the first hydraulic pump 9. The storage unit 41 is a non-volatile memory or the like, and stores various information related to the control of the control device 40. Specifically, for example, the control device 40 changes the opening degree of the control valve 25c and changes the flow rate of the hydraulic oil supplied to the lift cylinder 31 according to the program or the like stored in the storage unit 41, thereby expanding and contracting the lift cylinder 31. As a result, the control device 40 can switch the coupling device 30 between a working state and a non-working state by controlling the extension and contraction of the lift cylinder (hydraulic equipment) 31.

[0049] As shown in Fig. 1 and Fig. 25, the travel support system S of the agricultural machine 1 includes a position detection device (positioning device) 50. The position detection device 50 can detect its own position (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 50 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (e.g., latitude and longitude) of the agricultural machine 1, that is, the vehicle body position VP, based on the satellite signal. In this embodiment, the vehicle body position VP is calculated so as to match the own position detected by the position detection device (positioning device) 50, but the position may be anywhere, for example, the center, the front end, or the rear end of the agricultural machine 1.

[0050] As shown in Fig. 1, the position detection device 50 has a receiving device 51 and an inertial measurement unit (IMU) 52. The receiving device 51 is a device having an antenna or the like and receiving satellite signals transmitted from positioning satellites, and is attached to the agricultural machine 1 separately from the inertial measurement unit 52. As shown in Fig. 25, in this embodiment, the receiving device 51 is attached to the upper part of the ROPS 10 provided on the vehicle body 2. Note that the attachment position of the receiving device 51 is not limited to the above position, and may be the center of the hood, or, if a protection mechanism such as a cabin is provided on the vehicle body 2, may be above the protection mechanism.

[0051] The inertial measurement unit 52 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 52 is provided on the agricultural machine 1, for example, below the driver's seat 7, and can detect the roll angle, pitch angle, yaw angle, etc. of the agricultural machine 1.

[0052] In the above-mentioned embodiment, the agricultural machine 1 is provided with the position detection device 50, but the driving support system S of the agricultural machine 1 only needs to be provided with the position detection device 50 that detects the position (vehicle body position VP) of the agricultural machine 1, and the position detection device 50 does not have to be provided in the agricultural machine 1. In other words, the position detection device 50 may be a position detection device provided in a mobile terminal such as a smartphone (multi-function mobile phone) or a tablet terminal carried by a worker seated in the driver's seat 7.

[0053] As shown in FIG. 1, the steering device 23 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that automatically steers the vehicle body 2. 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. The gear mechanism 39 includes a gear that is provided on the steering shaft 23b and rotates together with the steering shaft 23b, and a gear that is provided on the rotation shaft of the steering motor 38 and rotates together with the rotation shaft. When the rotation shaft of the steering motor 38 rotates, the steering shaft 23b automatically rotates (turns) via the gear mechanism 39, and the steering direction of the front wheels 4A can be changed.

[0054] As shown in Fig. 1, the control device 40 has an automatic driving control unit 40a that controls automatic driving of the agricultural machine 1. The automatic driving control unit 40a is composed of electric and electronic circuits provided in the control device 40, programs stored in a CPU, etc., etc. When automatic driving starts, the automatic driving control unit 40a controls the steering motor 38 of the automatic steering mechanism 37 so that the agricultural machine 1 travels along a preset travel route L. In addition, when automatic driving starts, the automatic driving control unit 40a controls the vehicle speed (traveling speed) of the agricultural machine 1 by automatically changing the gear stage of the transmission 11, the rotation speed of the prime mover 8, etc.

[0055] When automatic traveling starts, the automatic traveling control unit 40a controls the traveling speed differently depending on whether the agricultural machine 1 is traveling straight or turning. For example, when the agricultural machine 1 is traveling straight, the automatic traveling control unit 40a sets the traveling speed to a speed α. On the other hand, when the agricultural machine 1 is traveling turning, the automatic traveling control unit 40a sets the traveling speed to a speed β (β<α) that is slower than the speed α. Note that the automatic traveling control unit 40a may divide the straight-traveling route of the traveling route L into a plurality of sections and set a different traveling speed for each section, and the control of the traveling speed is not limited to the above configuration.

[0056] The control of the automatic steering mechanism 37 by the automatic travel control unit 40a will be described below. As shown in the upper diagram of FIG. 3, when the deviation between the position of the agricultural machine 1 (vehicle body position VP) and the travel route L is less than a predetermined value, the automatic travel control unit 40a maintains the rotation angle of the rotation shaft of the steering motor 38. When the deviation between the vehicle body position VP and the travel route L is equal to or greater than a predetermined value and the agricultural machine 1 is located on the left side of the travel route L, the automatic travel control unit 40a rotates the rotation shaft of the steering motor 38 so that the steering direction of the agricultural machine 1 becomes the right direction. When the deviation between the vehicle body position VP and the travel route L is equal to or greater than a predetermined value and the agricultural machine 1 is located on the right side of the travel route L, the automatic travel control unit 40a rotates the rotation shaft of the steering motor 38 so that the steering direction of the agricultural machine 1 becomes the left direction.

[0057] In the above-described embodiment, the steering angle of the steering device 23 was changed based on the deviation between the position of the agricultural machine 1 (vehicle body position VP) and the travel route L. However, as shown in the lower diagram of Figure 3, when the orientation of the travel route L differs from the orientation of the proceeding direction (travel direction) of the agricultural machine 1 (vehicle body 2) (orientation of the vehicle body 2), that is, when the angle θg of the orientation of the vehicle body 2 relative to the travel route L is a predetermined value or more, the automatic travel control unit 40a may set the steering angle so that the angle θg is zero (the orientation of the vehicle body 2 matches the orientation of the travel route L).

[0058] Furthermore, the automatic driving control unit 40a may set the final steering angle in the automatic steering based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the azimuth (azimuth deviation). The setting of the steering angle in the automatic steering in the above-mentioned embodiment is an example and is not limited.

[0059] As shown in Fig. 1, the driving assistance system S of the agricultural machine 1 includes a display device 55. The display device 55 is communicably connected to the control device 40, and is a device that displays various information related to the agricultural machine 1 to assist in driving and work of the agricultural machine 1. In this embodiment, the display device 55 is a driving assistance device provided, for example, near the driver's seat 7. The display device 55 is also communicably connected to devices possessed by the agricultural machine 1 via wire or wirelessly, and can transmit and receive information to and from each other. Specifically, for example, a display control unit 57 of the display device 55 and the control device 40 of the agricultural machine 1 are communicably connected to each other.

[0060] 1, the display device 55 includes a display unit 56, a display control unit 57, and a display storage unit 58. The display unit 56 is configured with a liquid crystal panel, a touch panel, or any other panel, and can display various information for supporting the traveling and work of the agricultural machine 1, such as a field F indicating a field G. The display unit 56 can display various information related to the agricultural machine 1 and the work device 60, in addition to information for supporting the traveling of the agricultural machine 1.

[0061] The display control unit 57 is composed of electric and electronic components provided in the display device 55, a program stored in a display storage unit 58 (described later), etc. The display control unit 57 causes the display unit 56 to display a screen that visualizes the information stored in the display storage unit 58.

[0062] The display storage unit 58 is composed of a non-volatile memory or the like, and stores various information relating to the agricultural machine 1 and the work implement 60.

[0063] In the above-described embodiment, the display device 55 is a driving assistance device provided near the driver's seat 7, but as long as the display device 55 is equipped with a display unit 56, a display control unit 57, and a display memory unit 58, it may be a computer such as a personal computer (PC), a smartphone (multi-function mobile phone), or a tablet terminal.

[0064] As shown in FIG. 1, the travel assistance system S of the agricultural machine 1 includes a position acquisition unit 57a, a field registration unit 57b, and a field acquisition unit 57c. In this embodiment, the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are composed of electric and electronic components, a program incorporated in the display device 55, and the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are shared by the display control unit 57 of the display device 55. In this embodiment, the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are shared by the display control unit 57 of the display device 55, but the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c may be included in the control device 40 or an external server connected to the control device 40 or the display control unit 57 so as to be able to communicate with them, and the configuration is not limited to the above configuration.

[0065] The position acquisition unit 57a acquires a plurality of positioning points when the agricultural machine 1 goes around the field G. Specifically, in this embodiment, the position acquisition unit 57a acquires the position of the agricultural machine 1 (vehicle body position VP) detected by the position detection device 50 as a plurality of positioning points. The position acquisition unit 57a acquires data indicated by the positions (latitude, longitude) of the plurality of positioning points VP and data indicated in a coordinate system (X-axis, Y-axis).

[0066] In addition, the position acquisition unit 57a only needs to be able to acquire multiple positioning points, and may be configured to connect a storage device such as a memory in which position information of the multiple positioning points is pre-stored to the display device 55, and acquire the position information of the multiple positioning points from the storage device, and the acquisition method is not limited to the method described above.

[0067] The field registration unit 57b registers a contour H1 of a predetermined field G, for example, a position corresponding to the contour H1 of a predetermined field G, as a field F to be displayed on the display unit 56. As shown in Figs. 4, 6A, and 6B, the contour H1 of the field G is an outer boundary line H1 that separates the field G from an area E1 outside the field G (for example, an area where a bank or a fence is installed on the periphery of the field G). When the operator performs a predetermined operation on the display device 55, the display control unit 57 causes the display unit 56 to display a field registration screen D1, as shown in Fig. 4. The field registration screen D1 displays a field display section 100 that shows the field F including the field G and the vehicle body position VP of the agricultural machine 1, and a first information display section 101 that shows field identification information such as the name of the field G (field name) and the field management number. In addition to image data indicating the field G, the field F is associated with position information such as latitude, longitude, or a coordinate system (X axis, Y axis).

[0068] When the display unit 56 displays the field registration screen D1, the worker operates the agricultural machine 1 to make the agricultural machine 1 go around within the field G. The position acquisition unit 57a acquires the vehicle body position VP detected by the position detection device 50 at a predetermined period, records the vehicle body position VP in the display storage unit 58 as needed, and displays the vehicle body position VP on the field display unit 100 as needed (for convenience, only a portion of the vehicle body positions VP are displayed in FIG. 4).

[0069] When the agricultural machine 1 has finished circling the field G and the operator selects the registration button 102, the field registration unit 57b calculates a travel trajectory T1 of the agricultural machine 1 based on the multiple recorded body positions VP. As shown in Fig. 4, the display control unit 57 displays the travel trajectory T1 on the field F of the field display unit 100. In the example of Fig. 4 etc., the line T1 that passes through multiple body positions VP in the detection order (acquisition order) and then returns to the initially detected position VP is regarded as the travel trajectory of the agricultural machine 1.

[0070] The vehicle position VP is the GPS position of the position detection device 50, and the travel trajectory T1 is the trajectory along which the GPS position moves. For this reason, the field registration unit 57b offsets the travel trajectory T1 outward by an amount equivalent to the widthwise distance from the GPS position of the agricultural machine 1 to the outer end of the rotation of the working implement 60 (the left end of the working implement 60, since the agricultural machine 1 rotates around the field G clockwise in FIG. 5A), and forms a line H1 between the travel trajectory T1 and the outline line of the field F. In this embodiment, the GPS position of the position detection device 50 is at the center of the agricultural machine 1, and the center of the agricultural machine 1 in the widthwise direction coincides with the center of the working implement 60 in the widthwise direction, so the above offset amount is set to a value equivalent to half the outer width (length in the widthwise direction) of the working implement 60 or half the working width W of the working implement 60 (length in the widthwise direction of the working range N in which the working implement 60 exerts some kind of action on the field G). In the following description, for simplicity, it is assumed that the external width of the working implement 60 is the same as the working width W. As another example, a line H1 may be formed between the travel trajectory T1 and the external line of the field F by setting the offset amount to a value that is a predetermined amount smaller or larger than the distance in the width direction from the GPS position of the agricultural machine 1 to the outer end of the rotation of the working implement 60.

[0071] The field registration unit 57b regards the line H1 formed as described above as the contour (outer shape) of the field G, and registers (stores) the field F represented by the contour H1 in the display storage unit 58. At this time, the field registration unit 57b also registers the name of the field G (field name) and field identification information such as the field management number in association with the field F in the display storage unit 58. A plurality of fields F can be registered in the display storage unit 58, and when the field registration unit 57b registers a field F, the display control unit 57 displays the field F (the contour H1 of the field G).

[0072] The above-mentioned method of registering the field G (field F) is an example, and is not limited thereto. As another example, a method may be applied in which the field registration unit 57b calculates an inflection point from the travel trajectory T1 of the agricultural machine 1, and forms a line K1 passing through the inflection point, as shown in Fig. 5B. Then, the line K1 may be offset outward by the offset amount described above to form a line H2 between the travel trajectory T1 and the outline line of the field F, and the line H2 may be set as the contour K2 of the field G and the field F, and the field F may be registered in the display storage unit 58.

[0073] 5C, the operator may operate a predetermined switch or the like to specify the end of the field G when the agricultural machine 1 makes a circuit. In this case, the field registration unit 57b forms a line K2 that passes through each end of the field G in the specified order and then returns to the end that was initially specified. Then, the line K2 may be offset outward by the offset amount described above to form a line H3 between the travel trajectory T1 and the outline line of the field F. The line H3 may then be set as the contour K4 of the field G and the field F, and the field F may be registered in the display storage unit 58.

[0074] Furthermore, the contours H1, H2, H3 of the field G and the field F may be data expressed, for example, by position (latitude, longitude), by a coordinate system (X-axis, Y-axis), or by other representation.

[0075] As described above, the display device 55 can register a plurality of fields F by the field registration section 57b.

[0076] The field acquisition unit 57c acquires a field F indicating a specific farm field G from among a plurality of fields F when performing work, etc. In this embodiment, the field acquisition unit 57c acquires position information of the contour H1 of the field F registered by the field registration unit 57b as information of the field F. Note that the information of the field F by the field acquisition unit 57c is not limited to position information of the contour H1 of the field F, and may include other information. The field acquisition unit 57c acquires data indicated by the position (latitude, longitude) of the contour H1 and data indicated in a coordinate system (X-axis, Y-axis).

[0077] In addition, the field acquisition unit 57c only needs to be able to acquire field F, and may be configured to connect a storage device, such as a memory in which field F is pre-stored, to the display device 55 and acquire field F from the storage device, and the acquisition method is not limited to the method described above.

[0078] 1, the travel assistance system S of the agricultural machine 1 includes a setting acquisition unit 57d and a route creation unit 57e. In the present embodiment, the setting acquisition unit 57d and the route creation unit 57e are configured by electric and electronic components, a program incorporated in the display device 55, and the display control unit 57 of the display device 55 serves as both the setting acquisition unit 57d and the route creation unit 57e. Note that in the present embodiment, the setting acquisition unit 57d and the route creation unit 57e are both served by the display control unit 57 of the display device 55, but the setting acquisition unit 57d and the route creation unit 57e may be included in the control device 40 or an external server connected to be able to communicate with the control device 40 or the display control unit 57, and the configuration is not limited to the above configuration.

[0079] The setting acquisition unit 57d acquires setting information related to the creation of the travel route L. Specifically, when the worker (driver) performs a predetermined operation on the display device 55, the display control unit 57 causes the display unit 56 to display a setting screen D2, as shown in FIG. 8. The setting screen D2 includes a headland number input unit 110, a first width input unit 111, a second width input unit 112, a third width input unit 113, a machine input unit 114, and a route display unit 115. The headland number input unit 110 accepts input of the headland number. In the example shown in FIG. 6A and FIG. 8, the headland number is "4", and four routes are formed as the circular line Ln along which work is performed on the headland (headland area) A1 of the field G.

[0080] The first width input unit 111 receives input of the working width W of the working implement 60. As shown in Fig. 9, the working width W is a width (work execution width) in which the working implement 60 performs work on the ground such as a farm field G.

[0081] As shown in FIG. 7, the second width input unit 112 receives input of an overlap width (first overlap width) W1, which is the width of overlap with the adjacent outer work section A3 on the circular line Ln.

[0082] As shown in FIG. 7, the third width input unit 113 receives input of an overlap width (second overlap width) W2, which is the width of overlap with the adjacent inside work section A4 on the inside line LU.

[0083] 8, the machine input unit 114 accepts input of information about the working implement 60 that is towed by the agricultural machine 1 to perform work in the field G. In the present embodiment, the machine input unit 114 accepts input of model information of the working implement 60.

[0084] 8, the field F acquired by the field acquisition unit 57c is displayed on the route display unit 115. In addition, the route display unit 115 can display the created traveling route L in the field F.

[0085] The setting acquisition unit 57d acquires, from the information input to the setting screen D2 as setting information related to the creation of the travel route L, the working width W inputted by the first width input unit 111, the number of headlands inputted by the headland number input unit 110, the first overlap width W1 inputted by the second width input unit 112, and the second overlap width W2 inputted by the third width input unit 113.

[0086] Further, the setting acquisition unit 57d acquires the specification information of the working device 60. Specifically, the setting acquisition unit 57b acquires the specification information of the working device 60 from the information stored in advance in the display storage unit 58 based on the model information of the working device 60 received as input by the machine input unit 114. The display storage unit 58 stores the model information of the working device 60 and the specification information of the working device 60 as a table in which the model information and the specification information of the working device 60 are associated with each other. For example, as shown in FIG. 9, the length in the front-rear direction (working length w1) of the range (working range N) in which the working device 60 works on the ground such as a farm field G, the length y1 from the connected part 60a connected to the connecting device 30 to the front end of the working range N, and the length y2 from the connected part 60a to the rear end of the working range N are stored as the specification information of the working device 60. Therefore, the setting acquisition unit 57d can acquire the working length w1, the length y1 from the connected part 60a to the front end of the working range N, and the length y2 from the connected part 60a to the rear end of the working range N based on the model information of the working device 60 received as input by the machine input unit 114.

[0087] The information entered on the setting screen D2 (the working width W, the first overlap width W1, the second overlap width W2, and model information of the working device 60, etc.) is stored in the display storage unit 58 in association with the field F.

[0088] The route creation unit 57e creates a travel route L along which the vehicle body 2 travels. Specifically, the route creation unit 57e creates the travel route L on the field F acquired by the field acquisition unit 57c. The travel route L created by the route creation unit 57e is stored in the display storage unit 58 in association with the field F. In the present embodiment, the route creation unit 57e can create, on the field F, the travel route L along which the agricultural machine 1 travels around the field G, based on the setting information acquired by the setting acquisition unit 57d.

[0089] The creation of the travel route L by the route creation unit 57e and the travel route L will be described in detail below.

[0090] 6A, the route creation unit 57e creates, as the traveling route L for going around, circuit lines Ln (n: number of headlands [number of laps], n=1, 2, 3, n) along which work is performed on a headland (headland area) A1 of the field G. The route creation unit 57e is only required to create at least the traveling route L along which the agricultural machine 1 goes around the field G. In this embodiment, the route creation unit 57e is capable of creating, in addition to the circuit lines Ln that are the traveling route L for going around the field G, inner lines LU that are the traveling route L along which the working implement 60 works inside the headland area A1 (inner area A2).

[0091] As shown in Fig. 6A, the circuit line Ln is a travel route L along which the agricultural machine 1 travels in the headland area A1. The agricultural machine 1 travels along the circuit line Ln in a predetermined circuit direction, and travels counterclockwise in the example shown in Fig. 6A etc. However, the circuit direction of the agricultural machine 1 is not limited to counterclockwise, and may be clockwise, or may travel in a different direction for each circuit.

[0092] The agricultural machine 1 travels in the order of the innermost circuit to the outermost circuit among the multiple circuits. The number of routes of the circuit line Ln, i.e., the number of circuits, corresponds to the number of headlands A1 (the number of headlands) formed in the field G. In other words, when the number of headlands is four, the routes of the circuit line Ln are four adjacent routes from the center of the field F toward the outside, as shown in FIG. 6A. When the number of headlands is five, the routes of the circuit line Ln are five adjacent routes from the center of the field F toward the outside.

[0093] In the following description, the circuit lines Ln are described as the first circuit line L1, the second circuit line L2, the third circuit line L3,..., the n-th circuit line Ln (n=1, 2, 3...n) from the outermost circuit line Ln toward the innermost circuit line Ln. In Fig. 6A, the portion of the fourth circuit line L4 that overlaps with the inner line LU is omitted.

[0094] 6A and 6B, the inner line LU includes, for example, a straight section LU1 connecting both ends of the inner area A2 in the longitudinal direction, and a curved section LU2 connecting adjacent straight sections LU1. The straight section LU1 is a route along which the agricultural machine 1 travels and the work implement 60 performs work, and the curved section LU2 is a route along which the agricultural machine 1 moves from the straight section LU1 to another straight section LU1. In other words, the agricultural machine 1 traveling along the inner line LU travels back and forth between one end side and the other end side of the inner area A2, turns at the curved section LU2, and moves from one straight section LU1 to another adjacent straight section LU1.

[0095] As shown in FIG. 1, the route creation unit 57e has a first creation unit 57e1, a second creation unit 57e2, a third creation unit 57e3, a fourth creation unit 57e4, a fifth creation unit 57e5, and a sixth creation unit 57e6. The first creation unit 57e1 creates a circuit line Ln for each number of adjacent headlands (n=1, 2, 3, . . . n) based on the contour H1 of the field F displayed by the display device 55, the number of headlands, and the first interval. Here, the first interval in creating the circuit line Ln is the working width W or a length obtained by subtracting twice the length of the first overlap width W1 from the working width W. In this embodiment, as shown in FIG. 6A, a case where the first interval is the same value as the working width W will be described. Note that, as shown in FIG. 7, the first interval may be a length obtained by subtracting twice the length of the first overlap width W1 from the working width W.

[0096] The first generating unit 57e1 acquires a characteristic point P on the contour H1 based on, for example, information on the field F acquired by the field acquiring unit 57c, and creates a circuit line Ln based on the characteristic point P. In this embodiment, the characteristic point P on the contour H1 is an inflection point on the contour H1. When the first generating unit 57e1 calculates the inflection point (characteristic point P) on the contour H1, it shifts the characteristic point P to the inside of the field F based on the first interval and the headland number, and creates a circuit line Ln that passes through the shifted characteristic point P' in order from the first circuit line L1 located on the outermost side toward the inner circuit line Ln.

[0097] As shown in FIG. 6A, the circuit line Ln (travel route L) includes a plurality of lines R that are connected to each other, and the plurality of lines R are adjacent to each other and are connected to other lines in the same circuit to form a circuit path (circuit line Ln). In other words, the travel route L includes a plurality of lines R. The plurality of lines R are substantially straight lines that connect one characteristic point P' to another characteristic point P'. For example, when the agricultural machine 1 is located on the plurality of lines R, it travels straight ahead. On the other hand, when the agricultural machine 1 moves from one line (first line) R1 to another line (second line) R2 connected to the one line R1, it turns or turns around at the characteristic point P' between the one line R1 and the other line R2. In the following description, a predetermined line among the plurality of lines R may be described as the first line R1, and a line (another line) on which the agricultural machine 1 moves next to the first line R1 may be described as the second line R2.

[0098] 6A and 6B, the second generator 57e2 generates a plurality of outer work sections A3 in the headland area A1, each of which corresponds to the circuit line Ln and has the same width as the first interval. The second generator 57e2 generates a pair of boundaries M on the field F, which are spaced apart on one side and the other side of the intersecting direction of the line R and which are parallel to the line R.

[0099] As shown in Fig. 6A, the third generation unit 57e3 sets the headland area A1 and the inner area A2 based on the innermost circuit line Ln. Specifically, for example, the third generation unit 57e3 shifts the innermost circuit line Ln inward by 1 / 2 of the first interval to create an inner boundary line H1' that is the boundary M between the headland area A1 and the inner area A2. The third generation unit 57e3 sets the area surrounded by the inner boundary line H1' as the inner area A2, and sets the area surrounded by the outer boundary line H1 and the inner boundary line H1' as the headland area A1.

[0100] The length between the pair of boundaries M and the circuit line Ln is half the length of the first interval, and the length between the pair of boundaries M is the same as the first interval. That is, as shown in FIG. 6B, the outer working section A3 is an endless band-shaped area, and the circuit line Ln passes through the center in the width direction. The outer working sections A3 are arranged adjacent to each other for each number of headlands. In this way, the second generating unit 57e2 generates a plurality of outer working sections A3 surrounded by a pair of boundaries M. Here, in this embodiment, the agricultural machine 1 travels from the innermost circuit to the outermost circuit among the plurality of circuits, and the working implement 60 works in the outer working section A3 in the order from the innermost outer working section A3 to the outermost outer working section A3.

[0101] As shown in FIG. 10, the fourth generating unit 57e4 generates turning sections CR (n: number of headlands [number of laps], n=1, 2, 3, n) on the circuit line Ln where the agricultural machine 1 turns or turns around on the circuit line Ln. The fourth generating unit 57e4 generates turning sections CR at a plurality of characteristic points P' on the circuit line Ln and corrects the circuit line Ln. That is, the ends (terminal end r1 and starting end r2) of the plurality of lines R are connected to the ends (terminal end r1 and starting end r2) of the other lines R by the turning sections CR. In the following description, the description of "ends" such as the terminal end r1 and starting end r2 means a range including the end portion, and the description of "ends" such as the terminal end and starting end means the end itself.

[0102] The fourth generating unit 57e4 may not generate the turning portion CR at all the characteristic points P' on the circulation line Ln, and may be configured to generate the turning portion CR at the characteristic point P' that satisfies a predetermined condition. For example, the fourth generating unit 57e4 may be configured to generate the turning portion CR at the characteristic point P' between one line (first line) R1 and another line (second line) R2 connected to the one line R1 when the angle θa formed by the one line R1 and the other line R2 is equal to or greater than a predetermined angle. Here, the angle θa formed by the first line R1 and the second line R2 refers to the smaller angle of the angles formed by the first line R1 and the second line R2.

[0103] 10, the turning section CR is a route connecting a work end point p1 of the working implement 60 on the first line R1 and a work start point p2 on the second line R2. The work end point p1 is the point where the agricultural machine 1 stops moving and the working implement 60 ends work, and the work start point p2 is the point where the agricultural machine 1 starts moving and the working implement 60 starts work. The turning section CR is a route that includes a portion C1 where the agricultural machine 1 turns and a portion C2 where the agricultural machine 1 retreats.

[0104] In this embodiment, the work end point p1 is a point where the front end of the work range N of the work device 60 coincides when the work device 60 ends the work. Also, the work start point p2 is a point where the rear end of the work range N of the work device 60 coincides when the work device 60 starts the work.

[0105] Here, as shown in FIG. 10, when one line (first line R1) of the circular line Ln is extracted and explained, the work end point p1 is set based on the shorter boundary M (first boundary M1) of a pair of boundaries M on the first line R1 and corresponding to the first line R1 at the end portion (end portion on the second line R2 side) r1a of the first line R1. Specifically, the work end point p1 is set so that the end of the first boundary M1 and the front end of the working range N of the working device 60 coincide with each other in the extension direction of the first line R1. Therefore, the work end point p1 is set at a position corresponding to the end of the first boundary M1 on the first line R1. In the following explanation, the shorter boundary M of the boundaries M corresponding to one line of the circular line Ln is explained as the first boundary M1, and the longer boundary M is explained as the second boundary M2.

[0106] Furthermore, the work start point p2 is on an extension of the second line R2, and is set based on the longer boundary M (second boundary M2) of a pair of boundaries M corresponding to the first line R1 at the end portion (end portion on the second line R2 side) r1a of the first line R1. Specifically, the work start point p2 is set so that the second boundary M2 and the rear end of the working range N of the working device 60 coincide with each other. In this embodiment, the work start point p2 is a point where the rear end of the working range N of the working device 60 coincides when the working device 60 starts working, and therefore the work start point p2 is set at the intersection of the extension of the second line R2 and the second boundary M2.

[0107] Therefore, as shown in Figure 10, the end of the section (first unit work section e1) in which the work device 60 performs work on the first line R1 coincides with the end r1a of the first line R1, the start of the section (second unit work section e2) in which the work device 60 performs work on the second line R2 coincides with the start r2b of the second line R2, and the end r1a of the first line R1 coincides with the first boundary M1 of the second line R2.

[0108] As a result, the travel route L can be created so that the ending end of the first unit work section e1 and the starting end of the second unit work section e2 coincide with each other. That is, by traveling along the travel route L created by the route creation unit 57e, the agricultural machine 1 can perform work while suppressing the occurrence of unworked areas Ed.

[0109] The route creation unit 57e may create the travel route L such that the end of the first unit work section e1 and the start of the second unit work section e2 coincide or overlap, and the creation method is not limited to the above-mentioned method. In addition, in the drawings other than Fig. 10, the path of the turning section CR is omitted for the sake of simplifying the notation of the drawings.

[0110] In this embodiment, the display control unit 57 sets the turning section CR based on the positional relationship between the vehicle position VP and the working range N acquired by the setting acquisition unit 57d and the position information of the boundary M, but the setting method is not limited to the above-mentioned method, and the position and route are not limited to the above-mentioned positions. For the sake of simplicity, the starting point of the multiple lines R constituting the circuit line Ln will be described below as the work start point p2, and the ending point of the multiple lines R will be described as the work end point p1.

[0111] As shown in FIG. 6A and FIG. 6B, the fifth generating unit 57e5 generates the inner line LU. Specifically, as shown in FIG. 6A and FIG. 6B, the fifth generating unit 57e5 sets the straight line portion LU1 connecting both ends in the longitudinal direction as the inner line LU. The fifth generating unit 57e5 generates the straight line portion LU1 by separating them based on a predetermined second interval. Here, the second interval in generating the straight line portion LU1 is the working width W or the length obtained by subtracting twice the length of the second overlap width W2 from the working width W. In this embodiment, as shown in FIG. 6A, a case where the second interval is the same value as the working width W will be described. Note that, as shown in FIG. 7, the second interval may be the length obtained by subtracting twice the length of the second overlap width W2 from the working width W.

[0112] Furthermore, the fifth generating unit 57e5 creates the curved section LU2 as an inside line LU by connecting adjacent straight section LU1. When the agricultural machine 1 moves along the straight section LU1 and reaches the curved section LU2, the control device 40 controls the coupling device 30 to raise the working implement 60 and transition to a non-working posture. When the agricultural machine 1 moves along the curved section LU2 and reaches the straight section LU1, the control device 40 controls the coupling device 30 to lower the working implement 60 and transition to a working posture.

[0113] As shown in FIG. 6A and FIG. 6B, the sixth generating unit 57e6 generates a plurality of inner work sections A4 in the inner area A2, each of which corresponds to the straight line section LU1 and has the same width as the second interval. The sixth generating unit 57e6 generates a pair of boundaries m that are spaced apart from one side and the other side of the straight line section LU1 in the crossing direction and parallel to the straight line section LU1, respectively, based on the straight line section LU1. Specifically, the length between the pair of boundaries m and the straight line section LU1 is half the length of the second interval, and the length between the pair of boundaries m is the same as the second interval. That is, as shown in FIG. 6B, the inner work section A4 is a band-shaped area extending from one end side to the other end side of the field G, and the straight line section LU1 passes through the center in the width direction. In this way, the sixth generating unit 57e6 generates a plurality of inner work sections A4 surrounded by the pair of boundaries m and the inner boundary line H1'.

[0114] The travel support system S of the agricultural machine 1 corrects the specification information of the agricultural machine 1 and / or the working implement 60, the information of the field F, and the travel route L, thereby preventing the agricultural machine 1 from traveling through an area where entry is prohibited (prohibited area E), suppressing the occurrence of an unworked area Ed, and allowing the agricultural machine 1 to work efficiently. In this embodiment, the travel support system S of the agricultural machine 1 corrects the travel route L while the agricultural machine 1 is traveling along the travel route L. The prohibited area E includes, for example, an area E1 other than the field G, and the area E1 other than the field G is an area (external area) where a bank or a fence is installed on the periphery of the field G. The prohibited area E includes an area of ​​the field G where the working implement 60 has completed work, and the area where work has been completed is an already-worked area E2 that is an earlier circuit than the circuit in which the agricultural machine 1 is located and where the working implement 60 has already performed work.

[0115] 1, the travel assistance system S of the agricultural machine 1 includes a first acquisition unit 71, a second acquisition unit 72, a third acquisition unit 73, a definition unit 74, and a correction unit 75. In this embodiment, the first acquisition unit 71, the second acquisition unit 72, the third acquisition unit 73, the definition unit 74, and the correction unit 75 are configured from electric and electronic components, programs incorporated in the control device 40, etc., and the first acquisition unit 71, the second acquisition unit 72, the third acquisition unit 73, the definition unit 74, and the correction unit 75 are shared by the control device 40. In this embodiment, the first acquisition unit 71, the second acquisition unit 72, the third acquisition unit 73, the definition unit 74, and the correction unit 75 are shared by the control unit 40, but the first acquisition unit 71, the second acquisition unit 72, the third acquisition unit 73, the definition unit 74, and the correction unit 75 may be possessed by the display control unit 57 or an external server connected to the control unit 40 or the display control unit 57 so as to be able to communicate with each other, and their configuration is not limited to the above configuration.

[0116] The first acquisition unit 71 acquires the travel route L. In the present embodiment, the first acquisition unit 71 acquires the travel route L that is created by the route creation unit 57e and stored in the display storage unit 58. Therefore, the first acquisition unit 71 can acquire the travel route L that is created in the field F and along which the agricultural machine 1 travels.

[0117] The second acquisition unit 72 acquires the specification information of the agricultural machine 1 and / or the work implement 60. In the present embodiment, the storage unit 41 stores the specification information of the agricultural machine 1 in advance, and the second acquisition unit 72 acquires the specification information of the agricultural machine 1 from the storage unit 41.

[0118] 9, the storage unit 41 stores, as specification information of the agricultural machine 1, a length Y1 from the vehicle body position VP to the front end (the tip of the bonnet) of the agricultural machine 1 and a length Y2 from the vehicle body position VP to the rear end (the rear end of the coupling device 30) of the agricultural machine 1. Therefore, the second acquisition unit 72 can acquire the length Y1 from the vehicle body position VP to the front end of the agricultural machine 1 and the length Y2 from the vehicle body position VP to the rear end of the agricultural machine 1 based on the model information of the agricultural machine 1 received as an input by the machine input unit 114.

[0119] Furthermore, the second acquisition unit 72 acquires specification information of the working device 60 that is input into the setting screen D2 displayed by the display device 55, stored in the memory unit 41, and associated with the field F. As the specification information of the working device 60, the second acquisition unit 72 acquires the working width W, the length in the front-to-rear direction (working length w1) of the range (working range N) in which the working device 60 works on the ground such as a field G, the length y1 from the connected part 60a connected to the connecting device 30 to the front end of the working range N, and the length y2 from the connected part 60a to the rear end of the working range N.

[0120] In this embodiment, the second acquisition unit 72 acquires from the display storage unit 58 the working width W, working length w1, length y1 from the coupled part 60a coupled to the coupling device 30 to the front end of the working range N, and length y2 from the coupled part 60a to the rear end of the working range N, which have been acquired by the setting acquisition unit 57d and stored by the display storage unit 58 in association with the field F. Therefore, the second acquisition unit 72 can acquire the relative positions of the vehicle body position VP and the ends (front left end, front right end, rear left end, rear right end) of the working range N of the working device 60 based on the working width W, length y1 from the coupled part 60a to the front end of the working range N, and length y2 from the coupled part 60a to the rear end of the working range N.

[0121] In this embodiment, the second acquisition unit 72 acquires information stored in the memory unit 41 and information pre-stored in the display memory unit 58, but the setting screen D2 may accept input of specification information of the agricultural machine 1 and / or the work device 60, and the second acquisition unit 72 may acquire the input specification information, and the source of acquisition is not limited to the above configuration.

[0122] The third acquisition unit 73 acquires information on the field F in which the agricultural machine 1 moves as the automatic traveling control unit 40a controls the traveling device 4 based on the traveling route L. The third acquisition unit 73 also acquires position information of the prohibited area E. In this embodiment, the third acquisition unit 73 acquires, as information on the field F, position information on the contour H1 of the field F registered by the field registration unit 57b, position information on the boundary M generated by the second generation unit 57e2, and position information on the outer work section A3 created by the third generation unit 57e3. The third acquisition unit 73 acquires data indicated by the positions (latitude, longitude) of the contour H1, the boundary M, and the outer work section A3, and data indicated in a coordinate system (X-axis, Y-axis).

[0123] The third acquisition unit 73 acquires an area (external area E1) where ridges and fences are installed on the periphery of the field G, based on position information of the contour H1 of the field F. The third acquisition unit 73 acquires position information of the external area E1 by distinguishing between an area within the range of the contour H1 and an area outside the range of the contour H1, based on the acquired position information of the field F and position information of the contour H1.

[0124] Furthermore, the third acquisition unit 73 acquires the already worked area E2 as information on the field F based on the position information of the contour H1 of the field F, the boundary M generated by the second generation unit 57e2, the outer working section A3 created by the third generation unit 57e3, and the vehicle body position VP acquired by the position acquisition unit 57a. The third acquisition unit 73 distinguishes which outer working section A3 the agricultural machine 1 is located in based on the vehicle body position VP acquired by the position acquisition unit 57a. Here, the work implement 60 works in the outer working section A3 in the order from the inner outer working section A3 to the outer outer working section A3, so the third acquisition unit 73 distinguishes that the outer working section A3 on the inside of the outer working section A3 where the agricultural machine 1 is located is the already worked area E2. Furthermore, the third acquisition unit 73 can distinguish that the outer working section A3 on the outside of the outer working section A3 where the agricultural machine 1 is located is the planned work area Es where work is planned to be performed. As a result, the third acquisition unit 73 can acquire the position information of the worked area E2 based on the position information of the boundary M from the information of the worked area E2 and the field F acquired by the third acquisition unit 73.

[0125] In addition, the prohibited area E acquired by the third acquisition unit 73 may be a point or area in the field F where the agricultural machinery 1 is prohibited from entering, and is not limited to the external area E1 or the already worked area E2, but may be, for example, an area of ​​an obstacle or building on the field F.

[0126] The definition unit 74 defines information used by the correction unit 75 to correct the travel route L. Based on the specification information acquired by the second acquisition unit 72, the definition unit 74 defines points (reference positions) and areas (detection areas) used by the correction unit 75 to detect and process the outer boundary line H1, inner boundary line H1', ​​boundary M, and areas (prohibited area E, etc.) on the field F. The definition unit 74 defines virtual reference positions for the outer shapes of the agricultural machine 1 and the working device 60, as well as for the surroundings, etc. In this embodiment, the definition unit 74 defines any points, a first reference position x1, a second reference position x2, a third reference position x3, a fourth reference position x4, a fifth reference position x5, a sixth reference position x6, a seventh reference position x7, and an eighth reference position x8, as the reference positions.

[0127] Further, the definition unit 74 defines the position information of the first reference position x1, the second reference position x2, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8 with data indicated by latitude and longitude or data indicated by a coordinate (X-axis, Y-axis) system. Therefore, by defining the position information of the first reference position x1, the second reference position x2, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8, the definition unit 74 can define the relative distance between the vehicle body position VP and the first reference position x1, the second reference position x2, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8.

[0128] As shown in FIG. 9, the first reference position x1 is a virtual reference position defined in front of the agricultural machine 1. In the present embodiment, the definition unit 74 defines the first reference position x1 at a position in front of the agricultural machine 1 and inside the outer circumference CT of the turning locus of the agricultural machine 1. That is, the length Y3 from the front part of the agricultural machine 1 to the first reference position x1 is shorter than the outer circumference CT of the turning locus of the agricultural machine 1 (Y3 < CT). Further, the definition unit 74 defines the first reference position x1 on a virtual line extending in the front-rear direction at the center in the width direction of the agricultural machine 1. That is, the first reference position x1 is arranged in front as viewed from the vehicle body position VP detected by the position detection device 50 and coincides in the width direction.

[0129] As shown in FIG. 9, the second reference position x2 is a virtual reference position defined in front of the agricultural machine 1. The definition unit 74 defines the second reference position x2 in front of the first reference position x1. In this embodiment, the definition unit 74 defines the second reference position x2 in a position in front of the agricultural machine 1 and outward of the outer periphery CT of the turning trajectory of the agricultural machine 1. That is, the length Y4 from the front of the agricultural machine 1 to the second reference position x2 is longer than the outer periphery CT of the turning trajectory of the agricultural machine 1 (Y4>CT). In addition, the definition unit 74 defines the second reference position x2 on a virtual line. That is, the second reference position x2 is defined to be disposed in front of the vehicle body position VP detected by the position detection device 50, to be coincident in the width direction, and to be farther away than the first reference position x1 (Y4>Y3).

[0130] As shown in FIG. 9, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8 are virtual reference positions defined for the working device 60. In this embodiment, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8 are disposed at positions corresponding to the ends (front left end, front right end, rear left end, rear right end) of the working range N of the working device 60 and the centers of the front and rear sides of the working range N. In detail, the definition unit 74 defines the third reference position x3 at a position corresponding to the front left end of the working range N. The definition unit 74 defines the fourth reference position x4 at a position corresponding to the front right end of the working range N. The definition unit 74 defines the fifth reference position x5 at a position corresponding to the rear left end of the working range N. The definition unit 74 defines a sixth reference position x6 at a position corresponding to the right end of the rear side of the working range N. The definition unit 74 defines a seventh reference position x7 at a position in the center of the front side of the working range N. The definition unit 74 defines an eighth reference position x8 at the center of the rear side of the working range N.

[0131] Note that the first reference position x1, the second reference position x2, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8 are arbitrary points, but the definition unit 74 is not limited to arbitrary points and may use any shape of area (detection area) as long as it is a reference for determining the distance between the agricultural machine 1 and the working device 60 and the outer boundary line H1, the inner boundary line H1', ​​the boundary M, the area, etc. For example, the definition unit 74 can define a detection area based on the outer shapes of the agricultural machine 1, the working device 60, etc. In addition, instead of the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8, the definition unit 74 may define as the detection area an approximately rectangular area connecting the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8, i.e., an area corresponding to the working range N.

[0132] 1, the correction unit 75 corrects the travel route L acquired by the first acquisition unit 71. Specifically, the correction unit 75 has a change unit 75a and a creation unit 75b, and corrects the travel route L acquired by the first acquisition unit 71 through correction by the change unit 75a (first correction) and correction by the creation unit 75b (second correction).

[0133] The change unit 75a performs a correction as a first correction to shorten the end portions r1 of the multiple lines R based on the specification information of the agricultural machine 1 and the work implement 60, and information of the field F, so that the agricultural machine 1 does not enter a prohibited area E in the field F where the agricultural machine 1 is prohibited from entering. Below, the first correction by the change unit 75a will be described using as an example a case where the agricultural machine 1 heads from one line (first line R1) of the multiple lines R to another line (second line R2) connected to the one line.

[0134] As shown in Fig. 11A, when the agricultural machine 1 is moving along the first line R1, the change unit 75a shortens the end portion r1a of the first line R1. In this embodiment, since the end portion of the multiple lines R is the work end point p1, as shown in Figs. 11B, 12A, 13A, and 14A, the change unit 75a moves (shifts) the work end point p1 toward the start end r2 of the line (the work start point p2), thereby shortening the end portion r1a of the first line R1. In more detail, the change unit 75a shortens the end portion r1a of the first line R1 in accordance with the angle θa formed by the first line R1 and the second line R2.

[0135] In the following explanation, the amount by which the modification unit 75a moves the work end point p1 toward the starting end r2b of the line (the work start point p2 side), i.e., the amount (length) by which the end portion r1a of the first line R1 is shortened, is referred to as the shortening amount Q.

[0136] 11B, 12A, and 14A, when the angle θa formed by the first line R1 and the second line R2 is equal to or greater than a predetermined angle (threshold), the change unit 75a shortens the end portions r1 of the multiple lines R based on the position information of the prohibited area E and the first reference position x1. In this embodiment, when the angle θa formed by the first line R1 and the second line R2 is equal to or greater than 70°, the change unit 75a shortens the end portions r1 of the multiple lines R based on the position information of the prohibited area E and the first reference position x1.

[0137] When the agricultural machine 1 is traveling along the first line R1 and the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E, the change unit 75a moves the work end point p1 to a seventh reference position x7 at that position toward the starting end (not shown) of the first line R1 (the work start point p2 side). As a result, the vehicle body position VP corresponding to the work end point p1 after correction by the change unit 75a moves toward the starting end of the first line R1 (the work start point p2 side) by the same amount as the shortening amount Q from the vehicle body position VP corresponding to the work end point p1 before correction.

[0138] On the other hand, as shown in Fig. 13A, when the angle θa formed by the first line R1 and the second line R2 is less than a predetermined angle (threshold), the change unit 75a shortens the end r1 of the multiple lines R based on the position information of the prohibited area E and the second reference position x2. In detail, when the agricultural machine 1 is traveling on the first line R1, if the second reference position x2 is located on the boundary M of the prohibited area E or in the prohibited area E, the change unit 75a moves the work end point p1 to the seventh reference position x7 at that position, and moves it toward the start end side of the first line R1 (the work start point p2 side). As a result, the vehicle body position VP corresponding to the work end point p1 after correction by the change unit 75a moves toward the start end side of the first line R1 (the work start point p2 side) by the same amount as the shortening amount Q from the vehicle body position VP corresponding to the work end point p1 before correction. Furthermore, since the second reference position x2 has a longer length to the front end of the working range N (a straight line passing through the third reference position x3, the fifth reference position x5, and the seventh reference position x7) than the first reference position x1, the shortening amount Q by which the change unit 75a shortens the multiple lines R based on the second reference position x2 is longer than the shortening amount Q by which the change unit 75a shortens the multiple lines R based on the first reference position x1.

[0139] As described above, the change unit 75a moves the end points r1 of the multiple lines R of the travel route L created by the route creation unit 57e and acquired by the first acquisition unit 71 toward the start point r2 (the work start point p2). Therefore, by the change unit 75a moving the work end point p1 toward the start point r2 of the line R, the agricultural machine 1 ends travel and ends work on the nearer side than before the correction, based on the corrected line R. As a result, a gap is formed between the first unit work section e1 corresponding to the first line R1 corrected by the change unit 75a and the second unit work section e2 corresponding to the second line R2 by a value equal to the movement amount (shortening amount Q) of the work end point p1, and an unworked area Ed is generated. The size of the unworked area Ed varies depending on the shortening amount Q.

[0140] The threshold value is pre-stored in the storage unit 41, and the change unit 75a acquires the threshold value from the storage unit 41. The threshold value is not limited to 70°, and may be 60°, or may be configured to be arbitrarily changeable by operating the display device 55. The threshold value is set based on whether or not an area in which the agricultural machine 1 can turn can be secured in the area near the end point r1a of the first line R1 and the start point r2b of the second line R2.

[0141] In addition, the modification unit 75a only needs to shorten the terminal portions r1 of the multiple lines R so that the agricultural machine 1 does not enter a prohibited area E in the field F where the agricultural machine 1 is prohibited from entering, based on the specification information and the information of the field F, and the method of correction for shortening the terminal portions r1 of the multiple lines R is not limited to the method described above.

[0142] Here, the creation unit 75b performs a correction (second correction) to create an auxiliary line Ha that runs from the end r1a of the first line R1, which is one of the multiple lines R shortened by the change unit 75a, to the start r2b of the second line R2, which is another line connected to the end r1a of the first line R1, and is inclined with respect to the second line R2. By performing this correction, the creation unit 75b can eliminate the unworked area Ed generated by the correction by the change unit 75a by having the agricultural machine 1 travel along the auxiliary line Ha and perform work (auxiliary work). In more detail, as shown in Figs. 11H to 11J, the creation unit 75b creates a corrected route H that includes the auxiliary line Ha, the start end of which is connected to the end of the first line R1 and the end of which is connected to the start end of the second line R2.

[0143] The creation unit 75b creates the auxiliary line Ha such that the auxiliary line Ha and the second line R2 form an acute angle. The creation unit 75b creates the auxiliary line Ha such that the angle (inclination angle) θb formed between the starting end Hb of the auxiliary line Ha and the second line R2 is smaller than the angle θa formed between the first line R1 and the second line R2.

[0144] As shown in Fig. 11C, Fig. 12B, and Fig. 13B, the creation unit 75b creates the auxiliary line Ha with different inclination angles θb when the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (θa≦90°) and when the angle θa formed by the first line R1 and the second line R2 is an obtuse angle (θa>90°) as shown in Fig. 14B. In this embodiment, when the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (θa≦90°), the creation unit 75b creates the auxiliary line Ha with the inclination angle θb being 30°. On the other hand, when the angle θa formed by the first line R1 and the second line R2 is an obtuse angle (θa>90°), the creation unit 75b creates the auxiliary line Ha with the inclination angle θb being 15°.

[0145] In addition, the creation unit 75b creates the auxiliary line Ha such that the angle (inclination angle) θb formed between the starting end Hb of the auxiliary line Ha and the second line R2 is smaller than the angle θa formed between the first line R1 and the second line R2. In addition, when the first line R1 and the second line R2 form an obtuse angle (θa>90°), the creation unit 75b only needs to create the auxiliary line Ha inclined so that the angle θb formed between the starting end Hb of the auxiliary line Ha and the second line R2 is smaller than when the first line R1 and the second line R2 form an acute angle or right angle (θa≦90°), and the inclination angle θb is not limited to 30° and 15°. For example, when the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (θa≦90°), the creation unit 75b may create the auxiliary line Ha so that the inclination angle θb is 25°, or when the angle θa formed by the first line R1 and the second line R2 is an obtuse angle (θa>90°), the creation unit 75b may create the auxiliary line Ha so that the inclination angle θb is 10°.

[0146] 11H, 11I, and 11J, the auxiliary line Ha includes an auxiliary work line constituting a starting end Hb and a transition line constituting an end end Hc. In other words, the auxiliary work line Hb constitutes the starting end of the auxiliary line Ha, and the transition line Hc constitutes the end end of the auxiliary line Ha.

[0147] The auxiliary work line Hb is a route that forms an acute angle θb with the second line R2 and intersects with the first line R1. The auxiliary work line Hb is also a route along which the agricultural machine 1 mainly travels and the working implement 60 performs work in the unworked area Ed. As shown in Fig. 11C, Fig. 12B, Fig. 13B, and Fig. 14B, the creation unit 75b defines the starting point h2 and the ending point h1 of the auxiliary work line Hb so that the working range N when the working implement 60 is located at the starting point h2 of the auxiliary work line Hb and the working range N when the working implement 60 is located at the ending point h1 of the auxiliary work line Hb overlap with the unworked area Ed.

[0148] 11C, 12B, 13B, and 14B, the creation unit 75b defines the start point h2 and the end point h1 of the auxiliary work line Hb based on the third reference position x3, the fourth reference position x4, the fifth reference position x5, and the sixth reference position x6, the boundary M, and the inclination angle θb defined by the definition unit 74. Specifically, the creation unit 75b defines a position of the second boundary M2 facing the end point of the first boundary M1 as the start point h2 of the auxiliary work line Hb when the position coincides with the third reference position x3 or the fifth reference position x5 and a straight line passing through the seventh reference position x7 and the eighth reference position x8 is inclined by the inclination angle θb with respect to the second line R2.

[0149] On the other hand, as shown in Figures 11C, 12B, 13B, and 14B, when the fourth reference position x4 or the sixth reference position x6 is located on the first boundary M1, and the seventh reference position x7 is located on a straight line that passes through the starting point h2 and is inclined by an inclination angle θb with respect to the second line R2, the position corresponding to the seventh reference position x7 is defined as the end point h1 of the auxiliary work line Hb.

[0150] As a result, the working range N when the working implement 60 is located at the starting point h2 of the auxiliary work line Hb, and the working range N when the working implement 60 is located at the terminal point h1 of the auxiliary work line Hb are positioned so as to be located outside the unworked area Ed. For this reason, as shown in Fig. 16, the unit work section (first auxiliary work section E3) corresponding to the auxiliary work line Hb overlaps with the unworked area Ed. In other words, when the agricultural machine 1 is located at the starting point (auxiliary work line) Hb of the auxiliary line Ha, the creation unit 75b creates the auxiliary line Ha so that the working range N of the working implement 60 overlaps with the starting point of the unit work section (second unit work section) e2 where the working implement 60 works on the second line R2.

[0151] As shown in Fig. 11H, Fig. 11I, and Fig. 11J, the transition line Hc is a path that extends from the terminal end h1 of the auxiliary work line Hb and connects to the starting end r2b of the second line R2. In other words, the transition line Hc is a path that transitions from the auxiliary work line Hb to the second line R2 after the agricultural machine 1 travels on the auxiliary work line Hb and the work implement 60 performs work in the unworked area Ed. Specifically, the creation unit 75b creates the transition line Hc by connecting the starting end h4 of the transition line Hc to the terminal end h1 of the auxiliary work line Hb and such that the terminal end h3 of the transition line Hc merges with the second line R2. In other words, the transition line Hc is a path that curves along the starting end r2 of the second line R2.

[0152] Therefore, as shown in Figures 11C, 12B, 13B, and 14B, the creation unit 75b creates the auxiliary line Ha so that its starting end (auxiliary work line) Hb intersects with the ending end r1a of the first line R1 and extends in a straight line from the ending end r1 of the first line R1, and its ending end (transition line) Hc curves along the starting end r2b of the second line R2.

[0153] When the agricultural machine 1 travels along the transition line Hc and the working implement 60 reaches the terminal end h3 of the transition line Hc, the automatic traveling control unit 40a stops the agricultural machine 1 and transitions the coupling device 30 from the working posture to the non-working posture. In other words, since the coupling device is in the working posture while the agricultural machine 1 travels along the transition line Hc, a unit work section (second auxiliary work section) E4 corresponding to the transition line Hc is formed in the field G.

[0154] 11D, in this embodiment, in addition to the auxiliary line Ha, the creation unit 75b creates a connecting line Hd that connects the end point r1 (work end point p1) of the first line R1 to the starting point (auxiliary work line) Hb of the auxiliary line Ha as part of the corrected path H. The connecting line Hd is a path along which the agricultural machine 1 changes direction, moves from the first line R1 to the second line R2, and the work implement 60 reaches the starting point h2 of the auxiliary work line Hb. In this embodiment, the agricultural machine 1 turns at the starting point side of the connecting line Hd. More specifically, at the starting point side of the connecting line Hd, the agricultural machine 1 turns around and moves to the starting point h2 of the auxiliary work line Hb.

[0155] In the above-described embodiment, the creation unit 75b creates an auxiliary line Ha and a connecting line Hd as the corrected path H, and creates an auxiliary work line Hb and a transition line Hc as the auxiliary line Ha. However, the creation unit 75b only needs to create a section of the auxiliary line Ha in the above-described embodiment that corresponds to the auxiliary work line Hb. The creation unit 75b may not create the transition line Hc and connecting line Hd in advance, and the automatic driving control unit 40a may control the traveling device 4 to travel autonomously from the terminal end r1a of the first line R1 to the starting end h2 of the auxiliary work line Hb, and to travel autonomously from the terminal end h1 of the auxiliary work line Hb to the second line R2.

[0156] As shown in Fig. 15, when the shortening amount Q by the change unit 75a is equal to or greater than a preset value, the creation unit 75b creates multiple adjacent auxiliary lines Ha. As shown in Fig. 16, in this embodiment, when the amount (shortening amount Q) by which the change unit 75a moves the work end point p1 toward the starting end r2 (work start point p2) of the line, i.e., the length of the first line R1 in the extension direction of the unworked area Ed generated by the correction by the change unit 75a, is longer than the inherent length Z calculated by the product of the tangent of the angle θc formed by the starting end r2 (auxiliary work line Hb) of the auxiliary line Ha and the first line R1 and the work width W (Q>Z=W×tan θc), the creation unit 75b creates multiple adjacent auxiliary lines Ha so that the sum of the inherent lengths Z of the multiple auxiliary lines Ha exceeds the shortening amount Q.

[0157] The creation unit 75b creates the auxiliary lines Ha in order from the auxiliary line Ha on the end r1 side (the work end point p1 side) of the first line R1 to the auxiliary line Ha on the start r2 side (the work start point p2 side). Hereinafter, a case where the creation unit 75b creates two auxiliary lines Ha will be described as an example, and for convenience of description, the auxiliary line Ha on the end r1 side of the first line R1 will be described as the first auxiliary line Ha1, and the auxiliary line Ha on the start side will be described as the second auxiliary line Ha2. In addition, the auxiliary work line Hb of the first auxiliary line Ha1 will be described as the first auxiliary work line Hb1, and the auxiliary work line Hb of the second auxiliary line Ha2 will be described as the second auxiliary work line Hb2. Note that the creation unit 75b creates the transition lines Hc corresponding to the first auxiliary work line Hb1 and the second auxiliary work line Hb2, respectively, in the same manner as described above, and therefore the description of the creation of the transition lines Hc will be omitted.

[0158] First, when a position on the second boundary M2 opposite the end of the first boundary M1 coincides with the third reference position x3 or the fifth reference position x5, and a straight line passing through the seventh reference position x7 and the eighth reference position x8 is inclined by an inclination angle θb with respect to the second line R2, the creation unit 75b defines the position corresponding to the eighth reference position x8 as the starting point h2 of the first auxiliary work line Hb1.

[0159] Furthermore, as shown in Figure 15, when the fourth reference position x4 or the sixth reference position x6 is located on the first boundary M1 and the seventh reference position x7 is located on a straight line that passes through the starting point h2 of the first auxiliary work line Hb1 and is inclined by an inclination angle θb with respect to the second line R2, the position corresponding to the seventh reference position x7 is defined as the end point h1 of the first auxiliary work line Hb1.

[0160] Next, using the intersection point between the rear end of the working range N at the starting point h2 of the first auxiliary work line Hb1 (a straight line passing through the fourth reference position x4, the sixth reference position x6, and the eighth reference position x8) and the second boundary M2 as a reference, if the intersection point coincides with the third reference position x3 or the fifth reference position x5, and the straight line passing through the seventh reference position x7 and the eighth reference position x8 is inclined by an inclination angle θb with respect to the second line R2, the position corresponding to the eighth reference position x8 is defined as the starting point h2 of the second auxiliary work line Hb2.

[0161] Furthermore, as shown in Figure 15, when the fourth reference position x4 or the sixth reference position x6 is located on the first boundary M1 and the seventh reference position x7 is located on a straight line that passes through the starting point h2 of the second auxiliary work line Hb2 and is inclined by an inclination angle θb with respect to the second line R2, the position corresponding to the seventh reference position x7 is defined as the end point h1 of the second auxiliary work line Hb2.

[0162] In the above-mentioned embodiment, the auxiliary line Ha includes the auxiliary work line Hb and the transition line Hc, but the auxiliary line Ha created by the creation unit 75b may be a path from the end r1a of the first line R1, which is one of the multiple lines R shortened by the change unit 75a, to the start r2b of the second line R2, and may be configured to create only the auxiliary work line Hb in the above-mentioned embodiment. Also, as shown in FIG. 17A, the creation unit 75b may create the auxiliary line Ha such that the start end of the auxiliary line Ha is perpendicular to the end r1 of the first line R1, the middle part curves toward the start end r2 of the second line R2, and the end end curves along the second line R2.

[0163] 17A, the auxiliary line Ha includes an auxiliary work line Hb that forms a starting end and a transition line Hc that forms a middle portion and an end portion. In the modification, the auxiliary work line Hb is a path that is perpendicular to the first line R1.

[0164] As shown in Figure 17B, when the position on the second boundary M2 corresponding to the end of the first boundary M1 coincides with the fourth reference position x4 or the sixth reference position x6, and the rear end of the work range N (a straight line passing through the fourth reference position x4, the sixth reference position x6, and the eighth reference position x8) is located on the second boundary M2, the creation unit 75b defines the starting point h2 of the auxiliary work line Hb at a position corresponding to the eighth reference position x8.

[0165] On the other hand, when the position corresponding to the end of the first boundary M1 coincides with the third reference position x3 or the fifth reference position x5, and the front end of the working range N (a straight line passing through the third reference position x3, the fifth reference position x5, and the seventh reference position x7) coincides with the first boundary M1, the creation unit 75b defines the start end h2 of the auxiliary work line Hb at a position corresponding to the seventh reference position x7. As a result, the working area when the agricultural machine 1 is located at the start end h2 of the auxiliary work line Hb, and the working area when the agricultural machine 1 is located at the end end h1 of the auxiliary work line Hb are positioned so as to be located outside the unworked area Ed. For this reason, the unit work section (first auxiliary work section E3) corresponding to the auxiliary work line Hb overlaps with the unworked area Ed.

[0166] The creation unit 75b also creates the transition line Hc by connecting the start end h4 of the transition line Hc and the end end h1 of the auxiliary work line Hb, and by connecting the end end h3 of the transition line Hc to the second line R2. As shown in Fig. 17B, the transition line Hc is a path that extends from the end end h1 of the auxiliary work line Hb in parallel to the second line R2, curves toward the second line R2 from the middle, and curves along the second line R2.

[0167] 18 will be mainly used below to explain a series of flows in which, when the agricultural machine 1 is traveling along a travel route L, the travel assistance system S of the agricultural machine 1 corrects the travel route L, and the agricultural machine 1 travels based on the corrected travel route L. For convenience of explanation, the following explanation will be given taking as an example a case in which the agricultural machine 1 travels along a first line R1 and moves to a second line R2.

[0168] First, as shown in Fig. 11A, the automatic driving control unit 40a makes the agricultural machine 1 travel based on the travel route L created by the route creation unit 57e (S1). When the automatic driving control unit 40a controls the agricultural machine 1 and the agricultural machine 1 starts traveling on the first line R1 (S1), the change unit 75a checks whether the angle θa formed by the first line R1 and the second line R2 is less than a threshold value (70°) (S2). In detail, the change unit 75a detects, among the multiple lines R, the first line R1 on which the agricultural machine 1 is located and the second line R2 that is the next line to the first line R1, based on the travel route L acquired by the first acquisition unit 71 and the vehicle body position VP acquired by the position acquisition unit 57a. When the change unit 75a detects the first line R1 and the second line R2 from the multiple lines R, it calculates the angle formed by the first line R1 and the second line R2, and based on the threshold value obtained from the display memory unit 58, checks whether the angle θa formed by the first line R1 and the second line R2 is less than the threshold value (70°).

[0169] When the change unit 75a confirms that the angle θa formed by the first line R1 and the second line R2 is not less than the threshold value (70°) (S2, No), the change unit 75a confirms whether the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E (S3). Specifically, the change unit 75a confirms whether the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E based on the vehicle body position VP acquired by the position acquisition unit 57a, the relative distance between the vehicle body position VP and the first reference position x1 defined by the definition unit 74, and the position information of the prohibited area E acquired by the third acquisition unit 73.

[0170] When the change unit 75a confirms that the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E (S3, Yes), the change unit 75a performs a correction to shorten the end r1a of the first line R1 (S4). Specifically, the change unit 75a moves the work end point p1 of the first line R1 toward the start end side of the first line R1 (the work start point p2 side) to a seventh reference position x7 at the position where the change unit 75a confirms that the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E. As a result, the vehicle body position VP corresponding to the work end point p1 after correction by the change unit 75a is moved toward the start end side of the first line R1 (the work start point p2 side) by the same amount as the movement amount of the work end point p1 from the vehicle body position VP corresponding to the work end point p1 before correction.

[0171] When the change unit 75a performs a correction to shorten the end portion r1a of the first line R1 (S4), the creation unit 75b checks whether the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (≦90°) (S5). In this embodiment, the creation unit 75b checks whether the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (≦90°) based on the angle between the first line R1 and the second line R2 calculated by the change unit 75a.

[0172] When the creation unit 75b confirms that the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (≦90°) (S5, Yes), it creates the auxiliary line Ha so that the angle (inclination angle) θb formed by the start end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is 30° (S6). Specifically, the creation unit 75b defines the start end r2 and the end end r1 of the auxiliary work line Hb based on the third reference position x3, the fourth reference position x4, the fifth reference position x5, and the sixth reference position x6, the boundary M, and the inclination angle θb defined by the definition unit 74, and creates the auxiliary work line Hb. In addition, the creation unit 75b connects the start end r2 of the transition line Hc to the end end r1 of the auxiliary work line Hb, and creates the transition line Hc so that the end end r1 of the transition line Hc merges with the second line R2. Furthermore, in addition to the auxiliary line Ha, the creation unit 75b creates, as part of the corrected path H, a connecting line Hd that connects the end point r1 (work end point p1) of the first line R1 and the start point r2 of the auxiliary line Ha.

[0173] On the other hand, when the creation unit 75b confirms that the angle θa formed by the first line R1 and the second line R2 is an obtuse angle (>90°) (S5, No), it creates the auxiliary line Ha so that the angle (inclination angle) θb formed by the start end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is 15° (S7). The creation unit 75b also creates the transition line Hc by connecting the start end h4 of the transition line Hc to the end end h1 of the auxiliary work line Hb and by connecting the end end h3 of the transition line Hc to the second line R2. Furthermore, in addition to the auxiliary line Ha, the creation unit 75b creates a connecting line Hd that connects the end end r1a of the first line R1 to the start end h2 of the auxiliary work line Hb as part of the correction path H.

[0174] Furthermore, in S2, if the change unit 75a confirms that the angle θa formed by the first line R1 and the second line R2 is less than the threshold value (70°) (S2, Yes), it checks whether the second reference position x2 is located on the boundary M of the prohibited area E or in the prohibited area E (S8). Specifically, the change unit 75a checks whether the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E based on the vehicle body position VP acquired by the position acquisition unit 57a, the relative distance between the vehicle body position VP and the second reference position x2 defined by the definition unit 74, and the position information of the prohibited area E acquired by the third acquisition unit 73.

[0175] When the change unit 75a confirms that the second reference position x2 is located on the boundary M of the prohibited area E or on the prohibited area E (S8, Yes), the change unit 75a performs a correction to shorten the end portion r1a of the first line R1 (S9). Specifically, the change unit 75a moves the work end point p1 of the first line R1 toward the start end side of the first line R1 (the work start point p2 side) to a seventh reference position x7 at the position where it is confirmed that the second reference position x2 is located on the boundary M of the prohibited area E or on the prohibited area E.

[0176] When the change unit 75a performs a correction to shorten the end r1a of the first line R1 (S9), the creation unit 75b creates the auxiliary line Ha so that the angle (inclination angle) θb formed by the start end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is 30° (S10). The creation unit 75b also creates the transition line Hc by connecting the start end h4 of the transition line Hc to the end end h1 of the auxiliary work line Hb and by connecting the end end h3 of the transition line Hc to the second line R2. Furthermore, the creation unit 75b creates a connecting line Hd that connects the end end r1 of the first line R1 and the start end h2 of the auxiliary work line Hb as part of the corrected path H in addition to the auxiliary line Ha.

[0177] When the creation unit 75b creates the auxiliary line Ha in S6, S7, and S10, the traveling assistance system S of the agricultural machine 1 transitions to an auxiliary line traveling process (S11).

[0178] On the other hand, in S3, if the change unit 75a confirms that the first reference position x1 is not located on the boundary M of the prohibited area E or on the prohibited area E (S3, No), or if the change unit 75a confirms that the second reference position x2 is not located on the boundary M of the prohibited area E or on the prohibited area E (S8, No), it does not change the driving route L and does not proceed to the auxiliary line driving process.

[0179] The auxiliary line traveling process will be described below mainly with reference to Figs. 11A to 11J and Fig. 19. When the traveling assistance system S of the agricultural machine 1 transitions to the auxiliary line traveling process, the automatic traveling control unit 40a controls the traveling device 4 based on the traveling route L corrected by the correction unit 75. That is, the control device 40 controls the traveling device 4 based on the traveling route L corrected by the correction unit 75. In this embodiment, the automatic traveling control unit 40a controls the steering and vehicle speed of the traveling device 4 based on the traveling route L corrected by the correction unit 75 and the position of the agricultural machine 1 detected by the position detection device 50. Specifically, as shown in Fig. 11B, the automatic traveling control unit 40a stops the traveling device 4 at the end r1 of the first line R1 to stop the agricultural machine 1 (S21).

[0180] When the automatic traveling control unit 40a stops the agricultural machine 1 (S21), it controls the lift cylinder 31 to move the coupling device 30 from the working position to the non-working position (S22). When the automatic traveling control unit 40a moves the coupling device 30 to the non-working position (S22), it controls the traveling device 4 to move from the terminal end r1a of the first line R1 to the connecting line Hd (S23), as shown in Fig. 11D. That is, the automatic traveling control unit 40a causes the agricultural machine 1 to perform a turning travel and move from the terminal end r1a of the first line R1 to the starting end r2b of the second line R2.

[0181] When the automatic traveling control unit 40a moves the agricultural machine 1 from the end point r1a of the first line R1 to the start point r2b of the second line R2 (S23), as shown in Fig. 11E, it controls the traveling device 4 to move the agricultural machine 1 from the start point r2b of the second line R2 to the end point (transition line) Hc of the auxiliary line Ha (S24). Specifically, the automatic traveling control unit 40a moves the agricultural machine 1 to the end point h3 of the transition line Hc, that is, the intersection point of the transition line Hc and the second line R2.

[0182] When the automatic traveling control unit 40a moves the agricultural machine 1 to the terminal end h3 of the transition line Hc (S25, Yes), as shown in Fig. 11F, it controls the traveling device 4 to move the agricultural machine 1 backward along the auxiliary line Ha (S26). The automatic traveling control unit 40a moves the agricultural machine 1 to the starting end of the auxiliary line Ha (auxiliary work line Hb). In other words, the automatic traveling control unit 40a moves the agricultural machine 1 from the terminal end h3 of the transition line Hc to the starting end h2 of the auxiliary work line Hb.

[0183] When the automatic traveling control unit 40a moves the agricultural machine 1 to the starting point h2 of the auxiliary work line Hb (S27, Yes), it controls the lift cylinder 31 to transition the coupling device 30 from the non-working posture to the working posture (S28). When the automatic traveling control unit 40a transitions the coupling device 30 to the working posture (S28), it controls the traveling device 4 to move the agricultural machine 1 forward along the auxiliary line Ha (S29), as shown in Fig. 11G. As a result, the working device 60 moves along the auxiliary work line Hb of the auxiliary line Ha, thereby performing work in the unworked area Ed.

[0184] When the automatic traveling control unit 40a advances the auxiliary line Ha and the working implement 60 performs work in the unworked area Ed (S29), it checks whether the agricultural machine 1 is located at the end (transition line) Hc of the auxiliary line Ha (S30), as shown in Fig. 11H. In this embodiment, since the end h3 of the transition line Hc merges with the second line R2, the automatic traveling control unit 40a checks whether the agricultural machine 1 is located on the second line R2.

[0185] When the automatic travel control unit 40a determines that the agricultural machine 1 is located at the end (transition line) Hc of the auxiliary line Ha, i.e., on the second line R2 (S30, Yes), it stops the traveling device 4 and controls the lift cylinder 31 to shift the coupling device 30 from the working position to the non-working position (S31). After shifting the coupling device 30 to the non-working position (S31), the automatic travel control unit 40a controls the traveling device 4 to move backward from the end (transition line) Hc of the auxiliary line Ha, specifically, from the end h3 of the transition line Hc to the starting point r2b of the second line R2 (S32), as shown in FIG. 11I.

[0186] When the agricultural machine 1 is caused to retreat from the end point (transition line) Hc of the auxiliary line Ha to the starting point r2b of the second line R2 (S32), the automatic driving control unit 40a checks whether the agricultural machine 1 is located at the starting point r2b of the second line R2 (S33). In this embodiment, the automatic driving control unit 40a checks whether the rear end of the working area of ​​the working device 60 (a straight line passing through the fourth reference position x4, the sixth reference position x6, and the eighth reference position x8) is located at the boundary M at the starting point r2b of the second line R2.

[0187] When the automatic traveling control unit 40a confirms that the agricultural machine 1 is located at the starting end r2b of the second line R2 (S33, Yes), it controls the lift cylinder 31 to shift the coupling device 30 from the non-working position to the working position (S34). When the automatic traveling control unit 40a shifts the coupling device 30 to the working position (S34), it controls the traveling device 4 to move forward along the second line R2 (S35), as shown in FIG. 11J.

[0188] In the above-described embodiment, a series of steps has been described in which the driving assistance system S of the agricultural machine 1 corrects the driving route L, and the agricultural machine 1 drives based on the corrected driving route L. However, the process of correcting the driving route L and the process of the agricultural machine 1 driving based on the corrected driving route L may be performed in parallel.

[0189] [Second embodiment] In addition, in the above-mentioned first embodiment, when the agricultural machine 1 is traveling along the travel route L, the correction unit 75 of the travel assistance system S of the agricultural machine 1 corrects the travel route L, and the automatic travel control unit 40a automatically drives the agricultural machine 1 based on the corrected travel route L. However, the travel assistance system S of the agricultural machine 1 only needs to correct the travel route L and the agricultural machine 1 travels along the corrected travel route L, and the control device 40 may be configured not to control the vehicle speed of the agricultural machine 1, but to control the automatic steering mechanism 37.

[0190] Below, the second embodiment of the agricultural machine 1 driving assistance system S will be described, focusing on the configurations that differ from the above-described embodiment (first embodiment), and the configurations that are common to the first embodiment will be given the same symbols and detailed descriptions will be omitted.

[0191] As shown in FIG. 20, in the first modified example, the control device 40 has an automatic steering control unit 40b instead of the automatic driving control unit 40a. The automatic steering control unit 40b is composed of electric and electronic circuits provided in the control device 40, a program stored in a CPU, etc., and the like. The automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 2 travels along the travel route L based on a control signal output from the control device 40. The automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the agricultural machine 1 travels along the travel route L in a manner similar to that of the automatic driving control unit 40a described above. As a result, the automatic steering control unit 40b controls the steering of the travel device 4 based on the travel route L corrected by the correction unit 75 and the position of the agricultural machine 1 detected by the position detection device 50.

[0192] In the second embodiment, the driving assistance system S of the agricultural machine 1 corrects the driving route L, and the agricultural machine 1 drives based on the corrected driving route L. This series of steps differs from the first embodiment only in that the operator seated in the driver's seat operates the vehicle speed, etc., and the automatic steering control unit 40b controls the driving device 4, and therefore a detailed explanation will be omitted.

[0193] [Third embodiment] In the above-described embodiment, the correction unit 75 of the travel assistance system S of the agricultural machine 1 corrects the travel route L when the agricultural machine 1 is traveling along the travel route L, and the automatic travel control unit 40a automatically travels the agricultural machine 1 based on the corrected travel route L, and the automatic steering control unit 40b automatically steers the agricultural machine 1 based on the corrected travel route L. However, the travel assistance system S of the agricultural machine 1 may be configured to correct the travel route L acquired by the first acquisition unit 71 based on the information of the field F acquired by the third acquisition unit 73, thereby preventing the agricultural machine 1 from traveling through an area where entry is prohibited (prohibited area E), suppressing the occurrence of an unworked area Ed, and allowing the agricultural machine 1 to work efficiently, and the display device 55 may display the corrected travel route L, and the worker may travel the agricultural machine 1 along the corrected travel route L. In other words, the timing at which the correction unit 75 corrects the travel route L is not limited to when the agricultural machine 1 is traveling along the travel route L, and may be before the agricultural machine 1 travels along the travel route L. In such a case, the correction unit 75 makes a virtual agricultural machine 1 based on the specification information of the agricultural machine 1 acquired by the second acquisition unit 72 travel along the travel route L created by the route creation unit 57e, and corrects the travel route L. The travel route L corrected by the correction unit 75 is displayed by the display unit 56 of the display device 55 displaying the result screen D3.

[0194] Hereinafter, the driving support system S for the agricultural machine 1 in the third embodiment will be described in detail. Note that descriptions of the same configurations as those in the first and second embodiments will be omitted.

[0195] As shown in FIG. 21, in the third embodiment, the first acquisition unit 71, the second acquisition unit 72, the third acquisition unit 73, the definition unit 74, and the correction unit 75 are composed of electric and electronic components, programs incorporated in the display control unit 57, etc., and the first acquisition unit 71, the second acquisition unit 72, the third acquisition unit 73, the definition unit 74, and the correction unit 75 are shared by the display control unit 57.

[0196] In the present embodiment, the second acquisition unit 72 acquires the specification information of the agricultural machine 1 and / or the work implement 60 that is input to the setting screen D2 displayed by the display device 55, stored in the display memory unit 58, and associated with the field F. In this case, the machine input unit 114 displayed on the setting screen D2 accepts input of model information of the agricultural machine 1 in addition to model information of the work implement 60.

[0197] Unlike the first embodiment, the second acquisition unit 72 acquires the specification information of the agricultural machine 1 from information pre-stored in the display storage unit 58, based on the model information of the agricultural machine 1 received as input by the machine input unit 114. The display storage unit 58 stores the model information of the agricultural machine 1 and the specification information of the agricultural machine 1 as a corresponding table, similar to the storage unit 41 in the first embodiment. For example, as the specification information of the agricultural machine 1, a length Y1 from the vehicle body position VP to the front end of the agricultural machine 1 (the tip of the bonnet) and a length Y2 from the vehicle body position VP to the rear end of the agricultural machine 1 (the rear end of the coupling device 30) are stored.

[0198] As shown in FIG. 21, the correction unit 75 has a virtual calculation unit 75c in addition to the change unit 75a and the creation unit 75b. The virtual calculation unit 75c performs a simulation of causing a virtual model (virtual machine) of the agricultural machine 1 coupled with the work device 60 to travel along a travel route L based on the specification information of the agricultural machine 1 and / or the work device 60 acquired by the second acquisition unit 72, and the correction unit 75 performs correction of the travel route L based on the simulation. Specifically, the virtual calculation unit 75c sets a virtual vehicle body position corresponding to the vehicle body position VP. The virtual calculation unit 75c moves the virtual vehicle body position onto the travel route L acquired by the third acquisition unit 73 to perform a simulation. In other words, the virtual calculation unit 75c can calculate position information of the virtual machine.

[0199] In the third embodiment, the definition unit 74 defines position information of the first reference position x1, the second reference position x2, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8, and thus, unlike the first embodiment, defines the relative distance between the virtual vehicle body position rather than the actual vehicle body position VP and the first reference position x1, the second reference position x2, the third reference position x3, the fourth reference position x4, the fifth reference position x5, the sixth reference position x6, the seventh reference position x7, and the eighth reference position x8.

[0200] In addition, in the third embodiment, the threshold value is pre-stored in the display memory unit 58 and can be changed arbitrarily by operating the display device 55. When the angle θa formed by the first line R1 and the second line R2 is equal to or greater than a predetermined angle (threshold value), the change unit 75a shortens the end portions r1 of the multiple lines R based on the position information of the prohibited area E and the first reference position x1.

[0201] As shown in FIG. 22, in the third embodiment, when the route creation unit 57e creates a travel route L and the route display unit 115 of the setting screen D2 displays the created travel route L in the field F, a correction button 116 is displayed on the setting screen D2. When the operator operates the display device 55 to select the correction button 116, the correction unit 75 performs a simulation and starts correcting the travel route L. When the correction unit 75 completes the correction of the travel route L, the display storage unit 58 overwrites the data of the travel route L before the correction with the corrected travel route L and stores it. As shown in FIG. 23, the display control unit 57 displays a result screen D3 that displays the corrected travel route L stored in the display storage unit 58. The result screen D3 displays a result display unit 120 that displays the corrected travel route L. The result display unit 120 displays the corrected travel route L on the field F, and displays an icon 121 at the location where the agricultural machine 1 is currently located based on the vehicle body position VP acquired by the position acquisition unit 57a. In this embodiment, the result display unit 120 enlarges and displays a part of the corrected traveling route L according to the location of the vehicle body position VP on the corrected traveling route L. The result display unit 120 also displays a balloon portion 122 to display cautions at each point on the traveling route L.

[0202] 24, a series of steps in which the travel assistance system S of the agricultural machine 1 corrects the travel route L before the agricultural machine 1 travels along the travel route L. For convenience of explanation, the following explanation will be given by taking as an example a case in which a virtual agricultural machine 1 travels along a first line R1 in a predetermined lap and transitions to a second line R2.

[0203] First, the virtual calculation unit 75c moves the virtual machine based on the travel route L created by the route creation unit 57e (S41). When the virtual calculation unit 75c starts moving the virtual machine along the first line R1 (S41), the change unit 75a checks whether the angle θa formed by the first line R1 on which the virtual machine is located and the second line R2 is less than a threshold value (70°) (S42). In detail, the change unit 75a detects, from among the multiple lines R, the first line R1 on which the virtual machine is located and the second line R2 that is the next line to the first line R1, based on the travel route L acquired by the first acquisition unit 71 and the position information of the virtual machine calculated by the virtual calculation unit 75c. When the change unit 75a detects the first line R1 and the second line R2 from the multiple lines R, it calculates the angle formed by the first line R1 and the second line R2, and based on the threshold value obtained from the display memory unit 58, checks whether the angle θa formed by the first line R1 and the second line R2 is less than the threshold value (70°).

[0204] When the change unit 75a confirms that the angle θa formed by the first line R1 and the second line R2 is not less than the threshold value (70°) (S42, No), the change unit 75a confirms whether the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E (S43). Specifically, the change unit 75a confirms whether the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E based on the position information of the virtual machine calculated by the virtual calculation unit 75c, the relative distance between the virtual vehicle body position defined by the definition unit 74 and the first reference position x1, and the position information of the prohibited area E acquired by the third acquisition unit 73.

[0205] When the change unit 75a confirms that the first reference position x1 is located on the boundary M of the prohibited area E or on the prohibited area E (S43, Yes), it performs a correction to shorten the end portion r1a of the first line R1 (S44). Specifically, the change unit 75a moves the work end point p1 of the first line R1 to the start end side (work start point side) of the first line R1 to a seventh reference position x7 at the position where it is confirmed that the first reference position x1 is located on the boundary M of the prohibited area E or on the prohibited area E.

[0206] When the change unit 75a performs a correction to shorten the end portion r1a of the first line R1 (S44), the creation unit 75b checks whether the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (≦90°) (S45). In this embodiment, the creation unit 75b checks whether the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (≦90°) based on the angle between the first line R1 and the second line R2 calculated by the change unit 75a.

[0207] When the creation unit 75b confirms that the angle θa formed by the first line R1 and the second line R2 is an acute angle or a right angle (≦90°) (S45, Yes), it creates the auxiliary line Ha so that the angle (inclination angle) θb formed by the start end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is 30° (S46). Specifically, the creation unit 75b defines the start end h2 and the end end h1 of the auxiliary work line Hb based on the third reference position x3, the fourth reference position x4, the fifth reference position x5, and the sixth reference position x6, the boundary M, and the inclination angle θb defined by the definition unit 74, and creates the auxiliary work line Hb. In addition, the creation unit 75b connects the start end h4 of the transition line Hc to the end end h1 of the auxiliary work line Hb, and creates the transition line Hc so that the end end h3 of the transition line Hc merges with the second line R2. Furthermore, in addition to the auxiliary line Ha, the creation unit 75b creates, as part of the corrected path H, a connecting line Hd that connects the end r1a of the first line R1 and the starting end (auxiliary work line) Hb of the auxiliary line Ha.

[0208] On the other hand, when the creation unit 75b confirms that the angle θa formed by the first line R1 and the second line R2 is an obtuse angle (>90°) (S45, No), it creates the auxiliary line Ha so that the angle (inclination angle) θb formed by the starting end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is 15° (S47). The creation unit 75b also creates the transition line Hc by connecting the starting end h4 of the transition line Hc to the terminal end h1 of the auxiliary work line Hb and by connecting the terminal end h3 of the transition line Hc to the second line R2. Furthermore, in addition to the auxiliary line Ha, the creation unit 75b creates a connecting line Hd that connects the terminal end r1a of the first line R1 to the starting end (auxiliary work line) Hb of the auxiliary line Ha as a part of the correction path H.

[0209] Furthermore, in S42, if the change unit 75a confirms that the angle θa formed by the first line R1 and the second line R2 is less than the threshold value (70°) (S42, Yes), it checks whether the second reference position x2 is located on the boundary M of the prohibited area E or in the prohibited area E (S48). Specifically, the change unit 75a checks whether the first reference position x1 is located on the boundary M of the prohibited area E or in the prohibited area E based on the vehicle body position VP acquired by the position acquisition unit 57a, the relative distance between the vehicle body position VP and the second reference position x2 defined by the definition unit 74, and the position information of the prohibited area E acquired by the third acquisition unit 73.

[0210] When the change unit 75a confirms that the second reference position x2 is located on the boundary M of the prohibited area E or on the prohibited area E (S48, Yes), it performs a correction to shorten the end portion r1a of the first line R1 (S49). Specifically, the change unit 75a moves the work end point p1 of the first line R1 to the start end side of the first line R1 (the work start point p2 side) to a seventh reference position x7 at the position where it is confirmed that the second reference position x2 is located on the boundary M of the prohibited area E or on the prohibited area E.

[0211] When the change unit 75a performs a correction to shorten the end r1a of the first line R1 (S49), the creation unit 75b creates the auxiliary line Ha so that the angle (inclination angle) θb formed between the start end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is 30° (S50). The creation unit 75b also creates the transition line Hc by connecting the start end h4 of the transition line Hc to the end end h1 of the auxiliary work line Hb and by connecting the end end h3 of the transition line Hc to the second line R2. Furthermore, the creation unit 75b creates a connecting line Hd that connects the end r1a of the first line R1 to the start end (auxiliary work line) Hb of the auxiliary line Ha as part of the corrected path H in addition to the auxiliary line Ha.

[0212] When the creation unit 75b creates the auxiliary line Ha in S46, S47, and S50, the correction unit 75 checks whether there is a line on which the simulation has not been performed in the current revolution (S51). Specifically, the correction unit 75 checks whether there is a line on which the virtual machine has not moved on the revolution line Ln on which the virtual machine is located.

[0213] When the correction unit 75 confirms that there is a line in the current cycle that has not been simulated (S51, Yes), it moves the virtual machine from the first line R1 to the second line R2, sets the second line R2 as the first line R1 (S52), and returns to S41.

[0214] On the other hand, when the correction unit 75 confirms that there is no line on the current circuit that has not been simulated (S51, No), the correction unit 75 checks whether there is a circuit line Ln on the travel route L acquired by the first acquisition unit 71 that has not been simulated other than the current circuit line Ln (S53). Specifically, the correction unit 75 checks whether there is a circuit line Ln on the outer side of the circuit line Ln on which the virtual machine is located.

[0215] When the correction unit 75 confirms that there is a circuit line Ln in the current circuit that has not been simulated (Yes in S53), it moves the virtual machine from the current circuit line Ln to an outer circuit line Ln (S54) and returns to S41.

[0216] On the other hand, if the correction unit 75 confirms that there is no circuit line Ln for which simulation has not been performed in the current lap (S53, No), the correction unit 75 ends the correction of the driving route L, and the display memory unit 58 stores the corrected driving route L (S55).

[0217] The travel assistance system S of the agricultural machine 1 described above includes a travel device 4 provided on the agricultural machine 1 to which a work device 60 can be attached, a first acquisition unit 71 that acquires a travel route L created in a field F representing a farm field G and along which the agricultural machine 1 travels, a correction unit 75 that corrects the travel route L acquired by the first acquisition unit 71, and a control device 40 that controls the travel device 4 based on the travel route L after correction by the correction unit 75, the travel route L including a plurality of lines R each connected to each other, and the correction unit 75 has a creation unit 75b that creates an auxiliary line Ha that runs from an end point r1a of a first line R1, which is one of the plurality of lines R, to a starting point r2b of a second line R2, which is another line connected to the end point r1a of the first line R1, and is inclined with respect to the second line R2. According to the above configuration, when the agricultural machine 1 moves from one line R (first line R1) to another line R (second line R2), there may be a case where there is no space for the agricultural machine 1 to turn, resulting in an unworked area Ed where the working implement 60 cannot work, but by having the agricultural machine 1 travel along the auxiliary line Ha, the working implement 60 can work in the unworked area Ed. Therefore, in the traveling assistance system S of the agricultural machine 1, by having the agricultural machine 1 travel along the corrected traveling route L, it is possible to prevent the unworked area Ed from occurring.

[0218] In addition, the driving support system S of the agricultural machine 1 includes a position detection device 50 that detects the position of the agricultural machine 1, and the control device 40 includes an automatic driving control unit 40a that controls the steering and vehicle speed of the traveling device 4 based on the driving route L corrected by the correction unit 75 and the position of the agricultural machine 1 detected by the position detection device 50. With the above configuration, the agricultural machine 1 can perform automatic driving while avoiding the occurrence of unworked areas Ed. Therefore, the agricultural machine 1 can perform work autonomously without the worker using the operation device 20 to operate the steering and vehicle speed of the traveling device 4, improving the efficiency of work by the agricultural machine 1 and achieving work with higher accuracy.

[0219] Furthermore, the travel support system S of the agricultural machine 1 includes a position detection device 50 that detects the position of the agricultural machine 1, and the control device 40 includes an automatic steering control unit 40b that controls the steering of the traveling device 4 based on the travel route L corrected by the correction unit 75 and the position of the agricultural machine 1 detected by the position detection device 50. With the above configuration, the agricultural machine 1 can perform automatic steering while avoiding the occurrence of unworked areas Ed. Therefore, the worker can perform work using the agricultural machine 1 without operating the steering of the traveling device 4, improving the efficiency of work using the agricultural machine 1 and achieving work with higher accuracy.

[0220] In addition, the driving assistance system S of the agricultural machine 1 is provided with a first acquisition unit 71 that acquires a driving route L created in a field F representing a farm field G and along which the agricultural machine 1 capable of being fitted with a work implement 60 travels, a correction unit 75 that corrects the driving route L acquired by the first acquisition unit 71, and a display device 55 that displays the driving route L after correction by the correction unit 75, and the driving route L includes a plurality of lines R each connected to each other, and the correction unit 75 has a creation unit 75b that creates an auxiliary line Ha that runs from an end point r1a of a first line R1, which is one of the plurality of lines R, to a starting point r2b of a second line R2, which is another line connected to the end point r1a of the first line R1, and is inclined with respect to the second line R2. According to the above configuration, when the agricultural machine 1 moves from one line R (first line R1) to another line R (second line R2), there may be a case where there is no space for the agricultural machine 1 to turn, resulting in an unworked area Ed where the working implement 60 cannot work, but by having the agricultural machine 1 travel along the auxiliary line Ha, the working implement 60 can work in the unworked area Ed. Therefore, the worker can easily grasp the corrected travel route L, and by having the agricultural machine 1 travel along the corrected travel route L, the occurrence of an unworked area Ed can be avoided.

[0221] Furthermore, the creation unit 75b creates the auxiliary line Ha such that the auxiliary line Ha and the second line R2 form an acute angle. According to the above configuration, the agricultural machine 1 can move without making a sudden turn when moving from the second line R2 to the auxiliary line Ha and when moving from the auxiliary line Ha to the second line R2. This makes it possible to avoid the agricultural machine 1 damaging the field G when moving between the second line R2 and the auxiliary line Ha.

[0222] Further, the creation unit 75b creates the auxiliary line Ha such that the start end (auxiliary work line) Hb of the auxiliary line Ha intersects with the end end r1a of the first line R1, extends linearly from the end end r1a of the first line R1, and the end end (transition line) Hc of the auxiliary line Ha curves along the start end r2b of the second line R2, so that the start end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 form an acute angle, and the auxiliary line Ha is inclined with respect to the second line R2. According to the above configuration, the working device 60 can perform work linearly from at least the intersection point of the first line R1 and the start end (auxiliary work line) Hb of the auxiliary line Ha, and can reliably perform work in the unworked area Ed. Therefore, by the agricultural machine 1 traveling on the auxiliary line Ha more reliably, the working device 60 can suppress the occurrence of the unworked area Ed.

[0223] Furthermore, the creation unit 75b creates the auxiliary line Ha such that the angle θb formed between the starting end of the auxiliary line Ha and the second line R2 is smaller than the angle θa formed between the first line R1 and the second line R2. According to the above configuration, the auxiliary line Ha intersects with a portion of the first line R1 that is closer to the end end r1a. Therefore, the auxiliary line Ha is formed relatively compactly, and the distance that the agricultural machine 1 travels along the auxiliary line Ha can be relatively short.

[0224] Furthermore, when the first line R1 and the second line R2 form an obtuse angle, the creation unit 75b creates the auxiliary line Ha that is inclined so that the angle θa formed between the starting end (auxiliary work line) Hb of the auxiliary line Ha and the second line R2 is smaller than when the first line R1 and the second line R2 form an acute angle or a right angle. According to the above configuration, it is possible to ensure that the angle formed by the first line R1 and the auxiliary line Ha is greater than zero, and it is possible to prevent the auxiliary line Ha from overlapping with the first line R1. Therefore, it is possible to more reliably prevent the agricultural machine 1 from traveling along the auxiliary line Ha, resulting in an unworked area Ed.

[0225] The travel support system S for the agricultural machine 1 includes a second acquisition unit 72 that acquires specification information of the agricultural machine 1 and / or the working implement 60, and a third acquisition unit 73 that acquires information on the field F. The correction unit 75 includes a modification unit 75a that shortens the end portions r1 of the multiple lines R so that the agricultural machine 1 does not enter a prohibited area E in the field F where the agricultural machine 1 is prohibited from entering, based on the specification information acquired by the second acquisition unit 72 and the information on the field F acquired by the third acquisition unit 73. The creation unit 75b forms an auxiliary line Ha so that the auxiliary line Ha extends from the end portion r1a of the first line R1 shortened by the modification unit 75a toward the start portion r2b of the second line R2 and is inclined with respect to the second line R2. According to the above configuration, the agricultural machine 1 travels along the auxiliary line Ha while correcting the travel route L so that the agricultural machine 1 does not enter the prohibited area E, and the working implement 60 can perform work in the unworked area Ed generated by correcting the travel route L. Therefore, in the driving assistance system S of the agricultural machine 1, by having the agricultural machine 1 travel along the corrected driving route L, it is possible to suppress intrusion into the prohibited area E while also avoiding the occurrence of unworked areas Ed.

[0226] Furthermore, the travel assistance system S of the agricultural machine 1 includes a definition unit 74 that defines a virtual first reference position x1 in front of the agricultural machine 1 based on the specification information acquired by the second acquisition unit 72, the third acquisition unit 73 acquires position information of a prohibited area E as information of the field F, and the change unit 75a shortens end portions r1 of the multiple lines R based on the position information of the prohibited area E and the first reference position x1 so that the first reference position x1 does not enter the prohibited area E. According to the above configuration, by defining the first reference position x1 as a sensing region in front of the agricultural machine 1, it is possible to more reliably prevent the agricultural machine 1 moving along the travel route L from entering the prohibited area E.

[0227] In addition, when the first line R1 and the second line R2 form an acute angle less than a predetermined angle, the definition unit 74 defines a virtual second reference position x2 forward of the first reference position x1, and the modification unit 75a shortens the end portions r1 of the multiple lines R based on the position information of the multiple lines R, the position information of the prohibited area E, and the second reference position x2, and the length by which the modification unit 75a shortens the multiple lines R based on the second reference position x2 is longer than the length by which the modification unit 75a shortens the multiple lines R based on the first reference position x1. According to the above configuration, when the angle θa formed by the first line R1 and the second line R2 is an acute angle less than a predetermined value, it may be impossible to secure an area for the agricultural machine 1 to turn in the area near the end r1a of the first line R1 and the start r2b of the second line R2, but by shortening the multiple lines R using the second reference position x2, which is farther away from the agricultural machine 1 than the first reference position x1, as the sensing area, the agricultural machine 1 traveling on the multiple lines R can turn closer than when traveling on the multiple lines R before shortening. Therefore, even if the angle θa formed by the first line R1 and the second line R2 is an acute angle less than a predetermined value and an area for the agricultural machine 1 to turn cannot be secured, the agricultural machine 1 traveling on the travel route L can turn reliably.

[0228] Furthermore, when the length of the multiple lines R shortened by the change unit 75a is equal to or greater than a preset length, the creation unit 75b creates multiple adjacent auxiliary lines Ha. According to the above configuration, the work device 60 works on the unworked area Ed in multiple batches, so that even if the unworked area Ed is relatively large, the work device 60 can work on the unworked area Ed without missing anything.

[0229] Furthermore, the third acquisition unit 73 acquires, as position information of the prohibited area E from the information of the field F, position information of an area E1 other than the field G and / or position information of an area in the field G where the working implement 60 has completed work. With the above configuration, the agricultural machine 1 can avoid entering the area E1 other than the field G, that is, the ridge that is an area outside the field G or an area where a fence or the like is set up around the periphery of the field G, by moving along the travel route L corrected by the correction unit 75. Therefore, when the agricultural machine 1 turns, it is possible to avoid the agricultural machine 1 and the working implement 60 coming into contact with the ridge, the fence, or the like.

[0230] The creation unit 75b creates the inclined auxiliary line Ha such that the start end (auxiliary work line) Hb of the auxiliary line Ha is perpendicular to the end end r1a of the first line R1, the middle part curves toward the start end r2b of the second line R2, and the end end (transition line) Hc curves along the second line R2. According to the above configuration, the start end (auxiliary work line) Hb of the auxiliary line Ha is perpendicular to the end end r1a of the first line R1, so that the boundary between the area where the working device 60 worked when the agricultural machine 1 traveled along the start end (auxiliary work line) Hb of the auxiliary line Ha and the area where the working device 60 worked when the agricultural machine 1 traveled along the end end r1a of the first line R1 is perpendicular to the first line R1, so that the aesthetic appearance of the area after the work can be ensured. In addition, the agricultural machine 1 travels relatively smoothly when moving along the auxiliary line Ha, so that it can move to the second line R2 while suppressing damage to the area after the work. Furthermore, when the working width W of the working device 60 extends in the width direction of the agricultural machine 1, even if the shortened length of the terminal end r1a of the first line R1 is relatively long, work can be efficiently performed in the unworked area Ed while preventing work from being missed.

[0231] Furthermore, when the agricultural machine 1 is located at the starting end (auxiliary work line) Hb of the auxiliary line Ha, the creation unit 75b creates the auxiliary line Ha such that the work area of ​​the work implement 60 overlaps with the starting end of the unit work section in which the work implement 60 works on the second line R2. According to the above configuration, the work implement 60 moves through the unworked area Ed from outside the unworked area Ed, so that the work implement 60 can work more reliably without missing anything in the unworked area Ed.

[0232] Furthermore, the travel assistance system S of the agricultural machine 1 includes a route creation unit 57e that defines a plurality of lines R in the field F and creates a travel route L. The route creation unit 57e creates the first line R1 and the second line R2 such that the end of the unit work section (first unit work section) e1 in which the work implement 60 has worked on the first line R1 coincides with or overlaps with the start of the unit work section (second unit work section) e2 in which the work implement 60 has worked on the second line R2. According to the above configuration, the agricultural machine 1 can efficiently perform work by traveling the travel route L without creating an unworked area Ed between the first line R1 and the second line R2. Therefore, the agricultural machine 1 can suppress the creation of an unworked area Ed both in areas where the auxiliary line Ha has been created and in areas where the auxiliary line Ha has not been created.

[0233] The travel support system S of the agricultural machine 1 includes a route creation unit 57e that defines a plurality of lines R in the field F and creates a travel route L. The route creation unit 57e creates a travel route L along which the agricultural machine 1 travels around the field G in a predetermined circular direction, and the start ends r2 of the plurality of lines R are adjacent to each other and are connected to the end ends r1 of other lines in the same circle to form a route for the plurality of circles. According to the above configuration, when the agricultural machine 1 travels around a predetermined circle, there are cases where the adjacent other circles are areas where work has already been done (already worked areas E2 such as cultivated land where tillage work has already been done), but the agricultural machine 1 travels along the corrected travel route L to prevent intrusion into the already worked areas E2 and damage to the already worked areas E2, while traveling along the auxiliary lines Ha to prevent the occurrence of unworked areas Ed.

[0234] Furthermore, the route creation unit 57e creates the travel route L so that the agricultural machine 1 travels from the innermost orbit to the outermost orbit among the multiple orbits. According to the above configuration, when the agricultural machine 1 travels a predetermined orbit, the adjacent inner orbit is an area where work has already been performed, but by traveling along the corrected travel route L, the agricultural machine 1 is prevented from entering the already worked area E2 and damaging the already worked area E2, while traveling along the auxiliary line Ha to prevent the occurrence of an unworked area Ed.

[0235] 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 defined by the claims, not the above description, and is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0236] 1. Agricultural machinery 4 Running gear 40 Control device 40a Automatic driving control unit 40b Automatic steering control unit 50 Position detection device 55 Display device 57e Route Creation Department 60 Work Equipment 71 First acquisition part 72 Second acquisition part 73 Third acquisition part 74 Definition part 75 Correction section 75a Changes 75b Creation Department E. Prohibited Areas F Field G Field Ha auxiliary line L Driving route R Line R1 1st Line R2 2nd Line S Driving Assistance System r1 end r1a terminal r2 start and end r2b start end x1 1st reference position x2 2nd reference position θa Angle θb Tilt angle

Claims

1. a travelling device provided on the agricultural machine to which a working device can be attached; a first acquisition unit that acquires a travel route created in a field indicating a farm field and along which the agricultural machine travels; a correction unit that corrects the travel route acquired by the first acquisition unit; A control device that controls the traveling device based on the traveling route corrected by the correction unit; Equipped with The travel route includes a plurality of lines that are connected to each other, The correction unit is a driving assistance system for agricultural machinery that has a creation unit that creates an auxiliary line that runs from the end end of a first line, which is one of the multiple lines, to the starting end of a second line, which is another line connected to the end end of the first line, and is inclined relative to the second line.

2. a position detection device for detecting a position of the agricultural machine, The agricultural machinery driving assistance system according to claim 1, wherein the control device has an automatic driving control unit that controls the steering and vehicle speed of the driving device based on the driving route corrected by the correction unit and the position of the agricultural machinery detected by the position detection device.

3. a position detection device for detecting a position of the agricultural machine, The agricultural machinery driving assistance system according to claim 1, wherein the control device has an automatic steering control unit that controls steering of the driving device based on the driving route after the correction by the correction unit and the position of the agricultural machinery detected by the position detection device.

4. a first acquisition unit that acquires a travel route that is created in a field that indicates a farm field and is a travel route along which an agricultural machine to which a work implement can be attached travels; a correction unit that corrects the travel route acquired by the first acquisition unit; a display device that displays the travel route after the correction unit has corrected the travel route; Equipped with The travel route includes a plurality of lines connected to each other, The correction unit is a driving assistance system for agricultural machinery that has a creation unit that creates an auxiliary line that runs from the end end of a first line, which is one of the multiple lines, to the starting end of a second line, which is another line connected to the end end of the first line, and is inclined relative to the second line.

5. 5. The agricultural machine travel assistance system according to claim 1, wherein the creation unit creates the auxiliary line such that the auxiliary line and the second line form an acute angle.

6. the creation unit creates the auxiliary line such that a starting end of the auxiliary line intersects with a terminal end of the first line, extends in a straight line from the terminal end of the first line, and the terminal end of the auxiliary line curves along the starting end of the second line; 6. The agricultural machine travel assistance system according to claim 5, wherein a starting end of the auxiliary line and the second line form an acute angle, and the auxiliary line is inclined relative to the second line.

7. The agricultural machinery travel assistance system according to any one of claims 1 to 4, wherein the creation unit creates the auxiliary line so that an angle formed between a starting end of the auxiliary line and the second line is smaller than an angle formed between the first line and the second line.

8. 5. A driving assistance system for an agricultural machine as described in any one of claims 1 to 4, wherein, when the first line and the second line form an obtuse angle, the creation unit creates the auxiliary line that is inclined so that the angle formed between the starting end of the auxiliary line and the second line is smaller than when the first line and the second line form an acute angle or a right angle.

9. A second acquisition unit that acquires specification information of the agricultural machine and / or the work implement; A third acquisition unit that acquires information about the field; Equipped with the correction unit has a modification unit that shortens end portions of the plurality of lines so that the agricultural machine does not enter a prohibited area in the field where the agricultural machine is prohibited from entering, based on the specification information acquired by the second acquisition unit and information on the field acquired by the third acquisition unit, The agricultural machinery travel assistance system according to any one of claims 1 to 4, wherein the creation unit forms the auxiliary line so that the auxiliary line is inclined relative to the second line from the end end of the first line shortened by the modification unit toward the start end of the second line.

10. a definition unit that defines a virtual first reference position in front of the agricultural machine based on the specification information acquired by the second acquisition unit, The third acquisition unit acquires position information of the prohibited area as information of the field, 10. The agricultural machine travel assistance system of claim 9, wherein the change unit shortens end portions of the multiple lines based on position information of the prohibited area and the first reference position so that the first reference position does not enter the prohibited area.

11. When the first line and the second line form an acute angle less than a predetermined angle, The definition unit defines a virtual second reference position forward of the first reference position, the modification unit shortens end portions of the plurality of lines based on position information of the plurality of lines, position information of the prohibited area, and the second reference position; The agricultural machine travel assistance system according to claim 10, wherein the length by which the change unit shortens the multiple lines based on the second reference position is longer than the length by which the change unit shortens the multiple lines based on the first reference position.

12. The agricultural machine travel assistance system according to claim 9 , wherein, when the length of the plurality of lines shortened by the change unit is equal to or greater than a preset length, the creation unit creates a plurality of the auxiliary lines adjacent to each other.

13. 10. The agricultural machine travel assistance system according to claim 9, wherein the third acquisition unit acquires, from the field information, position information of the prohibited area, position information of an area other than the field and / or position information of an area of ​​the field where the work implement has completed work.

14. The agricultural machinery travel assistance system of any one of claims 1 to 4, wherein the creation unit creates the inclined auxiliary line so that a starting end of the auxiliary line is perpendicular to an end end of the first line, a middle portion of the auxiliary line curves toward the starting end of the second line, and an end end of the auxiliary line curves along the second line.

15. The agricultural machinery travel assistance system according to any one of claims 1 to 4, wherein the creation unit creates the auxiliary line so that, when the agricultural machinery is located at the starting end of the auxiliary line, the working area of ​​the work implement overlaps with the starting end of a unit work section on the second line in which the work implement performs work.

16. a route creation unit that defines the plurality of lines in the field and creates the travel route; The agricultural machinery travel assistance system according to any one of claims 1 to 4, wherein the route creation unit creates the first line and the second line so that an end end of a unit work section in which the work device has worked on the first line coincides or overlaps with a starting end of a unit work section in which the work device has worked on the second line.

17. a route creation unit that defines the plurality of lines in the field and creates the travel route; the route creation unit creates the travel route along which the agricultural machine travels around the field in a predetermined circular direction, The agricultural machine travel assistance system according to any one of claims 1 to 4, wherein the starting ends of the multiple lines are adjacent to each other and connected to the ending ends of other lines in the same circuit, forming a route of multiple circuits.

18. 18. The agricultural machine travel assistance system according to claim 17, wherein the route creation unit creates the travel route such that the agricultural machine travels in the order of the innermost revolutions to the outermost revolutions among the plurality of revolutions.

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