Agricultural machinery, agricultural work support equipment, agricultural work support systems

Abstract

A farm machine (1) that comprises a travel vehicle body (3) that can travel, connection units (8g, 8h) that can connect a work device (2) for performing farm work to the travel vehicle body (3), a route creation unit (51c) that creates a travel route (L1) that the travel vehicle body (3) is to be made to travel automatically, a replenishment setting unit (51f) that sets a replenishment location (Pz) for replenishment of materials used by the work device (2) during the farm work at a location that is not on the travel route (L1), a location detection unit (40) that detects the location of the travel vehicle body (3), an automatic control unit (61) that makes the travel vehicle body (3) travel automatically on the basis of the location of the travel vehicle body (3) and the travel route (L1) and also makes the travel vehicle body (3) move to the replenishment location (Pz), and a notification unit (51g) that, when the automatic control unit (61) is making the travel vehicle body (3) travel automatically, gives notification that the travel vehicle body (3) is heading toward the replenishment location (Pz).

Description

[Technical field]

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

[0002] Patent Document 1 discloses a technology for supporting agricultural work by a working device connected to an agricultural machine while the agricultural machine travels in an automatic driving manner in a field. The agricultural machine disclosed in Patent Document 1 includes an acquisition unit, a work setting unit, a material remaining amount detection unit, and a material notification unit. The acquisition unit acquires position data of the outer periphery of the field. The work setting unit sets the work travel line, turning line, work start position, and work end position along which the agricultural machine travels in the field based on the position data of the outer periphery of the field. The material remaining amount detection unit detects the remaining amount of materials loaded on the agricultural machine. When the remaining amount of materials becomes low, the material notification unit notifies the driver that materials should be replenished at the edge of the field. After this notification, the agricultural machine ends the travel and work along the work travel line where the agricultural machine is located at that time, either in response to a switch operation by the driver or automatically, and then moves to a nearby edge of the field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication "JP Patent Publication No. 2018-39" Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, when the remaining amount of materials becomes low while the agricultural machine is traveling in an automatic driving manner, the material notification unit notifies the user that the materials should be replenished. However, when the agricultural machine subsequently behaves differently from the behavior during operation, such as moving to the edge of the field where the materials can be replenished, the user who sees the behavior may mistakenly recognize it as dangerous and may bring the agricultural machine to an emergency stop. If the agricultural machine is brought to an emergency stop in this way, the efficiency of replenishment of materials will decrease, and the work efficiency of farm work will also decrease.

[0005] SUMMARY OF THE PRESENT DISCLOSURE In view of the above problems, an object of the present invention is to efficiently replenish materials in agricultural machinery. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points. An agricultural machine according to one aspect of the present invention includes a travelling body capable of traveling, a coupling unit capable of coupling a working device for performing agricultural work to the travelling body, a route creation unit that creates a travel route along which the travelling body travels in an automatic driving manner, a supply setting unit that sets a supply position outside the travelling route to supply materials to be used during agricultural work by the working device, a position detection unit that detects the position of the travelling body, an automatic control unit that drives the travelling body in an automatic driving manner based on the position of the travelling body and the travelling route, and moves the travelling body to the supply position, and a notification unit that notifies the user that the travelling body is heading to the supply position when the automatic control unit is driving the travelling body in an automatic driving manner. a remaining amount calculation unit that calculates a remaining amount of the material based on an input amount of the material input to the work device and an input amount of the material consumed in agricultural work by the work device; Equipped with The travel route includes a plurality of work routes along which agricultural work is performed by the work device while the traveling vehicle body is traveling, and a plurality of turning routes along which the traveling vehicle body is turned from one side of the work route to the other side, the supply setting unit predicts a drop position where the remaining amount of the material will fall below a predetermined threshold by performing agricultural work with the work device while the traveling vehicle body is traveling, and sets the supply position on a line extending one of the work routes including the drop position in a direction opposite to the traveling direction, the notification unit sets a notification position on the other of the work routes or the turning route along which the traveling vehicle body travels before heading toward the supply position and before one of the work routes, and notifies the traveling vehicle body that the traveling vehicle body is heading toward the supply position when the traveling vehicle body passes the notification position. do.

[0007] In one aspect of the present invention, before the traveling vehicle body heads toward the replenishment position, the notification unit notifies the vehicle body that the traveling vehicle body is heading toward the replenishment position a plurality of times at predetermined intervals. In one aspect of the present invention, the automatic control unit executes an automatic driving work mode in which agricultural work is performed by the work equipment while the traveling vehicle body is driven autonomously based on the position of the traveling vehicle and the traveling route, and when the traveling vehicle body reaches a predetermined position on the traveling route just before the supply position while the automatic driving work mode is being executed, a material supply mode is executed in which the traveling vehicle body is driven autonomously to the supply position, and the notification unit notifies that the traveling vehicle body is heading to the supply position based on the position of the traveling vehicle body and the supply position while the automatic driving work mode is being executed.

[0008] In one aspect of the present invention, the notification unit notifies information indicating a decrease in the remaining amount of materials, a supply position, or a behavior of the traveling vehicle body or the work device in the material supply mode. 。

[0010] In one aspect of the present invention, an input unit is provided for inputting the amount of material input and the amount of material consumed per unit area, and before or during automatic driving of the traveling vehicle body, a remaining amount calculation unit calculates the remaining amount of material based on the amount of material input, the amount of material consumed per unit area, and the state of the traveling vehicle body and the work device, a supply setting unit sets a supply position based on the remaining amount of material, and a notification unit sets a notification position based on the supply position.

[0011] In addition, in one aspect of the present invention, the agricultural machine includes a threshold value changing unit that changes the threshold value. In addition, in one aspect of the present invention, the agricultural machine includes a display unit that displays the notification from the notification unit on a screen. In addition, in one aspect of the present invention, the agricultural machine includes an alarm unit that issues a sound or light alarm indicating the notification from the notification unit.

[0012] An agricultural work support device according to one aspect of the present invention includes a route creation unit that creates a driving route along which the traveling body of the agricultural machine travels in automatic driving mode; a supply setting unit that sets a supply position outside the driving route where a work device connected to the traveling body replenishes materials used during agricultural work; and a notification unit that notifies the agricultural machine that the traveling body is heading toward the supply position based on the position of the traveling body detected by the position detection unit and the traveling route when the agricultural machine is driving the traveling body in automatic driving mode. a remaining amount calculation unit that calculates a remaining amount of the material based on an input amount of the material input to the work device and an input amount of the material consumed in agricultural work by the work device; Have the travel route includes a plurality of work routes along which agricultural work is performed by the work device while the traveling vehicle body is traveling, and a plurality of turning routes along which the traveling vehicle body is turned from one side of the work route to the other side, the supply setting unit predicts a drop position at which the remaining amount of the material will fall below a predetermined threshold by performing agricultural work with the work device while the traveling vehicle body is traveling, and sets the supply position on a line extending one of the work routes including the drop position in a direction opposite to a traveling direction, the notification unit sets a notification position on the other of the work routes or the turning route along which the traveling vehicle body travels before heading toward the supply position and before one of the work routes, and notifies the user that the traveling vehicle body is heading toward the supply position when the traveling vehicle body passes the notification position. do.

[0013] In addition, agricultural work support equipment , remainder The device further includes an input unit for inputting parameters required for the quantity calculation unit to calculate the remaining amount of material, and a display unit for displaying the travel route, the position of the travel vehicle body, and the notification from the notification unit.

[0014] The agricultural work support system according to one aspect of the present invention includes a route creation unit that creates a driving route for the agricultural machine's traveling body to travel in automatic driving mode, a supply setting unit that sets a supply position outside the driving route for a work device connected to the traveling body to supply materials used during agricultural work, a position detection unit that detects the position of the traveling body, an automatic control unit that drives the traveling body in automatic driving mode based on the position of the traveling body and the traveling route and moves the traveling vehicle body to the supply position, and a notification unit that notifies the user that the traveling vehicle body is heading to the supply position when the automatic control unit is driving the traveling vehicle body in automatic driving mode based on the position of the traveling vehicle body detected by the position detection unit and the traveling route. a remaining amount calculation unit that calculates a remaining amount of the material based on an input amount of the material input to the work device and an input amount of the material consumed in agricultural work by the work device; Including the travel route includes a plurality of work routes along which agricultural work is performed by the work device while the traveling vehicle body is traveling, and a plurality of turning routes along which the traveling vehicle body is turned from one side of the work route to the other side, the supply setting unit predicts a drop position where the remaining amount of the material falls below a predetermined threshold by performing agricultural work by the work device while the traveling vehicle body is traveling, and sets the supply position on a line extending one of the work routes including the drop position in a direction opposite to the traveling direction, the notification unit sets a notification position on the other of the work routes or the turning route along which the traveling vehicle body travels before heading toward the supply position and before the one of the work routes, and notifies the traveling vehicle body that the traveling vehicle body is heading toward the supply position when the traveling vehicle body passes the notification position. .

[0015] In one aspect of the present invention, the agricultural work support system includes an agricultural machine and an agricultural work support device mounted on the agricultural machine, the agricultural machine including a position detection unit and an automatic control unit, and the agricultural work support device including a route creation unit, a supply setting unit, a notification unit, Remaining amount calculation unit and The device further includes a communication unit for communicating with the automatic control unit and the position detection unit. Effect of the Invention

[0016] According to the present invention, materials can be efficiently replenished in an agricultural machine. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a configuration diagram of an agricultural work support system. [Diagram 2] FIG. [Diagram 3]FIG. 2 is a diagram illustrating an example of a home screen of the farm work support device. [Figure 4] FIG. 13 is a diagram showing an example of a farm field registration screen of the farm work support device. [Figure 5A] FIG. 13 is a diagram for explaining a method of registering a farm field. [Figure 5B] FIG. 13 is a diagram for explaining another method of registering a farm field. [Figure 5C] FIG. 13 is a diagram for explaining another method of registering a farm field. [Figure 6] FIG. 13 is a diagram illustrating an example of a work selection screen of the agricultural work support device. [Figure 7] FIG. 13 is a diagram illustrating an example of a vehicle setting confirmation screen of the agricultural work support device. [Figure 8] FIG. 13 is a diagram showing an example of a farm field selection screen of the farm work support device. [Figure 9] FIG. 13 is a diagram showing an example of a route creation screen of the farm work support device. [Figure 10A] FIG. 13 is a diagram showing an example of a route creation 2 screen of the farm work support device. [Figure 10B] FIG. 13 is a diagram showing an example of a route creation 2 screen of the farm work support device. [Figure 10C] FIG. 13 is a diagram showing an example of a route creation 2 screen of the farm work support device. [Figure 11A] FIG. 13 is a diagram for explaining a method for setting an area and a driving route. [Figure 11B] FIG. 13 is a diagram for explaining a method for setting an area and a driving route. [Figure 11C] FIG. 13 is a diagram for explaining a method for setting an area and a driving route. [Figure 11D] FIG. 13 is a diagram for explaining a method for setting an area and a driving route. [Figure 12] FIG. 13 is a diagram showing an example of a driving control screen of the agricultural work support device. [Figure 13A] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 13B] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 13C] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 13D] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 14A] FIG. 13 is a diagram showing another example of the route creation 2 screen of the farm work support device. [Figure 14B] FIG. 13 is a diagram showing another example of the route creation 2 screen of the farm work support device. [Figure 15] FIG. 13 is a diagram showing another example of the route creation 2 screen of the farm work support device. [Figure 16A] FIG. 13 is a diagram showing another example of the travel control screen of the agricultural work support device. [Figure 16B] FIG. 13 is a diagram showing another example of the travel control screen of the agricultural work support device. [Figure 16C] FIG. 13 is a diagram showing another example of the travel control screen of the agricultural work support device. [Figure 16D] FIG. 13 is a diagram showing another example of the travel control screen of the agricultural work support device. [Figure 17] FIG. 13 is a diagram showing another example of the travel control screen of the agricultural work support device. [Figure 18] FIG. 13 is a diagram showing an example of a material information input screen of the agricultural work support device. [Figure 19] FIG. 13 is a diagram showing an example of a supply location and a notification location of materials. [Figure 20A] FIG. 13 is a diagram for explaining a material supply mode of the agricultural machine. [Figure 20B] FIG. 13 is a diagram for explaining a material supply mode of the agricultural machine. [Figure 21] FIG. 11 is a diagram illustrating an example of a first notification from the farm work support device. [Figure 22] FIG. 11 is a diagram illustrating an example of a second notification from the farm work support device. [Diagram 23] FIG. 11 is a diagram illustrating an example of a third notification from the farm work support device. [Figure 24] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] <Agricultural machinery configuration> 24 is an overall side view of the agricultural machine 1. The agricultural machine 1 of this embodiment is configured as a tractor. Note that the agricultural machine 1 is not limited to a tractor, and may be configured as, for example, other agricultural machines such as a rice transplanter or a combine harvester, or a work vehicle other than a tractor that performs agricultural work.

[0020] The agricultural machine 1 includes a traveling body 3, a prime mover 4, a transmission 5, and a traveling device 7. The traveling device 7 has front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. The rear wheels 7R may also be of a tire type or a crawler type. The prime mover 4 is composed of a diesel engine, an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by changing the speed, and can switch the traveling device 7 between forward and reverse. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, so that the traveling body 3 travels forward and backward. In FIG. 24, the left side is the front of the traveling body 3, and the right side is the rear of the traveling body 3.

[0021] The traveling body 3 is provided with a cabin 9. A driver's seat 10 is provided inside the cabin 9. A lifting device 8 configured with a three-point link mechanism or the like is provided at the rear of the traveling body 3. The lifting device 8 is provided with coupling parts 8g, 8h to which a working device 2 for performing agricultural work can be coupled. By coupling the working device 2 to the coupling parts 8g, 8h, the working device 2 and the traveling body 3 are coupled to each other, and the traveling body 3 becomes able to tow the working device 2.

[0022] The working implement 2 performs ground work on the farm field. For example, the working implement 2 includes a tilling implement (rotary tiller) that tills the farm field, a rough tilling implement (stubble cultivator) that performs rough tilling, a puddling implement (drive harrow) that performs puddling, a spraying implement that sprays fertilizer, pesticides, etc., a sowing implement that sows seeds, a transplanting implement that transplants seedlings, and a harvesting implement that harvests.

[0023] <Configuration of the agricultural work support system> FIG. 1 is a configuration diagram of a farm work support system 100. The agricultural work support system 100 includes an agricultural work support device 50. The agricultural work support system 100 and the agricultural work support device 50 support agricultural work performed by the working device 2 while the traveling vehicle body 3 of the agricultural machine 1 travels in a field.

[0024] The agricultural machine 1 is equipped with a control device 60, an operation unit 62, a transmission 5, a braking device 6, a steering device 29, a lifting device 8, a positioning device 40, and an alarm unit 63. An in-vehicle network N1 such as a LAN or CAN is also built in the agricultural machine 1. The control device 60, the operation unit 62, the positioning device 40, and the alarm unit 63 are connected to the in-vehicle network N1. These units 60, 62, 5, 6, 29, 8, 40, 63, and N1 provided in the agricultural machine 1 are included in the farm work support system 100.

[0025] The control device 60 is composed of electric circuits including a CPU and memory, etc. The control device 60 controls the operation of each part of the agricultural machine 1. The control device 60 is provided with an automatic control unit 61 that controls the operation of the traveling body 3 (FIG. 24) and the working implement 2 of the agricultural machine 1. The operation unit 62 is composed of switches, levers, pedals, other keys, etc. that can be operated by users such as a driver seated in the driver's seat 10 or a worker near the agricultural machine 1. The operation unit 62 includes a mode switch 65. The mode switch 65 is operated to switch the mode of the agricultural machine 1.

[0026] The transmission 5 is connected to a control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, an appropriate number of control valves are provided according to the number of hydraulic devices, such as hydraulic clutches and hydraulic cylinders, provided in the transmission 5.

[0027] The automatic control unit 61 electrically controls the switching position and opening of the control valve 37 to control the drive of the transmission 5. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the traveling body 3 to travel forward and backward. In addition, for example, when the working device 2 is a ground working device, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

[0028] The automatic control unit 61 also communicates with the work device 2 via the in-vehicle network N1. Specifically, the work device 2 includes a control unit and a communication unit (not shown). The automatic control unit 61 transmits a work command to the work device 2 via the in-vehicle network N1. When the control unit of the work device 2 receives the work command via the communication unit, it controls the operation of each unit of the work device 2 based on the work command to perform agricultural work (ground work). The control unit of the work device 2 also transmits information and data indicating the work status, etc. to the control device 60 via the in-vehicle network N1 by the communication unit. The automatic control unit 61 detects the work status, etc. of the work device 2 based on the information and data received from the work device 2 via the in-vehicle network N1.

[0029] The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal transmitted from a control device 60. The control valve 38 is supplied with hydraulic oil discharged from the hydraulic pump 33. The automatic control unit 61 electrically controls the switching position and opening degree of the control valve 38 to operate the braking device 6 and apply the brakes to the traveling vehicle body 3.

[0030] The steering device 29 has a handle (steering wheel) 30, a rotating shaft (steering shaft) 31, and an assist mechanism (power steering mechanism) 32. The handle 30 is provided inside the cabin 9 (FIG. 24). The rotating shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists steering by the handle 30.

[0031] The assist mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. More specifically, the control valve 34 is configured as a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening degree of the control valve 34 to adjust the hydraulic pressure supplied to the steering cylinder 35, thereby extending and retracting the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm (not shown) that changes the direction of the front wheels 7F.

[0032] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operating state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 expands and contracts to the left or right of the traveling vehicle body 3 according to the switching position and opening degree of the control valve 34. The expansion and contraction movement of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the above-mentioned steering device 29 is an example, and is not limited to the above-mentioned configuration.

[0033] The traveling body 3 of the agricultural machine 1 can be manually steered by manually operating the handlebars 30, or automatically steered by the automatic control unit 61. The traveling body 3 can run and stop by driving the transmission 5 and the brake unit 6 in response to manual operation of an accelerator member and a brake member (both not shown) provided in the operation unit 62. Furthermore, the traveling body 3 can automatically run and stop in response to control of the transmission 5 and the brake unit 6 by the automatic control unit 61.

[0034] FIG. 2 is a perspective view of the lifting device 8. The lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear part of a case (transmission case) that houses the transmission 5 (FIG. 24) so ​​as to be swingable upward or downward. The lift arm 8a swings (lifts and lowers) when driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to the control valve 36 shown in FIG. 1. The control valve 36 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0035] The front end of lower link 8b shown in Fig. 2 is supported on the rear lower part of transmission 5 (Figs. 1 and 24) so ​​as to be able to swing upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be able to swing upward or downward. Lift rod 8d connects lift arm 8a to lower link 8b. Connection parts 8g, 8h to which working device 2 can be connected are provided at the rear ends of lower link 8b and top link 8c.

[0036] The automatic control unit 61 shown in Fig. 1 electrically controls the switching position and opening of the control valve 36 to adjust the hydraulic pressure supplied to the lift cylinder 8e shown in Fig. 2, thereby expanding and contracting the lift cylinder 8e. The expansion and contraction of the lift cylinder 8e causes the lift arm 8a to rise and fall, and also causes the lower link 8b connected to the lift arm 8a via the lift rod 8d to rise and fall. As a result, the working device 2 swings (lifts and lowers) upward or downward with the front part of the lower link 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum.

[0037] The positioning device 40 shown in FIG. 1 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. The positioning device 40 detects a current position (e.g., latitude and longitude) based on the satellite signal received by the receiving device 41. That is, the positioning device 40 is a position detection unit that detects the position of the traveling body 3 of the agricultural machine 1. The inertial measurement unit 42 includes an acceleration sensor and a gyro sensor, etc. The inertial measurement unit 42 detects the roll angle, pitch angle, yaw angle, etc. of the traveling body 3. The alarm unit 63 is composed of a buzzer, a speaker, a warning light, etc. provided on the traveling body 3. The alarm unit 63 issues an alarm to the surroundings of the traveling body 3 by sound or light.

[0038] The agricultural work support device 50 is configured, for example, by a portable tablet terminal device etc. The agricultural work support device 50 is mounted, for example, inside the cabin 9 of the agricultural machine 1, and is detachable from the agricultural machine 1. That is, the agricultural machine 1 is equipped with the agricultural work support device 50.

[0039] The agricultural work support device 50 is equipped with a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 is composed of a CPU and a memory, and controls each unit of the agricultural work support device 50. The control unit 51 is provided with a farm field registration unit 51a, an area setting unit 51b, a route creation unit 51c, a trajectory calculation unit 51d, a remaining amount calculation unit 51e, a supply setting unit 51f, and a notification unit 51g. Each of these units is composed of a software program, but may also be composed of hardware.

[0040] The display operation unit 52 is composed of a touch pad and displays various information on the screen. In addition, various inputs can be made by performing predetermined operations on the display screen of the display operation unit 52. The display operation unit 52 is both a display unit and an input unit. Instead of the display operation unit 52, an independent display unit and operation unit (input unit) may be provided in the agricultural work support device 50.

[0041] The storage unit 53 is composed of a non-volatile memory, etc. Information and data that supports the traveling and work of the agricultural machine 1 are stored in a readable and writable manner in the storage unit 53. The communication unit 54 is composed of an interface for connecting to the in-vehicle network N1. The control unit 51 communicates with the control device 60, the operation unit 62, the positioning device 40, the alarm unit 63, and the work device 2 via the in-vehicle network N1 via the communication unit 54.

[0042] <Display and settings of agricultural work support device> When the farm work support device 50 is started up, the control unit 51 causes the display operation unit 52 to display a home screen D1 shown in Fig. 3. Data for this home screen D1 and data for each of screens D2 to D9 described below are stored in the storage unit 53. The control unit 51 reads out data from the storage unit 53 as necessary, and causes the display operation unit 52 to display a screen based on the data.

[0043] On the home screen D1, an agricultural machine mark X1, a field key B1, an automatic driving key B2, a history key B3, and a setting key B0 are displayed. The setting key B0 is a key for performing various settings. By selecting (tapping) the setting key B0, it becomes possible to set a specific item. The specific items include, for example, settings (registration) of the agricultural machine 1 on which the agricultural work support device 50 is mounted and the work device 2 connected to the agricultural machine 1, settings of the display form of the display operation unit 52, etc.

[0044] The field key B1 is a key for registering a field where agricultural work is to be performed by the agricultural machine 1. The automatic driving key B2 is a key for making settings and predictions related to the automatic driving work mode of the agricultural machine 1. The automatic driving work mode is a mode in which agricultural work (ground work) is performed by the work device 2 while the traveling body 3 of the agricultural machine 1 is driven automatically. The automatic driving of the agricultural machine 1 means automatically changing the traveling speed of the traveling body 3 and automatically steering the traveling body 3.

[0045] Naturally, the agricultural machine 1 can also be driven manually, and while driving, ground work can be performed using the working implement 2. Manual driving of the agricultural machine 1 means that the driver of the agricultural machine 1 operates the accelerator member and brake member of the operation unit 62 to change the traveling speed of the traveling body 3, and steers the traveling body 3 by operating the steering wheel 30 (FIG. 1).

[0046] 3 is a key for displaying the work history of the agricultural machine 1. When the user selects the field key B1 on the home screen D1, the control unit 51 causes the display operation unit 52 to display a field registration screen D2 shown in FIG. The field registration screen D2 displays a map MP1, the position Pv of the traveling body 3 of the agricultural machine 1, a new key B4, a registration key B5, a call key B6, a cancel key B7, and a back key B8. The map MP1 displays an image showing a map of the surroundings of the agricultural machine 1 acquired from the positioning device 40. The map MP1 also displays the field where the agricultural machine 1 performs farm work, and is associated with position information such as latitude and longitude. When the user performs a predetermined operation on the map MP1, the map displayed on the map MP1 is enlarged or reduced, or the displayed location of the map is moved.

[0047] FIG. 5A is a diagram for explaining a method of registering a field. For example, a user (the driver of the agricultural machine 1) selects the new key B4 on the field registration screen D2 shown in FIG. 4, and manually drives the agricultural machine 1 around the field. At this time, the field registration unit 51a (FIG. 1) acquires the position Pv of the traveling vehicle body 3 detected by the positioning device 40 at a predetermined cycle using the communication unit 54, and records the data of the position Pv as needed. In addition, the control unit 51 causes the position Pv of the traveling vehicle body 3 to be displayed on the map MP1 as needed. (For convenience, only a portion of the position Pv of the traveling vehicle body 3 is displayed in FIGS. 4 and 5A.)

[0048] After the agricultural machine 1 has completed its rotation within the field, the user selects the registration key B5. The field registration unit 51a then calculates the travel trajectory K1 of the traveling body 3 based on the multiple recorded positions Pv of the traveling body 3. The control unit 51 also displays the travel trajectory K1 of the traveling body 3 on a map MP1, as shown in Fig. 5A. In the example of Fig. 5A, the line K1 that passes through the multiple positions Pv of the traveling body 3 in detection order (acquisition order) and then returns to the first detected position Pv is set as the travel trajectory of the traveling body 3.

[0049] Then, the field registration unit 51a regards the travel trajectory K1 as a field contour (outer shape) H1, and registers (stores) a field map MP2 (data showing the field contour) represented by the contour H1 in the storage unit 53. At this time, the field registration unit 51a also registers field identification information such as the field name and the field management number in the storage unit 53 in association with the field map MP2. Note that the field identification information may be assigned by the field registration unit 51a, may be input by the user by operating the display operation unit 52, or may be stored in advance in the storage unit 53. A plurality of field maps MP2 and the like can be registered in the storage unit 53. When the field registration unit 51a registers the field map MP2, the control unit 51 causes the field map MP2 (field contour H1) to be displayed on the map MP1.

[0050] The above-mentioned method of registering the field is an example, and is not limited thereto. As another example, the field registration unit 51a may calculate an inflection point from the travel trajectory K1 of the traveling body 3, as shown in FIG. 5B, and may set a line K2 passing through the inflection point as the contour H1 of the field and the field map MP2, and may register the field map MP2 in the storage unit 53. Also, when the agricultural machine 1 goes around, the user may operate a predetermined switch or the like provided on the operation unit 62 of the agricultural machine 1 to specify an end of the field, as shown in FIG. 5C. Also, in this case, the field registration unit 51a may set a line K3 that passes through each end of the field in the specified order and then returns to the end that was initially specified as the contour H1 of the field and the field map MP2, and may register the field map MP2 in the storage unit 53. Furthermore, the field contour H1 and the field map MP2 may be data expressed, for example, by position (latitude, longitude), by a coordinate system (X-axis, Y-axis), or in any other representation.

[0051] When the user selects the call key B6 on the field registration screen D2 shown in Fig. 4, the control unit 51 reads out data of any of the field maps MP2 registered in the memory unit 53, and displays the field map MP2 on the field registration screen D2 based on that data. When the user selects the cancel key B7, the field registration unit 51a erases the position Pv of the traveling vehicle body 3 and the field map MP2 (field outline H1) that were displayed on the map MP1 at that time, and also erases these data from the memory unit 53. In other words, the registration of the field outline H1 and the field map MP2 is canceled.

[0052] When the registration of the farm field is completed and the user selects the back key B8, the control unit 51 causes the display operation unit 52 to display the home screen D1 of Fig. 3. That is, the back key B8 is a key for returning the display screen of the display operation unit 52 to the previous screen (the same applies to the subsequent screens D3 to D9). When the user selects the automatic operation key B2a on the home screen D1, the control unit 51 causes the display operation unit 52 to display the task selection screen D3 shown in Fig. 6.

[0053] A message indicating the input operation procedure is displayed on the work selection screen D3. In addition, a plurality of work keys B31 to B35, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8 are displayed on the work selection screen D3. The work keys B31 to B35 are keys indicating agricultural works that can be performed by the agricultural machine 1 and the work device 2 connected to the agricultural machine 1. In FIG. 6, five work keys B31, B32, B33, B34, and B35 are displayed, but if there are six or more agricultural works that can be performed by the agricultural machine 1 and the work device 2, the user can select the up arrow key B41 or the down arrow key B42, and the control unit 51 will display work keys indicating other works on the work selection screen D3.

[0054] When the user selects any one of the work keys B31 to B35, the control unit 51 displays the selected work key on the work selection screen D3 in a display form different from that of the other work keys. In the example of FIG. 6, only the selected tilling work key B31 is marked with a black circle. When the user selects the Next key B9 with any one of the work keys B31, B32, B33, or B34 selected, the control unit 51 displays the vehicle setting confirmation screen D4 shown in FIG. 7 on the display operation unit 52. That is, the Next key B9 is a key for switching the display screen of the display operation unit 52 to the next screen (the same applies to the subsequent screens D4 to D9).

[0055] The vehicle setting confirmation screen D4 displays a message indicating the input operation procedure, the type of agricultural work, the type of agricultural machine 1, and the working width available for the work implement 2. The type of agricultural machine 1 and the working width of the work implement 2 displayed on this vehicle setting confirmation screen D4 can be set by, for example, the user selecting the setting key B0 in the home screen D1 shown in FIG. 3 and performing a predetermined input operation. In addition, the user can register the types, working widths, and other specifications of multiple agricultural machines and multiple work implements in the agricultural work support device 50 by selecting the setting key B0 and performing a predetermined input operation. The working width of the work implement 2 is the workable length in a horizontal plane perpendicular to the traveling direction of the work implement 2.

[0056] 7, an unmanned machine setting key B10, a manned machine setting key B11, a next key B9, and a back key B8 are displayed. When the user wants to change the type or working width of the agricultural machine 1 displayed on the vehicle setting confirmation screen D4, the user selects the unmanned machine setting key B10 or the manned machine setting key B11. Then, the control unit 51 displays, on the display operation unit 52, another setting screen (not shown) on which the type or working width of the agricultural machine 1 can be changed. When the user changes the type or working width of the agricultural machine 1 on the other setting screen and then performs a predetermined operation, the control unit 51 displays, on the display operation unit 52, the vehicle setting confirmation screen D4 again.

[0057] Furthermore, if the user does not need to change the type or working width of the agricultural machine 1 displayed on the vehicle setting confirmation screen D4, the user selects the next key B8. Then, the control unit 51 causes the display operation unit 52 to display a field selection screen D5 shown in Fig. 8. One or more registered field maps MP2, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8 are displayed on the field selection screen D5. In Fig. 8, three field maps MP2 are displayed, but if there are four or more registered field maps MP2, the user can select the up arrow key B41 or the down arrow key B42 to cause the control unit 51 to display other registered field maps MP2 on the field selection screen D5.

[0058] When the user selects one of the field maps MP2, the control unit 51 displays the selected field map MP2 in a display format different from the other field maps MP2. In Fig. 8, only the selected field map MP2 is surrounded by a thick frame. The control unit 51 also displays the date and time of the previous work performed on the selected field map MP2 and the area of ​​the field map MP2 on the field selection screen D5. When the user selects the next key B9 with one of the field maps MP2 selected, the control unit 51 displays the route creation 1 screen D6 shown in Fig. 9 on the display operation unit 52.

[0059] The route creation 1 screen D6 displays the selected field map MP2 (field outline H1), the agricultural machinery mark X1, a message indicating the input operation procedure, an automatic headland work key B43, a work type key B44, a next key B9, and a back key B8. The automatic headland work key B43 is a key for selecting whether or not to work with the work implement 2 while causing the traveling body 3 of the agricultural machinery 1 to travel in automatic driving in the headland set in the field map MP2, as will be described later.

[0060] The work type key B44 is a key for selecting the work state performed by the work device 2. In this embodiment, since the case where tillage work is selected on the work selection screen D3 of FIG. 6 is taken as an example, the work type key B44 of FIG. 9 is a key for selecting whether the type of tillage work is adjacent or indirect. If another work is selected on the work selection screen D3 of FIG. 6, the work type key B44 of FIG. 9 is a key for selecting the state of the other work. When the user selects the work state with the automatic headland work key B43 and the work type key B44, and then selects the next key B9, the control unit 51 causes the display operation unit 52 to display the route creation 2 screen D7 shown in FIG. 10A.

[0061] 10A, the route creation 2 screen D7 displays the selected field map MP2, the agricultural machine mark X1, a message indicating the input operation procedure, a number of setting items and their corresponding numerical input fields, a recommendation key B12, a route creation key B13, a trajectory prediction key B14, a plus key B45, a minus key B46, a next key B9, and a back key B8. During the display of the route creation 2 screen D7, the control unit 51 may obtain the actual position of the traveling vehicle body 3 detected by the positioning device 40 through the communication unit 54, and may display the agricultural machine mark X1 at a corresponding location on the field map MP2 according to the position of the traveling vehicle body 3.

[0062] The multiple setting items in the route creation 2 screen D7 include the expected working distance, the number of headlands, the working direction, the headland overlap, and the central overlap. Of these, it is possible to input values ​​for the items other than the expected working distance. The number of headlands is the number of headlands set along the contour H1 of the registered field (field map MP2) inside the said contour H1. The working direction is the direction in which the working implement 2 works while the traveling vehicle body 3 goes back and forth in a straight line in the central part inside the headland of the field. By inputting a predetermined value (for example, "1" or "2") in the numerical input field for the working direction, the vertical or horizontal direction on the route creation 2 screen D7 corresponding to the value is set. The headland overlap is the overhang of the working width of the working implement 2 with respect to the headland. The central overlap is the overlap of the working widths when the working implement 2 works while the traveling vehicle body 3 goes back and forth in a straight line in the central part of the field.

[0063] The user selects the numeric input field for each of the above setting items and operates the plus key B45 or minus key B46 to input a numeric value into each numeric input field. Also, when the user selects the recommendation key B12, the control unit 51 reads out the setting value for each setting item corresponding to the agricultural work selected on the work selection screen D3 (FIG. 6) from the setting values ​​stored in advance in the storage unit 53, and inputs (displays) the setting value into the corresponding numeric input field.

[0064] After values ​​are entered into each setting item, the user selects the route creation key B13. Then, as shown in Fig. 10B, the area setting unit 51b (Fig. 1) sets a central area (second area) C1 and a headland area (first area) E1 in the field map MP2. In addition, the route creation unit 51c (Fig. 1) creates a travel route (planned travel route) L1 in the field map MP2.

[0065] 11A to 11D are diagrams for explaining a method for setting areas C1, E1 and travel route L1. When route creation key B13 is selected in the above-mentioned procedure, first, area setting unit 51b sets central area C1 and headland area E1 based on field contour H1, working width of working implement 2, input headland number, or headland overlapping amount. In detail, for example, as shown in FIG. 11A, area setting unit 51b calculates contour C1 formed by offsetting field contour H1 inward by the number of headlands with width W4 obtained by subtracting headland overlapping amount W2 from working width W1 of working implement 2, and sets the area (central portion) surrounded by contour C1 as central area C1.

[0066] As another example, the area setting unit 51b may calculate a contour formed by offsetting the contour H1 of the field inward by the number of headlands using the working width of the working device 2 (or the external width of the working device 2), and set the area (central part) surrounded by the contour C1 as the central area. Also, the number of headlands, the headland overlapping amount, or the central part overlapping amount may be set to a preset fixed value, the fixed value may be stored in the memory unit 53, and the area setting unit 51b may read out the fixed value from the memory unit 53 as necessary.

[0067] When the area setting unit 51b sets the central area C1 inside the contour H1 of the farm field as described above, it sets a frame-shaped area (outer frame portion) outside the central area C1 as a headland area E1. Then, the area setting unit 51b stores data such as positions indicating the areas C1 and E1 in the memory unit 53.

[0068] The route creation unit 51c creates a travel route L1 based on the set areas C1 and E1, the working width of the working device 2, the input working direction, the headland overlapping margin, and the central overlapping margin. In detail, the route creation unit 51c first creates a plurality of unit work sections C2 in the central area C1 by dividing the central area C1 in order by the working width W1 of the working device 2 from one end (the right end in FIG. 11B) of the central area C1 parallel to the working direction (vertical direction in FIG. 11B). At this time, the route creation unit 51c overlaps the working width W1 with the headland area E1 by the headland overlapping margin W2 in the unit work section C2 created first. Also, the route creation unit 51c overlaps the working width W1 with the headland area C2 created one step earlier by the central overlapping margin W3 in the unit work section C2 created second or later.

[0069] Next, as shown in Fig. 11C, the route creation unit 51c creates a straight route L1a along which the traveling vehicle body 3 travels for each unit work section C2. At this time, the route creation unit 51c creates a straight-line straight route L1a connecting both ends of the unit work section C2 in the longitudinal direction on the center line of the unit work section C2 in the width direction (left and right direction in Fig. 11C). Note that for the last created unit work section C2 (the unit work section C2 at the left end of the central area C1 in Fig. 11B), if the straight route L1a created for that unit work section C2 is created outside the central area C1, the route creation unit 51c may exclude that straight route L1a from the traveling route L1.

[0070] Next, the route creation unit 51c creates a route L1b that connects the adjacent straight routes L1a in the headland area E1. This route L1b is a turning route in which the traveling vehicle body 3 turns from one of the two adjacent straight routes L1a to the other. Note that, in FIG. 11C and the like, a simple semicircular turning route L1b is illustrated as an example, but this shape is for convenience, such as making it easier to display on the display screen D7 (and the display screen D8 described later) of the display operation unit 52 and making the traveling route L1 easier to visually recognize on the display screen. In reality, when the traveling vehicle body 3 travels based on one straight route L1a and then turns to travel based on the other straight route L1a, the traveling vehicle body 3 turns while moving forward or backward, so that a trajectory with a more complex shape than the turning route L1b is drawn. The route creation unit 51c may create a turning route L1b with a shape other than a semicircular shape. The same applies to other turning routes and turning portions included in other routes, which will be described later.

[0071] The control device 60 (Fig. 1) of the agricultural machine 1, when the traveling body 3 is traveling based on the straight route L1a, lowers the working implement 2 using the lifting device 8 (Fig. 2) and performs ground work with the working implement 2. In addition, when the traveling body 3 is traveling based on the turning route L1b, the control device 60 raises the working implement 2 using the lifting device 8 and stops the ground work with the working implement 2.

[0072] That is, the straight route L1a is a work route along which ground work is performed by the working implement 2 while the traveling body 3 of the agricultural machine 1 travels in an automatic driving manner. The central area C1, in which a plurality of straight routes L1a have been created, is a work area in which ground work is performed by the working implement 2 while the traveling body 3 travels in a straight line and moves back and forth in an automatic driving manner. The work route is not limited to a straight line route such as the straight route L1a, but may be a curved route. Furthermore, it is sufficient that at least one of straight line work routes and curved work routes is created in the work area.

[0073] When the automatic headland work key B43 is used to select not to work on the headland on the route creation 1 screen D6 in FIG. 9, the route creation unit 51c creates a travel route L1 consisting of a straight route L1a and a turning route L1b as shown in FIG. 11C, and stores data such as a position indicating the travel route L1 in the storage unit 53. In addition, the route creation unit 51c sets a start position Ps at the end of one straight route L1a that is not connected to the turning route L1b (the upper end of the straight route L1a at the right end in FIG. 11C) among the ends of the straight routes L1a on both sides of the central area C1, and sets a goal position Pg at the end of the other straight route L1a (the lower end of the straight route L1a at the left end in FIG. 11C). Then, the route creation unit 51c stores data indicating each position Ps and Pg in the storage unit 53.

[0074] The route creation unit 51c also calculates an expected working distance for performing ground work by the working device 2 while the traveling body 3 is traveling based on all straight routes L1a, and stores the calculation results in the storage unit 53. Furthermore, the route creation unit 51c sets a vehicle speed (travel speed) at which the traveling body 3 travels in automatic driving to the straight route L1a and the turning route L1b, and stores each vehicle speed in the storage unit 53 in association with the data of each route L1a, L1b. At this time, for example, the route creation unit 51c sets the vehicle speed so that the vehicle speed becomes slower in the portion of each route L1a, L1b with a larger curvature. Alternatively, for example, an input field for inputting the vehicle speed of each route L1a, L1b may be provided on the route creation 2 screen D7, and the route creation unit 51c may set the vehicle speed inputted in each input field to each route L1a, L1b.

[0075] When the setting and creation are completed as described above, the control unit 51 displays the areas C1, E1, the traveling route L1, the start position Ps, the goal position Pg, and the expected working distance on the route creation 2 screen D7 (see FIG. 11C). At this time, the areas C1, E1, the traveling route L1, the start position Ps, and the goal position Pg are displayed on the route creation 2 screen D7 as shown in FIG. 11C. The traveling route L1 is composed of a straight route L1a and a turning route L1b.

[0076] On the other hand, when work on a headland is selected with the automatic headland work key B43 on the route creation 1 screen D6 in Fig. 9, the route creation unit 51c creates, in addition to the straight route L1a and the turning route L1b, a circular route L1c that goes around the outside of the central area C1 in the headland area E1 as shown in Fig. 11D. At this time, for example, the route creation unit 51c creates the circular route L1c in the headland E2a that is closest to the central area C1 among the headlands E2a, E2b, and E2c that have been set in one or more layers outside the central area C1 by the area setting unit 51b.

[0077] The route creation unit 51c sets a start position Ps at an end of one of the straight routes L1a at both ends (left and right ends in FIG. 11D) of the central area C1 that is not connected to the turning route L1b (the upper end of the straight route L1a at the right end in FIG. 11D), and connects a circular route L1c to an end of the other straight route L1a (the lower end of the straight route L1a at the left end in FIG. 11D). The route creation unit 51c sets a goal position Pg at the end of the circular route L1c that is not connected to the straight route L1a.

[0078] The circular route L1c is a work route where ground work is performed by the work implement 2 while the traveling body 3 is traveling in an automatic driving manner. The circular route L1c includes a plurality of substantially straight straight sections L1s and turning sections L1r curved with a predetermined radius of curvature or more. The straight sections L1s are created on the center line in the width direction of the pillow area E2a. The turning section L1r is a route that connects one straight section L1s to the other straight section L1s among a plurality of consecutive straight sections L1s that extend in different directions, and turns the traveling body 3 from one straight section L1s to the other straight section L1s.

[0079] Depending on the shape of the field contour H1 (for example, when the field contour H1 is distorted), in addition to the straight section L1s and the turning section L1r, the circular route L1c includes a gentle curved section (curved route, not shown) that is curved at less than a predetermined radius of curvature. When the traveling body 3 is traveling in automatic driving based on the straight section L1s or the gentle curved section of the circular route L1c, ground work is performed by the working device 2, and when the traveling body 3 is traveling in automatic driving based on the turning section L1r, ground work is not performed by the working device 2.

[0080] The headland E2a for which the circular route L1c has been created as described above is a work area in which the traveling vehicle body 3 performs ground work using the work implement 2 while traveling around the outside of the central area C1. As another example, the route creation unit 51c may also create circular routes for other headlands E2b and E2c that are outside the headland E2a. In addition, a key for inputting the number of headlands for which a circular route is to be created may be provided on the route creation 2 screen D7.

[0081] Furthermore, the route creation unit 51c may create a circuit route that goes around at least one of the multiple headlands E2a, E2b, E2c multiple times, or may create a circuit route that passes through both one adjacent headland and the other adjacent headland. In other words, the route creation unit 51c may create a circuit route in the headland area E1 that goes around the periphery of the central area C1 a number of times equal to or greater than the number of headlands.

[0082] As described above, when the route creation unit 51c creates the travel route L1 consisting of the straight route L1a, the turning route L1b, and the circuit route L1c, it stores data such as positions indicating the travel route L1 in the storage unit 53. In addition, the route creation unit 51c sets the start position Ps and the goal position Pg of the travel route L1, and stores data indicating the positions Ps and Pg in the storage unit 53. In addition, the route creation unit 51c calculates an expected working distance for performing ground work by the working device 2 while traveling the traveling vehicle body 3 based on all the straight routes L1a and the circuit route L1c, and stores the calculation result in the storage unit 53. In addition, the route creation unit 51c sets the vehicle speed at which the traveling vehicle body 3 travels in automatic driving for the straight route L1a, the turning route L1b, and the circuit route L1c, and stores each of the vehicle speeds in the storage unit 53 in association with the data of each route L1a, L1b, and L1c.

[0083] When the setting and creation are completed as described above, the control unit 51 displays the areas C1, E1, the travel route L1, the start position Ps, the goal position Pg, and the expected work distance on the route creation 2 screen D7 as shown in Fig. 10B. The travel route L1 displayed at this time is composed of a straight route L1a, a turning route L1b, and a circular route L1c.

[0084] After the travel route L1 is displayed on the route creation 2 screen D7, the user selects the trajectory prediction key B14. Then, the trajectory calculation unit 51d (FIG. 1) calculates the work portion where the ground work is predicted to be performed by the work implement 2 while the traveling vehicle body 3 is traveling in automatic driving based on the travel route L1, that is, the predicted work trajectory J1 of the work implement 2.

[0085] In detail, the trajectory calculation unit 51d calculates a predicted work trajectory J1 based on the travel route L1 and the work width of the work device 2. For example, the trajectory calculation unit 51d determines, as the predicted work trajectory J1, a passing portion (passing area) of the work width of the work device 2 when the traveling body 3 and the work device 2 are moved (forward or backward) along a work route (straight route L1a and straight portion L1s of circular route L1c in FIG. 10C) of the travel route L1 where ground work is performed by the work device 2. At this time, the center in the width direction of the traveling body 3 and the center of the work width of the work device 2 are set on the work route.

[0086] Then, the trajectory calculation unit 51d stores the data of the predicted work trajectory J1 in the memory unit 53. Furthermore, the control unit 51 displays the predicted work trajectory J1 (the portion shown by hatching) so as to be superimposed on the travel route L1 of the field map MP2 in the route creation 2 screen D7, as shown in Fig. 10C. When the route creation unit 51c creates the travel route L1, the trajectory calculation unit 51d may immediately calculate the predicted work trajectory J1 and store the data of the predicted work trajectory J1 in the storage unit 53. Then, when the user selects the trajectory prediction key B14, the control unit 51 may read the data of the predicted work trajectory J1 from the storage unit 53 and display the predicted work trajectory J1 on the route creation 2 screen D7 based on the data. The trajectory calculation unit 51d may obtain, as the predicted work trajectory J1, a portion of the travel route L1 that passes through the work width of the work device 2 when the work device 2 is moved along a curved work route, not just a straight work route.

[0087] In Figure 10C, work routes L1a, L1c (straight route L1a and circular route L1c) have been created in which the traveling vehicle body 3 is driven automatically in the central area C1 and the headland E2a while ground work is performed by the work equipment 2, and a predicted work trajectory J1 is displayed along the work routes L1a, L1c.

[0088] In contrast, on the route creation 1 screen D6 in Figure 9, if the automatic headland work key B43 is used to select not to work in the headland, and a work route L1a is created only in the central area C1, as shown in Figure 11C, a predicted work trajectory J1 is displayed along the work route L1a.

[0089] For example, a user who has seen the travel route L1 or the predicted work trajectory J1 displayed on the route creation 2 screen D7 re-enters a value for any of the setting items and then selects the route creation key B13. In this case, the area setting unit 51b sets the areas C1 and E1 again in the above-mentioned procedure, the route creation unit 51c creates the travel route L1, and the display of the areas C1 and E1, the travel route L1, etc. on the route creation 2 screen D7 is updated.

[0090] Also, the user selects the start position Ps or the goal position Pg, moves the position Ps or the position Pg to a desired position on the field map MP2, and then selects the route creation key B13. Then, the area setting unit 51b sets the areas C1 and E1 again in the above-mentioned procedure, the route creation unit 51c creates the travel route L1 again, and the display of the areas C1 and E1, the travel route L1, etc. on the route creation 2 screen D7 is updated.

[0091] After updating the areas C1, E1 and the travel route L1, the user selects the trajectory prediction key B14. Then, the trajectory calculation unit 51d calculates the predicted work trajectory again in the above-mentioned procedure, and the display of the predicted work trajectory J1 in the route creation 2 screen D7 is updated.

[0092] When the user selects the Next key B9 after the travel route L1 is displayed on the route creation 2 screen D7, the control unit 51 transmits data indicating the field map MP2, areas C1, E1, and travel route L1 displayed on the screen D7 to the control device 60 (FIG. 1) via the in-vehicle network N1 by the communication unit 54. The control unit 51 also causes the display operation unit 52 to display a travel control screen D8 shown in FIG.

[0093] <Automatic driving operation mode> The travel control screen D8 is a screen that displays the travel state and work state of the agricultural machine 1 in the automatic travel operation mode. Note that the travel control screen D8 shown in Fig. 12 illustrates an example of the travel state and work state of the agricultural machine 1 some time after the automatic travel operation mode is started. The travel control screen D8 displays a farm field map MP2, a travel route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, the travel state of the agricultural machine 1, a setting change key B20, a work trajectory key B15, and a trajectory clear key B16.

[0094] The control unit 51 acquires the actual position of the traveling body 3 detected by the positioning device 40 at a predetermined cycle via the communication unit 54, and constantly displays the agricultural machine mark X2 at a corresponding location on the field map MP2 according to the position of the traveling body 3. That is, the agricultural machine mark X2 on the travel control screen D8 indicates the actual position of the traveling body 3 of the agricultural machine 1.

[0095] While viewing the travel control screen D8, the user manually moves the agricultural machine 1 to the start position Ps, and then performs a predetermined operation to switch to the automatic travel work mode with the mode switch 65 (FIG. 1). Then, the automatic control unit 61 (FIG. 1) switches to the automatic travel work mode, and performs ground work with the working device 2 while causing the traveling body 3 to travel in automatic operation, based on the travel route L1 received (acquired) from the agricultural work support device 50 and the position of the traveling body 3 detected by the positioning device 40.

[0096] In detail, the automatic control unit 61 first performs ground work using the working device 2 while causing the traveling body 3 to travel in automatic driving from the start position Ps based on the straight route La1 and the turning route L1b. At this time, when the automatic control unit 61 is causing the traveling body 3 to travel in automatic driving based on the straight route L1a, the automatic control unit 61 performs ground work using the working device 2, and when the traveling body 3 is traveling (turning) in automatic driving based on the turning route L1b, the automatic control unit 61 stops the ground work using the working device 2. Then, when the traveling body 3 starts to travel in automatic driving based on the adjacent straight route L1a, the automatic control unit 61 resumes the ground work using the working device 2. As a result, the traveling body 3 travels in an automatic driving manner back and forth in the central area C1, and the ground work is performed by the working device 2 in the central area C1.

[0097] Thereafter, the automatic control unit 61 performs ground work with the working device 2 while automatically driving the traveling body 3 based on the circuit route L1c and the position of the traveling body 3. As a result, the traveling body 3 automatically drives around the outside of the central area C1, and the working device 2 performs ground work on the headland E2a (see FIG. 11D, etc.) surrounding the central area C1.

[0098] 13A to 13D are diagrams for explaining automatic steering of the agricultural machine 1. In the automatic traveling operation mode, the automatic control unit 61 calculates the deviation between the position of the traveling body 3 detected by the positioning device 40 and the traveling route L1 while automatically traveling the traveling body 3. If the deviation is less than a threshold value (for example, FIG. 13A), the automatic control unit 61 maintains the rotation angle of the steering shaft 31 (FIG. 1). If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than a threshold value and the traveling body 3 is located on the left side of the traveling route L1 (for example, FIG. 13B), the automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the traveling body 3 becomes the right direction. If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than a threshold value and the traveling body 3 is located on the right side of the traveling route L1 (for example, FIG. 13C), the automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the traveling body 3 becomes the left direction.

[0099] In the above example, the steering angle of the steering device 29 is changed based on the deviation between the position of the traveling body 3 and the traveling route L1, but as another example, the steering angle of the steering device 29 may be changed based on the angle θg of the traveling direction F1 of the traveling body 3 with respect to the traveling route L1 shown in Fig. 13D. In this case, for example, the automatic control unit 61 calculates the traveling direction F1 of the traveling body 3 from the change in the position of the traveling body 3, and further calculates the angle θg of the traveling direction F1 with respect to the traveling route L1. Then, when the angle θg is equal to or greater than a threshold value, the automatic control unit 61 rotates the steering shaft 31 so that the traveling direction F1 of the traveling body 3 coincides with the orientation of the traveling route L1 (i.e., θg = "0°").

[0100] As another example, the automatic control unit 61 may calculate a first steering angle based on the deviation between the position of the traveling vehicle body 3 and the traveling route L1, and may calculate a second steering angle based on the traveling route L1 and the traveling direction F1 of the traveling vehicle body 3. Then, the automatic control unit 61 may calculate a third steering angle based on the first steering angle and the second steering angle, and rotate the steering shaft 31 based on the third steering angle.

[0101] Furthermore, when the traveling vehicle body 3 is automatically traveling based on the traveling route L1, the automatic control unit 61 calculates the actual vehicle speed of the traveling vehicle body 3 based on the change in position of the traveling vehicle body 3. Then, the automatic control unit 61 controls the driving of the transmission 5, the brake device 6, and the prime mover 4 so that the actual vehicle speed coincides with the vehicle speed associated with the straight route L1a, the turning route L1b, or the circular route L1c.

[0102] As described above, in the automatic traveling work mode, the automatic control unit 61 of the agricultural machine 1 automatically steers the traveling body 3 while automatically changing the traveling speed of the traveling body 3 based on the traveling route L1 and the position of the traveling body 3. In addition, the automatic control unit 61 automatically executes and stops agricultural work (ground work) by the working device 2.

[0103] The user selects the work trajectory key B15 on the travel control screen D8 shown in Fig. 12. The trajectory calculation unit 51d then calculates an actual work trajectory J2 along which the work implement 2 performed ground work, based on the position of the traveling vehicle body 3 detected by the positioning device 40 and the work width of the work implement 2. The trajectory calculation unit 51d also stores data of the actual work trajectory J2 in the memory unit 53. The control unit 51 then displays the actual work trajectory J2 (the portion shown by hatching) so as to be superimposed on the straight route L1a of the field map MP2, as shown in Fig. 12. When the user selects the trajectory clear key B16, the control unit 51 erases the display of the actual work trajectory J2.

[0104] Furthermore, when the work locus key B15 is selected during execution of the automatic traveling work mode, the locus calculation unit 51d calculates the actual work locus J2 from the start of the automatic traveling work mode to the present time, and stores the data of the work locus J2 in the memory unit 53. Then, the control unit 51 displays the actual work locus J2 on the farm field map MP2. Note that, when the work locus key B15 is continuously selected, the calculation, display, and data storage of the actual work locus J2 are executed at a predetermined cycle. As a result, the display position of the agricultural machine mark X2 indicating the position of the traveling body 3 is updated as needed on the traveling control screen D8, and the actual work locus J2 extends.

[0105] After switching to the automatic traveling operation mode, the trajectory calculation unit 51d may calculate the actual work trajectory J2 at a predetermined cycle and store the data of the work trajectory J2 in the storage unit 53. Then, when the user selects the work trajectory key B15, the control unit 51 may read the data of the actual work trajectory J2 from the storage unit 53 and display the actual work trajectory J2 on the traveling control screen D8 based on the data.

[0106] In the above-described embodiment, as shown in Fig. 10C, an example is shown in which ground work is performed on almost the entire surface of the central area C1 in the automatic traveling operation mode of the agricultural machine 1, but it is also possible, for example, to perform ground work on part of the central area C1 in the automatic traveling operation mode of the agricultural machine 1, and then perform ground work on the remaining part of the central area C1 using the same or a different agricultural machine. An example assuming this case is shown in Fig. 14A and Fig. 14B.

[0107] 14A and 14B are diagrams showing another example of the route creation 2 screen D7. 14A, the user inputs a negative value into the overlap input field in the center of the route creation 2 screen D7, inputs appropriate values ​​into the other input fields, and selects the route creation key B13. Then, the areas C1 and E1 set by the area setting unit 51b and the travel route L1 and the like created by the route creation unit 51c are displayed on the field map MP2.

[0108] 14A and 14B, for the sake of convenience, the travel route L1 is shown to be composed of a straight route L1a and a turning route L1b, but the travel route L1 may also include a circular route L1c as shown in FIG 10B (the same applies to the embodiments shown in FIGS. 15 to 17 described later).

[0109] Among the travel route L1 shown in Fig. 14A, the number of straight routes L1a is less than the number of straight routes L1a shown in Fig. 10B. Also, the intervals between the multiple straight routes L1a shown in Fig. 14A are wider than the intervals between the multiple straight routes L1a shown in Fig. 10B. Therefore, when the user selects the trajectory prediction key B14, the predicted work trajectory J1 (shown by hatching) calculated by the trajectory calculation unit 51d is displayed in the central area C1 with a gap therebetween, as shown in Fig. 14B.

[0110] The portion V1 between the predicted work trajectories J1 going back and forth in the central area C1 (the portion not hatched in the central area C1 in FIG. 14B) is a predicted unworked portion where it is predicted that no ground work will be performed in the automatic travel work mode of the agricultural machine 1. That is, in FIG. 14B, the travel route L1, the predicted work trajectory (work portion where ground work is planned to be performed), and the predicted unworked portion V1 are simultaneously displayed in different forms on the field map MP2. Also, the predicted work trajectory J1 is displayed with emphasis on the predicted unworked portion V1. In this example, the predicted work trajectory J1 and the predicted unworked portion V1 are displayed with different hatching, but if the display operation unit 52 is capable of color display, the predicted work trajectory J1 and the predicted unworked portion V1 may be filled in with different colors or the shades of the filled colors may be different. (The same applies to the actual work trajectory J2 and the actual unworked portion V2 described later.)

[0111] 14B, the portion surrounded by part of the contour of one of two adjacent predicted work trajectories J1 in the central area C1, part of the contour of the other predicted work trajectory J1, and part of the contour of the central area C1 is set as the predicted unworked portion V1. Depending on the creation state of the work route included in the travel route L1, a part of the central area C1 surrounded by part of the contour of the predicted work trajectory J1 and part of the contour of the central area C1 is also included in the predicted unworked portion V1. In addition, all or part of the headland area E1, where ground work is not performed by the work implement 2, may be included in the predicted unworked portion V1.

[0112] That is, the predicted unworked portion V1 is a portion different from the portion that becomes the predicted work trajectory J1 in the field map MP2, and is a portion surrounded by parts of two or more contours that include at least the predicted unworked portion V1 among the predicted work trajectory J1, central area C1, headland area E1, and headlands E2a, E2b, and Ec. Not only the predicted work trajectory J1, but also the predicted unworked portion V1 may be calculated by the trajectory calculation unit 51d.

[0113] As shown in FIG. 14A and FIG. 14B, when the travel route L1 is created and the predicted unworked portion V1, etc. are calculated, an unworked portion key B17 may be provided on the route creation 2 screen D7 as shown in FIG. 15, for example. When the user selects this unworked portion key B17, the control unit 51 highlights the predicted unworked portion V1 (a portion shown by hatching) from the predicted work trajectory J1 based on the predicted work trajectory J1 calculated by the trajectory calculation unit 51d. On the other hand, when the user selects the trajectory prediction key B14, the predicted work trajectory J1 is highlighted from the predicted unworked portion V1 as shown in FIG. 14B. That is, by selecting either the trajectory prediction key B14 or the unworked portion key B17, the display form of the predicted work trajectory J1 and the predicted unworked portion V1 can be switched.

[0114] As a result of the above, for example, when the user executes the automatic traveling operation mode of the agricultural machine 1 in a field corresponding to the field map MP2, the user can understand that the portion of the predicted work trajectory J1 displayed on the route creation 2 screen D7 will be subjected to ground work by the agricultural machine 1. The user can also understand that after the automatic traveling operation mode of the agricultural machine 1 is executed, ground work will need to be performed on the predicted unworked portion V1 by the same or a different agricultural machine.

[0115] 16A to 16D, an unworked portion key B17 may also be provided on the travel control screen D8. In this case, when the user selects the work trajectory key B15 or the unworked portion key B17, the trajectory calculation unit 51d calculates an actual work trajectory J2 along which the work implement 2 has performed ground work in the automatic travel work mode of the agricultural machine 1. In detail, for example, the trajectory calculation unit 51d determines, as the actual work trajectory J2, a passing portion (passing area) of the work width when the work implement 2 performed ground work based on a work route (one or more straight routes L1a in FIG. 16A to FIG. 16D) included in the travel route L1 from the start position Ps to the current position of the traveling body 3. In this case, too, the center in the width direction of the traveling body 3 and the center of the work width of the work implement 2 are set on the work route.

[0116] Furthermore, the trajectory calculation unit 51d may calculate not only the actual work trajectory J2, but also an actual unworked portion V2 where the work implement 2 did not perform work due to the automatic travel work mode of the agricultural machine 1. The actual unworked portion V2 is a portion different from the portion that becomes the actual work trajectory J2 in the farm field map MP2, and is a portion that is surrounded by a portion of each of two or more contours that include at least the actual work trajectory J2 among the actual work trajectory J2, the central area C1, the headland area E1, and the headlands E2a, E2b, and Ec.

[0117] After calculation of the actual work trajectory J2 etc., when the work trajectory key B15 is selected, the control unit 51 displays the actual work trajectory J2 highlighted more than the actual unworked portion V2 on the field map MP2, as shown in Fig. 16A. When the unworked portion key B17 is selected, the control unit 51 displays the actual unworked portion V2 highlighted more than the actual work trajectory J2, as shown in Fig. 16B. That is, the actual work trajectory J2 and the actual unworked portion V2 are displayed simultaneously on the travel control screen D8 in different display forms.

[0118] Also, for example, when the user selects the unworked portion key B17 on the travel control screen D8 after once executing the automatic travel operation mode of the agricultural machine 1 in the field corresponding to the field map MP2, the control unit 51 highlights the actual unworked portion V2. In this state, the user performs ground work based on the actual unworked portion V2 with the same or a different agricultural machine. In this case, the control unit 51 continues to display the travel control screen D8 as shown in Fig. 16C, and erases the display of the portion of the unworked portion V2 that has been ground worked by the agricultural machine (agricultural machine mark X2) that has been displayed up until that point.

[0119] Also, for example, when the user selects the work trajectory key B15 on the travel control screen D8 after executing the automatic travel operation mode of the agricultural machine 1 in a field corresponding to the field map MP2, the control unit 51 highlights the actual work trajectory J2 by ​​the agricultural machine 1. In this state, the user performs ground work based on the actual unworked portion V2 with the same or a different agricultural machine. Then, the control unit 51 continues to display the travel control screen D8 as shown in FIG. 16D, and displays the actual work trajectory J2-2 performed on the ground by the agricultural machine (agricultural machine mark X2) in a form different from the actual work trajectory J2-1 previously performed on the ground by the agricultural machine 1 and the actual unworked portion V2. In this case, it is preferable to display a legend Y1 indicating the display form of each of the actual work trajectories J2-1, J2-2 and the actual unworked portion V2 on the travel control screen D8.

[0120] Furthermore, as described above, a plurality of pieces of data on the predicted work trajectory J1 and the actual work trajectory J2 calculated by the trajectory calculation unit 51d may be stored in the memory unit 53. In this case, the control unit 51 may read out two or more pieces of data from the plurality of pieces of data stored in the memory unit 53, and cause the display operation unit 52 to simultaneously display the predicted work trajectory J1 and the actual work trajectory J2 based on each piece of data in different display forms as shown in FIG.

[0121] In addition to the configuration of the driving control screen D8 shown in FIG. 12, the driving control screen D8 shown in FIG. 17 displays a prediction call key B18 and a legend Y2. When the user selects the prediction call key B18, the control unit 51 causes the display operation unit 52 to display a list of identification information of multiple predicted work trajectories J1 stored in the storage unit 53 (not shown). When the user selects one or more pieces of identification information from among them, the control unit 51 reads out data of the predicted work trajectory J1 corresponding to the identification information from the storage unit 53 and displays the predicted work trajectory J1 on the field map MP2 based on the data. In the example of FIG. 17, a predicted work trajectory J1-1 (predicted work trajectory 1) based on one driving route L1-1 and a predicted work trajectory J1-2 (predicted work trajectory 2) based on the other driving route L1-2 are displayed.

[0122] With the predicted work trajectories J1-1 and J1-2 displayed as described above, the user selects the work trajectory key B15. Then, the control unit 51 displays on the field map MP2 the actual work trajectory J2-1 of the ground work performed by the agricultural machine 1 and the actual work trajectory J2-2 of the ground work performed by the same or a different agricultural machine (agricultural machine mark X2) as shown in Fig. 17. In the example of Fig. 17, the actual work trajectory J2-1 (actual work trajectory 1) of the first ground work and the actual work trajectory J2-2 (actual work trajectory 2) of the second ground work are displayed. The control unit 51 also displays on the travel control screen D8 a legend Y2 indicating the display form of each of the predicted work trajectories J1-1 and J1-2 and the actual work trajectories J2-1 and J2-2. This allows the user to visually recognize a plurality of predicted work trajectories J1 and a plurality of actual work trajectories J2 when working with the agricultural machine 1 in a field corresponding to the field map MP2.

[0123] <Setting material supply locations> The ground work performed by the agricultural machine 1 using the working device 2 includes work using materials. Specifically, there are fertilizing work, pesticide spraying work, sowing work, seedling transplanting work, etc., which are performed using materials such as fertilizer, pesticides, seeds, or seedlings. In these cases, the working device 2 is composed of a spraying device, a sowing device, a transplanting device, etc., and is connected to the traveling body 3 of the agricultural machine 1. In addition, a control unit provided in the working device 2 controls the operation of a supply mechanism provided in the working device 2, and adjusts the supply amount and supply timing of the materials supplied to the field. In addition, the control unit of the working device 2 transmits signals indicating the start and end of supply of materials to the field to the control device 60 of the agricultural machine 1 (FIG. 1) via the communication unit and the in-vehicle network N1.

[0124] By performing the above-mentioned ground work with the agricultural machine 1 and supplying materials to the field, the materials mounted on the working device 2 (or the agricultural machine 1) are consumed. Furthermore, if the field is large, materials may run short during ground work in the field. Therefore, as will be described later, when the agricultural machine 1 performs ground work in the field in the automatic traveling work mode, the remaining amount of materials is calculated and a supply position for replenishing the materials is set. Furthermore, in the agricultural machine 1, the automatic traveling work mode is temporarily stopped and a material supply mode is executed in which the traveling body 3 is automatically driven to move to a supply position.

[0125] For example, when the user selects a task to be performed using materials, such as fertilization or pesticide spraying, on the task selection screen D3 shown in Fig. 6 and then selects the Next key B9, the control unit 51 causes the display operation unit 52 to display a material information input screen D9 as shown in Fig. 18. The material information input screen D9 displays a message indicating the operation procedure for inputting information about materials supplied (input) to the task device 2, a number of setting items and their corresponding numerical input fields, a remaining amount reset key B19, a plus key B45, a minus key B46, a next key B9, and a back key B8.

[0126] The multiple setting items include theoretical remaining amount, material input amount, material unit consumption amount, and remaining amount to enter material supply mode. Of these, it is possible to input numerical values ​​(parameters) for items other than the theoretical remaining amount. The theoretical remaining amount is the remaining amount of material (unit: kg) calculated by the remaining amount calculation unit 51e (FIG. 1). Data indicating this remaining amount of material is stored in the memory unit 53 and can be updated. When the user selects the remaining amount reset key B19, the numerical value displayed in the theoretical remaining amount numerical display field is reset (erased), and the data of the theoretical remaining amount stored in the memory unit 53 is reset to an initial value (e.g., "0 kg").

[0127] The input amount of materials refers to the amount (unit: kg) of materials input into a material storage section such as a hopper provided on the work implement 2 (or the agricultural machine 1). The unit consumption amount of materials refers to the consumption amount of materials per unit area (unit: kg / 10a (10 ares = 1,000 m)) that is consumed by the work implement 2 performing ground work.2 ) The remaining amount at which the material supply mode is entered refers to the remaining amount of materials (unit: %) at which the agricultural machine 1 transitions to the material supply mode during ground work in the automatic traveling work mode. A value of 0% or more can be entered as the remaining amount at which the material supply mode is entered, but it is preferable to enter a value greater than 0%.

[0128] The user selects a numeric input field for each setting item on the material information input screen D9 and operates the plus key B45 or minus key B46 to input a numeric value into the corresponding numeric input field. As another example, a recommended value for the unit material consumption may be set in advance for each operation device 2 and the recommended value may be stored in the memory unit 53, and a recommendation key may be provided on the material information input screen D9. In this case, when the user selects the recommendation key, the control unit 51 may read out a recommended value corresponding to the operation device 2 from the memory unit 53 and display it in the corresponding numeric input field on the material information input screen D9.

[0129] After a numerical value is input into each setting item of the material information input screen D9, when the user selects the next key B9, the control unit 51 stores the numerical value input into each setting item in the storage unit 53. The control unit 51 also displays the vehicle setting confirmation screen D4 shown in FIG.

[0130] Then, as described above, after the user sets various settings on the vehicle setting confirmation screen D4 in Fig. 7, the field selection screen D5 in Fig. 8, and the route creation 1 screen D6 in Fig. 9, the user inputs values ​​for each setting item on the route creation 2 screen D7 in Fig. 10A and selects the route creation key B13. Then, the area setting unit 51b and the route creation unit 51c set areas C1 and E1, a travel route L1, a start position Ps, and a goal position Pg, for example, as shown in Fig. 19. At the same time, the remaining amount calculation unit 51e calculates the remaining amount of materials, the supply setting unit 51f (Fig. 1) sets the supply position of materials, and the notification unit 51g (Fig. 1) sets the notification position.

[0131] FIG. 19 is a diagram showing an example of a supply position and a notification position of materials. In FIG. 19, for convenience, the illustration of the circular route L1c is omitted. As described above, the route creation key B13 is selected by the user before the agricultural machine 1 executes the automatic traveling operation mode (before the traveling body 3 travels by automatic driving and before the work device 2 performs ground work). The remaining amount calculation unit 51e calculates the theoretical remaining amount by adding the amount of material input to the theoretical remaining amount stored in the storage unit 53 and subtracting the amount of material consumption from the added value. Before the automatic traveling operation mode is executed, the materials are considered to be unconsumed and the amount of material consumption is "0 kg", so the value obtained by adding the amount of material input to the theoretical remaining amount stored in the storage unit 53 becomes the new theoretical remaining amount. In this way, when the remaining amount calculation unit 51e calculates the new theoretical remaining amount, it overwrites the new theoretical remaining amount to the theoretical remaining amount stored in the storage unit 53. This updates the theoretical remaining amount.

[0132] Next, assume that the automatic control unit 61 of the agricultural machine 1 executes the automatic traveling work mode, and performs ground work with the working device 2 while causing the traveling body 3 to travel in automatic driving from the start position Ps based on the traveling route L1 and the position of the traveling body 3. In this case, for example, the remaining amount calculation unit 51e multiplies the predicted work distance mentioned above (the predicted distance over which ground work is performed by the working device 2 while the traveling body 3 of the agricultural machine 1 travels in automatic driving based on all the work routes L1a, L1c) by the working width of the working device 2 to obtain the total work area.

[0133] Next, the remaining amount calculation unit 51e multiplies the total work area by the unit consumption of materials to obtain the total consumption of materials. Since the work width and unit consumption of materials of the work device 2 are constant, the work distance of the work device 2, the work area, and the consumption of materials are proportional, and as the work distance of the work device 2 increases, the work area and the consumption of materials increase at a constant rate. Based on this relationship, the remaining amount calculation unit 51e obtains the consumption of materials (the consumption of materials from the start position Ps to the start of ground work by the work device 2) at multiple predetermined positions (work distance from the start position Ps) on the work routes L1a and L1c. At this time, for example, the remaining amount calculation unit 51e determines the end points of each work route L1a and L1c as predetermined positions and obtains the consumption of materials at each of the predetermined positions.

[0134] The remaining amount calculation unit 51e then subtracts the consumption amount of the material at each predetermined position from the theoretical remaining amount (the remaining amount of the material at the start position Ps) stored in the storage unit 53 to obtain the theoretical remaining amount at each predetermined position. The remaining amount calculation unit 51e also converts the theoretical remaining amount at each predetermined position into a percentage, and sets the converted value as the remaining amount of material at each predetermined position (unit: %). Note that the above-mentioned method of calculating the theoretical remaining amount and the remaining amount of material is an example, and is not limited to this. As another example, the remaining amount calculation unit 51e may obtain the consumption amount of material by multiplying the supply amount of material supplied to the field per unit time by the time taken for the agricultural machine 1 to travel straight along the straight route L1a, and may obtain the theoretical remaining amount and the remaining amount of material at the predetermined positions on the work routes L1a and L1c by subtracting the consumption amount of material from the input amount of material. The theoretical remaining amount and the remaining amount of material may also be obtained by other methods.

[0135] The theoretical remaining amount and the remaining amount of materials decrease with an increase in the working distance of the working device 2 and the consumption of materials, as described above. Based on this relationship and the remaining amount of materials at the predetermined position, the supply setting unit 51f predicts (calculates) a drop position Pe (FIG. 19) at which the remaining amount of materials falls below a predetermined threshold. At this time, the supply setting unit 51f sets the remaining amount at which the material supply mode is to be entered, stored in the memory unit 53, as the predetermined threshold, and then predicts the drop position Pe. The display operation unit 52, which can input the remaining amount at which the material supply mode is to be entered, is a threshold change unit that can change the threshold for predicting the drop position Pe.

[0136] The supply setting unit 51f then sets a supply position Pz for the material at the edge of a ridge on a line L4 extending the straight route (work route) L1a including the lowering position Pe in the direction opposite to the traveling direction, as shown in Fig. 19. That is, the supply position Pz is set at a location on the edge of a ridge in a field that deviates from the traveling route L1. The supply setting unit 51f also stores each piece of data indicating the lowering position Pe and the supply position Pz in the memory unit 53, and transmits each piece of data to the control device 60 by the communication unit 54 via the in-vehicle network N1.

[0137] The above-mentioned method of setting the supply position is an example, and is not limited thereto. As another example, if the input value of the remaining amount for entering the material supply mode is larger than a predetermined value, the supply setting unit 51f may set the supply position of the material to the edge of a field on a line extending the straight route L1a including the lowering position Pe toward the traveling direction. Also, if the input value of the remaining amount for entering the material supply mode is smaller than a predetermined value, the supply setting unit 51f may set the supply position of the material to the edge of a field on a line extending the straight route L1a (the straight route L1a adjacent to the start position Ps side (the left one in FIG. 19)) immediately before the straight route L1a including the lowering position Pe toward the opposite side to the traveling direction. Also, the supply position may be set by other methods.

[0138] The notification unit 51g sets a plurality of notification positions Pa, Pb, and Pc on the travel route L1 based on the drop position Pe and the supply position Pz. In detail, for example, the notification unit 51g sets the start point Pa of the straight route L1a (the third straight route L1a toward the start position Ps side (the right side in FIG. 19)) that is three routes before the straight route L1a (the straight route L1a including the drop position Pe) that is closest to the supply position Pz, as the first notification position. The straight route L1a on which the first notification position Pa is set is on the start position Ps side of the drop position Pe and the supply position Pz, and is a route toward the edge of the field where the supply position Pz is set.

[0139] The notification unit 51g also sets the start point Pb of the straight route L1a (the straight route L1a adjacent to the start position Ps (the straight route L1a on the right in FIG. 19)) that is immediately before the straight route L1a that is closest to the supply position Pz, as the second notification position. Furthermore, the notification unit 51g sets a position Pc on the straight route L1a that is immediately before the straight route L1a that is closest to the supply position Pz and that is on the start point side of the end point of the straight route L1a, as the third notification position. The start point and end point of the straight route L1a are also connection points with the turning route L1b. The notification unit 51g stores data indicating the above notification positions Pa, Pb, and Pc in the storage unit 53.

[0140] The above-mentioned method of setting the notification position is an example, and is not limited thereto. As another example, the notification unit 51g may set the notification position at a point between the start point and the end point of the straight route L1a before the straight route L1a including the lowered position Pe, or at a point on the turning route L1b before the straight route L1a including the lowered position Pe. The notification position may also be set by other methods. Furthermore, the notification positions are not limited to three positions, and may be one, two, four or more positions. That is, the notification unit 51g may set the notification position on another straight route L1a or turning route L1b on which the traveling vehicle body 3 travels based on the straight route L1a including the lowered position Pe in the automatic traveling operation mode.

[0141] <Supply and notification actions during work> When the agricultural machine 1 starts the automatic traveling work mode, the automatic control unit 61 performs ground work with the work device 2 while driving the traveling body 3 in automatic driving based on the traveling route L1 and the position of the traveling body 3 detected by the positioning device 40. Then, when the position of the traveling body 3 reaches a connection point Pd between the turning route L1b and the straight route L1a including the lowering position Pe via the turning route L1b located immediately before the supply position Pz, the automatic control unit 61 temporarily stops the automatic traveling work mode and then switches to the material supply mode. The connection point Pd is a predetermined position where the automatic traveling work mode and the material supply mode switch from one mode to the other.

[0142] In the material supply mode, the automatic control unit 61 automatically moves (backwards) the traveling body 3 from a predetermined position Pd (FIG. 20A) located immediately before the supply position Pz along the extension line L4 to the supply position Pz (FIG. 20B) based on the supply position Pz and the position of the traveling body 3. At this time, the automatic control unit 61 also raises the working device 2 by the lifting device 8 and stops the ground work by the working device 2.

[0143] In the automatic travel operation mode before the transition to the material supply mode, when the traveling vehicle body 3 passes the notification positions Pa, Pb, and Pc, the notification unit 51g of the agricultural work support device 50 performs notifications U1, U2, and U3 suggesting the supply of materials. Specifically, when the position of the traveling vehicle body 3 detected by the positioning device 40 passes the first notification position Pa (FIG. 19), the notification unit 51g displays the first notification U1 including the message "The remaining amount of materials is low" for a certain period of time in the center of the travel control screen D8 displayed on the display operation unit 52 as shown in FIG. 21. That is, the notification unit 51g and the display operation unit 52 notify that the remaining amount (theoretical remaining amount) of the materials is low. This first notification U1 is displayed in front of other displays such as the travel route L1 and the work trajectory J2 in the travel control screen D8 and is highlighted. Note that data indicating the contents of the first notification U1 performed by the notification unit 51g and other notifications described later are stored in the storage unit 53 in advance.

[0144] Next, when the traveling body 3 passes the second notification position Pb (FIG. 19), the notification unit 51g displays the second notification U2 including the message "The material will be replenished after turning at the end of this straight route", the message "After turning, the material will be backed up and stopped near the ridge", and the message "After stopping, the work implement will be lowered automatically", for a certain period of time in the center of the traveling control screen D8 as shown in FIG. 22. That is, the timing of replenishment of materials, the replenishment position, and the behavior of the traveling body 3 and the work implement 2 for the replenishment are notified by the notification unit 51g and the display operation unit 52. This second notification U2 is also displayed in front of other displays in the traveling control screen D8 and is highlighted.

[0145] Next, when the traveling body 3 passes the third notification position Pc (FIG. 19), the notification unit 51g displays the third notification U3, which includes the message "To replenish materials, the vehicle will turn and then back up and stop near the ridge" and the message "After stopping, the work implement will be lowered automatically" in the center of the traveling control screen D8 for a certain period of time, as shown in FIG. 23. That is, the timing of replenishment of materials, the replenishment position, and the behavior of the traveling body 3 and the work implement 2 for the replenishment are notified by the notification unit 51g and the display operation unit 52. This third notification U3 is also displayed in front of other displays in the traveling control screen D8 with emphasis.

[0146] As described above, before the traveling body 3 heads to the supply position Pz in the automatic traveling work mode, the notification unit 51g issues a notification U1 indicating a decrease in materials and notifications U2 and U3 indicating that the traveling body 3 is heading to the supply position Pz multiple times at intervals based on the position of the traveling body 3 detected by the positioning device 40 and the supply position Pz. In addition, the notification unit 51g issues a notification U2 indicating that the supply position Pz and the supply timing are approaching at the positions closer to the supply position Pz (the closest is the third position Pc and the farthest is the first position Pa) among the multiple notification positions Pa, Pb, and Pc. Furthermore, the notification unit 51g issues a first notification U1 indicating a decrease in the remaining amount of materials at the first notification position Pa, and issues a second notification U2 and a third notification U3 indicating the supply position Pz at the second notification position Pb and the third notification position Pc and indicating the behavior of the traveling body 3 or the work device 2 in the material supply mode. At the first notification position Pa, the notification unit 51g may issue a notification indicating the timing of material supply, the supply location, or the behavior of the traveling body 3 and the work implement 2 for supply, instead of the first notification U1 described above.

[0147] Furthermore, in the automatic traveling work mode before transitioning to the material supply mode, when the traveling body 3 passes through the notification positions Pa, Pb, and Pc, the notification unit 51g may issue a notification suggesting the supply of materials to those around the traveling body 3 by the alarm unit 63 (FIG. 1). Specifically, for example, a voice message or a signal sound including information indicating a decrease in the remaining amount of materials, a supply position, or the behavior of the traveling body 3 or the work device 2 in the material supply mode may be output by a speaker or buzzer included in the alarm unit 63, or the above information may be transmitted to those around by turning on, off, or blinking a warning light included in the alarm unit 63. Other notifications displayed on the display operation unit 52 described below may also be executed by the alarm unit 63 in a similar manner.

[0148] When the automatic control unit 61 stops the traveling body 3 at the supply position Pz in the material supply mode of the agricultural machine 1 as shown in FIG. 20B, the control unit 51 of the agricultural work support device 50 causes the display operation unit 52 to display the material information input screen D9 shown in FIG. 18. After the user supplies materials to the working device 2 or the like at the supply position Pz, the user inputs the material input amount, the material unit consumption amount, and the remaining amount for entering the material supply mode on the material information input screen D9 and selects the next key B9. Then, the control unit 51 causes the display operation unit 52 to display the traveling control screen D8 again. In addition, in the above-mentioned procedure, the remaining amount calculation unit 51e calculates the remaining amount of the material (theoretical remaining amount and material remaining amount), the supply setting unit 51f sets the lowering position Pe and the supply position Pz, etc., and the notification unit 51g sets the notification positions Pa, Pb, and Pc.

[0149] Also, for example, the user performs a predetermined operation to resume the automatic traveling work mode with the mode switch 65 (FIG. 1). Then, the automatic control unit 61 moves the traveling body 3 in automatic driving to the start point Pd of the next straight route L1a based on the traveling route L1 and the position of the traveling body 3 shown in FIG. 19, FIG. 20A, etc., and resumes the automatic traveling work mode. That is, the automatic control unit 61 performs ground work with the working device 2 while traveling in automatic driving from the start point Pd of the next straight route L1a based on the traveling route L1 and the position of the traveling body 3 (resuming work).

[0150] In the above-described embodiment, an example was shown in which parameters (material input amount, material unit consumption amount, remaining amount for entering material supply mode) for calculating the remaining amount of materials are input on the material information input screen D9 displayed on the display operation unit 52 of the agricultural work support device 50, but the present invention is not limited to this. For example, an input unit for inputting the above parameters may be provided in the working device 2, and the control unit 51 of the agricultural work support device 50 may acquire the parameters input by the input unit from the working device 2 via the in-vehicle network N1 through the communication unit 54. Also, for example, the remaining amount for entering the material supply mode (threshold value for position setting related to material supply) may be set to a preset fixed value, the fixed value may be stored in the storage unit 53, and the control unit 51 or the supply setting unit 51f may read out the fixed value from the storage unit 53 as necessary.

[0151] In the above embodiment, when the amount of material input, the amount of material consumed per unit, and the amount of material remaining for entering the material supply mode are input by the display operation unit 52 before the automatic traveling operation mode is executed or during a temporary stop (when replenishing materials), the remaining amount calculation unit 51e calculates the remaining amount of material (theoretical remaining amount and remaining amount of material), the replenishing setting unit 51f sets the replenishing position Pz, and the notifying unit 51g sets the notifying positions Pa, Pb, and Pc. In addition to this, for example, during the execution of the automatic traveling operation mode, the remaining amount calculation unit 51e may calculate the remaining amount of material at a predetermined cycle based on the amount of material input, the amount of material consumed per unit, and the state of the traveling vehicle body 3 and the working device 2. Also, each time the remaining amount calculation unit 51e calculates the remaining amount of material in this way, the replenishing setting unit 51f may reset the replenishing position Pz, etc., and the notifying unit 51g may reset the notifying positions Pa, Pb, and Pc.

[0152] Furthermore, in the above-described embodiment, fertilizer, chemicals, seedlings, seeds, etc. supplied to the field have been given as examples of materials used during ground work by the working implement 2 and supplied at the supply position Pz, but other materials such as fuel or electricity for driving the prime mover 4 of the agricultural machine 1 may also be supplied at the supply position Pz. In other words, the materials supplied to the agricultural machine 1 may be on-board objects that are necessary and reduced when performing ground work with the working implement 2 while the traveling body 3 is traveling.

[0153] <Effects of this embodiment> The farm work support system 100, the farm work support device 50, and the agricultural machine 1 of the present embodiment described above provide the following advantages.

[0154] <Effects on display of work trajectory> The agricultural work support device 50 of this embodiment includes a route creation unit 51c that creates a travel route L1 along which the agricultural machine 1 travels in a registered field (field map) MP2, and a display unit (display operation unit) 52 that displays a work portion (predicted work trajectory) J1 where agricultural work is predicted to be performed by the work device 2 coupled to the agricultural machine 1 while the agricultural machine 1 travels based on the travel route L1, or an unworked portion V1 where agricultural work is predicted not to be performed by the work device 2. According to this configuration, the predicted work portion J1 or unworked portion V1 is displayed and visible on the display unit 52 before agricultural work is performed by the agricultural machine 1 in the field, thereby improving convenience and work efficiency when performing the agricultural work.

[0155] Furthermore, in this embodiment, the display unit 52 displays a working portion J1 where farm work is predicted to be performed by the working device 2 while the agricultural machine 1 is traveling in automatic driving based on the travel route L1, or an unworked portion V1 where farm work is predicted not to be performed by the working device 2. As a result, before performing farm work by the working device 2 while the agricultural machine 1 is traveling in automatic driving in a field, the predicted working portion J1 or unworked portion V1 during automatic driving can be displayed and visually confirmed by the display unit 52, thereby improving convenience and work efficiency when performing the farm work.

[0156] Furthermore, in this embodiment, the display unit 52 displays the predicted work portion J1 and the predicted unworked portion V1 in different display forms. This makes it possible to visually confirm and easily distinguish the predicted work portion J1 and the unworked portion V1 before performing agricultural work in the field with the agricultural machine 1, thereby making it possible to further improve convenience and work efficiency when performing the agricultural work.

[0157] Furthermore, in this embodiment, the display unit 52 displays an actual worked portion (actual work trajectory) J2 where agricultural work has been performed by the working device 2 while the agricultural machine 1 is traveling based on the travel route L1, or an actual unworked portion V2 where agricultural work has not been performed by the working device 2. As a result, the actual worked portion J2 or the actual unworked portion V2 is displayed and visible on the display unit 52 while agricultural work is being performed by the agricultural machine 1 in the field or after the agricultural work has been performed, thereby further improving convenience and work efficiency in agricultural work.

[0158] Furthermore, in this embodiment, the display unit 52 displays an actual worked portion J2 where agricultural work has been performed by the working device 2 while the agricultural machine 1 is traveling in automatic driving based on the travel route L1, or an actual unworked portion V2 where agricultural work has not been performed by the working device 2. As a result, when agricultural work is being performed by the working device 2 while the agricultural machine 1 is traveling in automatic driving in a field, or after the agricultural work has been performed, the actual worked portion J2 under automatic driving or the actual unworked portion V2 can be displayed and viewed by the display unit 52, thereby further improving convenience and work efficiency in agricultural work.

[0159] Furthermore, in this embodiment, the display unit 52 displays the actual worked portion J2 and the actual unworked portion V2 in different display forms. This makes it possible to visually confirm and easily distinguish the actual worked portion J2 and the actual unworked portion V2 while the agricultural machine 1 is performing agricultural work in the field or after the agricultural work has been performed by the agricultural machine 1, thereby making it possible to further improve convenience and work efficiency in agricultural work.

[0160] Furthermore, in this embodiment, the agricultural work support device 50 includes a trajectory calculation unit 51d that calculates a predicted work trajectory of the working device 2 that constitutes the predicted work portion J1 based on the working width that the working device 2 can work in and the travel route L1, and the display unit 52 displays the predicted work trajectory J1 together with the field MP2 and the travel route L1. This makes it possible to visually confirm the predicted work trajectory J1 along which the working device 2 performs agricultural work together with the field MP2 and the travel route L1, thereby further improving the convenience and work efficiency when performing agricultural work with the agricultural machine 1.

[0161] In addition, in this embodiment, the agricultural work support device 50 is equipped with an input unit (display operation unit) 52 for inputting the overlapping allowance of the working width of the working device 2 or the number of headlands indicating the number of headlands E2a, E2b, E2c to be set inside the field MP2 along the contour H1 of the field MP2, and an area setting unit 51b for setting a first area (headland area) E1 including the headlands E2a, E2b, E2c and a second area (central area) C1 located inside the first area E1 based on the working width, overlapping allowance, or number of headlands, and a route creation unit 51c creates a travel route L1 in the first area E1 and the second area C1, and a trajectory calculation unit 51d calculates a predicted work trajectory J1 based on the travel route (straight route) L1a created in at least the second area C1.

[0162] According to the above configuration, the predicted work trajectory J1 calculated based on the travel route (straight route) L1a created in the second area C1 becomes visible, which further improves the convenience and work efficiency when performing agricultural work in the second area C1 using the agricultural machine 1. In addition, when the predicted work trajectory J1 calculated based on the travel route (circular route) L1c created in the first area E1 is displayed on the display unit 52 and becomes visible, it is possible to further improve the convenience and work efficiency when performing agricultural work in the first area E1 using the agricultural machine 1.

[0163] Furthermore, in this embodiment, the travel route L1, the predicted work trajectory J1, and the display by the display unit 52 are updated in response to changes in the input content by the input unit 52. This makes it possible to visually confirm changes in the travel route L1 and the predicted work trajectory J1 by re-inputting the work width, overlapping space, or number of headlands of the work implement 2 by the input unit 52, thereby making it possible to further improve the convenience and work efficiency when performing agricultural work using the agricultural machine 1.

[0164] Furthermore, in this embodiment, the trajectory calculation unit 51d calculates an actual work trajectory J2 based on the position and work width of the agricultural machine 1 when the agricultural machine 1 performs agricultural work with the work implement 2 while traveling based on the travel route L1, and the display unit 52 displays the position of the agricultural machine 1 and the actual work trajectory J2 together with the field MP2 and the travel route L1. As a result, the actual work trajectory J2 is displayed and visible on the display unit 52 while agricultural work is being performed by the agricultural machine 1 in the field or after the agricultural work has been performed, thereby making it possible to improve convenience and work efficiency of agricultural work.

[0165] Furthermore, in this embodiment, a memory unit 53 is provided that stores a plurality of predicted work trajectories J1 and actual work trajectories J2, and the display unit 52 displays two or more of the predicted work trajectories J1 and the actual work trajectories J2 stored in the memory unit 53 in different forms. As a result, when agricultural work is performed in a field by the agricultural machine 1, a plurality of predicted work trajectories J1 and a plurality of actual work trajectories J2 are displayed by the display unit 52 and can be easily viewed, thereby further improving convenience and work efficiency of agricultural work.

[0166] Moreover, the agricultural work support system 100 of this embodiment includes an agricultural work support device 50, and an agricultural machine 1 that is travellable and to which a working device 2 for performing agricultural work can be connected. According to this configuration, before agricultural work is performed in a field by the agricultural machine 1, a predicted working portion J1 or an unworked portion V1 is displayed and made visible on the display unit 52 of the agricultural work support device 50. Furthermore, while agricultural work is being performed in a field by the agricultural machine 1 or after the agricultural work has been performed, an actual work trajectory J2 or an actual unworked portion V2 is displayed and made visible on the display unit 52. This makes it possible to improve convenience and work efficiency when performing agricultural work in a field by the agricultural machine 1.

[0167] In addition, in this embodiment, the agricultural work support system 100 includes a position detection unit (positioning device) 40 that detects the position of the agricultural machine 1, and an automatic control unit 61 that executes an automatic driving work mode in which the agricultural machine 1 travels in an automatic driving manner while performing agricultural work using a work device 2 connected to the agricultural machine 1, and the agricultural work support device 50, the position detection unit 40, and the automatic control unit 61 are provided in the agricultural machine 1, and in the automatic driving work mode, the automatic control unit 61 executes the automatic driving work mode based on a driving route L1 created by a route creation unit 51c provided in the agricultural work support device 50 and the position of the agricultural machine 1 detected by the position detection unit 40.

[0168] According to the above configuration, before agricultural work is performed in the field by the agricultural machine 1 in the automatic traveling operation mode, the working portion J1 and the unworked portion V1, which are predicted to be worked on by the working device 2 while the agricultural machine 1 is traveling in the automatic operation mode, are displayed and made visible on the display unit 52 of the agricultural work support device 50. Also, while agricultural work is being performed in the field by the agricultural machine 1 in the automatic traveling operation mode or after the agricultural work is performed, the field (field map) MP2, the travel route L1, the position of the agricultural machine 1, the actual work trajectory J2 by ​​the automatic operation of the agricultural machine 1, or the actual unworked portion V2 are displayed and made visible on the display unit 52. This makes it possible to further improve the convenience and work efficiency when agricultural work is performed in the field by the agricultural machine 1.

[0169] The agricultural machine 1 of this embodiment also includes an agricultural work support device 50, a travelable traveling body 3, coupling units 8g, 8h capable of coupling a work device 2 for performing agricultural work to the traveling body 3, and a position detection unit 40 for detecting the position of the traveling body 3. As a result, before agricultural work is performed by the agricultural machine 1 in a field, a predicted work portion J1 and an unworked portion V1 are displayed and visible on the display unit 52 of the agricultural work support device 50 in the agricultural machine 1. Also, while agricultural work is being performed by the agricultural machine 1 in the field or after the agricultural work has been performed, an actual work trajectory J2 and an actual unworked portion V2 are displayed and visible on the display unit 52. As a result, it is possible to improve the convenience and work efficiency when agricultural work is performed by the agricultural machine 1 in a field.

[0170] Furthermore, in this embodiment, the agricultural machine 1 has an automatic control unit 61 that executes an automatic traveling operation mode in which agricultural work is performed by the working device 2 while the traveling body 3 travels in an automatic driving manner. As a result, before the automatic traveling operation mode is executed by the agricultural machine 1 in the field, the working portion J1 or the unworked portion V1 where agricultural work is predicted to be performed by the automatic driving of the agricultural machine 1 is displayed on the display unit 52 of the agricultural work support device 50 and becomes visible. Also, while agricultural work is being performed in the field by the agricultural machine 1 in the automatic traveling operation mode or after the agricultural work is performed, the field MP2, the traveling route L1, the position of the agricultural machine 1, the actual work trajectory J2 by ​​the automatic driving of the agricultural machine 1, or the actual unworked portion V2 are displayed on the display unit 52 and become visible. Therefore, it is possible to improve the convenience and work efficiency when agricultural work is performed in the field in the automatic traveling operation mode of the agricultural machine 1.

[0171] <Effects on resource supply notification> The agricultural machine 1 of this embodiment comprises a travelling body 3 capable of traveling, coupling units 8g, 8h capable of coupling a work implement 2 for performing agricultural work to the travelling body 3, a route creation unit 51c that creates a travel route L1 along which the travelling body 3 travels in automatic driving, a supply setting unit 51f that sets a supply position Pz at a location off the travelling route L1 to supply materials used during agricultural work by the work implement 2, a position detection unit (positioning device) 40 that detects the position of the travelling body 3, an automatic control unit 61 that drives the travelling body 3 in automatic driving based on the position of the travelling body 3 and the travelling route L1 and moves the travelling body 3 to the supply position Pz, and a notification unit 51g that notifies that the travelling body 3 is heading to the supply position Pz when the automatic control unit 61 is driving the travelling body 3 in automatic driving.

[0172] According to the above configuration, when the traveling body 3 of the agricultural machine 1 is traveling in automatic driving, the traveling body 3 is notified in advance that it is heading to the supply position Pz, so that it is possible to prevent a user who sees the behavior of the traveling body 3 when the traveling body 3 heads toward the supply position Pz from mistaking it for danger. This makes it possible to prevent the user from making an emergency stop of the agricultural machine 1 due to such a misunderstanding, and it becomes possible to efficiently supply materials in the agricultural machine 1. As a result, it becomes possible to improve the work efficiency of agricultural work performed by the agricultural machine 1.

[0173] Furthermore, in this embodiment, before the traveling body 3 heads toward the supply position Pz, the notification unit 51g notifies the user that the traveling body 3 is heading toward the supply position Pz multiple times at predetermined intervals. With this configuration, when the traveling body 3 of the agricultural machine 1 traveling in an autonomous driving mode heads toward the supply position Pz, it is possible to further prevent the user from mistakingly determining that there is danger and from making an emergency stop of the agricultural machine 1 due to the mistaking.

[0174] In addition, in this embodiment, the automatic control unit 61 executes an automatic driving work mode in which agricultural work is performed by the work device 2 while the traveling body 3 is driven automatically based on the position of the traveling body 3 and the traveling route L1, and when the traveling body 3 reaches a predetermined position Pd on the traveling route L1 just before the supply position Pz while the automatic driving work mode is being executed, a material supply mode is executed in which the traveling body 3 is moved automatically to the supply position Pz, and the notification unit 51g notifies multiple times at predetermined intervals that the traveling body 3 is heading to the supply position Pz based on the position of the traveling body 3 and the supply position Pz while the automatic driving work mode is being executed.

[0175] According to the above configuration, while the agricultural machine 1 is in the automatic traveling operation mode, a material supply mode is executed in which the traveling body 3 is automatically driven to the supply position Pz, so that materials can be more efficiently supplied by the agricultural machine 1. Also, while the automatic traveling operation mode is being executed, a notification is given in advance that the traveling body 3 is heading to the supply position Pz, so that it is possible to further prevent the user from mistaking the traveling body 3 for danger when heading to the supply position Pz and from making an emergency stop of the agricultural machine 1 due to the mistaking.

[0176] In addition, in this embodiment, the notification unit 51g notifies information indicating a decrease in the remaining amount of materials, the supply position Pz, or the behavior of the traveling body 3 or the working device 2 in the material supply mode. According to this configuration, when the traveling body 3 of the agricultural machine 1 is traveling in an automatic driving manner and agricultural work is being performed by the working device 2, and before the traveling body 3 heads toward the supply position Pz, it is possible to recognize that the user needs to supply materials, the supply position Pz, the supply timing, or the behavior of the traveling body 3 or the working device 2 for supply. Therefore, when the traveling body 3 heads toward the supply position Pz, it is possible to further suppress the user from mistaking that there is danger and the user from making an emergency stop of the agricultural machine 1 due to the mistaking. In addition, it is also possible to prepare materials at the supply position Pz in advance, which makes it possible to more efficiently supply materials in the agricultural machine 1.

[0177] In addition, in this embodiment, the travel route L1 includes a number of work routes L1a, L1c (straight route L1a, circular route L1c) along which agricultural work is performed by the work implement 2 while the travelling body 3 is travelling, and a number of turning routes L1b along which the travelling body turns from one of the work routes L1a, L1c to the other, and the notification unit 51g notifies that the travelling body 3 is heading towards the replenishment position Pz when the travelling body 3 is travelling based on the previous work routes L1a, L1c or the turning route L1b before heading towards the replenishment position Pz.

[0178] According to the above configuration, the traveling body 3 of the agricultural machine 1 traveling in an automatic driving mode is notified that the traveling body 3 is heading to the supply position Pz with a certain amount of time before the traveling body 3 is heading to the supply position Pz. This makes it possible to further prevent the user from mistaking the traveling body 3 for danger when the traveling body 3 is heading to the supply position Pz and from making an emergency stop of the agricultural machine 1 due to the mistaking. In addition, by performing notifications by the notification unit 51g multiple times at intervals on the work routes L1a, L1c and the turning route L1b before the traveling body 3 is heading to the supply position Pz, it is possible to further prevent the user from mistaking the traveling body 3 for danger and from making an emergency stop of the agricultural machine 1.

[0179] In addition, in this embodiment, the agricultural machine 1 is equipped with a remaining amount calculation unit 51e that calculates the remaining amount of materials based on the amount of materials input to the work device 2 and the amount of materials consumed in agricultural work by the work device 2, and the supply setting unit 51f predicts a drop position Pe at which the remaining amount of materials will fall below a predetermined threshold (amount remaining at which material supply mode is entered) by performing agricultural work with the work device 2 while the traveling body 3 is traveling, and sets a supply position Pz on a line L4 that extends one work route (straight route) L1a that includes the drop position Pe in the opposite direction to the direction of travel, and the notification unit 51g sets notification positions Pa, Pb, Pc on another work route (straight route) L1a along which the traveling body 3 travels before the one work route L1a, and notifies the user that the traveling body 3 is heading toward the supply position Pz when the traveling body 3 passes through the notification positions Pa, Pb, Pc.

[0180] According to the above configuration, the traveling body 3 of the agricultural machine 1 travels in an automatic driving manner based on one work route L1a including a drop position Pe where the remaining amount of materials falls below a threshold, and before the work device 2 performs agricultural work, the traveling body 3 is moved to a supply position Pz in an automatic driving manner, so that materials can be efficiently replenished. In addition, when the traveling body 3 travels in an automatic driving manner based on another work route L1a earlier than the one work route L1a, a notification is given that the traveling body 3 is heading to the supply position Pz. This makes it possible to further prevent the user from mistaking the traveling body 3 for danger when it heads toward the supply position Pz, and to further prevent the user from making an emergency stop of the agricultural machine 1 due to the mistaking.

[0181] Furthermore, in this embodiment, the agricultural machine 1 includes an input unit (display operation unit) 52 for inputting the amount of materials input and the amount of materials consumed per unit area, and before or during traveling by automatic driving of the traveling body 3, a remaining amount calculation unit 51e calculates the remaining amount of materials based on the amount of materials input, the amount of materials consumed per unit area, and the states of the traveling body 3 and the work device 2, a supply setting unit 51f sets a supply position Pz based on the remaining amount of materials, and a notification unit 51g sets notification positions Pa, Pb, and Pc based on the supply position Pz. With this configuration, the remaining amount of materials can be accurately calculated, and the supply position Pz and the notification positions Pa, Pb, and Pc can be appropriately set.

[0182] Furthermore, in this embodiment, the agricultural machine 1 includes a threshold change unit (display operation unit) 52 that changes the threshold (the remaining amount for entering the material supply mode). This makes it possible to change the timing for entering the material supply mode in the agricultural machine 1, the material supply position Pz, and notification positions Pa, Pb, and Pc for issuing notifications indicating that the traveling body 3 is heading to the supply position Pz, etc.

[0183] Furthermore, in this embodiment, the agricultural machine 1 includes a display unit 5 (display operation unit) 52 that displays the notification from the notification unit 51g on a screen. This allows the user to see the notification displayed by the display unit 52 and easily recognize in advance that the traveling body 3 is heading to the replenishment position Pz.

[0184] In the present embodiment, the agricultural machine 1 includes an alarm unit 63 that issues a sound or light alarm indicating the notification from the notification unit 51g. This allows users and others around the traveling body 3 to easily recognize in advance that the traveling body 3 is heading toward the replenishment position Pz.

[0185] In addition, the agricultural work support device 50 of this embodiment is an agricultural work support device mounted on the agricultural machine 1, and includes a route creation unit 51c that creates a driving route L1 along which the traveling body 3 of the agricultural machine 1 travels in automatic driving mode, a supply setting unit 51f that sets a supply position Pz at a location outside the driving route L1 where the work device 2 connected to the traveling body 3 replenishes materials used during agricultural work, and a notification unit 51g that notifies the agricultural machine 1 that the traveling body 3 is heading toward the supply position Pz when the agricultural machine 1 is driving the traveling body 3 in automatic driving mode, based on the position of the traveling body 3 detected by the position detection unit 40 and the driving route L1.

[0186] According to the above configuration, when the traveling body 3 of the agricultural machine 1 is traveling in an automatic driving mode, the notification unit 51g of the agricultural work support device 50 notifies the user in advance that the traveling body 3 is heading toward the supply position Pz. This prevents the user from mistaking the traveling body 3 for danger when the traveling body 3 is heading toward the supply position Pz and from making an emergency stop of the agricultural machine 1 due to the mistaking, and allows the agricultural machine 1 to efficiently supply materials. As a result, it is possible to improve the work efficiency of agricultural work performed by the agricultural machine 1.

[0187] In addition, in this embodiment, the agricultural work support device 50 has a remaining amount calculation unit 51e that calculates the remaining amount of material required for the supply setting unit 51f to set the supply position Pz, an input unit (display operation unit) 52 into which parameters required for the remaining amount calculation unit 51e to calculate the remaining amount of material are input, and a display unit (display operation unit) 52 that displays the driving route L1, the position of the traveling vehicle body 3, and the notification of the notification unit 51g.

[0188] According to the above configuration, the user can input parameters required for calculating the remaining amount of materials through the input unit 52 of the agricultural work support device 50 and visually confirm on the display unit 52 an advance notice that the traveling body 3 is heading for the resupply position Pz, thereby improving convenience. This further prevents the user from mistaking the traveling body 3 for danger when it heads toward the resupply position Pz and from making an emergency stop of the agricultural machine 1 due to the mistaking, and allows the agricultural machine 1 to replenish materials more efficiently.

[0189] In addition, the agricultural work support system 100 of this embodiment includes an agricultural machine 1 and an agricultural work support device 50 mounted on the agricultural machine 1, and the agricultural work support device 50 has a route creation unit 51c that creates a driving route L1 along which the traveling body 3 of the agricultural machine 1 travels in automatic driving, a supply setting unit 51f that sets a supply position Pz at a location outside the driving route L1 where the work device 2 connected to the traveling body 3 replenishes materials used during agricultural work, a communication unit 54 for communicating with the automatic control unit 61 and position detection unit 40 provided in the agricultural machine 1, and a notification unit 51g that notifies that the traveling body 3 is heading toward the supply position Pz when the automatic control unit 61 is driving the traveling body 3 in automatic driving based on the position of the traveling body 3 detected by the position detection unit 40 and the traveling route L1.

[0190] According to the above configuration, when the automatic control unit 61 of the agricultural machine 1 drives the traveling body 3 in an automatic driving manner, the notification unit 51g of the agricultural work support device 50 notifies the user in advance that the traveling body 3 is heading to the supply position Pz. Therefore, when the traveling body 3 drives to the supply position Pz, it is further suppressed that the user mistakenly recognizes that it is dangerous and that the user makes an emergency stop of the agricultural machine 1 due to the mistaken recognition, and the agricultural machine 1 can more efficiently supply materials. In addition, the notification unit 51g of the agricultural work support device 50 can notify the user in advance that the traveling body 3 is heading to the supply position Pz based on the position of the traveling body 3 detected by the position detection unit 40. Furthermore, the automatic control unit 61 of the agricultural machine 1 can acquire the travel route L1 and the supply position Pz set by the agricultural work support device 50, and based on these, perform agricultural work using the working device 2 while driving the traveling body 3 in an automatic driving manner, or move the traveling body 3 to the supply position Pz in an automatic driving manner, thereby making it possible to perform the agricultural work and material supply more efficiently.

[0191] 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]

[0192] 1:Agricultural machinery 2: Work equipment 3: Running vehicle 8g, 8h: Connection part 40: Positioning device (position detection unit) 50: Agricultural work support equipment 51c: Route Creation Department 51e: Remaining amount calculation unit 51f: Supply setting section 51g:Notification section 52: Display operation unit (display unit, input unit, threshold change unit) 54: Communications Department 61: Automatic control unit 63:Alarm section 100: Agricultural work support system L1: Route L1a: Straight route (work route) L1b: Turning route L1c: Circular route (work route) L4: Extension line Pa, Pb, Pc: Notification position Pd: Connection point (predetermined position) Pe: lowered position Pv: Position of the moving vehicle Pz: Supply position U1, U2, U3: Notification X2: Agricultural machinery mark (position of moving vehicle)

Claims

1. A vehicle body capable of running; A coupling section capable of coupling a working device for performing agricultural work to the traveling vehicle body; A route creation unit that creates a driving route along which the traveling vehicle body travels in an automatic driving manner; a supply setting unit that sets a supply position for supplying materials to be used during agricultural work by the work device at a location outside the travel route; A position detection unit that detects the position of the traveling vehicle body; an automatic control unit that automatically drives the traveling vehicle body based on the position of the traveling vehicle body and the traveling route, and moves the traveling vehicle body to the replenishment position; a notification unit that notifies the vehicle body that the vehicle body is heading toward the replenishment position when the automatic control unit is driving the vehicle body in an automatic driving mode; a remaining amount calculation unit that calculates a remaining amount of the material based on an input amount of the material input to the work device and an input amount of the material consumed in agricultural work by the work device, the travel route includes a plurality of work routes along which agricultural work is performed by the work implement while the travelling body is traveling, and a plurality of turning routes along which the travelling body turns from one side of the work route to the other side; the supply setting unit predicts a drop position where the remaining amount of the material falls below a predetermined threshold by performing agricultural work with the work device while traveling the traveling vehicle body, and sets the supply position on a line extending one of the work routes including the drop position in a direction opposite to the traveling direction; The notification unit sets a notification position on another work route or on the turning route that travels before the traveling vehicle body heads toward the supply position and before one of the work routes, and notifies the traveling vehicle body that it is heading toward the supply position when the traveling vehicle body passes the notification position.

2. The agricultural machine according to claim 1 , wherein the notification unit notifies the vehicle body that the vehicle body is heading to the replenishment position a plurality of times at predetermined intervals before the vehicle body heads to the replenishment position.

3. The automatic control unit is an automatic driving and working mode is executed in which agricultural work is performed by the working device while the traveling vehicle body is traveling in an automatic driving manner based on the position of the traveling vehicle body and the traveling route; When the traveling vehicle body reaches a predetermined position on the traveling route immediately before the supply position during execution of the automatic traveling operation mode, a material supply mode is executed in which the traveling vehicle body is moved to the supply position by automatic driving; 3 . The agricultural machine according to claim 1 , wherein the notification unit notifies the user that the traveling body is heading toward the replenishment position based on a position of the traveling body and the replenishment position while the automatic traveling operation mode is being executed.

4. The agricultural machine according to claim 3 , wherein the notification unit notifies information indicating a decrease in a remaining amount of the material, the supply position, or a behavior of the traveling body or the work implement in the material supply mode.

5. an input unit for inputting the input amount of the material and the consumption amount of the material per unit area; Before or during the automatic driving of the traveling vehicle body, the remaining amount calculation unit calculates the remaining amount of the material based on the input amount of the material, the consumption amount of the material per unit area, and the states of the traveling body and the working device; The supply setting unit sets the supply position based on a remaining amount of the material, The agricultural machine according to any one of claims 1 to 4, wherein the notification unit sets the notification position based on the supply position.

6. The agricultural machine according to any one of claims 1 to 5, further comprising a threshold value changing unit that changes the threshold value.

7. The agricultural machine according to any one of claims 1 to 6, further comprising a display unit that displays the notification from the notification unit on a screen.

8. The agricultural machine according to any one of claims 1 to 7, further comprising an alarm unit that issues a sound or light alarm indicating the notification by the notification unit.

9. a route creation unit that creates a driving route for the agricultural machine body to travel in an automatic driving manner; a supply setting unit that sets a supply position at a location outside the travel route where a work device coupled to the traveling vehicle body supplies materials used during agricultural work; a notification unit that notifies the agricultural machine that the traveling vehicle body is heading toward the replenishment position when the agricultural machine is driving the traveling vehicle body in automatic driving mode, based on the position of the traveling vehicle body detected by a position detection unit and the traveling route; a remaining amount calculation unit that calculates a remaining amount of the material based on an input amount of the material input to the work device and an input amount of the material consumed in agricultural work by the work device, the travel route includes a plurality of work routes along which agricultural work is performed by the work implement while the travelling body is traveling, and a plurality of turning routes along which the travelling body turns from one side of the work route to the other side; the supply setting unit predicts a drop position where the remaining amount of the material falls below a predetermined threshold by performing agricultural work with the work device while traveling the traveling vehicle body, and sets the supply position on a line extending one of the work routes including the drop position in a direction opposite to the traveling direction; The notification unit sets a notification position on another work route or on the turning route that travels before the traveling vehicle body heads towards the supply position and before one of the work routes, and notifies the traveling vehicle body that it is heading towards the supply position when the traveling vehicle body passes the notification position.

10. An input unit for inputting parameters necessary for the remaining amount calculation unit to calculate the remaining amount of the material; The agricultural work support device according to claim 9 , further comprising: a display unit that displays the travel route, a position of the traveling vehicle body, and a notification from the notification unit.

11. a route creation unit that creates a driving route for the agricultural machine body to travel in an automatic driving manner; a supply setting unit that sets a supply position at a location outside the travel route where a work device coupled to the traveling vehicle body supplies materials used during agricultural work; A position detection unit that detects the position of the traveling vehicle body; an automatic control unit that automatically drives the traveling vehicle body based on the position of the traveling vehicle body and the traveling route, and moves the traveling vehicle body to the replenishment position; a notification unit that notifies the driver that the traveling vehicle body is heading toward the replenishment position when the automatic control unit is driving the traveling vehicle body in an automatic driving mode based on the position of the traveling vehicle body detected by the position detection unit and the traveling route; a remaining amount calculation unit that calculates a remaining amount of the material based on an input amount of the material input to the work device and an input amount of the material consumed in agricultural work by the work device, the travel route includes a plurality of work routes along which agricultural work is performed by the work implement while the travelling body is traveling, and a plurality of turning routes along which the travelling body turns from one side of the work route to the other side; the supply setting unit predicts a drop position where the remaining amount of the material falls below a predetermined threshold by performing agricultural work with the work device while traveling the traveling vehicle body, and sets the supply position on a line extending one of the work routes including the drop position in a direction opposite to the traveling direction; The notification unit sets a notification position on another work route or on the turning route that travels before the vehicle body heads towards the supply position and before one of the work routes, and notifies the vehicle body that the vehicle body is heading towards the supply position when the vehicle body passes the notification position.

12. The agricultural machine; a farm work support device mounted on the agricultural machine, The agricultural machine includes the position detection unit and the automatic control unit, The agricultural work support system according to claim 11, wherein the agricultural work support device has a route creation unit, a supply setting unit, a notification unit, a remaining amount calculation unit, and a communication unit for communicating with the automatic control unit and the position detection unit.

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