Working machine

Abstract

The present invention can generate an appropriate travel route in accordance with work.　A work machine (1) comprises: a vehicle body (2); a first work device (60A) that performs first work; a travel device (4); a first work acquisition unit (57e) that acquires first information regarding the first work device (60A); a second work acquisition unit (57f) that acquires section information regarding a second work device (60B) for performing second work, which is work preceding the first work; a route acquisition unit (57g) that acquires a second route (L2), which is a path of the second work; and a route generation unit (57d) that generates a first route (L1), which is a path of the first work and includes a plurality of first sections (La1). The route acquisition unit (57g) acquires a plurality of second sections (La2) as the second route (L2). The route generation unit (57d) generates the plurality of first sections (La1) by shifting the plurality of second sections (La2) in a direction perpendicular to the plurality of second sections (La2), on the basis of the first information acquired by the first work acquisition unit (57e) and the second information acquired by the second work acquisition unit (57f).

Description

Technical Field

[0001] The present invention relates to a working machine such as a tractor.

Background Art

[0002] Conventionally, Patent Document 1 is known as a technique for creating a target travel route of an agricultural machine.

[0003] The work vehicle support system of Patent Document 1 includes a vehicle position detection module that detects the vehicle position of the work vehicle, and an unworked area outer shape map calculation unit that calculates an outer shape map of an unworked area within a work planned area from vehicle position data acquired by the vehicle position detection module when traveling around the outer periphery of the work planned area, and a route calculation unit that calculates a target travel route for traveling through the unworked area based on the outer shape map calculated by the unworked area outer shape map calculation unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Patent Document 1, an outer shape map of an unworked area is calculated, and a target travel route is created on the calculated outer shape map. However, the technique disclosed in Patent Document 1 does not consider the case where different operations are performed by a work vehicle in the same field. If the subsequent operation (first operation) and the previous operation (second operation) are traveled on the same target travel route, there is a risk that an area where the first operation was not performed intentionally (unworked area) or an area where the first operation was performed repeatedly (duplicate work area) may occur.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a working machine capable of creating an appropriate travel route according to the work.

Means for Solving the Problems

[0007] A working machine according to an aspect of the present invention includes a vehicle body, a first working device that can be attached to the vehicle body and performs a first work, a traveling device provided on the vehicle body, a first work acquisition unit that acquires first information of the first working device, a second work acquisition unit that acquires second information of a second working device that performs a second work which is a work before the first work, a route acquisition unit that acquires a second route which is a route of the second work, and a route creation unit that creates a first route which is a route of the first work, extends from one end side to the other end side of a farm field, and includes a plurality of first portions arranged at intervals from each other. A connecting device that can select the first working device and the second working device and connect them to the vehicle body; and includes The first route is the route along which the vehicle body equipped with the first working device travels via the connecting device, and the second route is the route along which the vehicle body equipped with the second working device travels via the connecting device. The route acquisition unit acquires, as the second route, a plurality of second portions that extend from the one end side to the other end side of the farm field and are arranged at intervals from each other, and the route creation unit creates the plurality of first portions by shifting the plurality of second portions in a direction orthogonal to the plurality of second portions based on the first information acquired by the first work acquisition unit and the second information acquired by the second work acquisition unit.

[0008] The plurality of first portions may be arranged at equal intervals, and the plurality of second portions may be arranged at equal intervals with an interval different from the interval of the plurality of first portions.

[0009] The first work acquisition unit acquires the first work width of the first working device as the first information, the second work acquisition unit acquires the second work width of the second working device as the second information, and the route creation unit may create the first portions by shifting each of the plurality of second portions by the difference between the first work width acquired by the first work acquisition unit and the second work width acquired by the second work acquisition unit.

[0010] The route creation unit may create the first part by shifting each of the plurality of second parts by an amount that is the product of the difference between the first working width acquired by the first work acquisition unit and the second working width acquired by the second work acquisition unit, and a natural number multiple of 1 / 2.

[0011] The first working device has a single or a plurality of first working parts arranged at every first interval in the width direction, the second working device has a single or a plurality of second working parts arranged at every first interval in the width direction, the first work acquisition unit acquires the number of the first working parts as the first information, the second work acquisition unit acquires the number of the second working parts as the second information, and the route creation unit may create the plurality of first parts by shifting each of the plurality of second parts based on the difference between the number of the first working parts acquired by the first work acquisition unit and the number of the second working parts acquired by the second work acquisition unit, and the first interval.

[0012] The route creation unit may create the plurality of first parts by shifting each of the plurality of second parts by an amount that is the product of the difference between the number of the first working parts acquired by the first work acquisition unit and the number of the second working parts acquired by the second work acquisition unit, the first interval, and a natural number multiple of 1 / 2.

[0013] The first work acquisition unit acquires the first working width of the first working device as the first information, the route creation unit creates the second route based on the first working width, and the route acquisition unit may acquire the second route created by the route creation unit.

[0014] The working machine is provided with a position detection device that detects the position of the vehicle body, and the route acquisition unit may acquire the second route based on the position of the vehicle body acquired by the position detection device when the vehicle body to which the second working device is connected moves.

[0015] The work machine may include a position detection device that detects the position of the vehicle body, and a display device that displays the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

[0016] The work machine may include an automatic steering control unit that controls the steering of the traveling device based on the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

[0017] The work machine may include an automatic driving control unit that controls the steering and vehicle speed of the traveling device based on the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

Advantages of the Invention

[0019] According to the above work machine, an appropriate traveling route can be created according to the work.

Brief Description of the Drawings

[0020]

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Mode for Carrying Out the Invention

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0022] FIG. 22 is a side view showing an embodiment of the working machine 1, and FIG. 23 is a front view showing an embodiment of the working machine 1. In this embodiment, the working machine 1 is a tractor equipped with a working device 60. Note that the working machine 1 is not limited to a tractor, and may be a rice transplanter or a combine harvester. Hereinafter, for convenience of explanation, the case where the working machine 1 is a tractor equipped with the working device 60 will be described as an example. Also, the front side (in the direction of arrow A1 in FIG. 22) of the operator (driver) sitting in the driver's seat 7 of the working machine 1 is defined as the front, the rear side (in the direction of arrow A2 in FIG. 22) of the operator is defined as the rear, the left side of the operator is defined as the left (in the direction of arrow A3 in FIG. 23), and the right side of the operator is defined as the right (in the direction of arrow A4 in FIG. 23). Also, the horizontal direction, which is a direction orthogonal to the front-rear direction of the working machine 1, will be described as the width direction.

[0023] The working machine 1 includes a vehicle body 2, a prime mover 8, a first hydraulic pump 9, a transmission 11, and a connecting device 30. As shown in Fig. 22, the vehicle body 2 has a traveling device 4 and is capable of traveling. The traveling device 4 is a device having front wheels 4A and rear wheels 4B. The front wheels 4A and the rear wheels 4B are arranged at intervals in the front-rear direction. Further, as shown in Fig. 23, in the present embodiment, a pair of front wheels 4A and a pair of rear wheels 4B are provided at intervals in the width direction of the vehicle body 2, respectively.

[0024] That is, the traveling device 4 is composed of a total of four wheels, namely a pair of front wheels 4A and a pair of rear wheels 4B, and includes a first traveling portion 4L (the left front wheel 4A and the rear wheel 4B in the present embodiment) arranged on one side (left side) in the width direction of the vehicle body 2, and a second traveling portion 4R (the right front wheel 4A and the rear wheel 4B in the present embodiment) arranged at a predetermined interval from the first traveling portion 4L on the other side (right side) in the width direction of the vehicle body 2. The first traveling portion 4L and the second traveling portion 4R are provided on the vehicle body 2 so as to be separated from each other in the width direction. Note that the traveling device 4 does not have to be composed of four wheels as in the present embodiment, and may be composed of three wheels, for example.

[0025] As shown in Fig. 1, the front wheel 4A is connected by an arm (knuckle arm) 5 that changes the direction of the front wheel 4A. The vehicle body 2 can perform straight-ahead traveling in which the vehicle body 2 travels straight by changing the direction of the front wheel 4A by the knuckle arm 5, and turning traveling in which the vehicle body 2 turns. Note that the vehicle body 2 only needs to be capable of straight-ahead traveling and turning traveling, and may be configured to perform straight-ahead traveling and turning traveling by changing the rotation speeds of one side (left side) and the other side (right side) of the front wheels 4A and the rear wheels 4B instead of or in addition to the above configuration. Further, the front wheels 4A and the rear wheels 4B may be of a tire type or a crawler type. The vehicle body 2 is provided with a PTO shaft 6 that outputs the power of the prime mover 8 to the outside, and a driver's seat 7 on which an operator sits.

[0026] The prime mover 8 is a diesel engine, an electric motor, etc., and in this embodiment, it is composed of a diesel engine. The transmission 11 can switch the driving force of the traveling device 4 by shifting gears, and can also switch the forward and reverse of the traveling device 4. The first hydraulic pump 9 is provided on the vehicle body 2 and is a device that discharges hydraulic oil. The first hydraulic pump 9 is connected to the prime mover 8, for example, and discharges hydraulic oil by the power output by the prime mover 8.

[0027] The connecting device 30 is swingably provided on the vehicle body 2 and connects the working device 60. Specifically, the connecting device 30 is provided at the rear of the vehicle body 2. Further, the connecting device 30 can be swung by a first hydraulic device 31 driven by the hydraulic oil discharged by the first hydraulic pump 9. The working device 60 can be detachably attached to the rear part of the connecting device 30. By connecting the working device 60, the vehicle body 2 can tow the working device 60.

[0028] The working device 60 is a device that can be mounted on the vehicle body 2. When the working machine 1 is a tractor, the working device 60 is connected to the vehicle body 2 via the connecting device 30. The working device 60 may be operated by power input from the outside, for example, the power input from the PTO shaft 6, or has a hydraulic device (not shown) driven by the hydraulic oil discharged by the first hydraulic pump 9, and may be operated by the hydraulic device. The working device 60 is a tilling device 90 for tilling, a ridge forming device 71 for ridge forming, a fertilizer spreading device for spreading fertilizer, a pesticide spraying device 85 for spraying and controlling pesticides, a seeding and spreading device 75 for seeding work, a transplanter for planting crops (seedlings), a harvesting device for harvesting crops, a mowing device for mowing forage grass, etc., a spreading device for spreading forage grass, etc., a grass collecting device for collecting forage grass, etc., a forming device for forming forage grass, etc. That is, the connecting device 30 can select various types of working devices 60 as described above and connect them to the vehicle body 2.

[0029] In the following description, for the sake of convenience, as shown in FIG. 23, the case where the central portion in the width direction of the working device 60 and the central portion in the width direction of the working machine 1 coincide in the width direction will be described as an example, and the case where the central portion in the width direction of the working device 60 and the central portion in the width direction of the working machine 1 are displaced (offset) in the width direction will be excluded from the description. However, the present invention is also applicable to the case where the central portion in the width direction of the working device 60 and the central portion in the width direction of the working machine 1 are displaced (offset) in the width direction, and in the processes of the control device 40 and the like described later, it can be applied by appropriately changing the position (vehicle body position VP) of the working machine 1 and the like.

[0030] Hereinafter, the transmission 11 will be described in detail. As shown in FIG. 1, the transmission 11 includes a main shaft (propulsion shaft) 11a, a main transmission section 11b, a sub-transmission section 11c, a shuttle section 11d, a PTO power transmission section 11e, and a front transmission section 11f. The propulsion shaft 11a is rotatably supported by the housing case (transmission case) of the transmission 11, and power from the crankshaft of the prime mover 8 is transmitted to the propulsion shaft 11a. The main transmission section 11b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission section 11b changes (shifts) the rotation input from the propulsion shaft 11a by appropriately changing the connection (meshing) of the plurality of gears with the shifter and outputs it.

[0031] Similar to the main transmission section 11b, the sub-transmission section 11c has a plurality of gears and a shifter for changing the connection of the plurality of gears. The sub-transmission section 11c changes (shifts) the rotation input from the main transmission section 11b by appropriately changing the connection (meshing) of the plurality of gears with the shifter and outputs it.

[0032] The shuttle section 11d has a shuttle shaft 12 and a forward / reverse switching section 13. Power output from the auxiliary transmission section 11c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching section 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotational direction of the shuttle shaft 12, that is, the forward and reverse movements of the working machine 1, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to the rear-wheel differential device 17R. The rear-wheel differential device 17R rotatably supports the rear axle 18R to which the rear wheels 4B are attached.

[0033] The PTO power transmission section 11e has a PTO drive shaft 14 and a PTO clutch 15. The PTO drive shaft 14 is rotatably supported and power from the drive shaft 11a can be transmitted thereto. The PTO drive shaft 14 is connected to the PTO shaft 6 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch or the like, and switches between a state in which power from the drive shaft 11a is transmitted to the PTO drive shaft 14 and a state in which power from the drive shaft 11a is not transmitted to the PTO drive shaft 14 by engaging and disengaging the hydraulic clutch.

[0034] The front transmission section 11f has a first clutch 16A and a second clutch 16B. The first clutch 16A and the second clutch 16B can transmit power from the drive shaft 11a, and for example, power of the shuttle shaft 12 is transmitted via gears and a transmission shaft. Power from the first clutch 16A and the second clutch 16B can be transmitted to the front axle 18F via the front transmission shaft 19. Specifically, the front transmission shaft 19 is connected to the front-wheel differential device 17F, and the front-wheel differential device 17F rotatably supports the front axle 18F to which the front wheels 4A are attached.

[0035] The first clutch 16A and the second clutch 16B are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 16A, and the oil passage is connected to a first operating valve 25a to which the hydraulic oil discharged from the first hydraulic pump 9 is supplied. The first clutch 16A is switched between a connected state and a disconnected state according to the opening degree of the first operating valve 25a. An oil passage is connected to the second clutch 16B, and the oil passage is connected to a second operating valve 25b. The second clutch 16B is switched between a connected state and a disconnected state according to the opening degree of the second operating valve 25b. The first operating valve 25a and the second operating valve 25b are, for example, two-position switching valves with solenoid valves, and are switched to a connected state or a disconnected state by exciting or demagnetizing the solenoids of the solenoid valves.

[0036] When the first clutch 16A is in the disconnected state and the second clutch 16B is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheels 4A through the second clutch 16B. Thereby, four-wheel drive (4WD) in which the front wheels 4A and the rear wheels 4B are driven by power and the rotational speeds of the front wheels 4A and the rear wheels 4B are substantially the same (4WD constant speed state). On the other hand, when the first clutch 16A is in the connected state and the second clutch 16B is in the disconnected state, four-wheel drive is achieved and the rotational speed of the front wheels 4A becomes faster than the rotational speed of the rear wheels 4B (4WD speed increase state). Further, when the first clutch 16A and the second clutch 16B are in the connected state, since the power of the shuttle shaft 12 is not transmitted to the front wheels 4A, two-wheel drive (2WD) in which the rear wheels 4B are driven by power is achieved.

[0037] As shown in FIG. 1, the working machine 1 has an operating device 20 for operating the working machine 1. The operating device 20 is provided around the driver's seat 7 and can operate the prime mover 8, the transmission 11, the traveling device 4, and the like. The operating device 20 includes, for example, a first operating lever 21, a second operating lever 22, and a steering device 23. The first operating lever 21 and the second operating lever 22 can be gripped and tilted by the operator. The first operating lever 21 is a device capable of operating the lifting of the connecting device 30, and the second operating lever 22 is a device capable of operating the working device 60 connected to the connecting device 30.

[0038] The steering device 23 is a device capable of manual steering for steering the vehicle body 2 by the operation of an operator, and is capable of straight-ahead operation and turning operation of the vehicle body 2. As shown in FIG. 22, the steering device 23 is provided in front of the driver's seat 7. The steering device 23 has a steering wheel (steering wheel) 23a and a steering shaft (rotating shaft) 23b that rotatably supports the steering wheel 23a. Further, the steering device 23 has an auxiliary mechanism (power steering device) 35. The auxiliary mechanism 35 assists the rotation of the steering shaft 23b (steering wheel 23a) by hydraulic pressure or the like. The auxiliary mechanism 35 includes a second hydraulic pump 36a, an auxiliary control valve 36b to which the hydraulic oil discharged from the second hydraulic pump 36a is supplied, and a steering cylinder 36c operated by the auxiliary control valve 36b. The auxiliary control valve 36b is, for example, a three-position switching valve that can be switched by the movement of a spool or the like, and is switched corresponding to the steering direction (rotating direction) of the steering shaft 23b. The steering cylinder 36c is connected to an arm 5 that changes the direction of the front wheels 4A.

[0039] Therefore, if the operator grips and operates the steering wheel 23a, the switching position and the opening degree of the auxiliary control valve 36b are switched corresponding to the rotation direction of the steering wheel 23a, and the steering cylinder 36c expands and contracts to the left or right according to the switching position and the opening degree of the auxiliary control valve 36b, whereby the steering direction of the front wheels 4A can be changed. That is, the vehicle body 2 can change its traveling direction to the left or right by manual steering of the steering wheel 23a.

[0040] As shown in FIG. 2, the connecting device 30 has a lift arm 30a, a lower link 30b, a top link 30c, and a lift rod 30d. The front end portion of the lift arm 30a is supported so as to be swingable upward or downward at the upper rear portion of a case (transmission case) that houses the transmission 11.

[0041] The front end of the lower link 30b is supported by the lower rear part of the transmission 11 so as to be swingable upward or downward. The front end of the top link 30c is supported by the rear part of the transmission 11 above the lower link 30b so as to be swingable upward or downward. The lift rod 30d connects the lift arm 30a and the lower link 30b. The working device 60 is connected to the rear parts of the lower link 30b and the top link 30c.

[0042] As shown in FIG. 1, the working machine 1 includes a control device 40 and a storage unit 41. The control device 40 is a device composed of an electric / electronic circuit, a program stored in a CPU, etc. The control device 40 controls various devices of the working machine 1. Specifically, the control device 40 can control the first hydraulic device 31, the working device 60, and the change of the output of the first hydraulic pump 9. The storage unit 41 is a non-volatile memory or the like, and stores various information related to the control of the control device 40.

[0043] As shown in FIG. 1, the working machine 1 includes a position detection device (positioning device) 50. The position detection device 50 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. That is, the position detection device 50 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, detects the position of the working machine 1 (for example, latitude, longitude), that is, the vehicle body position VP. The position detection device 50 has a receiving device 51 and an inertial measurement unit (IMU) 52. The receiving device 51 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the working machine 1 separately from the inertial measurement unit 52. As shown in FIGS. 22 and 23, in this embodiment, the receiving device 51 is attached to the upper part of the ROPS 10 provided on the vehicle body 2. Note that the attachment position of the receiving device 51 is not limited to the above position, and may be the central part of the bonnet, or may be the upper part of the protection mechanism such as a cabin provided on the vehicle body 2.

[0044] The inertial measurement device 52 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The work machine 1 is provided, for example, below the driver's seat 7, and the inertial measurement device 52 can detect the roll angle, pitch angle, yaw angle, etc. of the work machine 1.

[0045] As shown in FIG. 1, the work machine 1 includes a display device 55. The display device 55 is a travel support device provided, for example, in the vicinity of the driver's seat 7. The display device 55 includes a display unit 56, a display control unit 57, and a display storage unit 58. The display unit 56 is composed of any one of a liquid crystal panel, a touch panel, and other panels, and can display information for supporting the travel of the work machine 1, such as a field F showing the farmland G. In addition to the information for supporting the travel of the work machine 1, the display unit 56 can display various information regarding the work machine 1 and the working device 60.

[0046] The display control unit 57 is composed of electrical and electronic components provided in the display device 55, programs stored in the display storage unit 58 described later, and the like. The display control unit 57 causes the display unit 56 to display a screen in which the information stored in the display storage unit 58 is visualized.

[0047] The display storage unit 58 is composed of a non-volatile memory or the like, and stores various information regarding the work machine 1 and the working device 60. Further, the display device 55 is communicably connected to the devices of the work machine 1 by wire or wirelessly, and can transmit and receive information to and from each other. Specifically, for example, the display control unit 57 of the display device 55 and the control device 40 of the work machine 1 are communicably connected.

[0048] In the above-described embodiment, the display device 55 is a travel support device provided in the vicinity of the driver's seat 7. However, the display device 55 only needs to include the display unit 56, the display control unit 57, and the display storage unit 58, and may be a computer such as a personal computer (PC), a smartphone (multifunctional mobile phone), or a tablet.

[0049] As shown in FIG. 1, the work machine 1 includes a position acquisition unit 57a, a field registration unit 57b, and a field acquisition unit 57c. In the present embodiment, the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are composed of electric and electronic components, programs incorporated in the display device 55, etc., and the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are also used by the display control unit 57 of the display device 55. In the present embodiment, although the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are also used by the display control unit 57 of the display device 55, the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c may be provided in the control device 40 or the like, and the configuration is not limited to the above configuration.

[0050] The position acquisition unit 57a acquires a plurality of measurement points when the work machine 1 makes a round of the field G. Specifically, in the present embodiment, the position acquisition unit 57a acquires the position of the work machine 1 (vehicle body position VP) detected by the position detection device 50 as a plurality of measurement points VP. The position acquisition unit 57a only needs to be able to acquire a plurality of measurement points, and may be configured to connect a storage device such as a memory that stores the position information of the plurality of measurement points in advance to the display device 55 and acquire the position information of the plurality of measurement points from the storage device, and the acquisition method is not limited to the method described above.

[0051] The field registration unit 57b registers the contour H1 of a predetermined farm field G as the field F displayed by the display unit 56, for example, the position corresponding to the contour H1 of the predetermined farm field G. When the operator performs a predetermined operation on the display device 55, the display control unit 57 causes the display unit 56 to display a field registration screen D1 as shown in FIG. 3. The field registration screen D1 displays a field display unit 100 showing the field F including the farm field G and the vehicle body position VP of the working machine 1, and a first information display unit 101 showing farm field identification information such as the name (farm field name) of the farm field G and the farm field management number. In addition to the image data showing the farm field G, position information such as latitude and longitude is associated with the field F. When the operator performs a predetermined operation on the display device 55, the display control unit 57 causes the display unit 56 to display it on the field registration screen D1. When the display unit 56 displays the field registration screen D1, the operator operates the working machine 1 to circle the working machine 1 within the farm field G. The position acquisition unit 57a acquires the vehicle body position VP detected by the position detection device 50 at a predetermined cycle, records the vehicle body position VP in the display storage unit 58 at any time, and displays the vehicle body position VP on the field display unit 100 at any time (in FIG. 3, for the sake of convenience, only some of the vehicle body positions VP are displayed).

[0052] When the circling of the working machine 1 within the farm field G is completed and the operator selects the registration button 102, the field registration unit 57b calculates the travel locus T1 of the working machine 1 based on the plurality of recorded vehicle body positions VP. Further, as shown in FIG. 4A, the display control unit 57 causes the travel locus T1 to be displayed on the field F of the field display unit 100. In the example of FIG. 4A, after passing through the plurality of vehicle body positions VP in the detection order (acquisition order), the line T1 that returns to the first detected position VP is taken as the travel locus of the working machine 1.

[0053] The vehicle body position VP is the GPS position of the position detection device 50, and the travel locus T1 is the locus where the GPS position has moved. Therefore, the field registration unit 57b offsets the travel locus T1 outward by an amount equivalent to the lateral interval from the GPS position in the working machine 1 to the outer end of the circumferential movement of the working device 60 (in FIG. 4A, since the working machine 1 is circulating the field G clockwise, it refers to the left end of the working device 60), and forms a line H1 between the travel locus T1 and the outer contour line of the field F. In the present embodiment, the GPS position of the position detection device 50 is at the center of the working machine 1, and the center in the width direction of the working machine 1 coincides with the center in the width direction of the working device 60. Therefore, the above offset amount is set to be the same as half of the outer contour width (length in the width direction) of the working device 60 or half of the working width W of the working device 60 (the length in the width direction of the range where the working device 60 exerts some action on the field G). As another example, a value slightly smaller or slightly larger than the lateral interval from the GPS position of the working machine 1 to the outer end of the circumferential movement of the working device 60 may be used as the above offset amount to form a line H1 between the travel locus T1 and the outer contour line of the field F.

[0054] The field registration unit 57b uses the line H1 formed as described above as the contour (outer shape) of the field G, and registers (stores) the field F represented by the contour H1 in the display storage unit 58. At this time, the field registration unit 57b also registers the field identification information such as the name of the field G (field name) and the field management number in association with the field F in the display storage unit 58. A plurality of fields F and the like can be registered in the display storage unit 58. When the field registration unit 57b registers the field F, the display control unit 57 displays the field F (the contour H1 of the field G).

[0055] The above-described method for registering the field G (field F) is an example and is not limited thereto. As another example, as shown in FIG. 4B, the field registration unit 57b calculates an inflection point from the travel locus T1 of the work machine 1 and forms a line K1 passing through the inflection point. Then, the line K1 is offset outward by the above-described offset amount to form a line H2 between the travel locus T1 and the outer contour line of the field F, and the line H2 is set as the contour K2 of the field G and the field F, and the field F may be registered in the display storage unit 58.

[0056] Further, when the work machine 1 makes a turn, the operator may operate a predetermined switch or the like to specify the end of the field G as shown in FIG. 4C. Also, in this case, the field registration unit 57b forms a line K2 that returns to the first-specified end after passing through each end of the field G in the specified order. Then, the line K2 is offset outward by the above-described offset amount to form a line H3 between the travel locus T1 and the outer contour line of the field F, and the line H3 is set as the contour K4 of the field G and the field F, and the field F may be registered in the display storage unit 58.

[0057] Furthermore, the contours H1, H2, H3 of the field G and the field F may be data indicated by, for example, a position (latitude, longitude), data indicated by a coordinate (X-axis, Y-axis) system, or data indicated by other expressions.

[0058] As described above, the display device 55 can register a plurality of fields F by the field registration unit 57b. The field acquisition unit 57c acquires a field F indicating a predetermined field G among the plurality of fields F when performing work or the like.

[0059] As shown in FIG. 1, the working machine 1 includes a route creation unit 57d that creates a travel route L along which the vehicle body 2 travels. In the present embodiment, the route creation unit 57d is composed of, for example, a program incorporated in the electric and electronic components and the display device 55, and is also served by the display control unit 57 of the display device 55. In the present embodiment, although the route creation unit 57d is also served by the display control unit 57 of the display device 55, the route creation unit 57d may be included in the control device 40 or the like, and its configuration is not limited to the above configuration.

[0060] The route creation unit 57d has a first creation unit 57d1. The first creation unit 57d1 can create the travel route L of the working machine 1 on the field F as shown in FIG. 5 by referring to the field F registered in the display storage unit 58, for example. The travel route L is a route along which the working machine 1 travels, and the working machine 1 travels so that the vehicle body position VP moves along the travel route L. The first creation unit 57d1 creates the travel route L on the field F based on the working width W and the like.

[0061] Specifically, for example, as shown in FIG. 6, the first creation unit 57d1 creates a plurality of unit working sections E in which work is performed by the working device 60 on the field F by dividing the field G on the field F in the vertical or horizontal direction by the working width W. The first creation unit 57d1 creates a plurality of unit working sections E in which work is performed by the working device 60 on the field F by dividing the field G on the field F in the vertical or horizontal direction by the working width W. That is, the first creation unit 57d1 creates a plurality of unit working sections E having the same width as the working width W on the field F. The unit working section E extends from one end side to the other end side (the first direction B1) of the field G. In the following description, the direction orthogonal to the first direction B1 may be described as the second direction B2.

[0062] Note that, as shown in FIG. 7, the first creation unit 57d1 may create a plurality of unit work sections E with a width (actual work width) W2 obtained by subtracting the overlap width Wl from the work width W in the field F. The overlap width Wl can be input to the screen displayed on the display unit 55 by operating the display device 55. That is, when the working machine 1 with the working device 60 connected is caused to travel, the first creation unit 57d1 sets the area where the working device 60 performs work on the farmland G as the unit work section E.

[0063] As shown in FIG. 5, the first creation unit 57d1 creates a section line La along which the working machine 1 travels for each unit work section E of the field F. That is, the first creation unit 57d1 creates a substantially straight section line La connecting both ends in the longitudinal direction of the unit work section E, for example, at the center in the width direction of the unit work section E. That is, the section line La extends in the first direction B1. Further, the first creation unit 57d1 creates a turning section Lb where the working machine 1 turns. That is, the first creation unit 57d1 creates the turning section Lb by connecting the ends of adjacent section lines La in an arc shape.

[0064] In the above-described embodiment, the unit work section E is formed in a substantially rectangular shape extending in the first direction B1, and the unit work section E may be formed with the same width as the work width W and may extend in the first direction B1, and may be formed in a relatively gently curved or zigzag shape. That is, although the section line La is also formed in a straight line extending in the first direction B1, it may be a line connecting both ends in the longitudinal direction of the unit work section E at the center in the width direction of the unit work section E, and may be formed in a relatively gently curved or zigzag shape.

[0065] Here, as described above, there are various types of working devices 60 according to the type of work. Also, in the working device 60, in order for the positions of the ridges and the crops to correspond, there is a working device 60 that performs work according to the positions of the ridges and the crops in the field G, such as a ridge forming device 71, a fertilizer spraying device, a seeding and spraying device 75, and a transplanter, and there is also a working device 60 that performs work over a relatively wide area regardless of the individual positions of the ridges and the crops, such as a tillage device 90 and a pesticide spraying device 85. Also, even among models that perform the same work, the working width W may be different.

[0066] In the following description, a working device 60 that directly interferes with the soil in the field G by forming ridges or performing seeding work, planting work, etc. for each ridge, such as the ridge forming device 71 and the seeding and spraying device 75, will be described as the "first type of device 61". Also, a working device 60 that does not directly interfere with the soil in the field G where the ridge forming work and the transplanting work have been completed, such as the pesticide spraying device 85 and the fertilizer application device, etc., is called the "second type of device 62". Also, a working device that directly interferes with the soil and performs work regardless of the individual positions of the ridges and the crops, such as the tillage device 90, is called the "third type of device 63".

[0067] As shown in FIG. 8A, the first type of device 61 has a single or a plurality of working parts 61a. The working part 61a is a structure that performs ground work on the field G by being towed by the working machine 1 and forms a working line R1 extending in the traveling direction of the working machine 1 respectively. In the following description, the width of the working part 61a performing the work will be described as the unit working width Wc. More specifically, the unit working width Wc may be the width indicating the result of the working part 61a actually performing the work, or may be the width indicating the target working result among the results of the working part 61a actually performing the work. For example, when the ridge forming device 71 forms a ridge, the unit working width Wc may be the width of the ridge or the width of the upper surface of the ridge (excluding the bottom of the ridge).

[0068] When the first type of device 61 has a plurality of working units 61a, the plurality of working units 61a are arranged at equal intervals (every first interval x) while being separated in the width direction. Note that the first interval x is a value that is fixed in advance for each of the first type of devices 61, or may be a value arbitrarily set by the operator according to a series of operations performed in the field G, and is set so that the intervals between the working units 61a of one working device 60 and the intervals between the working units 61a of other working devices 60 match.

[0069] The plurality of working units 61a are arranged such that the length from the central part of one working unit 61a to the central part of another working unit 61a adjacent to the one working unit 61a is the first interval x. Also, the width (unit working width Wc) for which a single working unit 61a performs work is smaller than the first interval x (Wc < x).

[0070] That is, when the working machine 1 travels along the travel route L as shown in FIG. 5, as shown in FIG. 8A, the work lines R1 formed by the working units 61a are formed as strip-shaped regions and at equal intervals with respect to the field G. In the present embodiment, since the central part in the width direction of the working machine 1 and the central part in the width direction of the working device 60 coincide, and the vehicle body position VP is located at the central part in the width direction of the working machine 1, in the unit working section E, the work line R1 is formed symmetrically in the width direction with respect to the travel route L.

[0071] When the first type of device 61 has a plurality of working units 61a, the work line R1 is formed so as to be separated at every first interval x in a direction orthogonal to the longitudinal direction within the unit working section E. In other words, the first type of device 61 forms a region where work is performed (work line R1) and a region where no work is performed (line R2) within the unit working section E, and the work line R1 is the smallest unit region within the unit working section E formed in the field G. The width (first width) Wd of the work line R1 matches the size of the unit working width Wc.

[0072] The working line R1 is a ridge or the upper surface of a ridge that is damaged when the traveling device 4 comes into contact, or a crop that is damaged, etc. In other words, the working line R1 is a non-travelable line R1 on which the traveling device 4 cannot travel. That is, the non-travelable line R1 extends from one end side to the other end side (the first direction B1) of the field G, is formed at every first interval x in the second direction B2, and is a line formed at intervals of the first interval x and separated from each other. In the present embodiment, the non-travelable line R1 is formed in a substantially straight line shape, but it may be formed in a relatively gently curved shape or a zigzag shape. Hereinafter, for the convenience of explanation, the case where the working line R1 is a ridge or a crop will be mainly described.

[0073] The line R2 is a line formed adjacent to a plurality of non-travelable lines R1, and is an area other than the working line R1 in the unit working section E. Specifically, the plurality of lines R2 are respectively formed adjacent to both sides in the orthogonal direction (the second direction B2) of the plurality of non-travelable lines R1. That is, as shown in FIGS. 13A and 13B, the plurality of lines R2 include a line formed between the plurality of non-travelable lines R1 and two lines respectively adjacent to the outside of the lines R2 located at both ends among the plurality of lines R2. As shown in FIGS. 8A and 10, the line R2 extends from one end side to the other end side (the first direction B1) of the field G and is formed at every first interval x in the second direction B2. In the present embodiment, the line R2 is formed in a substantially straight line shape, but it may be formed in a relatively gently curved shape or a zigzag shape.

[0074] Also, as shown in FIGS. 8A and 10, the width (the second width) We of the plurality of lines R2 coincides with the difference between the first interval x and the unit working width Wc (We = x - Wc).

[0075] Here, the relationship among the positions of the traveling device 4 (the first traveling unit 4L and the second traveling unit 4R), the first interval x, and the unit working width Wc will be described. As shown in FIG. 10, the length in the width direction of the ground contact surface of the traveling device 4 (the third width) Wf and the tread width (the fourth width) Wg of the traveling device 4 are set such that when the first traveling unit 4L is located on one line R2, the second traveling unit 4R is located on the other line R2. In other words, the line R2 is a travelable line R2 that is set so that when the traveling device 4 travels following the line R2, the first traveling unit 4L and the second traveling unit 4R do not contact the ridge and crops or the like. When the working line (non-travelable line) R1 is the upper surface of the ridge, the line R2 is a travelable line R2 that is set so that when the traveling device 4 travels following the line R2, even if the first traveling unit 4L and the second traveling unit 4R may damage the bottom of the ridge, they do not contact at least the upper surface of the ridge.

[0076] First, the length in the width direction of the ground contact surface of the traveling device 4 (the third width) Wf, that is, in this embodiment, the tire width Wf of the front wheels 4A and the rear wheels 4B, is set to be less than the length in the width direction of the travelable line R2 (the second width) We (Wf < We). Here, as shown in FIGS. 8A and 10, since the second width We is equal to the difference between the first interval x and the unit working width Wc (We = x - Wc), in other words, the tire width Wf of the front wheels 4A and the rear wheels 4B is set to be less than the difference between the first interval x and the unit working width Wc (Wf < We = x - Wc).

[0077] Next, the tread width (fourth width) Wg is the length from the center in the width direction of the first traveling unit 4L to the center in the width direction of the second traveling unit 4R. When the fourth width Wg is an appropriate length, it is possible to avoid the first traveling unit 4L and the second traveling unit 4R from contacting ridges, crops, etc. Specifically, when the working machine 1 travels on the traveling route L (section line La), if the number of working lines R1 located between the first traveling unit 4L and the second traveling unit 4R is k, the fourth width Wg is greater than the sum of the product of the first interval x and the natural number k - 1, and the first width Wd and the third width Wf (Wg > x(k - 1) + Wd + Wf). Also, the fourth width Wg is less than the difference between the product of the first interval x and the natural number k + 1 and the third width Wf (Wg < x(k + 1) - Wf).

[0078] Therefore, the separation width (Wg - Wf) between the first traveling unit 4L and the second traveling unit 4R does not become smaller than the length in the width direction (x(k - 1) + Wd) of the working line R1 located between the first traveling unit 4L and the second traveling unit 4R, and the length (Wf + Wg) between the outer end in the width direction of the first traveling unit 4L and the outer end of the second traveling unit 4R does not become larger than the length (x(k + 1)) between one working line R1 and the other working line R1 located on the side of the working machine 1. That is, the traveling device 4 is arranged separated by a length corresponding to the first interval x. Thereby, if the first traveling unit 4L and the second traveling unit 4R travel along the line R2 when the traveling device 4 travels, the first traveling unit 4L and the second traveling unit 4R do not contact ridges, crops, etc.

[0079] Note that the tread width (fourth width) Wg is preferably approximately an integer multiple of the first interval x. Also, the operator adjusts the first width wd, the first interval x, the third width Wf, and the fourth width Wg so as to satisfy the above conditions. For example, the operator can perform fine adjustment of the third width Wf and the fourth width Wg by replacing the traveling device (the front wheels 4A and the rear wheels 4B in this embodiment) and appropriately changing the second width We and the fourth width Wg.

[0080] Therefore, when the traveling device 4 travels, if the first traveling unit 4L and the second traveling unit 4R travel along the line R2, the line R2 is a line where the first traveling unit 4L and the second traveling unit 4R do not contact the ridges and crops, etc., that is, the travelable line R2 along which the traveling device 4 can travel.

[0081] Also, as shown in FIG. 10, when the working machine 1 travels along the travel route L (section line La), the first traveling unit 4L and the second traveling unit 4R travel along the travelable line R2 that is on both sides in the width direction of the vehicle body 1 and is at a position that is 1 / 2 of the fourth width Wg in the orthogonal direction from the section line La. In other words, the section line La and the travelable line R2 along which the first traveling unit 4L and the second traveling unit 4R travel correspond to the fourth width Wg. That is, for the travel route L (section line La) and the travelable line R2, when one travelable line R2 is selected from among the plurality of travelable lines R2, based on the fourth width Wg, the section line La when the first traveling unit 4L or the second traveling unit 4R travels along the travelable line R2 can be defined. On the other hand, when one section line La is selected from among the plurality of section lines La, based on the fourth width Wg, the travelable line R2 along which the first traveling unit 4L and the second traveling unit 4R travel when the working machine 1 travels along the one section line La can be defined.

[0082] For example, when the first type of device 61 is the ridge forming device 71, the working part 61a is the ridger 72 that guides the soil in the field G to form ridges. The ridge forming device 71 forms a ridge line Ra that is ridged as the working line R1, and the length in the width direction of the ridge line Ra (the width of the ridge or the width of the upper surface of the ridge) coincides with the unit working width Wc. Also, when the first type of device 61 is the seeding and spraying device 75, the working part 61a is the seeding nozzle 76 and the pressing roller 77 for seeding the seeds in the container 78 into the field G. The working line R1 is the crop line Rb on which the seeds of the crop are sown, and the length in the width direction of the crop line Rb coincides with the unit working width Wc. Also, when the first type of device 61 is a transplanter, the working part 61a is a hopper for planting the crop. The working line R1 is the crop line Rb on which the crop is planted by the hopper, and the length in the width direction of the crop line Rb coincides with the unit working width Wc.

[0083] In the following description, for convenience of explanation, the case where the number of working units 61a of the first type device 61 is even will be mainly described. As described above, in the present embodiment, for convenience of explanation, the case where the central portion in the width direction of the working device 60 coincides with the central portion in the width direction of the working machine 1 will be described as an example. Therefore, among the plurality of working units 61a of the first type device 61, the central portion of the two innermost working units 61a coincides with the central portion in the width direction of the working machine 1.

[0084] Hereinafter, the first type device 61, the working unit 61a, the working line R1, etc. will be described in detail using the ridge forming device 71 shown in FIG. 9A and the seeding and spraying device 75 shown in FIG. 9B as examples. The ridge forming device 71 has a single or a plurality of ridgers 72 as the working unit 61a. In the present embodiment, a pair of ridgers 72 are arranged in the width direction. Specifically, as shown in FIG. 9A, the distance from the central portion in the width direction of one ridger 72 to the central portion in the width direction of the other ridger 72 is the first interval x. That is, when the working device 60 is the ridge forming device 71, the first interval x is the "ridge interval" between the central portion of one ridge and the central portion of another ridge adjacent to the one ridge.

[0085] As shown in FIG. 9A, each ridger 72 has a top plate 72a, a first side plate 72b, and a second side plate 72c. The top plate 72a constitutes the upper part of the ridger 72 and is arranged to incline downward from the front to the rear. The first side plate 72b extends downward from one end (left end) in the width direction of the top plate 72a, and the second side plate 72c extends downward from the other end (right end) in the width direction of the top plate 72a. The ridger 72 forms a substantially trapezoidal shape when viewed from the rear.

[0086] In the example shown in FIG. 9A, since the ridge forming device 71 has a pair of ridgers 72, two rows of ridge lines Ra can be formed by being towed by the working machine 1. When the ridge forming device 71 has three ridgers 72, three rows of ridge lines Ra can be formed by being towed by the working machine 1. When the ridge forming device 71 has four ridgers 72, four rows of ridge lines Ra can be formed by being towed by the working machine 1.

[0087] Note that the ridging device 71 shown in FIG. 9A includes a rotary tilling part 73 at the front part of the ridger 72, and the ridger 72 forms the soil that the rotary tilling part 73 has thrown rearward into ridges. The rotary tilling part 73 has a claw shaft 73a and tilling claws 73b. The claw shaft 73a has a rotary shaft extending in the width direction and is driven by the power output from the PTO shaft 6 to perform tilling.

[0088] In the ridging device 71 as shown in FIG. 9A, the working width W is the length from one side (left end) in the width direction of the rotary tilling part 73 to the other side (right end) in the width direction of the rotary tilling part 73. Also, when the ridging device 71 does not include the rotary tilling part 73, the working width W is the length from the member that guides the soil to the ridger 72 arranged on one side (left end) in the width direction to the member that guides the soil to the ridger 72 arranged on the other side (right end) in the width direction.

[0089] Further, the seeding and spraying device 75 has single or a plurality of seeding nozzles 76 as the working part 61a. In the present embodiment, as shown in FIG. 9B, four seeding nozzles 76 are arranged in the width direction. Specifically, the distance from the central part in the width direction of one seeding nozzle 76 to the central part in the width direction of another seeding nozzle 76 adjacent to the one seeding nozzle 76 is the first interval x, and the seeding nozzles 76 are arranged such that the central parts in the width direction are located at every first interval x.

[0090] In addition, the seeding and spreading device 75 has a rolling compactor 77, and the rolling compactor 77 is arranged at a position corresponding to the seeding nozzle 76. In the present embodiment, four rolling compactors 77 are arranged in the width direction, separated from each other behind the seeding nozzle 76. Specifically, the distance from the central portion in the width direction of one rolling compactor 77 to the central portion in the width direction of another rolling compactor 77 adjacent to the one rolling compactor 77 is the first interval x, and the rolling compactors 77 are arranged such that the central portions in the width direction are located at every first interval x. In the present embodiment, the seeding nozzle 76 is described as the working unit 61a of the seeding and spreading device 75. However, since the seeding nozzle 76 and the rolling compactor 77 are arranged at corresponding positions and each performs work on the field G, the rolling compactor 77 may also be used as the working unit 61a.

[0091] The seeding and spreading device 75 has a container 78 for storing seeds, a hose (not shown) connecting the container 78 and the seeding nozzle 76, and a feeder 79 for feeding out the seeds in the container 78 through the hose. Therefore, by driving the feeder 79, the seeds fed out to the hose are seeded from the seeding nozzle 76 to the field G through the hose, and the rolling compactor 77 compresses at least the seeded portion. For this reason, in the example shown in FIG. 9B, since the seeding and spreading device 75 has four seeding nozzles 76 and rolling compactors 77, four rows of crop lines Rb can be formed by being towed by the working machine 1. When the seeding and spreading device 75 has one seeding nozzle 76 and one rolling compactor 77, one row of crop line Rb is formed by being towed by the working machine 1. When the seeding and spreading device 75 has a pair of seeding nozzles 76 and rolling compactors 77 respectively, two rows of crop lines Rb are formed by being towed by the working machine 1.

[0092] In the seeding and spreading device 75 as shown in FIG. 9B, the working width W is the length of the sum of the length from the left end of the spraying range of the seeding nozzle 76 arranged on one side (left end) in the width direction to the right end of the spraying range of the seeding nozzle 76 arranged on the other side (right end) in the width direction and the second width We.

[0093] The second type of device 62 is a working device 60 that does not directly interfere with the soil in the field G where the ridge forming operation and the transplanting operation have been completed in the field G. As shown in FIG. 8B, unlike the first type of device 61, it has a single working body 62a. The working body 62a is a structure that performs ground operations on the field G by being towed by the working machine 1 and forms a working area R3 extending in the traveling direction of the working machine 1. Here, the working width W of the second type of device 62 and the length in the width direction of the working area R3 are the same, and the working area R3 and the unit working section E coincide. That is, unlike the first type of device 61, the second type of device 62 does not form an area where work is performed (working line R1) and an area where work is not performed within the unit working section E, and performs work in the entire area within the unit working section E.

[0094] Hereinafter, the second type of device 62 will be described taking the pesticide spraying device 85 shown in FIG. 9C as an example. The pesticide spraying device 85 has a plurality of pesticide nozzles 86 as the working body 62a, and the plurality of pesticide nozzles 86 are arranged in the width direction. The plurality of pesticide nozzles 86 are arranged at intervals equal to or different from the first interval x, and do not form an area where work is performed (working line R1) and an area where work is not performed in the entire area within the unit working section E regardless of the position of the ridges and crops, and perform a relatively wide range of spraying work.

[0095] The pesticide spraying device 85 has a tank 87 for storing pesticides, a frame 88 for holding the tank 87, and a spraying pump 89 for supplying the pesticides in the tank 87 to the pesticide nozzles 86. The plurality of pesticide nozzles 86 are respectively attached to support members protruding left or right from the rear part of the frame 88 at a predetermined interval. The frame 88 is formed in a frame shape by combining vertical members and horizontal members. The pesticide spraying device 85 can spray pesticides such as pesticides by driving the spraying pump 89 to eject the pesticides in the tank 87 from the pesticide nozzles 86.

[0096] In the pesticide spraying device 85, the working width W is the length from the left end of the spraying range of the pesticide nozzle 86 arranged on one side (left end) in the width direction to the right end of the spraying range of the pesticide nozzle 86 arranged on the other side (right end) in the width direction, as shown in FIG. 9C.

[0097] The third type of device 63 is a working device 60 that directly interferes with the soil and performs operations regardless of the presence or absence of ridges or crop lines, such as the tillage device 90, etc. As shown in FIG. 8C, similar to the second type of device 62 and different from the first type of device 61, it has a single working body 63a. The working body 63a is a structure that performs ground operations on the field G when the second type of device 62 is towed by the working machine 1 and forms a working area R4 extending in the traveling direction of the working machine 1. Here, the working width W of the third type of device 63 and the length in the width direction of the working area R4 are the same, and the working area R3 and the unit working section E are the same. That is, similar to the second type of device 62 and different from the first type of device 61, the third type of device 63 does not form an area where work is performed (working line R1) and an area where work is not performed within the unit working section E, but performs work in the entire area within the unit working section E.

[0098] Hereinafter, the third type of device 63 will be described taking the tillage device 90 shown in FIG. 9D as an example. The tillage device 90 has a claw shaft 91 and tillage claws 92. The claw shaft 91 has a rotating shaft extending in the width direction and is driven by the power output from the PTO shaft 6 to perform tillage. The tillage claws 92 are attached to the claw shaft 91 and rotate around the axis of the claw shaft 91 to perform soil tillage and crushing. The tillage claws 92 are arranged from one side (left side) to the other side (right side) in the width direction of the claw shaft 91 and extend radially outward from the axis of the claw shaft 91.

[0099] In the tillage device 90 as shown in FIG. 9D, the working width W is the length from one side (left end) in the width direction of the tillage device 90 to the other side (right end) in the width direction of the tillage device 90.

[0100] Here, when cultivating crops in the field G, operations may be performed using a plurality of different working devices 60 based on a work schedule within a certain period (for example, within one year or several months). Hereinafter, at any point in time (n, n = 1, 2, 3 ··· n) within a certain period, the work performed in the field G will be described as the first operation Jn, and when performing the first operation Jn, the working device 60 connected to the working machine 1 will be described as the first working device 60A. Further, the work performed before the first operation Jn will be described as the second operation Jn-1, and when performing the second operation Jn-1, the working device 60 connected to the working machine 1 will be described as the second working device 60B.

[0101] Note that the working width W of the first working device 60A will be described as the first working width Wa, and the working width W of the second working device 60B will be described as the second working width Wb. Further, when the first working device 60A is the first type of device 61, the working part 61a of the first working device 60A will be described as the first working part 61a1. When the second working device 60B is the first type of device 61, the working part 61a of the second working device 60B will be described as the second working part 61a2.

[0102] Taking the case of cultivating potatoes in the field G as an example, the first operation Jn and the second operation Jn-1, etc. will be described. A series of schedules for potato cultivation are carried out in the order of fertilization J1, soil crushing J2, pest control J3, ridging J4, planting J5, weeding J6, soil covering J7, shoot thinning J8, top dressing J9, pest control J10, and harvesting J11 in the field G (note that the above process is only an example, and it may also vary depending on the type, configuration, or growth state of the working device 60 connected to the working machine 1).

[0103] That is, when the first operation Jn is the ridge formation J4 of the field G, the first operation device 60A is the ridge forming device 71, and the second operation Jn-1 is any one or all of the fertilization J1, soil crushing J2, and control J3 of the field G. In such a case, the second operation device 60B becomes the operation device 60 corresponding to the second operation Jn-1. For example, when the second operation Jn-1 is fertilization J1, the second operation device 60B becomes a fertilizer spreader. Further, when the first operation Jn is harvesting J11, the first operation device 60A is a harvesting device, and the second operation Jn-1 is any one or all of the fertilization J1, soil crushing J2, control J3, ridge formation J4, planting J5, weeding J6, soil banking J7, shoot thinning J8, top dressing J9, and control J10 performed in the field G. That is, the first operation Jn of the first operation device 60A and the second operation Jn-1 of the second operation device 60B are directly or indirectly related.

[0104] As described above, generally, the intervals between the ridging device 72 of the ridge forming device 71, the spray nozzles of the fertilizer spreader, the seeding nozzles 76 of the seeding and spraying device 75, and the hopper of the transplanter are made to coincide with each other in advance, and are set at an arbitrary interval (first interval x) so that the positions of the ridges and the crops correspond to each other. The length in the width direction of the ground contact surface of the traveling device 4 (second width) We is set corresponding to the width of the working line R1 (first width) Wd and the first interval x so that the traveling device 4 can travel across the working line R1.

[0105] However, for example, when the second working device 60B is the ridging device 71 shown in FIG. 9A and the first working device 60A is the seeding and spraying device 75 shown in FIG. 9B, if the number of working parts 61a arranged in the width direction is different between the first working device 60A and the second working device 60B, or if the working width W is different, when the second working device 60B performs the second operation Jn-1, the working machine 1 travels along the same path (reference route L2) as when the second working device 60B performs the second operation Jn-1. When the working machine 1 with the first working device 60A connected travels and the first working device 60A performs the first operation Jn, as shown in FIGS. 11A, 11B, 11C, and 11D, an unworked area (unworked area E1) or an area where overlapping work is performed (overlapping work area E2) will occur when performing the first operation Jn. In FIGS. 11A to 11D, for the sake of explanation, the area where only the first operation Jn is performed, the area where only the second operation Jn-1 is performed, and the area where both the first operation Jn and the second operation Jn-1 are performed are displayed in different meshes, and the frame lines of the unworked area E1 and the overlapping work area E2 are shown thickly. Also, the overlapping work area E2 is displayed with finer meshes compared to other areas.

[0106] Specifically, for example, when the first working device 60A is the first type of device 61, there are two first working parts 61a1, and the second working device 60B is the first type of device 61 and there are four second working parts 61a2, i.e., when the number of first working parts 61a1 is less than that of the second working parts 61a2, as shown in FIG. 11A, when the working machine 1 with the first working device 60A connected travels along the reference route L2 and the first working device 60A performs the first operation Jn, an unworked area E1 will occur.

[0107] Also, when the first working device 60A is the first type of device 61, there are four first working parts 61a1, and the second working device 60B is the first type of device 61 and there are two second working parts 61a2, i.e., when the number of first working parts 61a1 is more than that of the second working parts 61a2, as shown in FIG. 11B, when the working machine 1 with the first working device 60A connected travels along the reference route L2 and the first working device 60A performs the first operation Jn, an overlapping work area E2 will occur. Furthermore, the first working part 61a1 will perform work outside the working line R1 where the second working part 61a2 performs work.

[0108] Further, when the first working device 60A is a second type of device 62, the second working device 60B is a first type of device 61, and the first working width Wa is smaller than the second working width Wb, as shown in FIG. 11C, when the working machine 1 with the first working device 60A connected travels along the reference route L2 and the first working device 60A performs the first work Jn, an unworked area E1 will occur.

[0109] Furthermore, when the first working device 60A is a second type of device 62, the second working device 60B is a first type of device 61, and the first working width Wa is larger than the second working width Wb, as shown in FIG. 11D, when the working machine 1 with the first working device 60A connected travels along the reference route L2 and the first working device 60A performs the first work Jn, an overlapping working area E2 will occur. Further, the working body 62a will perform work outside the working line R1 where the second working part 61a2 has performed work.

[0110] Therefore, the route creation unit 57d has, instead of or in addition to the first creation unit 57d1 described above, a second creation unit 57d2, and the second creation unit 57d2 can create the travel route L (first route L1) of the first work Jn based on the second work Jn-1. Specifically, the second creation unit 57d2 creates the travel route L of the first work Jn based on the travel route L in the second work Jn-1 and the second information of the second working device 60B. Hereinafter, for convenience of explanation, the travel route L (reference route L2) in the second work Jn-1 will be described as the second route L2, and the travel route L of the first work Jn may be described as the first route L1. In other words, the second route L2 is the route along which the vehicle body 2 with the second working device 60B connected moves, that is, the route of the second work, and the first route L1 is the route along which the vehicle body 2 with the first working device 60A connected moves, that is, the route of the first work. In such a case, the section line La of the first route L1 will be described as the first part La1, and the section line La of the second route L2 will be described as the second part La2.

[0111] More specifically, the second creation unit 57d2 can create the first route L1 based on a plurality of non-travelable lines R1 that extend from one end side to the other end side (the first direction B1) of the field G and are formed at every first interval x. In the present embodiment, the plurality of non-travelable lines R1 are, for example, work lines R1 where work is performed at every first interval x from one end side to the other end side of the field G. The second creation unit 57d2 (route creation unit 57d) extends from one end side to the other end side (the first direction B1) of the field G and creates the first route L1 based on the plurality of non-travelable lines R1 (work lines R1) formed at every first interval x. In other words, the second creation unit 57d2 (route creation unit 57d) creates the first route L1 that suppresses the non-work area E1 and the overlapping work area E2 as the travel route L for performing the first work Jn based on the work in the previous process.

[0112] In the present embodiment, the route creation unit 57d switches between the creation of the travel route L by the first creation unit 57d1 and the creation of the travel route L by the second creation unit 57d2 according to the situation of the field G, that is, the work schedule within a certain period and the creation status of the work plan. Specifically, when the operator performs an arbitrary operation on the display device 55, the display control unit 57 causes the display unit 56 to display the selection screen D2 as shown in FIG. 12, and the route creation unit 57d can be switched between a "first mode" in which the first route L1 and the second route L2 are created together by the first creation unit 57d1 and the second creation unit 57d2, and a "second mode" in which only the second route L2 is created in the second creation mode with reference to the second work Jn-1. The selection screen D2 has a selection unit 105, and by performing a selection operation on the selection unit 105, it accepts the selection operations of the "first mode" and the "second mode".

[0113] Hereinafter, the creation of the first route L1 by the second creation unit 57d2 will be described in detail.

[0114] As shown in FIG. 1, the work machine 1 includes a first work acquisition unit 57e, a second work acquisition unit 57f, a route acquisition unit 57g, a first acquisition unit 57h, and a determination unit 57i. The first work acquisition unit 57e, the second work acquisition unit 57f, the route acquisition unit 57g, and the determination unit 57i are also used by the display control unit 57 of the display device 55. In the present embodiment, the first work acquisition unit 57e, the second work acquisition unit 57f, the route acquisition unit 57g, and the determination unit 57i are also used by the display control unit 57 of the display device 55. However, the first work acquisition unit 57e, the second work acquisition unit 57f, the route acquisition unit 57g, and the determination unit 57i may be included in the control device 40 or the like, and their configurations are not limited to the above configuration.

[0115] The first work acquisition unit 57e acquires the first information of the first work device 60A. The first information is information unique to the first work device 60A and information related to the first work Jn performed by the first work device 60A. Specifically, the first work acquisition unit 57e acquires, as the first information, for example, the first work width (second interval) Wa and the number c1 of the first work units 61a1. The first information acquired by the first work acquisition unit 57e is not limited to the first work width Wa and the number c1 of the first work units 61a1. In addition to the first work width Wa and the number c1 of the first work units 61a1, information such as the type, individual information, model name of the first work device 60A, the unit work width Wc of the first work unit 61a1, the first interval x, and the date and time of the first work may be acquired as the first information. In the present embodiment, in addition to the first work width Wa and the number c1 of the first work units 61a1, the first work acquisition unit 57e acquires the type, individual information, model name of the first work device 60A, the size of the unit work width Wc, and the first interval x as the first information. Hereinafter, for convenience of explanation, the configuration for acquiring the first work width (second interval) Wa in the first work acquisition unit 57e may be described as the second acquisition unit 57e1.

[0116] The second operation acquisition unit 57f acquires the second information of the second working device 60B. The second information is the unique information of the second working device 60B and information regarding the second operation Jn-1 performed by the second working device 60B, etc. Specifically, the second operation acquisition unit 57f acquires, as the second information, for example, the second working width Wb and the number c2 of the second working units 61a2. Note that the second information acquired by the second operation acquisition unit 57f is not limited to the second working width Wb and the number c2 of the second working units 61a2, and in addition to the second working width Wb and the number c2 of the second working units 61a2, information such as the type, individual information, model name, unit working width Wc, first interval x, and date and time of the second operation of the second working device 60B may be acquired as the second information. In the present embodiment, the second operation acquisition unit 57f acquires, as the second information, information on the type, individual information, model name, unit working width Wc, and first interval x of the second working device 60B in addition to the second working width Wb and the number c2 of the second working units 61a2.

[0117] The route acquisition unit 57g acquires the second route L2. The route acquisition unit 57g acquires, as the second route L2, the travel route L corresponding to the second operation Jn-1 among the travel routes L created by the route creation unit 57d, or when the storage area of the control device 40 or the like stores the travel route L corresponding to the second operation Jn-1, acquires the travel route L from the storage area as the second route L2. In the present embodiment, the route acquisition unit 57g acquires at least a plurality of second portions La2 of the second route L2. In the present embodiment, the second route L2 acquired by the route acquisition unit 57g is the travel route L created by the first creation unit 57d1, but the second route L2 may be the travel route L created by the second creation unit 57d2. Further, the route acquisition unit 57g may acquire the second route L2 based on the vehicle body position VP acquired by the position acquisition unit 57a. In such a case, the position detection device 50 detects the position (vehicle body position VP) of the working machine 1 when the working machine 1 performs the second operation, and the position acquisition unit 57a acquires the vehicle body position VP in association with the time information when the position detection device 50 detects the vehicle body position VP. The route acquisition unit 57g, for example, connects the vehicle body position VP acquired by the position acquisition unit 57a based on the time information, defines the second route L2, and acquires the defined second route L2.

[0118] The first acquisition unit 57h acquires the non-drivable line R1. Specifically, in the present embodiment, the first acquisition unit 57h defines the position information of the work line R1 based on the number c2 of the second work units 61a2 acquired by the second work acquisition unit 57f, the unit work width Wc, the first interval x, and the second route L2 acquired by the route acquisition unit 57g, thereby acquiring data indicated by, for example, the position (latitude, longitude) of the non-drivable line R1 and data indicated in the coordinate (X-axis, Y-axis) system. More specifically, the first acquisition unit 57h acquires data indicated by the position (latitude, longitude) of the work line R1 and data indicated in the coordinate (X-axis, Y-axis) system based on the second part La2 acquired by the route acquisition unit 57g, the number c2 of the second work units 61a2, the unit work width Wc, the first interval x, and the second part La2 acquired by the second work acquisition unit 57f.

[0119] In the above-described embodiment, the first acquisition unit 57h defines the work line R1 based on the number c2 of the second work units 61a2 acquired by the second work acquisition unit 57f, the unit work width Wc, the first interval x, and the second route L2 acquired by the route acquisition unit 57g, and acquires the non-drivable line R1. However, the acquisition method is not limited to the above-described method. When the display storage unit 58 or a storage area of an external server or the like that can communicate directly or indirectly with the display device 55 or the control device 40 stores the non-drivable line R1 (work line R1) in advance, the non-drivable line R1 may be acquired from the storage area.

[0120] Based on the second information acquired by the second operation acquisition unit 57f, the determination unit 57i determines whether the second working device 60B is any one of the first type device 61, the second type device 62, and the third type device. Among the second information, the determination unit 57i determines whether the second working device 60B is any one of the first type device 61, the second type device 62, and the third type device based on the type of the second working device 60B. Specifically, the display storage unit 58 or the storage area of an external server or the like that can communicate directly or indirectly with the display device 55 or the control device 40 stores a table indicating the combination of the type of the working device 60 and whether the working device 60 is any one of the first type device 61, the second type device 62, and the third type device. The determination unit 57i determines whether the second working device 60B is any one of the first type device 61, the second type device 62, and the third type device based on the second information and the table. Further, when the second operation acquisition unit 57f acquires, as the second information, the type of whether the second working device 60B is any one of the first type device 61, the second type device 62, and the third type device, the determination unit 57i determines whether the second working device 60B is any one of the first type device 61, the second type device 62, and the third type device based on the type.

[0121] Note that the determination unit 57i only needs to be able to determine whether the second working device 60B is any one of the first type device 61, the second type device 62, and the third type device, and the determination method is not limited to the method described above.

[0122] As shown in FIG. 1, the second creation unit 57d2 includes a line definition unit 157a and a setting unit 157b. In other words, the route creation unit 57d includes a line definition unit 157a and a setting unit 157b.

[0123] The line definition unit 157a defines a plurality of drivable lines R2, which are areas in the field G other than the plurality of non-drivable lines R1, based on the plurality of non-drivable lines R1 acquired by the first acquisition unit 57h. Taking the case where the second working device 60B is the ridge forming device 71 shown in Fig. 9A as an example, the second working device 60B in Fig. 9A has two working parts 61a. Therefore, as shown in Fig. 13A, when the working machine 1 makes 5 round trips from one end side to the other end side (the first direction B1) of the field G, that is, when the section lines La included in the second route L2 are 10, 20 working lines R1 are formed and 21 drivable lines R2 are formed.

[0124] Next, taking the case where the second working device 60B is the seeding and spraying device 75 shown in Fig. 9B as an example, the second working device 60B in Fig. 9B has four working parts 61a. Therefore, as shown in Fig. 13B, when the working machine 1 makes 2 and a half round trips from one end side to the other end side (the first direction B1) of the field G, that is, when the section lines La included in the second route L2 are 5, 20 working lines R1 are formed and 21 drivable lines R2 are formed.

[0125] In this embodiment, the first acquisition unit 57h acquires the position information of the plurality of working lines R1 as the plurality of non-drivable lines R1. The line definition unit 157a refers to the field F registered in the display storage unit 58 and acquires the area other than the plurality of working lines R1 based on the position information of the plurality of working lines R1 and the field F. Therefore, the line definition unit 157a calculates the position information of the area other than the plurality of working lines R1 in the field F based on the position information of the plurality of working lines R1 and the field F, and defines the plurality of drivable lines R2.

[0126] Based on the plurality of drivable lines R2 defined by the line definition unit 157a, the setting unit 157b sets, as a first portion La1, a path that extends from one end side to the other end side (first direction B1) of the field G and along which the traveling device 4 travels on the plurality of drivable lines R2. That is, in addition to the second portion La2, the setting unit 157d can use, as candidates for the first portion La1, paths along drivable lines R2 other than the drivable line R2 corresponding to the second portion La2. When setting the first portion La1, the setting unit 157b extracts a drivable line R2 from the plurality of drivable lines R2 and sets the first portion La1 corresponding to the drivable line R2.

[0127] Here, as described above, for the travel route L (section line La) and the drivable lines R2, when one drivable line R2 is selected from the plurality of drivable lines R2, the travel route L (section line La) when the first travel unit 4L or the second travel unit 4R travels along the drivable line R2 can be defined, and when the travel route L (section line La) is selected, the drivable lines R2 along which the first travel unit 4L and the second travel unit 4R travel when the work machine 1 travels along the travel route L (section line La) can be defined. Therefore, when setting the first portion La1, the setting unit 157b selects the second portion La2 acquired by the route acquisition unit 57g (in other words, extracts the drivable line R2 corresponding to the second portion La2), and by shifting each of the second portions La2, extracts the drivable line R2 corresponding to the first portion La1 and sets the first portion La1.

[0128] Specifically, the setting unit 157b (route creation unit 57d) shifts a plurality of second portions La2 in the direction orthogonal to the plurality of second portions La2 based on the first information acquired by the first operation acquisition unit 57e and the second information acquired by the second operation acquisition unit 57f. More specifically, the setting unit 157b (route creation unit 57d) shifts each of the plurality of second portions La2 based on the difference between the first operation width Wa acquired by the first operation acquisition unit 57e and the second operation width Wb acquired by the second operation acquisition unit 57f. Even more specifically, the setting unit 157b (route creation unit 57d) shifts each of the plurality of second portions La2 by approximately a natural number multiple of 1 / 2 of the difference between the first operation width Wa acquired by the first operation acquisition unit 57e and the second operation width Wb acquired by the second operation acquisition unit 57f.

[0129] The setting unit 157b performs a shift in order (m = 1, 2, 3 ··· m) from the second portion La2 located at one end (right end) in the second direction B2 to the second portion La2 located at the other end (left end) in the second direction B2 among the plurality of second portions La2. In the present embodiment, the shift is performed in order from the second portion La2 on the right side of the drawing. Specifically, the setting unit 157b calculates the shift amount based on the following formula (1).

[0130]

Equation

[0131] Therefore, when the setting unit 157b shifts the plurality of second portions La2 by the shift amount calculated by the above calculation formula to set the plurality of first portions La1, the interval between two adjacent first portions La1 among the plurality of first portions La1 becomes substantially the same as the second interval Wa. That is, the setting unit 157b sets the plurality of first portions La1 based on the second interval Wa among the first information acquired by the second acquisition unit 57e1 so that the interval between two adjacent first portions La1 becomes substantially the same as the second interval Wa.

[0132] Here, when both the first working device 60A and the second working device 60B are of the first type device 61, since the first working width Wa and the second working width Wb are equal to approximately a natural number multiple of the first interval x, the setting unit 157b can calculate the shift amount based on the number c2 of the plurality of second working parts 61a2 acquired by the second working acquisition unit 57f and the number c1 of the plurality of first working parts 61a1 acquired by the first working acquisition unit 57e. Specifically, the setting unit 157b (route creation unit 57d) calculates the shift amount based on the difference between the number c1 of the first working parts 61a1 and the number c2 of the second working parts 61a2, and the first interval x. More specifically, the setting unit 157b (route creation unit 57d) calculates the shift amount by the product of the difference between the number c1 of the first working parts 61a1 and the number c2 of the second working parts 61a2, the first interval x, and a natural number multiple of 1 / 2, based on the following formula (2).

[0133]

Number

[0134] That is, according to the above formula (2), when the number c1 of the first working parts 61a1 and the number c2 of the second working parts 61a2 are even numbers, that is, when the difference between the number c1 of the first working parts 61a1 and the number c2 of the second working parts 61a2 is a multiple of 2, the shift amount is an integer multiple of the first interval x.

[0135] The setting unit 157b calculates the shift amount based on any of the above calculation formulas and performs the shift of the plurality of second parts La2. When the first working width Wa is larger than the second working width Wb (Wb < Wa), and when the number c1 of the first working parts 61a1 is larger than the number c2 of the second working parts 61a2 (c2 < c1), that is, when the shift amount of the calculation results of formulas (1) and (2) is a positive number, the setting unit 157b shifts the plurality of second parts La2 by the shift amount from one end (right end) to the other end (left end) in the second direction B2. In the present embodiment, when the shift amount of the calculation results of formulas (1) and (2) is a positive number, the setting unit 157b shifts the plurality of second parts La2 by the shift amount to the left in the drawing plane.

[0136] Here, in the above case (Wb < Wa), if all of the second portions La2 are shifted, the shifted second portions La2 (first portion La1) will protrude from the contour of the field G. Therefore, the setting unit 157b shifts only the number of second portions La2 that is equal to the greatest common divisor of the first working width Wa with respect to the length of the field G in the second direction B2. The route creation unit 57d connects the respective adjacent first portions La1 to form the first turning portion Lb1.

[0137] On the other hand, when the second working width Wb is larger than the first working width Wa (Wa < Wb), and when the number c2 of the second working units 61a2 is larger than the number c1 of the first working units 61a1 (c1 < c2), that is, when the shift amount of the calculation results of the formulas (1) and (2) is a negative number, the setting unit 157b shifts the plurality of second portions La2 by the shift amount from the other end (left end) to one end (right end) in the second direction B2. In the present embodiment, when the shift amount of the calculation results of the formulas (1) and (2) is a negative number, the setting unit 157b shifts the plurality of second portions La2 by the shift amount to the right in the drawing plane.

[0138] Here, in the above case (Wa < Wb), even if all of the second portions La2 are shifted, an area where the first portion La1 is not set in the field F will occur. Therefore, in addition to shifting the second portion La2 to set the first portion La1, the setting unit 157b newly creates the first portion La1 separated by the first working width Wa each on the travelable line R2. Specifically, the setting unit 157b newly creates the first portion La1 by the difference between the number of the greatest common divisors of the first working width Wa with respect to the length of the field G in the second direction B2 and the number of the second portions La2. The second creation unit 57d2 connects the respective adjacent first portions La1 to form the first turning portion Lb1. Thereby, the route creation unit 57d (second creation unit 57d2) creates the first route L1.

[0139] Taking the case where the first working device 60A is the ridging device 71 shown in FIG. 9A and the second working device 60B is the seeding and spraying device 75 shown in FIG. 9B as an example, since the first working device 60A and the second working device 60B are the first type of devices 61, the setting unit calculates the shift amount based on Equation (2). The number c1 of the first working units 61a1 is 2, the number of the second working units 61a2 is 4, the number c2 of the second working units 61a2 is larger than the number c1 of the first working units 61a1, and since the shift amount in Equation (2) becomes a negative number, the setting unit 157b shifts a plurality of second portions La2 to the right side of the paper surface by the shift amount.

[0140] First, the setting unit 157b performs the setting of the first portion La1 by shifting in order from the second portion La2 (m = 1) located at one end (right end) in the second direction B2 among the plurality of second portions La2 of the second route L2. The setting unit 157b calculates, by Equation (2), that the shift amount of the second portion La2 (m = 1) is the same value (negative number) as the first interval x. As a result, as shown in FIG. 14, the setting unit 157b sets the first portion La1 (m = 1) by shifting the shift amount of the second portion La2 (m = 1) to the right side of the paper surface by the first interval x.

[0141] After the setting unit 157b shifts the second portion La2 (m = 1) to set the first portion La1 (m = 1), the setting unit 157b shifts the second portion La2 (m = 2) inside the second portion La2 (m = 1). The setting unit 157b calculates, by Equation (2), that the shift amount of the second portion La2 (m = 2) is the same value (negative number) as three times the first interval x. As a result, as shown in FIG. 14, the setting unit 157b sets the first portion La1 (m = 2) by shifting the shift amount of the second portion La2 (m = 2) to the right side of the paper surface by three times the first interval x.

[0142] When the setting unit 157b performs the shift of the second portion La2 (m = 5), the setting unit newly creates the first portion La1 by the difference 5 between the number 10 of the greatest common divisors of the first working width Wa with respect to the length of the second direction B2 of the field G and the number 5 of the second portions La2, and the second creating unit 57d2 connects the adjacent first portions La1 to form the first turning portion Lb1.

[0143] As a result, based on the working width W of the first information acquired by the first work acquisition unit 57e, the setting unit 157b extracts a travelable line R2 in which the non-work area E1 and the overlapping work area E2 are reduced so that the non-work area E1 and the overlapping work area E2 do not occur, and performs the setting of the first part La1.

[0144] Hereinafter, mainly with reference to FIGS. 15A and 15B, the acquisition of the second information by the second work acquisition unit 57f, the acquisition of the first information by the first work acquisition unit 57e, etc. in the first mode and the second mode will be described according to a series of flows.

[0145] As shown in FIG. 15A, when the display device 55 is displaying the selection screen D2 (S1), and a selection operation is performed and the first mode is selected by the selection operation (S2, Yes), the route creation unit 57d shifts to the first mode (S3).

[0146] When the route creation unit 57d shifts to the first mode (S3), the display control unit 57 displays the second work input screen D3 on the display unit 56 (S4). The second work input screen D3 is a screen for receiving the input of the information of the second work device 60B, and has a first input unit 110 for receiving the input of the second information.

[0147] As shown in FIG. 16, the first input unit 110 includes a first area 111 for receiving the input of the second work width Wb, a second area 112 for receiving the input of the number c2 of the second work units 61a2, a third area 113 for receiving the input of the type of the second work device 60B, a fourth area 114 for receiving the input of the individual information of the second work device 60B, a fifth area 115 for receiving the input of the model name of the second work device 60B, a sixth area 116 for receiving the input of the unit work width Wc of the second work unit 61a2, and a seventh area 117 for receiving the input of the first interval x of the second work device 60B. The first area 111, the second area 112, the sixth area 116, and the seventh area 117 receive input in numerical values, for example, by operating the display device 55. The third area 113, the fourth area 114, and the fifth area 115 receive input in character strings, for example, by operating the display device 55.

[0148] In addition, when the second working device 60B is the second type of device 62 or the third type of device 63, the second area 112 is not input, and the second working acquisition unit 57f does not acquire the number c2 of the second working units 61a2. Further, the second working acquisition unit 57f acquires second information including the second working width Wb and the number c2 of the second working units 61a2 based on the information input on the screen of the display unit 56. However, the input method of the second information is not limited to the method described above, and the acquisition source thereof is not limited to the information input on the second working input screen D3. For example, the second working input screen D3 may be configured to receive input of the model of the working device 60, and the second working acquisition unit 57f may acquire the second information from a table stored in advance in the display storage unit 58. In such a case, the second information is stored as a table including the model of the working device 60, and the second information is acquired using the model of the working device 60 as individual information. Further, the second working acquisition unit 57f may be configured to acquire second information including the second working width Wb and the number c2 of the second working units 61a2 based on the captured image captured by the imaging device provided in the working machine 1 or the information detected by a detection device such as a sensor.

[0149] When the second information is input to the second working input screen D3 and the first decision button 118 on the second working input screen D3 is selected and operated, the second working acquisition unit 57f acquires the second information including the second working width Wb and the number c2 of the second working units 61a2 input to the second working input screen D3 (S5).

[0150] As shown in FIG. 15A, when the second working acquisition unit 57f acquires the second information (S5), the display storage unit 58 stores the acquired second information (S6). Further, when the display storage unit 58 stores the second information (S6), the first creation unit 57d1 (root creation unit 57d) creates a second route L2 based on the second information acquired by the second working acquisition unit 57f (S7). When the first creation unit 57d1 creates the second route L2 (S7), the display storage unit 58 stores the second route L2 in the display storage unit 58 (S8).

[0151] The first creation unit 57d1 (route creation unit 57d) creates the second route L2 (S7), and when the display storage unit 58 stores the second route L2 (S8), the route acquisition unit 57g acquires the second route L2 created by the first creation unit 57d1 from the display storage unit 58 (S9). Further, when the route acquisition unit 57g acquires the second route L2 (S9), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S10).

[0152] The first work input screen D4 is a screen for receiving input of information of the first work device 60A. As shown in FIG. 17, it has a second input unit 120 for receiving input of the first information. The second input unit 120 includes an eighth area 121 for receiving input of the first working width (second interval) Wa, a ninth area 122 for receiving input of the number c1 of the first working parts 61a1, a tenth area 123 for receiving input of the type of the first work device 60A, an eleventh area 124 for receiving input of the individual information of the first work device 60A, a twelfth area 125 for receiving input of the model name of the first work device 60A, a thirteenth area 126 for receiving input of the unit working width Wc of the first working part 61a1, and a fourteenth area 127 for receiving input of the first interval x of the first work device 60A. The eighth area 121, the ninth area 122, the thirteenth area 126, and the fourteenth area 127 receive input in numerical values, for example, by operating the display device 55. The tenth area 123, the eleventh area 124, and the twelfth area 125 receive input in character strings, for example, by operating the display device 55.

[0153] In addition, when the first working device 60A is the second type of device 62 or the third type of device 63, the ninth region 122 is not input, and the first working acquisition unit 57e does not acquire the number c1 of the first working units 61a1. Further, the first working acquisition unit 57e acquires first information including the first working width Wa and the number c1 of the first working units 61a1 based on the information input on the screen of the display unit 56. However, the input method of the first information is not limited to the method described above, and the acquisition source is not limited to the information input on the first working input screen D4. For example, the first working input screen D4 may be configured to receive an input of the model of the working device 60, and the first working acquisition unit 57e may acquire the first information from a table stored in advance in the display storage unit 58. In such a case, the first information is stored as a table including the model of the working device 60, and the first information is acquired using the model of the working device 60 as individual information. Further, the first working acquisition unit 57e may be configured to acquire first information including the first working width Wa and the number c1 of the first working units 61a1 based on the captured image captured by the imaging device provided in the working machine 1 or the information detected by a detection device such as a sensor.

[0154] When the first information is input on the first working input screen D4 and the second decision button 128 on the first working input screen D4 is selected and operated, the first working acquisition unit 57e acquires the first information including the first working width Wa and the number c1 of the first working units 61a1 input on the first working input screen D4 (S11).

[0155] As shown in FIG. 15A, when the first working acquisition unit 57e acquires the first information (S11), the display storage unit 58 stores the acquired first information (S12). Further, when the display storage unit 58 stores the first information (S12), the determination unit 57i determines whether the second working device 60B corresponding to the second operation Jn-1 is the third type of device 63 based on the second information corresponding to the second route L2 (S13).

[0156] When the determination unit 57i determines that the second working device 60B is not a third type device 63, that is, when the determination unit 57i determines that the second working device 60B is a first type device 61 or a second type device 62, (S13, No), the second creation unit 57d2 (route creation unit 57d) creates a first route L1 based on the first information acquired by the first work acquisition unit 57e, the second information acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g (S14). In other words, when the non-drivable line R1 is formed in the field G, the second creation unit 57d2 (route creation unit 57d) creates the first route L1 based on the first information acquired by the first work acquisition unit 57e, the second information acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g.

[0157] On the other hand, when the determination unit 57i determines that the second working device 60B is a third type device 63 (S13, Yes), the second work acquisition unit 57f checks whether the second information of the second work Jn-2 before the second work Jn-1 determined by the determination unit 57i in S12 is stored in the display storage unit 58 (S15). When the second work acquisition unit 57f confirms that there is the second information of the second work Jn-2 before the second work Jn-1 determined by the determination unit 57i in S13 (S15, Yes), the second work acquisition unit 57f acquires the second information of the second work Jn-2 from the display storage unit 58 (S16). When the second work acquisition unit 57f acquires the second information of the second work Jn-2 from the display storage unit 58, it returns to S13, and the determination unit 57i determines whether the second working device 60B corresponding to the second work Jn-2 is a third type device 63 (S13).

[0158] Note that when the second work acquisition unit 57f confirms that the second information of the second work Jn-2 before the second work Jn-1 determined by the determination unit 57i in S13 or S16 is not stored in the display storage unit 58 (S15, No), the first creation unit 57d1 creates the first route L1 based on the first information acquired by the first work acquisition unit 57e (S17).

[0159] Also, as shown in FIGS. 15A and 15B, when the second mode is selected and operated in S1 (S2, No), the route creation unit 57d shifts to the flow of the second mode (S18).

[0160] When the route creation unit 57d shifts to the second mode (S18), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S19). When first information is input to the first work input screen D4 and the second decision button 128 on the first work input screen D4 is selected and operated, the first work acquisition unit 57e acquires the first information including the first work width Wa and the number c1 of the first work units 61a1 input to the first work input screen D4 (S20).

[0161] As shown in FIG. 15B, when the first work acquisition unit 57e acquires the first information (S20), the display storage unit 58 stores the acquired first information (S21). Also, when the display storage unit 58 stores the first information (S21), the second work acquisition unit 57f checks whether second information of the second work Jn-1 before the first work Jn acquired in S20 is stored in the display storage unit 58 (S22). When the second work acquisition unit 57f confirms that there is second information of the second work Jn-1 before the first work Jn acquired in S22 (S22, Yes), the second work acquisition unit 57f acquires the second information of the second work Jn-1 from the display storage unit 58 (S23). When the second work acquisition unit 57f acquires the second information from the display storage unit 58 (S23), the determination unit 57i determines whether the second work device 60B corresponding to the second work Jn-1 is a third type device 63 (S24).

[0162] When the determination unit 57i determines that the second working device 60B corresponding to the second information is not a type-3 device 63, that is, when the determination unit 57i determines that the second working device 60B is a type-1 device 61 or a type-2 device 62 (S24, No), the second creation unit 57d2 creates the first route L1 based on the first information acquired by the first acquisition unit 57h, the second information acquired by the second acquisition unit 57e1, and the second route L2 (S25). In other words, when the non-travelable line R1 is formed in the field G, the second creation unit 57d2 (route creation unit 57d) creates the first route L1 based on the first information acquired by the first work acquisition unit 57e, the second information acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g.

[0163] On the other hand, when the determination unit 57i determines that the second working device 60B corresponding to the second information is a type-3 device 63 (S24, Yes), the second work acquisition unit 57f checks whether the second information of the second work Jn-2 before the second work Jn-1 determined by the determination unit 57i in S22 is stored in the display storage unit 58 (S26). When the second work acquisition unit 57f confirms that there is the second information of the second work Jn-2 before the second work Jn-1 determined by the determination unit 57i in S24 (S26, Yes), the second work acquisition unit 57f acquires the second information of the second work Jn-2 from the display storage unit 58 (S27). When the second work acquisition unit 57f acquires the second information from the display storage unit 58 (S27), it returns to S24, and the determination unit 57i determines whether the second working device 60B corresponding to the second work Jn-2 is a type-3 device 63 (S24).

[0164] In addition, when the second work acquisition unit 57f confirms that the second information of the second work Jn-1 is not stored in the display storage unit 58 (S22, No), or when the second work acquisition unit 57f confirms that the second information of the second work Jn-2 before the second work Jn-1 acquired in S23 or S27 is not stored in the display storage unit 58 (S26, No), the first creation unit 57d1 creates the first route L1 based on the first information acquired by the second acquisition unit 57e1 (S28).

[0165] As shown in FIGS. 15A and 15B, when the first route L1 is created at S14, S17, S25, or S28, the display memory unit 58 stores the first route L1 in the display memory unit 58 (S29). When the display memory unit 58 stores the first route L1 in the display memory unit 58 (S29), or when a predetermined operation is performed, the display control unit 57 displays a route display screen D5 on the display unit 56 and displays the second route L2 and the first route L1 stored in the display memory unit 58 (S30).

[0166] As shown in FIG. 18, the route display screen D5 includes, for example, a route display unit 130 that displays the second route L2 and the first route L1 in a selectable manner, a switching button 131 for switching the display of the route display unit 130, a second information display unit 132 that shows field identification information such as the name (field name) of the field G and the field management number, and a third information display unit 133 that displays detailed information about the work performed in the field G. The route display unit 130 displays the field F registered by the field registration unit 57b, and in response to the operation of the switching button 131, displays either the second route L2 or the first route L1 on the field F.

[0167] In addition, the display control unit 57 acquires the vehicle body position VP detected by the position detection device (positioning device) 50, and based on the vehicle body position VP, displays the current position of the working machine 1 on the route display unit 130 with an icon 130a. The third information display unit displays either the first information acquired by the first work acquisition unit 57e or the second information acquired by the second work acquisition unit 57f in response to the operation of the switching button 131. In the present embodiment, for example, the third information display unit displays, as the first information, information such as the first working width Wa, the number c1 of the first working units 61a1, the type of the first working device 60A, individual information, model name, the unit working width Wc of the first working unit 61a1, and the first interval x, and as the second information, information such as the second working width Wb, the number c2 of the second working units 61a2, the type of the second working device 60B, individual information, model name, the unit working width Wc of the second working unit 61a2, and the first interval x.

[0168] Note that the series of processes by which the above-described route creation unit 57d creates the first route L1 is merely an example. In the present embodiment described above, the first creation unit 57d1 creates the second route L2 (S7), the display storage unit 58 stores the second route L2 (S8), the route acquisition unit 57g acquires the second route L2 (S9), and the display control unit 57 displays the first work input screen D4 on the display unit 56 (S10). However, when the second work acquisition unit 57f acquires the second information (S5), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S10). After the first work acquisition unit 57e acquires the first information (S11), the first creation unit 57d1 may create the second route L2 (S7).

[0169] Also, for example, in the present embodiment, in S13 and S24, when the determination unit 57i determines that the second work device 60B corresponding to the second information is the third type of device 63 (S13, S24, Yes), the second work acquisition unit 57f determines that the second work device 60B corresponding to the second information is not the third type of device 63 (S13, S24, No), or until it is determined that the second information of the second work Jn-2 before the second work Jn-1 is not stored in the display storage unit 58 (S15, S26, Yes), the steps of S13, S15, S16, or the steps of S24, S26, S27 are repeated to confirm whether the second information of the second work before the second work Jn-2 is stored in the display storage unit 58 (S26). However, when the first information acquired by the first work acquisition unit 57e includes the date and time of the first work and the second information acquired by the second work acquisition unit 57f includes the date and time of the second work, and the interval between the second work and the first work is separated by a predetermined number of days or more, the flow may be such that in S15, it shifts to S17, and in S26, it shifts to S28. Also, the determination unit 57i determines whether the second work device 60B corresponding to the second work Jn-2 is the third type of device 63. When the second work device 60B corresponding to the second work Jn-2 is the third type of device 63 (S13, S24, No), in other words, when the second work device 60B corresponding to the work (second work) Jn-2 two before the first work Jn is the third type of device 63, the flow may be such that in S15, it shifts to S17, and in S26, it shifts to S28.

[0170] In the above-described embodiment, the case where the route creation unit 57d creates the first route L1 and the second route L2 together has been described as an example. However, in addition to the first route L1 and the second route L2, the route creation unit 57d may create a travel route L (third route) along which the working machine 1 travels in the third operation, which is an operation after the second operation. The number of travel routes L created together by the route creation unit 57d is not limited to two, and may be three or four.

[0171] In the above-described embodiment, the display device 55 displays the travel route L (second route L2 and first route L1) created by the route creation unit 57d on the display unit 56. However, the control device 40 of the working machine 1 may control the travel device 4 according to the travel route L created by the route creation unit 57d.

[0172] Specifically, for example, as shown in FIG. 19, in the first modification, the control device 40 has an automatic steering control unit 40a. The automatic steering control unit 40a is composed of an electric / electronic circuit provided in the control device 40, a program stored in a CPU, etc. The automatic steering control unit 40a controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 2 travels along the travel route L based on the control signal output from the control device 40.

[0173] As shown in the upper diagram of FIG. 20, when the deviation between the position of the vehicle body 2 and the travel route L is less than a predetermined value, the automatic steering control unit 40a maintains the rotation angle of the rotation shaft of the steering motor 38. When the deviation between the position of the vehicle body 2 and the travel route L is equal to or greater than the predetermined value and the working machine 1 is located on the left side of the travel route L, the automatic steering control unit 40a rotates the rotation shaft of the steering motor 38 so that the steering direction of the working machine 1 is to the right. When the deviation between the position of the vehicle body 2 and the travel route L is equal to or greater than the predetermined value and the working machine 1 is located on the right side of the travel route L, the automatic steering control unit 40a rotates the rotation shaft of the steering motor 38 so that the steering direction of the working machine 1 is to the left.

[0174] In the above-described embodiment, the steering angle of the steering device 23 was changed based on the deviation between the position of the vehicle body 2 and the travel route L. However, as shown in the lower diagram of FIG. 20, when the azimuth of the travel route L and the azimuth of the traveling direction (travel direction) of the working machine 1 (vehicle body 2) (the azimuth of the vehicle body 2) are different, that is, when the angle θg of the azimuth of the vehicle body 2 with respect to the travel route L is equal to or greater than a predetermined value, the automatic steering control unit 40a may set the steering angle so that the angle θg becomes zero (so that the azimuth of the vehicle body 2 coincides with the azimuth of the travel route L).

[0175] Further, the automatic steering control unit 40a may set the final steering angle in automatic steering based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the azimuth (azimuth deviation). The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.

[0176] In the above-described embodiment, the control device 40 of the working machine 1 has been described as being configured to control the automatic steering of the working machine 1. However, the control device 40 may be configured to control not only the automatic steering mechanism 37 but also the vehicle speed of the working machine 1.

[0177] As shown in FIG. 21, in the second modification, the control device 40 has an automatic travel control unit 40b that controls the automatic travel of the working machine 1. The automatic travel control unit 40b is composed of an electric / electronic circuit provided in the control device 40, a program stored in a CPU, etc. When starting the automatic travel, the automatic travel control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the working machine 1 travels along the travel route L. Further, when starting the automatic travel, the automatic travel control unit 40b controls the vehicle speed (travel speed) of the working machine 1 by automatically changing the gear stage of the transmission 11, the rotational speed of the prime mover 8, etc.

[0178] When the automatic driving control unit 40b starts automatic driving, it controls different driving speeds for the lane line La and the turning section Lb, respectively. For example, on the lane line La, the automatic driving control unit 40b sets the driving speed to speed α. On the other hand, in the turning section Lb, the automatic driving control unit 40b sets the driving speed to a speed β (β < α) slower than speed α. Note that the automatic driving control unit 40b may divide the lane line La into a plurality of sections and set different driving speeds for each section, and the control of the driving speed is not limited to the above configuration.

[0179] The automatic driving control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the work machine 1 travels along the travel route L by the same method as the above-described automatic steering control unit 40a.

[0180] The above-described work machine 1 includes a vehicle body 2, a first working device 60A attachable to the vehicle body 2, a traveling device 4 provided on the vehicle body 2, and a first acquisition unit 57h that acquires a plurality of non-travelable lines R1 extending from one end side to the other end side of the farm field G and formed at every first interval x. Based on the plurality of non-travelable lines R1 acquired by the first acquisition unit 57h, a route creation unit 57d creates a first route L1 including a plurality of first portions La1 that extend from one end side to the other end side of the farm field G and on which the vehicle body 2 travels. The traveling device 4 is arranged at a distance corresponding to the length of the first interval x. The route creation unit 57d includes a line definition unit 157a that defines, based on the plurality of non-travelable lines R1 acquired by the first acquisition unit 57h, an area other than the plurality of non-travelable lines R1 in the farm field G as a plurality of travelable lines R2, and a setting unit 157b that sets, based on the plurality of travelable lines R2 defined by the line definition unit 157a, a route on which the traveling device 4 travels on the plurality of travelable lines R2 as a plurality of first portions La1. According to the above configuration, since the work machine 1 can travel on the travelable lines R2 across the non-travelable lines R1, by the setting unit 157b setting the first portions La1 based on the plurality of travelable lines R2, the route creation unit 57d can create the first portions La1 on which the work machine 1 can travel without eroding the non-travelable lines R1. Thereby, the work machine 1 can efficiently perform work in the farm field G without traveling on the non-travelable lines R1.

[0181] Further, the traveling device 4 includes a first traveling unit 4L provided on the vehicle body 2, and a second traveling unit 4R provided on the vehicle body 2 so as to separate from the first traveling unit 4L and be located on another travelable line R2 when the first traveling unit 4L is located on one travelable line R2. The setting unit 157b extracts two travelable lines R2 from among the plurality of travelable lines R2, and sets a plurality of first portions La1 based on the two extracted travelable lines R2. According to the above configuration, the setting unit 157b can set the first portion La1 corresponding to the travelable line R2 on which the first traveling unit 4L travels and the travelable line R2 on which the second traveling unit 4R travels. Thereby, the setting unit 157b can more reliably prevent the first traveling unit 4L and the second traveling unit 4R from traveling on the non-travelable line R1.

[0182] Further, the work implement 1 includes a second acquisition unit 57e1 that acquires a second interval Wa that is the first working width Wa. The setting unit 157b sets a plurality of first portions La1 such that the interval between two adjacent section lines La is substantially the same as the second interval Wa based on the second interval Wa acquired by the second acquisition unit 57e1. According to the above configuration, when the work implement 1 travels on two adjacent section lines La respectively, the setting unit 157b can prevent the area where the first working device 60A performs work from separating or overlapping. For this reason, the work implement 1 can prevent the occurrence of a wasted non-working area E1 where the first working device 60A did not perform work and a duplicated working area E2 where the first working device 60A reworks an area where work has already been performed.

[0183] Further, the first acquisition unit 57h acquires, as a plurality of non-travelable lines R1, a plurality of working lines R1 on which work is performed at every first interval x from one end side to the other end side or from the other end side to the one end side of the farm field G. According to the above configuration, the work implement 1 traveling on the first portion La1 can perform work without eroding the plurality of working lines R1. Thereby, the work implement 1 can work more efficiently without disturbing the area where work has already been performed.

[0184] In addition, the plurality of working lines R1 acquired by the first acquisition unit 57h as a plurality of non-travelable lines R1 are ridge lines Ra subjected to ridging work, or crop lines Rb on which seeds of crops have been sown or planting work of crops has been performed. According to the above configuration, the working machine 1 traveling on the first portion La1 can perform work without damaging the ridges or the upper surfaces of the ridges, or damaging the sown seeds or the grown crops. Thereby, the working machine 1 can efficiently perform work while suppressing the interference with the growth of seeds and crops and the deterioration of the quality of crops by traveling on the first portion La1 and performing work.

[0185] In addition, the working machine 1 includes a route acquisition unit 57g that acquires a second route L2 when the vehicle body 2 performs work in the field G, a second working device 60B that can be attached to the vehicle body 2 and performs a second work before the first work performed by the first working device 60A, and a coupling device 30 that couples either the first working device 60A or the second working device 60B to the vehicle body 2. The coupling device 30 can couple the second working device 60B that performs a second work before the first work performed by the first working device 60A to the vehicle body 2. The second working device 60B can perform work every first interval x. The route acquisition unit 57g acquires, as the second route L2, a plurality of second portions La2 along which the vehicle body 2 coupled with the second working device 60B travels and extends from one end side to the other end side of the field G. The plurality of non-travelable lines R1 are a plurality of working lines R1 formed every first interval x when the vehicle body 2 travels along the plurality of second portions La2 and the second working device 60B performs the second work from one end side to the other end side, or from the other end side to one end side of the field G. The setting unit 157b sets a plurality of first portions La1 by shifting the second route L2 acquired by the route acquisition unit 57g based on the plurality of travelable lines R2 defined by the line definition unit 157a. According to the above configuration, the route creation unit 57d can create the first route L1 including the first portion La1 by changing the second route L2 when the working machine 1 performs the second work, so that the input of various information included in the second route L2 can be omitted, and the first portion La1 can be easily set. In addition, the work (first work) corresponding to the second work can be performed more accurately.

[0186] In addition, the working machine 1 is provided with a position detection device 50 that detects the position of the vehicle body 2, and a display device 55 that displays the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, it is possible to display the first route L1 (the first part La1) that can travel without eroding the non-drivable line R1. Therefore, the operator visually observes the first part La1 displayed on the display device 55, operates the working machine 1 while confirming the position of the vehicle body 2 and the first route L1, and makes the working machine 1 travel along the first part La1, so that the working machine 1 can efficiently perform work in the field G without traveling on the non-drivable line R1.

[0187] In addition, the working machine 1 is provided with an automatic steering control unit 40a that controls the steering of the traveling device 4 based on the position detection device 50 that detects the position of the vehicle body 2, the position of the vehicle body 2 detected by the position detection device 50, and the first route L1 created by the route creation unit 57d. According to the above configuration, without the operator steering the working machine 1, the automatic steering control unit 40a controls the steering and makes the working machine 1 travel along the first route L1 (the first part La1), so that the working machine 1 can efficiently perform work in the field G without traveling on the non-drivable line R1. Therefore, the workability of the working machine 1 can be further improved.

[0188] In addition, the working machine 1 is provided with an automatic driving control unit 40b that controls the steering and vehicle speed of the traveling device 4 based on the position detection device 50 that detects the position of the vehicle body 2, the position of the vehicle body 2 detected by the position detection device 50, and the first route L1 created by the route creation unit 57d. According to the above configuration, without the operator operating the steering and vehicle speed of the working machine 1, the automatic driving control unit 40b controls the steering and vehicle speed and makes the working machine 1 travel along the first route L1 (the first part La1), so that the working machine 1 can efficiently perform work in the field G without traveling on the non-drivable line R1. Therefore, the workability of the working machine 1 can be further improved.

[0189] Further, the work machine 1 described above includes a vehicle body 2, a first working device 60A that can be attached to the vehicle body 2 and performs a first operation, a traveling device 4 provided on the vehicle body 2, a first operation acquisition unit 57e that acquires first information of the first working device 60A, a second operation acquisition unit 57f that acquires second information of a second working device 60B that performs a second operation which is an operation before the first operation, a route acquisition unit 57g that acquires a second route L2 which is a route of the second operation, and a route creation unit 57d that creates a first route L1 which is a route of the first operation, extends from one end side to the other end side of the farm field G, and includes a plurality of first portions La1 arranged at intervals from each other. The route acquisition unit 57g acquires, as the second route L2, a plurality of second portions La2 that extend from one end side to the other end side of the farm field G and are arranged at intervals from each other. The route creation unit 57d creates the plurality of first portions La1 by shifting the plurality of second portions La2 in a direction orthogonal to the plurality of second portions La2 based on the first information acquired by the first operation acquisition unit 57e and the second information acquired by the second operation acquisition unit 57f. According to the above configuration, the route creation unit 57d can create the first route L1 including the first portions La1 by shifting the second portions La2 which are the routes in the case of performing the second operation, that is, by changing the second route L2. Therefore, it is possible to omit the input of various information included in the second route L2, and it is possible to easily create the first route L1 (the first portions La1). Further, it is possible to perform the operation (the first operation) corresponding to the second operation more accurately.

[0190] Further, the plurality of first portions La1 are arranged at equal intervals, and the plurality of second portions La2 are arranged at equal intervals with an interval different from the interval of the plurality of first portions. According to the above configuration, it is possible to suppress the occurrence of an unworked area E1 and an overlapping work area E2 in both cases of the first operation and the second operation.

[0191] In addition, the first operation acquisition unit 57e acquires the first working width Wa of the first working device 60A as the first information, the second operation acquisition unit 57f acquires the second working width Wb of the second working device 60B as the second information, and the route creation unit 57d creates the first part La1 by shifting each of the plurality of second parts La2 based on the difference between the first working width Wa acquired by the first operation acquisition unit 57e and the second working width Wb acquired by the second operation acquisition unit 57f. According to the above configuration, when creating the first part La1 by shifting the second part La2, the route creation unit 57d can arrange the first part La1 at a position corresponding to the first working width Wa. That is, when the working machine 1 travels the first part La1, it is possible to avoid the area where the first working device 60A performs work from being separated or overlapping. For this reason, when the working machine 1 travels the first part La1, it is possible to suppress the occurrence of an unworked area E1 where the first working device 60A has not performed work and a duplicate working area E2 where the first working device 60A has already performed work and needs to be worked again.

[0192] In addition, the route creation unit 57d creates the first part La1 by shifting each of the second parts La2 by only the product of the difference between the first working width Wa acquired by the first operation acquisition unit 57e and the second working width Wb acquired by the second operation acquisition unit 57f and a natural multiple of 1 / 2. According to the above configuration, the working machine 1 can surely and simply suppress the occurrence of the unworked area E1 of the first working device 60A and the duplicate working area E2 of the first working device 60A.

[0193] Further, the first working device 60A has a single or a plurality of first working parts 61a1 arranged at every first interval x in the width direction, the second working device 60B has a single or a plurality of second working parts 61a2 arranged at every first interval x in the width direction, the first working acquisition part 57e acquires the number c1 of the first working parts 61a1 as first information, the second working acquisition part 57f acquires the number c2 of the second working parts 61a2 as second information, and the route creation part 57d creates a plurality of first parts La1 by shifting each of the plurality of second parts La2 based on the difference between the number c1 of the first working parts 61a1 acquired by the first working acquisition part 57e and the number c2 of the second working parts 61a2 acquired by the second working acquisition part 57f, and the first interval x. According to the above configuration, when creating the first part La1 by shifting the second part La2, the route creation part 57d can arrange the first part La1 at a position corresponding to the first working part 61a1 and the second working part 61a2. That is, by traveling the first part La1, the working machine 1 can surely perform work at a position where the first working part 61a1 is relative to the position where the second working part 61a2 performs work. Thereby, when the working machine 1 travels the first part La1, it is possible to avoid the area where the first working device 60A performs work from being separated or overlapping.

[0194] Further, the route creation part 57d creates a plurality of first parts La1 by shifting each of the plurality of second parts La2 by the product of the difference between the number c1 of the first working parts 61a1 acquired by the first working acquisition part 57e and the number c2 of the second working parts 61a2 acquired by the second working acquisition part 57f, the first interval x, and a natural number multiple of 1 / 2. According to the above configuration, the working machine 1 can surely and simply suppress the occurrence of the non-working area E1 of the first working device 60A and the overlapping working area E2 of the first working device 60A.

[0195] Further, the first work acquisition unit 57e acquires the first work width Wa of the first work device 60A as the first information. The route creation unit 57d creates the second route L2 based on the first work width Wa, and the route acquisition unit 57g acquires the second route L2 created by the route creation unit 57d. According to the above configuration, when the work machine 1 travels along the second route L2, it is possible to prevent the occurrence of an unworked area E1 where the second work device 60B has not performed work or a duplicate work area E2 where the second work device 60B has already performed work and needs to be worked on again. The route creation unit 57d can easily create the first route L1 with high work efficiency based on the second route L2 with high work efficiency.

[0196] Further, the work machine 1 includes a position detection device 50 that detects the position of the vehicle body 2. When the vehicle body 2 to which the second work device 60B is connected moves, the route acquisition unit 57g acquires the second route L2 based on the position of the vehicle body 2 acquired by the position detection device 50. According to the above configuration, when performing the second work, the second route L2 can be created, and the work machine 1 can easily and efficiently acquire the second route L2.

[0197] Further, the work machine 1 includes a position detection device 50 that detects the position of the vehicle body 2, a display device 55 that displays the position of the vehicle body 2 detected by the position detection device 50, and the first route L1 created by the route creation unit 57d. According to the above configuration, the operator can visually observe the first portion La1 displayed on the display device 55, operate the work machine 1 while confirming the position of the vehicle body 2 and the first route L1, and make the work machine 1 travel along the first portion La1, thereby efficiently performing work in the field G.

[0198] Further, the working machine 1 includes a position detection device 50 that detects the position of the vehicle body 2, and an automatic steering control unit 40a that controls the steering of the traveling device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, without the operator steering the working machine 1, the automatic steering control unit 40a controls the steering, and the working machine 1 travels along the first route L1 (the first part La1), so that work can be efficiently performed in the field G. Therefore, the workability of the working machine 1 can be further improved.

[0199] Further, the working machine 1 includes a position detection device 50 that detects the position of the vehicle body 2, and an automatic driving control unit 40b that controls the steering and vehicle speed of the traveling device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, without the operator operating the steering and vehicle speed of the working machine 1, the automatic driving control unit 40b controls the steering and vehicle speed, and the working machine 1 travels along the first route L1 (the first part La1), so that work can be efficiently performed in the field G. Therefore, the workability of the working machine 1 can be further improved.

[0200] The working machine also includes a coupling device 30 that can select the first working device 60A and the second working device 60B and couple them to the vehicle body 2. The first route L1 is the route along which the vehicle body 2 equipped with the first working device 60A travels via the coupling device 30, and the second route L2 is the route along which the vehicle body 2 equipped with the second working device 60B travels via the coupling device 30. According to the above configuration, when performing the first work and the second work with the same vehicle body 2, the first route L1 is created by utilizing the second route L2 as described above, and the vehicle body 2 travels along the first route L1 to perform the first work, so that the work can be performed more appropriately.

[0201] As described above, the present invention has been explained. However, it should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims are included.

[0202] For example, in the above-described embodiment, the case where the number of working units 61a of the first type of device 61 is even has been described. However, the present invention is also applicable to the case where the number of working units 61a of the first type of device 61 is odd. In such a case, when both the first working device 60A and the second working device 60B are the first type of device 61, it can be applied when both the first working unit 61a1 and the second working unit 61a2 are unified as odd numbers.

[0203] For example, in the above-described embodiment, the working line R1 has been described as an example of a non-travelable line R1. However, the non-travelable line R1 may be an area where the traveling device 4 (the first traveling unit 4L, the second traveling unit 4R) cannot enter, and extends from one end side to the other end side (the first direction B1) of the field G, and is formed at every first interval x. For example, it may be a groove or the like and is not limited to the working line R1.

Explanation of Signs

[0204] 1 Working machine 2 Vehicle body 4 Traveling device 30 Connecting device 40a Automatic steering control unit 40b Automatic traveling control unit 50 Position detection device 55 Display device 57d Route creation unit 57e First work acquisition unit 57f Second work acquisition unit 57g Route acquisition unit 60A First working device 60B Second working device 61a1 First working unit 61a2 Second working unit E1 Unworked area E2 Duplicate working area G Field La1 First part La2 Second part L1 First route L2 Second route Wa First working width (second interval) Wb Second working width x First interval

Claims

1. A vehicle body, A first working device that can be attached to the vehicle body and performs a first operation, A traveling device provided on the vehicle body, A first operation acquisition unit that acquires first information of the first working device, A second operation acquisition unit that acquires second information of a second working device that performs a second operation which is an operation before the first operation, A route acquisition unit that acquires a second route which is a route of the second operation, A route creation unit that creates a first route which is a route of the first operation, extends from one end side to the other end side of a farm field, and includes a plurality of first portions arranged at intervals from each other, A connection device that can select the first working device and the second working device and connect them to the vehicle body, and is provided with, The first route is a route along which the vehicle body with the first working device attached via the connection device travels, The second route is a route along which the vehicle body with the second working device attached via the connection device travels, The route acquisition unit acquires, as the second route, a plurality of second portions that extend from the one end side to the other end side of the farm field and are arranged at intervals from each other, The route creation unit creates the plurality of first portions by shifting the plurality of second portions in a direction orthogonal to the plurality of second portions based on the first information acquired by the first operation acquisition unit and the second information acquired by the second operation acquisition unit.

2. The plurality of first portions are arranged at equal intervals, The plurality of second portions have an interval different from the interval of the plurality of first portions and are arranged at equal intervals. The working machine according to claim 1.

3. The first operation acquisition unit acquires a first operation width of the first working device as the first information, The second operation acquisition unit acquires a second operation width of the second working device as the second information, The route creation unit creates the first part by shifting each of the plurality of second parts by the difference between the first working width acquired by the first work acquisition unit and the second working width acquired by the second work acquisition unit. The working machine according to claim 1 or 2.

4. The route creation unit creates the first part by shifting each of the plurality of second parts by the product of the difference between the first working width acquired by the first work acquisition unit and the second working width acquired by the second work acquisition unit, and a natural number multiple of 1 / 2. The working machine according to claim 3.

5. The first working device has a single or a plurality of first working parts arranged at first intervals in the width direction. The second working device has a single or a plurality of second working parts arranged at the first intervals in the width direction. The first work acquisition unit acquires the number of the first working parts as the first information. The second work acquisition unit acquires the number of the second working parts as the second information. The route creation unit creates the plurality of first parts by shifting each of the plurality of second parts based on the difference between the number of the first working parts acquired by the first work acquisition unit and the number of the second working parts acquired by the second work acquisition unit, and the first interval. The working machine according to claim 1 or 2.

6. The route creation unit creates the plurality of first parts by shifting each of the plurality of second parts by the product of the difference between the number of the first working parts acquired by the first work acquisition unit and the number of the second working parts acquired by the second work acquisition unit, the first interval, and a natural number multiple of 1 / 2. The working machine according to claim 5.

7. The first work acquisition unit acquires the first working width of the first working device as the first information. The route creation unit creates the second route based on the first working width. The working machine according to any one of claims 1 to 6, wherein the route acquisition unit acquires the second route created by the route creation unit.

8. comprising a position detection device for detecting the position of the vehicle body, The working machine according to claim 7, wherein the route acquisition unit acquires the second route based on the position of the vehicle body acquired by the position detection device when the vehicle body to which the second working device is connected moves.

9. a position detection device for detecting the position of the vehicle body, The working machine according to any one of claims 1 to 8, further comprising a display device for displaying the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

10. a position detection device for detecting the position of the vehicle body, The working machine according to any one of claims 1 to 8, further comprising an automatic steering control unit for controlling the steering of the traveling device based on the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

11. a position detection device for detecting the position of the vehicle body, The working machine according to any one of claims 1 to 8, further comprising an automatic driving control unit for controlling the steering and vehicle speed of the traveling device based on the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

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