Agricultural Machinery Travel Line Creation System

Abstract

This travel line creation system (S) for an agricultural machine (1) comprises: a position acquisition unit (52a) that can acquire a plurality of positioning points (Pk) of the agricultural machine (1); a display device (50); a first generation unit (52e) that plots the plurality of positioning points (Pk) on a field (F) displayed by the display device (50), and generates a plurality of creation points (QnK) in the field (F) by shifting the plurality of positioning points (Pk) toward the inside of farmland (H); a second generation unit (52f) that creates a circumnavigational travel line (L) that traverses the plurality of creation points (QnK), and calculates a plurality of virtual lines (VLni) by connecting the adjacent creation points (QnK); and a setting unit (52g) that extracts a pair of virtual lines (VLni-1, VLni) adjacent to each other and having different extension directions, and sets a creation point (QnK) common to the pair of extracted virtual lines (VLni-1, VLni) as a work point (Rn) related to the division of work by a work device (2).

Description

Technical Field

[0001] The present invention relates to a travel line creation system for agricultural machines such as tractors.

Background Art

[0002] Conventionally, as disclosed in Patent Document 1, when an agricultural machine equipped with a transplanting machine as a working device performs transplanting work in a field, after reciprocatingly planting and traveling inside the field while leaving the headlands of the field, it travels around the remaining headlands for circular planting.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, depending on the positional relationship between the work start point where the transplanting machine starts the transplanting work, the work end point where the work is completed, etc., and the entrance / exit of the field, when the agricultural machine finishes the circular planting travel and moves outside the field or to another place, there is a risk of traveling through a place where the transplanting work has already been completed. The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a travel line creation system for an agricultural machine that can avoid traveling through a place where work has already been done when the agricultural machine travels along a circular travel line in a field to perform work and moves outside the field or to another place, etc.

Means for Solving the Problems

[0005] The traveling line creation system for an agricultural machine according to one aspect of the present invention includes a position acquisition unit capable of acquiring a plurality of measurement points when an agricultural machine capable of mounting a working device circulates in a field, a display device capable of displaying a field indicating the field, a first generation unit that associates a plurality of measurement points on the field displayed by the display device and generates a plurality of creation points on the field by shifting the plurality of measurement points in the direction inside the field, a second generation unit that creates a circular traveling line passing through the plurality of creation points generated by the first generation unit and calculates a plurality of virtual lines by connecting adjacent creation points among the plurality of creation points on the traveling line, a setting unit that extracts a pair of virtual lines that are adjacent and have different extension directions among the plurality of virtual lines generated by the second generation unit, and sets a creation point common to the extracted pair of virtual lines as a working point related to the division of work in the working device.

[0006] Further, when there are a plurality of pairs of virtual lines, the setting unit , multiple extracts a predetermined pair of virtual lines among the plurality of pairs of virtual lines whose angle of the pair of virtual lines is equal to or greater than a determination value, and sets a creation point common to the extracted predetermined pair of virtual lines as a working point. Further, when there are a plurality of candidates for the working point, the setting unit extracts a predetermined pair of virtual lines among the plurality of pairs of virtual lines extracted, the formed interior angle of which is less than 180 degrees, and sets a creation point common to the extracted predetermined pair of virtual lines as a working point.

[0007] Further, when there are a plurality of candidates for the working point, the setting unit , multiple sets the candidate closest to the entrance and exit of the field among the plurality of candidates as the working point. Further, the second generation unit sets a headland working line for performing work on the headland of the field as the traveling line. Further, setting unit sets any one of a work start point, a work end point, a temporary stop point, and a work preparation point in the working device as the working point.

[0008] Further, the second generation unit generates a plurality of adjacent paths from the central part of the field toward the outside as the travel line, and the setting unit sets work points at different positions in the extension direction of each of the adjacent paths. Further, the agricultural machine is provided with the travel line creation system for the agricultural machine described above.

Effect of the Invention

[0009] According to the travel line creation system for the agricultural machine, when the agricultural machine travels along the travel line around the field to perform work and moves outside the field or to another place, etc., it is possible to avoid traveling through the places where work has already been done.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

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Figure 5A

Figure 5B

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Figure 6A

Figure 6B

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Figure 13

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 shows a block diagram of a travel line creation system S for creating a travel line L along which an agricultural machine 1 travels when the agricultural machine 1 makes a round trip and performs work in a field H. The travel line creation system S creates a travel line L that allows the agricultural machine 1 to perform work in the field H and move to the outside of the field H, another location, etc., while avoiding traveling to the places where work has already been done.

[0012] First, the agricultural machine 1 will be described. The agricultural machine 1 can be equipped with a working device 2 and is, for example, a tractor, a rice transplanter, etc. as shown in FIG. 13. Hereinafter, the tractor will be described as an example of the agricultural machine 1. As shown in FIG. 13, the tractor 1 includes a traveling vehicle 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. Also, the rear wheels 7R may be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, etc. The transmission 5 can switch the driving force of the traveling device 7 by shifting gears and can also switch the forward and backward movement of the traveling device 7. A cabin 9 is provided in the traveling vehicle 3, and a driver's seat 10 is provided inside the cabin 9.

[0013] Further, as shown in FIG. 13, a lifting device 8 composed of a three-point link mechanism or the like is provided at the rear of the traveling vehicle 3. The working device 2 is detachable from the lifting device 8. By connecting the working device 2 to the lifting device 8, the traveling vehicle 3 can tow the working device 2. The working device 2 includes a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a mowing device for mowing grass or the like, a spreading device for spreading grass or the like, a grass collecting device for collecting grass or the like, a shaping device for shaping grass or the like, and the like.

[0014] As shown in FIG. 1, the tractor 1 is equipped with a steering device 11. The steering device 11 has a steering wheel (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates as the steering wheel 11a rotates, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which the hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. Also, the control valve 22 can be switched by the steering of the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.

[0015] Therefore, by operating the steering wheel 11a, the switching position and opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 expands and contracts to the left or right according to the switching position and opening degree of the control valve 22, so that the steering direction of the front wheel 7F can be changed. Note that the above steering device 11 is an example and is not limited to the above-described configuration. As shown in Fig. 2, the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported so as to be swingable upward or downward at the upper rear part of the case (transmission case) that houses the transmission 5. The lift arm 8a swings (lifts and lowers) by the drive of the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve. The control valve is an electromagnetic valve or the like and expands and contracts the lift cylinder 8e.

[0016] The front end of the lower link 8b is supported so as to be swingable upward or downward at the lower rear part of the transmission 5. The front end of the top link 8c is supported so as to be swingable upward or downward at the rear part of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear parts of the lower link 8b and the top link 8c. When the lift cylinder 8e is driven (expands and contracts), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the working device 2 swings (lifts and lowers) upward or downward with the front part of the lower link 8b as a fulcrum.

[0017] As shown in FIG. 1, the tractor 1 is provided with a positioning device 40. The positioning device 40 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, or QZSS. That is, the positioning device 40 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signals, detects the position of the tractor 1 (for example, latitude and longitude), that is, the vehicle body position VP. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 has an antenna or the like and is a device that receives satellite signals transmitted from the positioning satellite, and is attached to the traveling vehicle 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to the traveling vehicle 3, that is, the cabin 9. Note that the attachment location of the receiving device 41 is not limited to the above-described embodiment.

[0018] The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. It is provided below the traveling vehicle 3, for example, below the driver's seat 10, and the inertial measurement unit 42 can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle 3. As shown in FIG. 1, the tractor 1 is provided with a control device 60. The control device 60 is a device that controls the traveling system, the working system, etc. in the tractor 1.

[0019] The control device 60 has an automatic driving control unit 61 that controls the automatic driving of the tractor 1. The automatic driving control unit 61 is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, etc. When starting the automatic driving, the automatic driving control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along a preset traveling route L. Further, when starting the automatic driving, the automatic driving control unit 61 controls the speed (vehicle speed) of the tractor 1 by automatically changing the gear stage of the transmission 5, the rotation speed of the prime mover 4, etc.

[0020] As shown in FIG. 3, when the deviation between the vehicle body position VP and the planned travel route L is less than the threshold value in the situation where the tractor 1 is performing automatic driving, the automatic driving control unit 61 maintains the rotation angle of the steering shaft (rotation shaft) 11b. When the deviation between the vehicle body position VP and the planned travel route L is greater than or equal to the threshold value and the tractor 1 is located on the left side of the planned travel route L, the automatic driving control unit 61 rotates the steering shaft 11b so that the steering direction of the tractor 1 becomes the right direction. When the deviation between the vehicle body position VP and the planned travel route L is greater than or equal to the threshold value and the tractor 1 is located on the right side of the planned travel route L, the automatic driving control unit 61 rotates the steering shaft 11b so that the steering direction of the tractor 1 becomes the left direction.

[0021] In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position VP and the planned travel route L. However, when the azimuth of the planned travel route L and the azimuth (vehicle body azimuth) F1 of the traveling direction (travel direction) of the tractor 1 (traveling vehicle 3) are different, that is, when the angle θg of the vehicle body azimuth F1 with respect to the planned travel route L is greater than or equal to the threshold value, the automatic driving control unit 61 may set the steering angle so that the angle θg becomes zero (the vehicle body azimuth F1 coincides with the azimuth of the planned travel route L). Further, the automatic driving control unit 61 may set the final steering angle in automatic steering based on the steering angle obtained based on the position (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.

[0022] As described above, the control device 60 can automatically drive the tractor 1 (traveling vehicle 3). In addition, the control device 60 can perform manual lifting control, automatic lifting control, etc. In the manual lifting control, it is the control for lifting and lowering the working device 2 by the lifting device 8 based on the operation of the lifting switch 72 connected to the control device 60. Specifically, the lifting switch 72 is provided around the driver's seat 10 and is a three-position changeover switch. When the lifting switch 72 is switched from the neutral position to one side, an ascending signal for raising the lifting device 8 (lift arm 8a) is input to the control device 60. Also, when the lifting switch 72 is switched from the neutral position to the other side, a descending signal for lowering the lifting device 8 (lift arm 8a) is input to the control device 60. The control device 60 outputs a control signal to the control valve when acquiring the ascending signal to raise the lifting device 8, and outputs a control signal to the control valve when acquiring the descending signal to lower the lifting device 8. That is, the control device 60 can perform manual lifting control for raising and lowering the lifting device 8 according to the manual operation of the lifting switch 72.

[0023] Also, in the automatic lifting control, when the steering angle of the steering device 11 is a predetermined value or more, for example, the steering angle corresponding to turning, it is the control for raising the working device 2 by automatically operating the lifting device 8. Specifically, a steering angle detection device 70 and a changeover switch 71 are connected to the control device 60. The steering angle detection device 70 is a device that detects the steering angle of the steering device 11. The changeover switch 71 is a switch for switching the enable / disable of the automatic lifting control and is a switch that can be switched between ON / OFF. When the changeover switch 71 is ON, the automatic lifting control is set to be enabled, and when the changeover switch 71 is OFF, the automatic lifting control is set to be disabled.

[0024] When the automatic lifting control is enabled and the steering angle detected by the steering angle detection device 70 is a steering angle corresponding to turning or more, the control device 60 performs automatic lifting control for automatically raising the lifting device 8 by outputting a control signal to the control valve. As described above, the control device 60 can perform controls related to the tractor 1, such as manual lifting control and automatic lifting control.

[0025] As shown in FIG. 1, the travel line creation system S of the agricultural machine 1 includes a display device 50, a position acquisition unit 52a, a field registration unit 52b, and a field acquisition unit 52c. The display device 50 is a travel support device provided near the driver's seat 10. The display device 50 includes a display unit 51, a display control unit 52, and a storage unit 53. The display unit 51 is composed of any one of a liquid crystal panel, a touch panel, and other panels, and can display a field F indicating the field H. In addition to information for supporting the travel of the tractor 1, the display unit 51 can display various information regarding the tractor 1 and the working device 2. The display control unit 52 is composed of electrical and electronic components provided in the display device 50, programs stored in the storage unit 53 described later, and the like. The display control unit 52 causes the display unit 51 to display a screen in which the information stored in the storage unit 53 is visualized. The storage unit 53 is composed of a non-volatile memory or the like, and stores various information regarding the tractor 1 and the working device 2. Further, the display device 50 is communicably connected to the devices of the agricultural machine 1 by wire or wirelessly, and can transmit and receive information to and from each other. Specifically, for example, the display control unit 52 of the display device 50 and the control device 60 of the working machine are communicably connected.

[0026] As shown in FIG. 1, the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c are composed of electrical and electronic components, programs incorporated in the display device 50, and the like. In the present embodiment, the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c are shared by the display control unit 52 of the display device 50. In the present embodiment, although the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c are shared by the display control unit 52 of the display device 50, the position acquisition unit 52a, the field registration unit 52b, and the field acquisition unit 52c may be possessed by an external server or the like that can communicate with the display device 50, and the configuration is not limited to the above configuration.

[0027] The position acquisition unit 52a acquires a plurality of measurement points Pk (k: each measurement point, k = 1, 2, 3 ··· k) when the tractor 1 circles the field H. Specifically, the position acquisition unit 52a acquires a plurality of measurement points Pk when the tractor 1 circles the field H based on the position of the tractor 1 (vehicle body position VP) detected by the positioning device 40. In the present embodiment, the position acquisition unit 52a can acquire the vehicle body position VP including a plurality of measurement points Pk when the tractor 1 circles the field H. Note that the position acquisition unit 52a only needs to be able to acquire a plurality of measurement points Pk, and may be configured to acquire the position information of the plurality of measurement points Pk from a storage device such as a memory that stores the position information of the plurality of measurement points Pk in advance, and the acquisition method is not limited to the method described above.

[0028] Also, in the present embodiment, the position acquisition unit 52a can acquire the position of the entrance / exit I of the field H as a measurement point Pk based on the vehicle body position VP detected by the positioning device 40. For example, when the operator operates the display device 50 while the tractor 1 is circling the field H, the position acquisition unit 52a associates the vehicle body position VP acquired at that position as the measurement point Pk of the entrance / exit I of the field H, and acquires the measurement point Pk of the entrance / exit I of the field H. Note that the position acquisition unit 52a only needs to be able to acquire the position of the entrance / exit I of the field H, and may be configured to acquire the position information of the entrance / exit I from a storage device such as a memory that stores the position information of the entrance / exit I in advance, or to operate the display device 50 to specify an arbitrary position on the field F displayed on the display unit 51 as the entrance / exit I, and the acquisition method is not limited to the method described above.

[0029] The field registration unit 52b registers the contour E of a predetermined farm field H as the field F displayed on the display unit 51, for example, the position corresponding to the contour E of the predetermined farm field H. As shown in FIG. 4, when an operator (driver) performs a predetermined operation on the display device 50, the display control unit 52 displays a field registration screen M1 on the display unit 51. On the field registration screen M1, a field display unit 100 showing the field F including the farm field H and the vehicle position VP of the tractor 1, and an information display unit 101 showing field identification information such as the farm field name and the farm field management number are displayed. In the field F, in addition to the image data showing the farm field H, position information such as latitude and longitude is associated. When the tractor 1 enters the farm field H and travels around the farm field H, the display control unit 52 displays the current vehicle position VP when the tractor 1 travels around on the field registration screen M1 based on the position information acquired by the position acquisition unit 52a from the positioning device 40.

[0030] When the travel around the farm field H by the tractor 1 is completed and the registration button 102 displayed on the field registration screen M1 is selected, as shown in FIG. 5A, the field registration unit 52b creates the contour (outer shape) E of the farm field H based on the travel locus T obtained from the position information (vehicle position VP) of a plurality of measurement points Pk acquired by the position acquisition unit 52a, and registers the field F represented by the contour E together with the field identification information. Specifically, the storage unit 53 stores the field F showing the contour (outer shape) E registered by the field registration unit 52b. That is, the storage unit 53 stores the data showing the field F and the contour E of the farm field H (data for representing the predetermined farm field H).

[0031] Note that, as shown in FIG. 5B, the field registration unit 52b may calculate inflection points from the travel locus T indicated by the vehicle body position VP and register the contour E connecting the inflection points as the field F of the farm field H. Alternatively, as shown in FIG. 5C, when the tractor 1 makes a turn, the driver or the like may specify the end of the farm field H by a switch or the like provided on the tractor 1 and register the contour E based on the specified end as the field F. Further, the field registration unit 52b may be configured to obtain the information of the field F including the farm field H from a storage device such as a memory storing the information of the field F and register the farm field H. The above-described method of registering the farm field H is merely an example and is not limited. The contour E of the farm field H, that is, the field F may be data indicated by a position (latitude, longitude), data indicated by a coordinate (X-axis, Y-axis) system, or data indicated by other expressions.

[0032] As described above, the display device 50 can register a plurality of fields F by the field registration unit 52b. The field acquisition unit 52c acquires the field F indicating a predetermined farm field H among the plurality of fields F when performing work or the like. When an operator (driver) performs a predetermined operation on the display device 50, the field acquisition unit 52c displays a predetermined field selection screen (not shown) on the display unit 51 of the display device 50. On the field selection screen, a map of the farm field H stored in the storage unit 53 is displayed, or a list of the farm fields H is displayed. When an operator (driver) performs a predetermined operation on the display device 50, for example, one farm field H can be selected from among the plurality of farm fields H displayed on the field selection screen. When one farm field H is selected, the field acquisition unit 52c refers to the storage unit 53 and acquires the field F corresponding to the selected farm field H.

[0033] The travel line creation system S of the agricultural machine 1 can create a travel line L for the agricultural machine 1 to circle around the field H. In this embodiment, the agricultural machine 1 automatically travels along the travel line L as a planned travel route. Note that in this embodiment, the travel line L may be any route for the agricultural machine 1 to circle around the field H, and the agricultural machine 1 may manually travel along the travel line L.

[0034] Specifically, as shown in FIG. 6A, the travel line creation system S of the agricultural machine 1 sets a headland operation line Ln (n: number of headlands [number of circles], n = 1, 2, 3 ··· n) for performing operations on the headland (headland area A1) of the field H as the travel line L for circling. The travel line creation system S of the agricultural machine 1 only needs to create at least the travel line L when the agricultural machine 1 circles around the field H. In this embodiment, in addition to the circular line (headland operation line) L1 which is the travel line L for circling the field H, the travel line creation system S of the agricultural machine 1 can create an inner line LU which is the travel line L in the inner area A2 of the headland area A1.

[0035] Also, as shown in FIG. 6A, the travel line creation system S of the agricultural machine 1 creates a plurality of unit working sections A3, A4 in the field H that correspond to the travel line L (circular line Ln and inner line LU) and have the same width as the working width W1. Note that, as shown in FIG. 6B, the travel line creation system S of the agricultural machine 1 may create a plurality of unit working sections A3, A4 with a width obtained by removing the overlap widths W2, W3 from the working width W1 in the inner area A2. In such a case, as the unit working sections A3, A4 corresponding to the circular line Ln, the travel line creation system S of the agricultural machine 1 creates a plurality of first working sections A3 with a width obtained by removing the first overlap width W2 from the working width W1 in the headland area A1. Also, as the unit working sections A3, A4 corresponding to the inner line LU, the travel line creation system S of the agricultural machine 1 creates a plurality of second working sections A4 with a width obtained by removing the second overlap width W3 from the working width W1 in the inner area A2.

[0036] As shown in FIG. 6A, the circumferential line Ln is a traveling line along which the agricultural machine 1 travels in the headland area A1, and the number of routes corresponds to the number of headlands (number of headlands) formed in the field H. That is, when the number of headlands is 4, the routes of the circumferential line Ln are four adjacent routes from the central part of the field F toward the outside as shown in FIG. 6A. When the number of headlands is 5, the routes of the circumferential line Ln are five adjacent routes from the central part of the field F toward the outside.

[0037] In the following description, regarding the circumferential line Ln, it will be described in order as the first circumferential line L1, the second circumferential line L2, the third circumferential line L3... the nth circumferential line Ln (n = 1, 2, 3... n) from the outermost circumferential line Ln to the inner circumferential line Ln. In FIG. 6A, the overlapping part of the inner line LU in the fourth circumferential line L4 is omitted.

[0038] As shown in FIG. 6A, the inner line LU includes, for example, a straight part LU1 connecting both longitudinal ends of the inner area A2 and a turning part LU2 connecting adjacent straight parts LU1. That is, the agricultural machine 1 traveling on the inner line LU reciprocates between one end side and the other end side of the inner area A2 and turns at the turning part LU2 to move from one straight part LU1 to the adjacent other straight part LU1.

[0039] As shown in FIG. 1, the traveling line creation system S of the agricultural machine 1 includes a setting acquisition unit 52d, a first generation unit 52e, a second generation unit 52f, a setting unit 52g, a third generation unit 52h, and a fourth generation unit 52i. The setting acquisition unit 52d, the first generation unit 52e, the second generation unit 52f, the setting unit 52g, the third generation unit 52h, and the fourth generation unit 52i are composed of electrical and electronic components, programs incorporated in the display device 50, and the like. In the present embodiment, the setting acquisition unit 52d, the first generation unit 52e, the second generation unit 52f, the setting unit 52g, the third generation unit 52h, and the fourth generation unit 52i are also used by the display control unit 52 of the display device 50.

[0040] In addition, in the present embodiment, the setting acquisition unit 52d, the first generation unit 52e, the second generation unit 52f, the setting unit 52g, the third generation unit 52h, and the fourth generation unit 52i are shared by the display control unit 52 of the display device 50. However, the setting acquisition unit 52d, the first generation unit 52e, the second generation unit 52f, the setting unit 52g, the third generation unit 52h, and the fourth generation unit 52i may be provided in an external server or the like that can communicate with the display device 50, and their configurations are not limited to the above configuration.

[0041] The setting acquisition unit 52d acquires setting information related to the creation of the travel line L. When an operator (driver) performs a predetermined operation on the display device 50, as shown in FIG. 7, the display control unit 52 displays a setting screen M2. The setting screen M2 includes a headland number input unit 110, a first width input unit 111, a second width input unit 112, a third width input unit 113, and a route display unit 114. The headland number input unit 110 accepts the input of the headland number. In the example shown in FIGS. 6A and 7, the headland number is "4", and four paths are formed as the loop line Ln.

[0042] The first width input unit 111 accepts the input of the working width W1 of the working device 2. The working width W1 is the width (working execution width) of the working device 2 for working on the ground such as the field H. The second width input unit 112 accepts the input of the overlap width (first overlap width) W2, which is the width overlapping with the first working section A3 adjacent in the loop line Ln. The third width input unit 113 accepts the input of the overlap width (second overlap width) W3, which is the width overlapping with the second working section A4 adjacent in the inner line LU.

[0043] The field F acquired by the field acquisition unit 52c is displayed on the route display unit 114. Further, the route display unit 114 can display the created travel line L on the field F. In addition, in the present embodiment, the setting acquisition unit 52d acquires the information input on the setting screen M2 and acquires the setting information related to the creation of the travel line L. However, the setting acquisition unit 52d may acquire the information stored in advance in the storage unit 53, and the acquisition source is not limited to the above configuration.

[0044] The first generation unit 52e associates a plurality of measurement points Pk with the field F displayed by the display device 50. Also, as shown in FIG. 8, the first generation unit 52e generates a plurality of creation points Qnk (n: number of headlands [number of laps], n = 1, 2, 3 ··· n, k: each creation point, k = 1, 2, 3 ··· k) in the field F by shifting the plurality of measurement points Pk in the inward direction of the farmland H. The first generation unit 52e generates a plurality of creation points Qnk based on the plurality of measurement points Pk acquired by the position acquisition unit 52a. In the present embodiment, the plurality of creation points Qnk includes the plurality of measurement points Pk and the plurality of creation points Qnk obtained by shifting the plurality of measurement points Pk.

[0045] The plurality of creation points Qnk are points passing through the path of the circumferential line Ln. For example, when creating the first working section A3 based on the working width W1 as shown in FIG. 6A, the first generation unit 52e generates a plurality of creation points Qnk according to the number of headlands acquired by the setting acquisition unit 52d and the shift width based on the working width W1 (shift width = working width W1). As shown in FIG. 6B, when creating the first working section A3 with a width obtained by subtracting the overlap width W2 from the working width W1, the first generation unit 52e generates a plurality of creation points Qnk according to the number of headlands acquired by the setting acquisition unit 52d and the shift width based on the difference between the working width W1 and the first overlap width W2 (shift width = working width W1 - first overlap width W2).

[0046] Specifically, as shown in FIG. 8, the first generation unit 52e generates creation points Qnk for each adjacent number of pillow grounds (n = 1, 2, 3 ··· n) based on the number of pillow grounds and the shift width. In the following description, the first creation point Q1k, the second creation point Q2k, the third creation point Q3k ··· the nth creation point Qnk will be described in order from the outermost creation point Qnk toward the inner circumferential line Ln. The first creation point Q1k corresponds (matches) to a plurality of measurement points Pk. Also, for example, when the number of pillow grounds is 4, the first generation unit 52e first shifts a plurality of measurement points Pk (the first creation point Q1k) inward by the shift width to generate the second creation point Q2k. The first generation unit 52e shifts the plurality of measurement points Pk by twice the shift width, that is, shifts the second creation point Q2k inward by the shift width to generate the third creation point Q3k. The first generation unit 52e shifts the plurality of measurement points Pk by three times the shift width, that is, shifts the third creation point Q3k inward by the shift width to generate the fourth creation point Q4k.

[0047] As shown in FIG. 9A, the second generation unit 52f creates a circumferential travel line L passing through the plurality of creation points Qnk generated by the first generation unit 52e, and calculates a plurality of virtual lines VLni (n: number of pillow grounds [number of circumferences], n = 1, 2, 3 ··· n, i: each virtual line, i = 1, 2, 3 ··· i) by connecting adjacent creation points Qnk at the plurality of creation points Qnk on the travel line L. Specifically, first, the second generation unit 52f creates a circumferential line Ln passing through the creation points Qnk for each number of pillow grounds. That is, when the number of pillow grounds is 4, the second generation unit 52f creates circumferential lines Ln (the first circumferential line L1 to the fourth circumferential line L4) passing through the first creation point Q1k to the fourth creation point Q4k respectively, and when the number of pillow grounds is 5, the second generation unit 52f creates circumferential lines Ln (the first circumferential line L1 to the fifth circumferential line L5) passing through the first creation point Q1k to the fifth creation point Q5k respectively.

[0048] Next, the second generation unit 52f calculates a plurality of virtual lines VLni that connect adjacent creation points Qnk to each other at a plurality of creation points Qnk on each circumferential line Ln. That is, each circumferential line Ln is composed of a plurality of virtual lines VLni. The second generation unit 52f calculates a virtual line VLni (in this embodiment, i = k) that connects the creation point Qnk and the creation point Qnk+1 adjacent to the creation point Qnk. Here, the adjacent creation point Qnk+1 is a creation point adjacent at the same number of bedding areas (circuits) as the creation point Qnk.

[0049] For example, as shown in FIG. 9A, the second generation unit 52f calculates a virtual line VL11 that connects the creation point Q11 and the creation point Q12 adjacent to the creation point Q11. Further, the second generation unit 52f calculates a virtual line VL22 that connects the creation point Q22 and the creation point Q23 adjacent to the creation point Q22. In this embodiment, the virtual line VLni is a straight line that connects adjacent creation points Qnk to each other, but the virtual line VLni may be an arbitrary curve as long as it connects adjacent creation points Qnk to each other.

[0050] The setting unit 52g extracts a pair of adjacent virtual lines VLni-1 and VLni whose extension directions are different from among the plurality of virtual lines VLni generated by the second generation unit 52f, and sets the creation point Qnk (for example, k = i) common to the extracted pair of virtual lines VLni-1 and VLni as a working point Rn regarding the division of work in the working device 2. FIG. 9A illustrates a case where the working point Rn (R1) of the first circumferential line L1 and the working point Rn (R2) of the second circumferential line L2 are set among the circumferential lines Ln. The working point Rn is any one of a work start point, a work end point, a temporary stop point, and a work preparation point in the working device 2, and is, for example, a point that serves as a division of work when the agricultural machine 1 moves from the circumferential line Ln where it is currently located to the outside of the field H or an adjacent circumferential line Ln. In this embodiment, the working point Rn will be described as a work start point. In such a case, the work end point is a point at the position immediately before the work start point (the working point Rn) (the position on the opposite side of the traveling direction of the agricultural machine 1).

[0051] When there are a plurality of pairs of virtual lines VLni-1 and VLni, the setting unit 52g extracts a predetermined pair of virtual lines VLni-1 and VLni among the plurality of pairs of virtual lines VLni-1 and VLni, where the angle between the pair of virtual lines VLni-1 and VLni is greater than or equal to the determination value, and sets the creation point Qnk common to the extracted predetermined pair of virtual lines VLni-1 and VLni as a candidate for the working point Rn (first condition). Here, the creation point Qnk common to the pair of virtual lines VLni-1 and VLni is the common creation point Qnk among the creation point Qnk-1 and creation point Qnk connected by the virtual line VLni-1 and the creation point Qnk and creation point Qnk+1 connected by the virtual line VLni. For example, as shown in FIG. 9A, the creation point Qnk common to the pair of virtual lines VL11 and VL12 is the common creation point Q12 among the creation point Q11 and creation point Q12 connected by the virtual line VL11 and the creation point Q12 and creation point Q13 connected by the virtual line VL12.

[0052] In the present embodiment, the determination value is 40 degrees. When there are a plurality of pairs of virtual lines VLni-1 and VLni, as shown in FIG. 9A, the setting unit 52g checks whether the exterior angle θank (n: number of pillow grounds [number of turns], n = 1, 2, 3 ··· n, k: each creation point, k = 1, 2, 3 ··· k) formed by the pair of virtual lines VLni-1 and VLni is greater than or equal to a predetermined determination value, extracts a predetermined pair of virtual lines VLni-1 and VLni where the exterior angle θank is 40 degrees or more, and sets the creation point Qnk common to the extracted predetermined pair of virtual lines VLni-1 and VLni as a candidate for the working point Rn. In the example shown in FIG. 9A, the exterior angle θa12 formed by the pair of virtual lines VL11 and VL12 is 40 degrees or more, and is set as a candidate for the working point R1. Note that in the present embodiment, the determination value is 40 degrees, but the determination value may be in the range of 20 degrees to 60 degrees, and the value is not limited to the above-mentioned value.

[0053] In addition to the candidate for the working point Rn that satisfies the above-described first condition, the setting unit 52g sets a creation point Qnk that satisfies a predetermined condition as a candidate for the working point Rn (second condition). FIG. 9B illustrates a case where the working point R1 of the first loop line L1 among the loop lines Ln in a field F different from that in FIG. 9A is set. Specifically, among a plurality of virtual lines VLni that connect four adjacent creation points Qnk (the first adjacent point DP1 to the fourth adjacent point DP4 in order in the clockwise or counterclockwise direction from a predetermined position on the loop line Ln), when the virtual line VLni that connects the first adjacent point DP1 and the second adjacent point DP2 is the first virtual line VLa, the virtual line VLni that connects the second adjacent point DP2 and the third adjacent point DP3 is the second virtual line VLb, and the virtual line VLni that connects the third adjacent point DP3 and the fourth adjacent point DP4 is the third virtual line VLc, the setting unit 52g determines that the sum of the outer angle θank formed by the first virtual line VLa and the second virtual line VLb and the outer angle θank+1 formed by the second virtual line VLb and the third virtual line VLc is equal to or greater than a determination value (for example, 40 degrees), and when the first virtual line VLa to the third virtual line VLc are less than a predetermined length (for example, 10 m), the third adjacent point DP3 is set as a candidate for the working point R1.

[0054] In the example shown in FIG. 9B, since the sum of the outer angle θa14 formed by the first virtual line VLa (VL13) and the second virtual line VLb (VL14) and the outer angle θa15 formed by the second virtual line VLb (VL14) and the third virtual line VLc (VL15) is 40 degrees or more, and the first virtual line VLa to the third virtual line VLc are less than 10 m, the third adjacent point DP3 (Q15) is set as a candidate for the working point R1.

[0055] Further, when there are a plurality of candidates for the working point Rn, the setting unit 52g extracts a predetermined pair of virtual lines VLni-1 and VLni among the plurality of pairs of extracted virtual lines VLni-1 and VLni, where the formed interior angle θbnk (k: each creation point, k = 1, 2, 3 ··· k) is less than 180 degrees, and sets the creation point Qnk common to the extracted predetermined pair of virtual lines VLni-1 and VLni as a candidate for the working point Rn (third condition). In other words, the setting unit 52g excludes the creation point Qnk common to a pair of virtual lines VLni-1 and VLni, among the plurality of pairs of extracted virtual lines VLni-1 and VLni, where the formed interior angle θbnk (n: number of pillow grounds [number of revolutions], n = 1, 2, 3 ··· n, k = 1, 2, 3 ··· k) is 180 degrees or more, from the candidates for the working point Rn.

[0056] FIG. 9C illustrates a case where the working point R1 of the first revolution line L1 is set among the revolution lines Ln of a field F different from FIGS. 9A and 9B. As shown in FIG. 9C, when the shape includes a concave portion Z in at least a part of the outer shape of the revolution line Ln, the setting unit 52g excludes the creation point Qnk of the concave portion Z from the candidates for the working point Rn according to the third condition even if the creation point Qnk satisfies the first condition or the second condition. In the example shown in FIG. 9C, the interior angle θb131 formed by the pair of virtual lines VL130 and VL131 of the concave portion Z is 270 degrees and is not less than 180 degrees, so the creation point Q131 common to the pair of virtual lines VL130 and VL131 is excluded from the candidates for the working point R1.

[0057] The setting unit 52g searches for candidates for the working point Rn based on the creation point Qnk (reference point B) near the entrance / exit I of the field H. The reference point B is the creation point Qnk created based on the measurement point Pk of the entrance / exit I of the field H. The setting unit 52g searches in both the clockwise and counterclockwise directions from the reference point B to check whether the adjacent creation points Qnk (virtual line VLni) from the reference point B satisfy the above-mentioned conditions for candidates for the working point Rn (the first condition and the third condition, or the second condition and the third condition). Specifically, the setting unit 52g searches for candidates for the working point Rn within a range where the distance from the reference point B is less than 1 / 5 of the entire circumference of the circumferential line Ln. That is, the setting unit 52g conducts searches in both the clockwise and counterclockwise directions from the reference point B, and in each direction, sets the creation point Qnk that is closest to the reference point B and satisfies the conditions for candidates for the working point Rn (the first condition and the third condition, or the second condition and the third condition) as a candidate for the working point Rn.

[0058] In this embodiment, the setting unit 52g searches for candidates for the working point Rn within a range where the distance from the reference point B is less than 1 / 5 of the entire circumference of the circumferential line Ln. However, the range in which the setting unit 52g conducts the search may be a range where the distance from the reference point B is less than 1 / 7 to 1 / 3 of the entire circumference of the circumferential line Ln, and the range is not limited to the above-mentioned range. Also, when there are multiple candidates for the working point Rn in both the clockwise and counterclockwise directions from the reference point B, the setting unit 52g sets the candidate closest to the entrance / exit of the field H among the multiple candidates as the working point Rn. When there are no candidates for the working point Rn in both the clockwise and counterclockwise directions from the reference point B, the setting unit 52g sets the reference point B as the working point Rn. Here, taking FIG. 10 as an example, since the creation points Qnk are arranged at different positions in the extending direction of the path of the circumferential line Ln for each circumferential line Ln, the working point Rn is set at different positions in the extending direction of each adjacent path.

[0059] Based on the working point Rn set by the setting unit 52g, as shown in FIG. 10, the third generation unit 52h creates a single circular line Ln, another circular line Ln adjacent to the single circular line Ln, and a movement line N connecting the circular line Ln and the inner line LU. The movement line N is a part of the traveling line L. For example, when the agricultural machine 1 moves from the inner circular line Ln to the outer circular line Ln, it is a line connecting the position immediately before the working point Rn of the inner circular line Ln (the end point of work) to the working point Rn (the start point of work) of the outer circular line Ln. The agricultural machine 1, for example, turns from the end point of work and moves to the outer circular line Ln, and then reverses to move to the start point of work P3n. Also, when the agricultural machine 1 moves from the outermost circular line Ln to the outside of the field H, the movement line N is a line connecting the position immediately before the working point (start point of work) P3n of the outermost circular line Ln (the end point of work) to the entrance / exit I of the field H. The agricultural machine 1, for example, turns from the end point of work and moves to the entrance / exit I of the field H.

[0060] In this embodiment, the agricultural machine 1 automatically travels along the traveling line L. However, when the agricultural machine 1 manually travels along the circular line Ln or the inner line LU in the traveling line L, the movement line N may be automatically traveled. Also, the agricultural machine 1 only needs to be able to move from the inner line LU to the innermost circular line Ln, from the inner circular line Ln to the outer circular line Ln, and from the outermost circular line Ln to the outside of the field H while avoiding traveling to the places where work has already been done. The movement line N is not limited to the above-described route.

[0061] As shown in FIG. 11, the fourth generation unit 52i creates an inner line LU in the inner region (inner area) A2 of the headland. The fourth generation unit 52i creates the inner line LU based on the working point Rn of the innermost circumferential line Ln among the working points Rn set by the setting unit 52g. Specifically, as shown in FIG. 11, the fourth generation unit 52i sets a straight section LU1 that connects both longitudinal ends as the inner line LU. Also, the fourth generation unit 52i sets a straight section LU1 whose at least one end side (terminal side) coincides with the working point Rn of the innermost circumferential line Ln. Further, in the headland area A1, the fourth generation unit 52i creates a turning section LU2 by connecting adjacent straight sections LU1.

[0062] The travel lines L set in the inner area A2 and the headland area A1 by the first generation unit 52e, the second generation unit 52f, the third generation unit 52h, and the fourth generation unit 52i are stored in the storage unit 53. At least the circumferential line Ln among the travel lines L set by the first generation unit 52e, the second generation unit 52f, the third generation unit 52h, and the fourth generation unit 52i is displayed on the route display unit 114 of the setting screen M2. In the present embodiment, as shown in FIG. 7, the circumferential line Ln and the straight section LU1 among the travel lines L set by the first generation unit 52e, the second generation unit 52f, the third generation unit 52h, and the fourth generation unit 52i are displayed on the route display unit 114 of the setting screen M2. Note that the traveling direction in which the agricultural machine 1 travels on the travel line L (circumferential line Ln) is set by the direction from the working point Rn toward the entrance / exit I.

[0063] For example, taking the case shown in FIG. 10 as an example, since the working point Rn is located below the entrance / exit I in the drawing, the direction from the working point Rn toward the entrance / exit I is the upper side of the drawing. Therefore, the traveling direction is set counterclockwise along the circumferential line Ln. Also, the route display unit 114 displays, with the first icon 114a, the point where the agricultural machine 1 first starts working in the field H, that is, the working start point in the inner area A2, and displays, with the second icon 114b, the point where the agricultural machine 1 finishes working in the field H, that is, the working point Rn of the first circumferential line L1.

[0064] Figures 12A and 12B are diagrams showing a series of processes of the travel line creation system S of the agricultural machine 1. In the following description, the creation of the travel line L will be described on the premise that the field H has been registered. As shown in FIG. 12A, when an operator (driver) operates the display device 50 to select a predetermined field H from among a plurality of registered fields H (S1), the field acquisition unit 52c acquires a field F indicating the predetermined field H from the storage unit 53 (S2).

[0065] When the field acquisition unit 52c acquires the field F (S2), the setting acquisition unit 52d acquires information (for example, the number of headlands, the working width W1, the first overlap width W2, the second overlap width W3) input to the display device 50 (S3). When the setting acquisition unit 52d acquires the input information (S3), the first generation unit 52e generates creation points Qnk based on the measurement points Pk acquired by the position acquisition unit 52a (S4). Specifically, when the number of headlands is plural (two or more), the first generation unit 52e sequentially creates the creation points Qnk through which the inner circumferential line Ln passes from the creation points Qnk through which the outermost circumferential line Ln passes.

[0066] As shown in FIG. 12A, when the first generation unit 52e generates the creation points Qnk (S4), the second generation unit 52f creates a circumferential travel line L (circumferential line Ln) and calculates a virtual line VLni (S5). For example, the second generation unit 52f creates a circumferential line Ln passing through each creation point Qnk in order from the outermost creation point Qnk to the inner creation point Qnk. In such a case, the second generation unit 52f calculates a plurality of virtual lines VLni by connecting adjacent creation points Qnk among the plurality of creation points Qnk on the travel line L.

[0067] When the second generation unit 52f calculates a plurality of virtual lines VLni (S5), as shown in FIG. 12B, the setting unit 52g shifts to a phase of setting the working point Rn in order from the outermost circumferential line Ln to the inner circumferential line Ln (search process). In the search process, the setting unit 52g starts searching for candidates for the working point Rn that is closest to the reference point B in the clockwise direction from the reference point B (S6), and after the search ends, starts searching for candidates for the working point Rn that is closest to the reference point B in the counterclockwise direction from the reference point B (S13). In the present embodiment, the setting unit 52g searches for the working point Rn in the counterclockwise direction after searching for the working point Rn in the clockwise direction, but the order may be reversed.

[0068] In the search for candidates for the working point Rn, the setting unit 52g determines whether the first condition and the third condition are satisfied in the clockwise order from the creation point Qnk close to the reference point B (S7). When the creation point Qnk satisfies the first condition and the third condition (S7, Yes), the setting unit 52g holds the creation point Qnk as a candidate for the working point Rn (S8). When the creation point Qnk does not satisfy the first condition and the third condition (S7, No), the setting unit 52g determines whether the creation point Qnk satisfies the second condition and the third condition (S9). When the creation point Qnk satisfies the second condition and the third condition (S9, Yes), the setting unit 52g holds the creation point Qnk as a candidate for the working point Rn (S10).

[0069] When the creation point Qnk does not satisfy the second condition and the third condition (S9, No), the setting unit 52g determines whether the distance from the reference point B of the creation point Qnk where the first condition to the third condition were determined is less than 1 / 5 of the entire circumference of the circumferential line Ln (S11). When the distance from the reference point B of the creation point Qnk is less than 1 / 5 of the entire circumference of the circumferential line Ln (S11, Yes), the setting unit 52g searches for the creation point Qnk adjacent to the creation point Qnk on the clockwise side (S12).

[0070] When the creation point Qnk is held as a candidate for the working point Rn (S8, S10), and when the distance from the reference point B to the creation point Qnk is equal to or greater than 1 / 5 of the entire circumference of the circumferential line Ln (S11, No), the setting unit 52g starts searching for the candidate for the working point Rn that is closest to the reference point B counterclockwise from the reference point B (S13). In the search for the candidate for the working point Rn, the setting unit 52g determines whether the first condition and the third condition are satisfied in counterclockwise order from the creation point Qnk close to the reference point B (S14). When the creation point Qnk satisfies the first condition and the third condition (S14, Yes), the setting unit 52g holds the creation point Qnk as a candidate for the working point Rn (S15).

[0071] When the creation point Qnk does not satisfy the first condition and the third condition (S14, No), the setting unit 52g determines whether the creation point Qnk satisfies the second condition and the third condition (S16). When the creation point Qnk satisfies the second condition and the third condition (S16, Yes), the setting unit 52g holds the creation point Qnk as a candidate for the working point Rn (S17). When the creation point Qnk does not satisfy the second condition and the third condition (S16, No), the setting unit 52g determines whether the distance from the reference point B to the creation point Qnk for which the first to third conditions have been determined is less than 1 / 5 of the entire circumference of the circumferential line Ln (S18). When the distance from the reference point B to the creation point Qnk is within a range less than 1 / 5 of the entire circumference of the circumferential line Ln (S18, Yes), the setting unit 52g searches for the creation point Qnk adjacent to the creation point Qnk on the counterclockwise side (S19).

[0072] When the creation point Qnk is held as a candidate for the working point Rn (S15, S17), and when the distance from the reference point B to the creation point Qnk is equal to or greater than 1 / 5 of the entire circumference of the circumferential line Ln (S18, No), the setting unit 52g ends the search process and checks whether a candidate for the working point Rn is held as shown in Fig. 12A (S20). When the candidate for the working point Rn is not held (S20, No), the setting unit 52g sets the reference point B as the working point Rn (S21). Also, when the candidate for the working point Rn is held (S20, Yes), the setting unit 52g checks whether there is only one candidate for the held working point Rn (S22).

[0073] When there is only one candidate for the held working point Rn (S22, Yes), the setting unit 52g sets the one candidate for the working point Rn as the working point Rn (S23). On the other hand, when there are a plurality (two) of candidates for the held working point Rn (S22, No), the setting unit 52g sets the candidate for the working point Rn closer to the reference point B among the two candidates for the working point Rn as the working point Rn (S24).

[0074] When the setting unit 52g sets the working point Rn (S21, S23, S24), the fourth generation unit 52i creates an inner line LU in the inner region (inner area) A2 of the cushing area (S25). When the fourth generation unit 52i creates the inner line LU, the third generation unit 52h creates a circular line Ln, another circular line Ln adjacent to the one circular line Ln, and a movement line N connecting the circular line Ln and the inner line LU based on the set working point Rn (S26). When the third generation unit 52h creates the movement line N (S26), the traveling line L including the created circular line Ln, movement line N, and inner line LU is displayed on the route display unit 114 of the setting screen M2 (S27).

[0075] The above-described travel line creation system S of the agricultural machine 1 includes a position acquisition unit 52a capable of acquiring a plurality of measurement points Pk when the agricultural machine 1 capable of mounting the working device 2 circulates around the field H, a display device 50 capable of displaying a field F indicating the field H, a first generation unit 52e that associates a plurality of measurement points Pk on the field F displayed by the display device 50 and generates a plurality of creation points Qnk on the field F by shifting the plurality of measurement points Pk in the direction inside the field H, a second generation unit 52f that creates a circular travel line L passing through the plurality of creation points Qnk generated by the first generation unit 52e and calculates a plurality of virtual lines VLni by connecting adjacent creation points Qnk among the plurality of creation points Qnk on the travel line L, and a setting unit 52g that extracts a pair of virtual lines VLni-1, VLni that are adjacent and have different extension directions from among the plurality of virtual lines VLni generated by the second generation unit 52f and sets a creation point Qnk common to the extracted pair of virtual lines VLni-1, VLni as a working point Rn related to the work division in the working device 2. According to the above configuration, the agricultural machine 1 performs an operation related to the work division at a portion of the travel line L where the extension directions are different and the line bends or curves. Therefore, when the agricultural machine 1 moves outside the field H, the working device 2 is prevented from traveling to a place where the work has already been performed, and the working unit can be detached from the travel line L.

[0076] Further, when there are a plurality of pairs of virtual lines VLni-1, VLni, the setting unit 52g extracts a predetermined pair of virtual lines VLni-1, VLni among the plurality of pairs of virtual lines VLni-1, VLni whose angles of the pair of virtual lines VLni-1, VLni are equal to or greater than a determination value, and sets a creation point Qnk common to the extracted predetermined pair of virtual lines VLni-1, VLni as the working point Rn. According to the above configuration, a pair of virtual lines VLni-1, VLni that form a line relatively close to a straight line can be excluded from a pair of virtual lines VLni-1, VLni that are candidates for the working point Rn. Therefore, when the agricultural machine 1 moves outside the field H, the agricultural machine 1 makes a work division at a position where the angle is relatively large, avoids traveling to a place where the work has already been performed, and can be detached from the travel line L.

[0077] Further, when there are a plurality of candidates for the working point Rn, the setting unit 52g extracts a predetermined pair of virtual lines VLni-1 and VLni among the plurality of pairs of extracted virtual lines VLni-1 and VLni, where the formed interior angle θbnk is less than 180 degrees, and sets the creation point Qnk common to the extracted predetermined pair of virtual lines VLni-1 and VLni as the working point Rn. According to the above configuration, even when a part of the travel line L is depressed, the depressed portion can be excluded from the working point Rn. Therefore, when the agricultural machine 1 moves outside the field H, the agricultural machine 1 can leave the travel line L by making a work cut at a position protruding outward on the outer periphery of the field H, so that it is possible to avoid traveling on a place where work has already been done.

[0078] Also, when there are a plurality of candidates for the working point Rn, the setting unit 52g sets, as the working point Rn, the candidate closest to the entrance / exit of the field H among the plurality of candidates. According to the above configuration, the agricultural machine 1 can efficiently move from the travel line L to the outside of the field H or another position, etc., via a relatively short path. In addition, the second generation unit 52f sets a headland working line Ln for performing work on the headland of the field H as the travel line L. According to the above configuration, when the agricultural machine 1 performs work inside the headland and travels around the headland, the efficiency of the work on the headland and the movement from the headland working line Ln to the outside of the field H can be improved.

[0079] Further, the line generation unit sets, as the working point Rn, any one of the work start point, work end point, temporary stop point, and work preparation point in the work device 2. According to the above configuration, it is possible to further avoid traveling on a place where work has already been done and leave the travel line L. Further, the second generation unit 52f generates a plurality of adjacent paths from the central part of the field F toward the outside as the travel line L, and the setting unit 52g sets the work points Rn at different positions in the extending direction of each of the adjacent paths. According to the above configuration, when moving from one travel line L to another adjacent travel line L, it is possible to further avoid traveling to the places where the work has already been done by moving to positions shifted in different positions in the extending direction.

[0080] Further, the agricultural machine 1 includes the travel line creation system S of the agricultural machine 1 described above. According to the above configuration, it is possible to realize the agricultural machine 1 having the above-described excellent effects. As described above, the present invention has been described. 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.

Explanation of Signs

[0081] 1 Tractor (Agricultural Machine) 2 Working Device 50 Display Device 52a Position Acquisition Unit 52e First Generation Unit 52f Second Generation Unit 52g Setting Unit F Field H Farmland L Travel Line (Scheduled Travel Route) Ln Circumferential Line (Headland Working Line) Pk Measurement Point Qnk Creation Point Rn Work Point S Travel Line Creation System VLni Virtual Line VLni-1 Virtual Line θbnk Interior Angle

Claims

1. A position acquisition unit capable of acquiring a plurality of measurement points when an agricultural machine equipped with a working device circulates in a field, A display device capable of displaying a field indicating the field, A first generation unit that associates the plurality of measurement points on the field displayed by the display device, and generates a plurality of creation points on the field by shifting the plurality of measurement points in the direction inside the field, A second generation unit that creates a circular travel line passing through the plurality of creation points generated by the first generation unit, and calculates a plurality of virtual lines by connecting adjacent creation points among the plurality of creation points on the travel line, A setting unit that extracts a pair of virtual lines that are adjacent and have different extension directions among the plurality of virtual lines generated by the second generation unit, and sets a creation point common to the extracted pair of virtual lines as a working point related to the division of work in the working device, A travel line creation system for an agricultural machine comprising the above.

2. When there are a plurality of the pair of virtual lines, the setting unit extracts a predetermined pair of virtual lines among the plurality of the pair of virtual lines, where the angle of the pair of virtual lines is equal to or greater than a determination value, and sets a creation point common to the extracted predetermined pair of virtual lines as the working point. The travel line creation system for an agricultural machine according to Claim 1.

3. When there are a plurality of candidates for the working point, the setting unit extracts a predetermined pair of virtual lines among the plurality of extracted pairs of virtual lines, where the formed interior angle is less than 180 degrees, and sets a creation point common to the extracted predetermined pair of virtual lines as the working point. The travel line creation system for an agricultural machine according to Claim 2.

4. When there are a plurality of candidates for the working point, the setting unit sets the candidate closest to the entrance and exit of the field among the plurality of candidates as the working point. The travel line creation system for an agricultural machine according to any one of Claims 1 to 3.

5. The second generation unit sets a headland work line for performing work on the headland of the field as the travel line. The travel line creation system for an agricultural machine according to any one of Claims 1 to 4.

6. The setting unit sets any one of a work start point, a work end point, a temporary stop point, and a work preparation point in the working device as the working point. The travel line creation system for an agricultural machine according to any one of Claims 1 to 5.

7. The second generation unit generates a plurality of adjacent paths from the central portion of the field toward the outside as the traveling line. The setting unit sets the working points at different positions in the extending direction of each of the adjacent paths. The traveling line creation system for an agricultural machine according to any one of claims 1 to 6.

8. An agricultural machine comprising the traveling line creation system for an agricultural machine according to any one of claims 1 to 7.

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