Agricultural work support systems, agricultural machinery, agricultural work support devices

Abstract

The present invention can handle changes in the dimensions of a work device (2) so as to improve convenience and obtain an appropriate travel route (L1).　This agricultural work assistance system (100) comprises: an input unit (52) for inputting dimensional information of a work device (2) connected to an agricultural machine (1) and working conditions for performing agricultural work on a field by using the agricultural machine (1) and the work device (2); a route creation unit (51c) that creates a travel route (L1) for the agricultural machine (1) on a map (MP2) showing the field, on the basis of working conditions and the dimensional information of the work device (2); an output unit (52) that outputs the travel route (L1); and a dimension determination unit (51d) that receives the dimensional information of the work device (2) input by the input unit (52), determines whether the dimensional information satisfies prescribed constraint conditions according to the type of agricultural work performed by the work device (2), and if it is determined that the dimensional information does not satisfy the constraint conditions, refuses to accept the dimensional information.

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technology that supports agricultural machinery in autonomously driving itself through a field while performing agricultural work using a work implement connected to the agricultural machinery. In the system disclosed in Patent Document 1, the outline of the field is displayed on a display provided on the agricultural machine. A travel path creation unit then creates a travel path (straight path and turning path) for the agricultural machine to travel through a work area located in the center of the outline of the field and a headland area located around the work area. In this case, the travel path creation unit creates the travel path based on the overall width, working width, and overlap amount of the working width of the work implement (work implement) attached to the agricultural machine. Then, a travel control unit and a work implement control unit automatically drive the agricultural machine based on the travel path and the position of the agricultural machine, and perform agricultural work in the field using the work implement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-92621 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, the dimensions of the actual working equipment may change due to replacement, adjustment, or maintenance of the working equipment. However, conventional systems have been inconvenient because they cannot accommodate such changes in the dimensions of the working equipment. While it is conceivable for an operator to re-enter the dimensional information of the working equipment into the system and update the dimensional information of the working equipment set in the system, if the input values of the dimensions are inappropriate, there is a risk that the agricultural machine's travel path will not be created appropriately. Furthermore, if the agricultural machine is driven based on an inappropriate travel path, there is a risk that the agricultural machine or working equipment will collide with the ridges around the field.

[0005] In view of the above problems, the present invention aims to improve convenience and obtain an appropriate travel route in response to changes in the dimensions of a work implement. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points.

[0007] The agricultural work support system according to one aspect of the present invention includes an input unit that inputs dimensional information of a work implement connected to an agricultural machine and work conditions for the agricultural machine and the work implement to perform agricultural work in a field, a route creation unit that creates a travel route for the agricultural machine on a map showing the field based on the dimensional information of the work implement and the work conditions, an output unit that outputs the travel route, and a control unit that determines whether the dimensional information of the work implement input by the input unit satisfies predetermined constraints corresponding to the type of agricultural work to be performed by the work implement, and outputs the dimensional information. The aforementioned a dimension determination unit that, when it is determined that the constraint conditions are not satisfied, rejects acceptance of the dimension information. The dimensional information of the work implement includes an overall length, which is the length of the outline of the work implement from the coupling position in a front-to-rear direction parallel to the traveling direction of the agricultural machine, and a length from the coupling position of the work implement to a work position where the work implement starts ground work, and the work position includes a work start position from the coupling position where the work implement starts ground work, and a work end position from the coupling position where the work implement ends ground work, and the type of agricultural work includes a first agricultural work that is performed in contact with an object in the field, and a second agricultural work that is performed at a distance from the object in the field. the work devices include a first work device that performs the first agricultural work and a second work device that performs the second agricultural work, and the dimension determination unit, when the first agricultural work is performed by the first work device, sets as the constraint condition that the length to the work position is equal to or less than the total length, or that the length to the work start position is equal to or less than the length to the work end position, and when the second agricultural work is performed by the second work device, does not set as the constraint condition that the length to the work position is equal to or less than the total length, and that the length to the work start position is equal to or less than the length to the work end position. .

[0008] The dimension determination unit may be configured to refuse to accept the dimension information of the work device input by the input unit, thereby preventing the route creation unit from creating the travel route based on the dimension information or the output unit from outputting the travel route.

[0009] When the dimension determination unit determines that the dimension information of the work device satisfies the constraint conditions, the route creation unit may create the travel route based on the dimension information, and the output unit may output the travel route created by the route creation unit.

[0010] The agricultural work support system may include a notification unit that notifies a user of a determination result when the dimension determination unit determines that the dimension information of the work implement does not satisfy the constraint condition.

[0011] The notification unit may issue a notification urging the user to change the dimensional information of the working device when the dimension determination unit determines that the dimensional information of the working device does not satisfy the constraint condition.

[0012] The dimension determination unit may extract the constraint conditions corresponding to the type of agricultural work input by the input unit from a memory unit that stores the constraint conditions predetermined according to the type of agricultural work.

[0013] The agricultural work support system includes a position detection unit that detects the position of the agricultural machine, and a border crossing determination unit that determines whether the work equipment or the agricultural machine has crossed the border from the field based on the position of the agricultural machine, the map, dimensional information of the work equipment, and dimensional information of the agricultural machine, and the dimensional information of the agricultural machine may prevent the border crossing determination unit from determining whether or not the work equipment has crossed the border based on the dimensional information by refusing to accept the dimensional information of the work equipment input by the input unit.

[0014] The agricultural work support system includes a control unit that reads out dimensional information corresponding to the identification information of the work device input by the input unit from a memory unit that stores the dimensional information of the work device in association with identification information, and when a changed value of the dimensional information of the work device is input by the input unit after the control unit reads out the dimensional information of the work device, the dimension determination unit may determine whether the changed value satisfies the constraint condition.

[0015] The agricultural work support system includes an automatic control unit that automatically drives the work implement while automatically driving or steering the agricultural machine based on the driving route output by the output unit and the position of the agricultural machine detected by the position detection unit, to perform agricultural work in the field, and the output unit may include a display unit that displays the driving route or a communication unit that transmits the driving route to the automatic control unit.

[0016] In one aspect of the present invention, the dimensional information of the work implement includes an overall width, which is the length of the outline of the work implement in the left-right direction perpendicular to the traveling direction and height direction of the agricultural machine, and a working width, which is the width across which the work implement performs ground work. ,before The dimension determination unit may be configured to set the constraint that the working width is less than or equal to the total width when the first agricultural work is performed by the first work device, and to not set the constraint that the working width is less than or equal to the total width when the second agricultural work is performed by the second work device.

[0017] If the working width of the first work device input by the operator via the input unit exceeds the overall width, the dimension determination unit may determine that the dimensional information of the first work device does not satisfy the constraint condition and refuse to accept the dimensional information of the first work device input via the input unit, and the notification unit may notify the operator that the working width exceeds the overall width and prompt the operator to change the working width or the overall width.

[0019] If the length to the work position, which is the dimensional information of the first work device input by the operator via the input unit, exceeds the total length, or if the length to the work start position exceeds the length to the work end position, the dimension determination unit may determine that the dimensional information of the first work device does not satisfy the constraint conditions and refuse to accept the dimensional information of the first work device input via the input unit, and the notification unit may notify the determination result of the dimension determination unit and a request to change the dimensional information that did not satisfy the constraint conditions.

[0020] An agricultural machine according to one aspect of the present invention includes a travelable vehicle body, a coupling unit capable of coupling a working implement to the travelable vehicle body, and dimensional information of the working implement coupled to the travelable vehicle body. While the traveling vehicle body is traveling an input unit that inputs work conditions for performing agricultural work in a field using the work device; a route creation unit that creates a travel route for the traveling vehicle body on a map showing the field based on dimensional information about the work device and the work conditions; an output unit that outputs the travel route; and a control unit that determines whether the dimensional information of the work device input by the input unit satisfies predetermined constraints according to the type of agricultural work to be performed by the work device, and The aforementioned a dimension determination unit that, when it is determined that the constraint conditions are not satisfied, rejects acceptance of the dimension information. The dimensional information of the work implement includes an overall length, which is the length of the outline of the work implement from the coupling position in a front-rear direction parallel to the traveling direction of the traveling vehicle body, and a length to a work position of the work implement, and the work position includes a work start position from the coupling position where the work implement starts ground work, and a work end position from the coupling position where the work implement ends ground work, and the types of agricultural work include a first agricultural work that is performed in contact with objects in the field, and a second agricultural work that is performed at a distance from objects in the field, and The agricultural apparatus includes a first agricultural apparatus that performs the first agricultural work and a second agricultural apparatus that performs the second agricultural work, and the dimension determination unit sets, when the first agricultural work is performed by the first agricultural apparatus, the constraint condition that the length to the work position is equal to or less than the total length, or the length to the work start position is equal to or less than the length to the work end position, and when the second agricultural work is performed by the second agricultural apparatus, does not set, as the constraint condition, the length to the work position is equal to or less than the total length, and the length to the work start position is equal to or less than the length to the work end position. .

[0021] The agricultural work support device according to one aspect of the present invention includes an input unit that inputs dimensional information of a work implement connected to an agricultural machine and work conditions for performing agricultural work in a field using the agricultural machine and the work implement; a route creation unit that creates a travel route for the agricultural machine on a map showing the field based on the dimensional information of the work implement and the work conditions; an output unit that outputs the travel route; and a control unit that determines whether the dimensional information of the work implement input by the input unit satisfies predetermined constraints corresponding to the type of agricultural work to be performed by the work implement, and determines whether the dimensional information satisfies predetermined constraints corresponding to the type of agricultural work to be performed by the work implement. The aforementioned a dimension determination unit that, when it is determined that the constraint conditions are not satisfied, rejects acceptance of the dimension information. The dimensional information of the work implement includes an overall length, which is the length of the outer shape of the work implement from the coupling position in a front-to-rear direction parallel to the traveling direction of the agricultural machine, and a length to a work position of the work implement, and the work position includes a work start position from the coupling position where the work implement starts ground work, and a work end position from the coupling position where the work implement ends ground work, and the types of agricultural work include a first agricultural work that is performed in contact with objects in the field, and a second agricultural work that is performed at a distance from objects in the field, and The agricultural apparatus includes a first agricultural apparatus that performs the first agricultural work and a second agricultural apparatus that performs the second agricultural work, and the dimension determination unit sets, when the first agricultural work is performed by the first agricultural apparatus, the constraint condition that the length to the work position is equal to or less than the total length, or the length to the work start position is equal to or less than the length to the work end position, and when the second agricultural work is performed by the second agricultural apparatus, does not set, as the constraint condition, the length to the work position is equal to or less than the total length, and the length to the work start position is equal to or less than the length to the work end position. . [Effects of the Invention]

[0022] According to the present invention, it is possible to improve convenience and obtain an appropriate travel route in response to changes in the dimensions of the work implement. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a configuration diagram of an agricultural work support system. [Figure 2] FIG. [Figure 3] FIG. 10 is a diagram illustrating an example of a home screen. [Figure 4] FIG. 10 is a diagram illustrating an example of a field registration screen. [Figure 5A] FIG. 10 is a diagram for explaining a method for registering a farm field. [Figure 5B] FIG. 10 is a diagram for explaining another method of registering a field. [Figure 5C] FIG. 10 is a diagram for explaining another method for registering a field. [Figure 6] FIG. 10 is a diagram illustrating an example of a work selection screen. [Figure 7A] FIG. 10 is a diagram illustrating an example of a vehicle confirmation screen. [Figure 7B] FIG. 10 is a diagram illustrating an example of a device selection screen. [Figure 7C] FIG. 10 is a diagram illustrating an example of a device confirmation screen. [Figure 7D] FIG. 10 is a diagram illustrating an example of a width setting screen. [Figure 7E] FIG. 10 is a diagram showing an example of a length setting screen. [Figure 7F] FIG. 10 is a diagram illustrating an example of a notification displayed on a width setting screen. [Figure 8] 10 is a flowchart showing a dimension constraint process. [Figure 9] FIG. 10 is a diagram illustrating an example of a constraint condition table. [Figure 10] FIG. 10 is a diagram illustrating an example of a field selection screen. [Figure 11] FIG. 10 is a diagram showing an example of a route creation screen. [Figure 12A] FIG. 10 is a diagram showing an example of a route creation 2 screen. [Figure 12B] FIG. 10 is a diagram showing an example of a route creation 2 screen. [Figure 13A] FIG. 10 is a diagram for explaining a method for setting an area and a driving route. [Figure 13B] FIG. 10 is a diagram for explaining a method for setting an area and a driving route. [Figure 13C] FIG. 10 is a diagram for explaining a method for setting an area and a driving route. [Figure 13D] FIG. 10 is a diagram for explaining a method for setting an area and a driving route. [Figure 14] FIG. 10 is a diagram showing an example of a driving control screen. [Figure 15A] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 15B] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 15C] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 15D] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 16] FIG. 10 is a diagram illustrating another example of the constraint condition table. [Figure 17] FIG. 10 is a diagram showing an example of a notification displayed on a length setting screen. [Figure 18] FIG. 10 is a diagram showing another example of the length setting screen. [Figure 19] FIG. 10 is a diagram illustrating another example of the constraint condition table. [Figure 20A] FIG. 10 is a diagram showing another example of the length setting screen. [Figure 20B] FIG. 10 is a diagram showing an example of a length detail setting screen. [Figure 21] FIG. 10 is a diagram illustrating another example of the constraint condition table. [Figure 22] FIG. 1 is a side view of an agricultural machine. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0025] First, the agricultural machine 1 of this embodiment will be described. Fig. 22 is a side view of the agricultural machine 1. The agricultural machine 1 is configured as a tractor. Note that the agricultural machine 1 is not limited to a tractor, and may be configured as other agricultural machines such as a rice transplanter or a combine harvester, or a work vehicle other than a tractor that performs agricultural work.

[0026] The agricultural machine 1 includes a traveling body 3, a prime mover 4, a transmission 5, and a traveling device 7. The traveling device 7 has front wheels 7F and rear wheels 7R. The front wheels 7F may be tire-type or crawler-type. The rear wheels 7R may also be tire-type or crawler-type. The prime mover 4 is configured with a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is configured with a diesel engine. The transmission 5 is capable of switching the propulsion force of the traveling device 7 by changing gears, and is also capable of switching the traveling device 7 between forward and reverse movement. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, causing the traveling body 3 to travel forward and backward. In FIG. 22 , the left side is the front of the traveling body 3, and the right side is the rear of the traveling body 3.

[0027] The traveling body 3 is provided with a cabin 9. Inside the cabin 9, a driver's seat 10 is provided. A lifting device 8 constituted by a three-point linkage mechanism or the like is provided at the rear of the traveling body 3. The lifting device 8 is provided with coupling parts 8g, 8h to which a working implement 2 for performing agricultural work can be coupled. By coupling the working implement 2 to the coupling parts 8g, 8h, the working implement 2 and the traveling body 3 (agricultural machine 1) are coupled together, and the traveling body 3 can tow the working implement 2.

[0028] The work implement 2 performs ground work on the field. For example, the work implement 2 includes a tilling implement (rotary tiller) that tills the field, a rough tilling implement (stubble cultivator) that performs rough tilling, a puddling implement (drive harrow) that puddles the field, a spraying implement that sprays fertilizer or pesticides, a sowing implement that sows seeds, a transplanting implement that transplants seedlings, and a harvesting implement that harvests the field.

[0029] Next, the agricultural work support system 100 of this embodiment will be described. Fig. 1 is a configuration diagram of the agricultural work support system 100. The agricultural work support system 100 includes an agricultural work support device 50. The agricultural work support system 100 and the agricultural work support device 50 support agricultural work performed by a work device 2 while an agricultural machine 1 is traveling in a field.

[0030] The agricultural machine 1 is equipped with a control device 60, an operating device 62, a prime mover 4, a transmission 5, a braking device 6, a steering device 29, a lifting device 8, a positioning device 40, an alarm device 63, and a detection device 64. An in-vehicle network N1 such as a LAN or CAN is also built in the agricultural machine 1. The control device 60, the operating device 62, the positioning device 40, the alarm device 63, and the detection device 64 are connected to the in-vehicle network N1. Each of these parts provided in the agricultural machine 1 is included in the farm work support system 100.

[0031] The control device 60 is composed of electric circuits including a CPU (or microcomputer) and memory. The memory of the control device 60 includes volatile memory and non-volatile memory. The control device 60 controls the operation of each part of the agricultural machine 1. The control device 60 is provided with an automatic control unit 61 that controls the travel of the agricultural machine 1 and the operation of the work device 2. The operation device 62 is composed of switches, levers, pedals, other keys, etc. that can be operated by an operator (user) such as a driver seated in the driver's seat 10 or a worker near the agricultural machine 1. The operation device 62 includes a mode switch 65. The mode switch 65 is operated to switch the mode of the agricultural machine 1.

[0032] The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 is connected to a control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, an appropriate number of control valves 37 are provided according to the number of hydraulic devices, such as hydraulic clutches or hydraulic cylinders, provided in the transmission 5.

[0033] The automatic control unit 61 controls the drive of the transmission 5 by electrically controlling the switching position and opening degree of the control valve 37. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the traveling vehicle body 3 to travel forward and backward. Furthermore, for example, if the working device 2 is a ground working device, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

[0034] The automatic control unit 61 also communicates with the work apparatus 2 via the in-vehicle network N1. Specifically, the work apparatus 2 is equipped with a control unit 2a and a communication unit 2b. The automatic control unit 61 transmits a work command to the work apparatus 2 via the in-vehicle network N1. When the control unit 2a of the work apparatus 2 receives the work command via the communication unit 2b, it controls the operation of each unit of the work apparatus 2 based on the work command to perform agricultural work (ground work). The control unit 2a also transmits information or data indicating the work status, etc. to the control device 60 via the in-vehicle network N1 using the communication unit 2b. The automatic control unit 61 detects the work status, etc. of the work apparatus 2 based on the information or data received from the work apparatus 2 via the in-vehicle network N1.

[0035] The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 38 is supplied with hydraulic oil discharged from the hydraulic pump 33. The automatic control unit 61 electrically controls the switching position and opening degree of the control valve 38, thereby operating the braking device 6 and applying the brakes to the traveling vehicle body 3.

[0036] The steering device 29 has a handle (steering wheel) 30, a steering shaft (rotating shaft) 31, and an assist mechanism (power steering mechanism) 32. The handle 30 is provided inside the cabin 9. The steering shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists in steering by the handle 30.

[0037] The assist mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal sent from the control device 60. More specifically, the control valve 34 is configured as a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening of the control valve 34 to adjust the hydraulic pressure supplied to the steering cylinder 35, thereby extending and retracting the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm (not shown) that changes the direction of the front wheels 7F.

[0038] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates in accordance with the operating state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 extends and contracts to the left or right of the traveling vehicle body 3 in accordance with the switching position and opening degree of the control valve 34. This extension and contraction movement of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0039] The traveling body 3 of the agricultural machine 1 can be manually steered by manually operating the steering wheel 30, or automatically steered by the automatic control unit 61. Furthermore, the traveling body 3 can travel and stop by driving the transmission 5 or the braking unit 6 in response to manual operation of an accelerator member or a brake member (both not shown) provided on the operation device 62. Furthermore, the traveling body 3 can travel and stop automatically in response to control of the transmission 5 and the braking unit 6 by the automatic control unit 61.

[0040] FIG. 2 is a perspective view of the lifting device 8. The lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts up and down) when driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a control valve 36 (FIG. 1). The control valve 36 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0041] The front end of lower link 8b shown in Figure 2 is supported on the rear lower part of transmission 5 (Figures 1 and 22) so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a and lower link 8b. Connecting portions 8g and 8h to which working implement 2 can be connected are provided at the rear ends of lower link 8b and top link 8c.

[0042] The automatic control unit 61 shown in Fig. 1 electrically controls the switching position and opening of the control valve 36, thereby adjusting the hydraulic pressure supplied to the lift cylinder 8e shown in Fig. 2, and extending or retracting the lift cylinder 8e. The extension and retraction of the lift cylinder 8e raises and lowers the lift arm 8a, and also raises and lowers the lower link 8b connected to the lift arm 8a via the lift rod 8d. As a result, the working device 2 swings (lifts and lowers) upward or downward, with the front part of the lower link 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum.

[0043] The positioning device 40 shown in FIG. 1 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. The positioning device 40 detects the current position (e.g., latitude and longitude) based on the satellite signals received by the receiving device 41. In other words, the positioning device 40 is a position detection unit that detects the position of the traveling body 3 of the agricultural machine 1. The inertial measurement unit 42 includes an acceleration sensor, a gyro sensor, etc. The inertial measurement unit 42 detects the roll angle, pitch angle, yaw angle, etc. of the traveling body 3.

[0044] The warning device 63 is composed of a buzzer, speaker, warning light, or the like provided on the traveling body 3. The warning device 63 issues a warning around the traveling body 3 by sound or light. The detection device 64 is composed of sensors, etc. (which may include a camera), installed in each part of the agricultural machine 1 and the work implement 2. The detection device 64 detects the operating state (drive and stop states, operating positions, etc.) of each part of the agricultural machine 1, such as the transmission 5, braking device 6, traveling device 7, lifting device 8, steering device 29, and operation device 62, based on output signals from the sensors, etc. The detection device 64 also detects the operating state of the work implement 2 based on output signals from the sensors, etc. The detection device 64 further includes an object detection unit 64a, a laser sensor such as LiDAR, an ultrasonic sensor, etc. The laser sensors, ultrasonic sensors, etc. are installed at the front, rear, left and right sides of the traveling body 3. The object detection unit 64a detects the presence or absence of an object around the agricultural machine 1, the distance to the object, and the like, from the output signal from the laser sensor or ultrasonic sensor.

[0045] The agricultural work support device 50 is configured from, for example, a portable tablet terminal device. The agricultural work support device 50 is mounted, for example, inside the cabin 9 of the agricultural machine 1, and is detachable from the agricultural machine 1. In other words, the agricultural machine 1 is equipped with the agricultural work support device 50.

[0046] The agricultural work support device 50 is equipped with a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 is composed of a CPU (or microcomputer), volatile memory, and non-volatile memory. The control unit 51 controls each unit of the agricultural work support device 50. The control unit 51 is provided with a field registration unit 51a, an area setting unit 51b, a route creation unit 51c, a dimension determination unit 51d, a border crossing determination unit 51e, and a notification unit 51g. In this example, each of these units is composed of a software program, but as another example, they may be composed of hardware such as semiconductor elements such as ASICs or electrical circuits.

[0047] The display operation unit 52 is composed of a touch panel and outputs various types of information by displaying them on the screen. In addition, various types of input can be made by performing predetermined operations on the display screen of the display operation unit 52. The display operation unit 52 is a display unit, an output unit, and an input unit. Instead of the display operation unit 52, an independent display unit, output unit, or input unit (operation unit) may be provided in the agricultural work support device 50.

[0048] The memory unit 53 is composed of a non-volatile memory, etc. Information or data that supports the traveling and work of the agricultural machine 1 is stored in a readable and writable manner in the memory unit 53. The communication unit 54 is composed of an interface for connecting to the in-vehicle network N1. The control unit 51 communicates with the control device 60, operation device 62, positioning device 40, alarm device 63, detection device 64, and work device 2 via the in-vehicle network N1 using the communication unit 54. The communication unit 54 is an output unit that outputs information and data by transmitting it to the control device 60 of the agricultural machine 1.

[0049] The field registration unit 51a registers information about a field where agricultural work is to be performed by the agricultural machine 1 and the work implement 2. The area setting unit 51b sets a predetermined area in the field registered by the field registration unit 51a. The route creation unit 51c creates a travel route for the agricultural machine 1 to travel in the field registered by the field registration unit 51a.

[0050] The dimension determination unit 51d accepts dimensional information of the working device 2 input via the display operation unit (input unit) 52, and determines whether the dimensional information satisfies predetermined constraints according to the type of agricultural work performed by the working device 2. If the dimension determination unit 51d determines that the input dimensional information of the working device 2 satisfies the constraints, it accepts the dimensional information and makes the dimensional information valid. If the dimension determination unit 51d determines that the input dimensional information of the working device 2 does not satisfy the constraints, it refuses to accept the dimensional information and makes the dimensional information invalid.

[0051] The border crossing determination unit 51e determines whether or not at least one of the work implement 2 and the agricultural machine 1 has crossed the border from the field, based on the position of the agricultural machine 1 detected by the positioning device 40, a map showing the field, dimensional information about the work implement 2, and dimensional information about the agricultural machine 1. The notification unit 51g notifies by displaying the contents of the predetermined information and data on the display operation unit 52. The notification unit 51g may also notify by outputting a sound indicating the contents of the predetermined information and data from the speaker of the alarm device 63.

[0052] Next, the operation of each unit of the agricultural work support system 100 will be described. When the agricultural work support device 50 is started up, the control unit 51 causes the display operation unit 52 to display a home screen D1 shown in Fig. 3. Data for this home screen D1 and data for each screen described below are stored in the storage unit 53. The control unit 51 reads out screen data from the storage unit 53 as necessary, and causes the display operation unit 52 to display a screen based on the screen data.

[0053] The home screen D1 displays an agricultural machine mark X1, a field key B1, an automatic driving key B2a, an autosteer key B2b, a history key B3, and a settings key B0. The settings key B0 is a key for making various settings. By selecting (tapping) the settings key B0, it is possible to set and register specific items. The specific items include, for example, matters related to the agricultural machine 1 on which the agricultural work support device 50 is mounted, the work implement 2 connected to the agricultural machine 1, the agricultural work performed by the agricultural machine 1 and the work implement 2, the field in which the agricultural work is performed, and the display operation unit 52.

[0054] The history key B3 is a key for displaying the work history of the agricultural machine 1. The field key B1 is a key for registering a field where agricultural work is performed by the agricultural machine 1. The automatic driving key B2a is a key for making settings or predictions regarding the automatic driving work mode of the agricultural machine 1. The autosteer key B2b is a key for making settings or predictions regarding the automatic steering work mode of the agricultural machine 1.

[0055] The automatic driving work mode is a mode in which agricultural work (ground work) is performed by the working device 2 while the traveling body 3 of the agricultural machine 1 is driven automatically. Automatic driving of the agricultural machine 1 means automatically changing the traveling speed of the traveling body 3 and automatically steering the traveling body 3. The automatic steering work mode is a mode in which agricultural work (ground work) is performed by the working device 2 while automatically steering the traveling body 3. When the agricultural machine 1 is in the automatic steering work mode, the driver of the agricultural machine 1 operates an accelerator member or a brake member included in the operation device 62 (Fig. 1), and the traveling speed of the traveling body 3 is changed in accordance with that operation. In other words, in the automatic steering work mode, the traveling speed of the traveling body 3 is changed based on manual operation.

[0056] The agricultural machine 1 can also be driven manually, and while driving, ground work can be performed using the work implement 2. Manual driving of the agricultural machine 1 means that the driver operates the accelerator member or brake member of the operation device 62 to change the traveling speed of the traveling body 3, and steers the traveling body 3 by operating the steering wheel 30 (FIG. 1).

[0057] When an operator (such as the driver of the agricultural machine 1) selects the field key B1 on the home screen D1 in FIG. 3, the control unit 51 causes the display operation unit 52 to display a field registration screen D2 shown in FIG. 4. The field registration screen D2 displays a map MP1, the position Pv of the traveling body 3 of the agricultural machine 1, a new key B4, a registration key B5, a call key B6, a cancel key B7, and a back key B8. The map MP1 displays an image showing a map of the area around the location of the agricultural machine 1. The control unit 51 acquires data on the map of the area using the positioning device 40 or stores the data in advance in the storage unit 53. The map MP1 also displays the field where the agricultural machine 1 performs farm work, and associates the field with position information such as latitude and longitude. When the operator performs a predetermined operation on the map MP1, the map displayed on the map MP1 can be enlarged or reduced, or the displayed location of the map can be moved.

[0058] FIG. 5A is a diagram for explaining a method for registering a field. For example, an operator selects the new key B4 on the field registration screen D2 shown in FIG. 4 and manually drives the agricultural machine 1 around the field along the ridges surrounding the field. At this time, the lifting device 8 may be used to raise the working implement 2 so that the working implement 2 does not perform agricultural work on the field, or the lifting device 8 may be used to lower the working implement 2 so that the working implement 2 performs agricultural work on the field. The control unit 51 of the agricultural work support device 50 (FIG. 1) acquires the position Pv detected by the positioning device 40 at a predetermined interval using the communication unit 54, records the detected position Pv in internal memory as needed, and displays the detected position Pv on the map MP1 as needed. (For convenience, only a portion of the position Pv is shown in FIGS. 4 and 5A.)

[0059] When the agricultural machine 1 has finished circling the field, the operator selects the registration key B5. This causes the field registration unit 51a to calculate a travel trajectory KL1 of the traveling vehicle body 3 based on the multiple detected positions Pv that have been recorded. The control unit 51 also displays the travel trajectory KL1 on a map MP1, as shown in FIG. 5A. In the example of FIG. 5A, the line KL1 that passes through the multiple detected positions Pv in the order of detection (order of acquisition) and then returns to the first detected position Pv is defined as the travel trajectory of the traveling vehicle body 3.

[0060] The detected position Pv is the position of the GPS included in the positioning device 40. The GPS is installed at a predetermined position on the traveling body 3 (for example, approximately the center of the traveling body 3 when the agricultural machine 1 is viewed from above). The traveling trajectory KL1 is the trajectory along which the GPS position moves. For this reason, the field registration unit 51a offsets the traveling trajectory KL1 outward by a predetermined amount, an amount equivalent to the distance in the width direction from the GPS position of the agricultural machine 1 to the outer edge of the turning of the working implement 2 (in FIG. 5A, the agricultural machine 1 turns clockwise around the field, so this is the left edge of the working implement 2), and forms a line H1 between the traveling trajectory KL1 and the outline line of the map MP1. At this time, the field registration unit 51a references the overall width of the working implement 2 from the dimensional information of the working implement 2 that is registered (stored) in advance in the internal memory of the control unit 51 or in the storage unit 53.

[0061] In this example, the GPS position of the positioning device 40 is at the center of the traveling body 3, and the center of the traveling body 3 in the width direction coincides with the center of the working implement 2 in the width direction, so the offset amount is set to the same value as half the overall width (external length in the width direction) of the working implement 2 or half the working width (length in the width direction) at which the working implement 2 can perform ground work. As another example, a line H1 may be formed between the traveling trajectory KL1 and the outline line of the map MP1 using an offset amount that is a predetermined amount smaller or larger than the distance in the width direction from the GPS position of the agricultural machine 1 to the outer edge of the turning circle of the working implement 2. Also, an operator may be able to input an arbitrary offset amount by selecting the setting key B0 on the home screen D1 and performing a predetermined input operation.

[0062] The field registration unit 51a regards the line H1 formed as described above as the contour (external shape) of the field, and registers (stores) a field map MP2 (data showing the contour of the field) represented by this contour H1 in the memory unit 53. At this time, the field registration unit 51a also registers the name and identification information of the field in the memory unit 53 in association with the field map MP2. Note that the field identification information may be assigned by the field registration unit 51a, may be input by an operator by operating the display operation unit 52, or may be stored in advance in the memory unit 53. Multiple pieces of field information such as the field map MP2, field name, and field identification information can be registered in the memory unit 53. When the field registration unit 51a registers the field information, the control unit 51 displays the field map MP2 (field outline H1) included in the field information on the map MP1.

[0063] The above-described method of registering the field is an example, and is not limited to this registration method. As another example, the field registration unit 51a may calculate an inflection point from the travel trajectory KL1 of the traveling vehicle body 3 and form a line KL2 that passes through the inflection point, as shown in FIG. 5B. The line KL2 may then be offset outward by the offset amount described above to form a line H1 between the travel trajectory KL1 and the outline line of the map MP1. The line H1 may then be used as the field outline H1 and the field map MP2, and the field map MP2 may then be registered in the storage unit 53.

[0064] Furthermore, as the agricultural machine 1 makes its rounds, the operator may specify the edge of the field by operating a predetermined switch or the like provided on the operating device 62, as shown in FIG. 5C . In this case, the field registration unit 51a forms a line KL3 that passes through each edge of the field in the specified order and then returns to the edge that was initially specified. The line KL3 may then be offset outward by the offset amount described above to form a line H1 between the travel trajectory KL3 and the outline line of the map MP1, and the line H1 may be used as the field contour H1 and the field map MP2, and the field map MP2 may be registered in the storage unit 53. Furthermore, the field contour H1 and the field map MP2 may be data represented by position (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), or data represented in any other manner.

[0065] 4, when the operator selects the call key B6, the control unit 51 reads out the data of one of the field maps MP2 registered in the memory unit 53, and displays the field map MP2 on the field registration screen D2 based on that data. When the operator selects the cancel key B7, the field registration unit 51a erases the position Pv of the traveling vehicle body 3 and the field map MP2 (field outline H1) that were displayed on the map MP1 at that time, and also erases this data from the memory unit 53. In other words, the registration of the field outline H1 and the field map MP2 is canceled.

[0066] After completing the registration of the farm field, when the operator selects the back key B8, the control unit 51 displays the home screen D1 of Fig. 3 on the display operation unit 52. That is, the back key B8 is a key for returning the display screen of the display operation unit 52 to the previous screen. When the operator selects the automatic operation key B2a on the home screen D1, the control unit 51 displays the work selection screen D3 shown in Fig. 6 on the display operation unit 52.

[0067] A message indicating input operation procedures is displayed on the work selection screen D3. The work selection screen D3 also displays a plurality of work keys B31 to B35, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8. The work keys B31 to B35 are keys that indicate agricultural work that can be performed by the agricultural machine 1 and the work implement 2 connected to the agricultural machine 1. In FIG. 6, five work keys B31, B32, B33, B34, and B35 are displayed, but if there are six or more agricultural work that can be performed by the agricultural machine 1 and the work implement 2, the operator can select the up arrow key B41 or the down arrow key B42, which will cause the control unit 51 to display work keys indicating other work on the work selection screen D3.

[0068] When the operator selects one of the work keys B31 to B35, the control unit 51 displays the selected work key on the work selection screen D3 in a display format different from that of the other work keys. In the example of FIG. 6, only the selected tillage work key B31 is marked with a black circle. When the operator selects the Next key B9 with one of the work keys B31, B32, B33, B34, or B35 selected, the control unit 51 stores the type of farm work corresponding to the selected work key in its internal memory. This inputs the type of farm work. The control unit 51 also displays the vehicle confirmation screen D4a shown in FIG. 7A on the display operation unit 52. In other words, the Next key B9 is a key for switching the display screen of the display operation unit 52 to the next screen.

[0069] The vehicle confirmation screen D4a shown in Fig. 7A displays a message indicating the input operation procedure, the type of agricultural work, the type of agricultural machine 1, an unmanned machine setting key B10, a manned machine setting key B11, a next key B9, and a back key B8. The type of agricultural work indicates the agricultural work selected on the work selection screen D3. The type of agricultural machine 1 includes a vehicle type and a control type. In Fig. 7A, the type of agricultural machine 1 that has been registered (set) in advance is displayed on the vehicle confirmation screen D4a.

[0070] The operator can input the type of agricultural machine 1 by, for example, selecting the setting key B0 on the home screen D1 ( FIG. 3 ) and performing a predetermined input operation on the display operation unit 52. At that time, the operator can also input specifications such as the name and dimensions of the agricultural machine 1 by performing a predetermined input operation. When the operator further performs a predetermined input operation, the control unit 51 stores the input type and specifications of the agricultural machine 1 in a predetermined area of the memory unit 53, thereby registering the type and specifications. Information about the agricultural machine 1 and information about the work device 2, which will be described later, can also be input from the home screen D1 using a similar procedure and registered (stored) in the memory unit 53.

[0071] The operator can change the type of agricultural machine 1 by selecting the unmanned machine setting key B10 or the manned machine setting key B11 on the vehicle confirmation screen D4a and performing a predetermined input operation. When the operator selects the Next key B8 on the vehicle confirmation screen D4a, the control unit 51 stores the setting information (the type of agricultural work and the type of agricultural machine 1) displayed on the vehicle confirmation screen D4a in its internal memory, and displays the device selection screen D4b shown in Fig. 7B on the display operation unit 52.

[0072] The device selection screen D4b displays a message indicating the input operation procedure, operation device keys B36a to B36d, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8. Each of the operation device keys B36a to B36d displays representative unique information of the operation device 2.

[0073] Unique information of a plurality of work devices 2 is pre-registered (stored) in the memory unit 53. The unique information of the work device 2 includes identification information of the work device 2, and information such as the name, dimension information, type, type of agricultural work that can be performed by the work device 2, and whether or not the work device 2 has previously performed work, of the work device 2 associated with the identification information. Of this, representative unique information of the work device 2 displayed on the device selection screen D4b includes the name of the work device 2, whether or not the work device 2 has previously performed work, and the working width.

[0074] The control unit 51 reads out from the memory unit 53 all representative unique information of the work devices 2 that are capable of performing the agricultural work selected (input) on the work selection screen D3 (Figure 6) from the work devices 2 that have been registered in advance in the memory unit 53, stores it in its internal memory, and then causes the display operation unit 52 to display the representative unique information on the corresponding work device keys B36a to B36d on the device selection screen D4b.

[0075] 7B shows four work device keys B36a to B36d, but if five or more work devices 2 capable of performing the farm work selected on the work selection screen D3 (FIG. 6) are registered, the operator selects the up arrow key B41 or the down arrow key B42. This causes the control unit 51 to display, on the equipment selection screen D4b, work device keys indicating other work devices 2 not displayed on the equipment selection screen D4b.

[0076] When the operator selects one of the maintenance device keys B36a to B36d, the control unit 51 displays the selected maintenance device key on the device selection screen D4b in a display form different from that of the other maintenance device keys. In the example of Fig. 7B, only the selected maintenance device key B36a is marked with a black circle. When the operator selects the Next key B9 with one of the maintenance device keys B36a to B36d selected, the control unit 51 displays the device confirmation screen D4c shown in Fig. 7C on the display operation unit 52.

[0077] The device confirmation screen D4c displays a message indicating the input operation procedure, the specific information of the operation device 2 selected on the device selection screen D4b (FIG. 7B), setting keys B37 to B39, a next key B9, and a back key B8. The specific information of the operation device 2 displayed on the device confirmation screen D4c includes the name of the operation device 2, whether or not the operation device 2 has previously performed work, dimensional information of the operation device 2, and the type of the operation device 2. In other words, the detailed specifications of the operation device 2 selected on the device selection screen D4b are displayed on the device confirmation screen D4c.

[0078] When the operator operates the Next key B9 with one of the operation device keys B36a to B36d selected on the device selection screen D4b (FIG. 7B), the operation device 2 corresponding to the selected operation key is confirmed. At this time, the control unit 51 reads out from the storage unit 53 all or specific unique information of the operation device 2 that is stored in the storage unit 53 in association with the identification information of the confirmed operation device 2, stores the unique information in the internal memory, and then causes the display operation unit 52 to display the unique information on the device confirmation screen D4c (FIG. 7C).

[0079] 7C, the dimensional information, which is one type of information unique to the work implement 2, includes the overall width, working width, overall length, and working position of the work implement 2. The type of work implement 2 includes the speed stage of the auxiliary transmission (not shown) for driving and rotating the work implement 2, which is a tiller, whether the work implement 2 is raised or lowered by the lifting device 8, and whether it is linked to the PTO (Power take-off) of the agricultural machine 1.

[0080] The setting keys B37 to B39 are keys for setting and changing the dimensional information or type of the working implement 2. More specifically, when the operator selects the width setting key B37, the control unit 51 displays a width setting screen D4d shown in FIG. 7D on the display operation unit 52. On the width setting screen D4d, it is possible to change the set value of the overall width of the working implement 2 (width A on screen D4d) and the set value of the working width (width B on screen D4d). The overall width of the working implement 2 refers to the length (width) of the outer shape of the working implement 2 in the left-right direction (width direction) perpendicular to the traveling direction and height direction of the agricultural machine 1. The working width of the working implement 2 refers to the left-right width (length) in which the working implement 2 can perform ground work within a horizontal plane perpendicular to the traveling direction of the agricultural machine 1 and the working implement 2. After the operator selects the input field K1 for the total width or the input field K2 for the working width, the operator can operate (tap) the plus key B45 or the minus key B46 to move the cursor K12 on the scale K11 left or right, thereby inputting the change value for the total width or working width into the input field K1, K2.

[0081] In FIG. 7D , the working width (B) of the working implement 2 is narrower than the overall width (A); however, depending on the type of working implement 2, the working width (B) may be wider than the overall width (A). Specifically, with a first working implement, such as a tilling implement, rough tillage implement, or puddling implement, a first agricultural task such as tilling, rough tillage, or puddling is performed when the working width (B) is equal to or less than the overall width (A). The first agricultural task is an agricultural task performed while in contact with soil, water, crops, or other objects present in the field. The first working implement is the working implement that performs the first agricultural task. In contrast, with a second working implement, such as a spraying implement, a second agricultural task such as fertilizing, spraying chemicals, or sprinkling water is performed when the working width (B) is equal to or less than the overall width (A) and when the working width (B) exceeds the overall width (A) (i.e., when the working width (B) is larger than the overall width (A)). The second agricultural work is agricultural work carried out at a distance from objects in the field, and includes, for example, spraying work. The second work implement is the implement that carries out the second agricultural work.

[0082] When the operator selects the Next key B9 on the width setting screen D4d, the control unit 51 stores the dimensional information (working width (B) and overall width (A)) of the working device 2 that was displayed on the width setting screen D4d in the internal memory as changed values. This results in a state in which the changed values of the dimensional information (working width (B) and overall width (A)) of the working device 2 have been input. Then, the dimension determination unit 51d executes dimension constraint processing.

[0083] 8 is a flowchart showing the dimensional constraint processing. The dimensional constraint processing is a processing for determining whether or not the dimensional information of the operating device 2 input via the display operation unit 52 satisfies predetermined constraint conditions, and determining whether or not to accept the dimensional information of the operating device 2 according to the determination result.

[0084] As described above, when the operator selects the Next key B9 on the width setting screen D4d, the dimensional information of the working device 2 displayed on the width setting screen D4d (changed values of the working width (B) and overall width (A)) is stored in the internal memory of the control unit 51, and the dimensional information is entered. The dimension determination unit 1d confirms that the type of farm work has been input on the aforementioned work selection screen D3 (FIG. 6) and the dimensional information of the working device 2 has been input on the width setting screen D4d (S1 in FIG. 8), and reads this input information from the internal memory of the control unit 51. Then, the dimension determination unit 1d extracts (reads) from the storage unit 53 predetermined constraints corresponding to the type of farm work (S2).

[0085] A predetermined storage area of the storage unit 53 pre-stores information indicating the contents of a constraint condition table T1 as shown in Fig. 9. In the constraint condition table T1, among the dimensional information of the work implement 2, constraint conditions regarding the overall width (A) and working width (B) of the work implement 2 are associated with each type of agricultural work. In particular, in the constraint condition table T1, the constraint condition that the working width (B) is less than or equal to the overall width (A) (B≦A) is associated with tilling, puddling, and rough plowing. In contrast, no constraint conditions regarding the working width (B) and overall width (A) are associated with spraying work. In other words, no constraint conditions regarding the working width (B) and overall width (A) are set for spraying work.

[0086] When any of tilling, puddling, and rough plowing is input as the type of agricultural work, the dimension determination unit 1d refers to the constraint condition table T1 stored in the memory unit 53 and extracts the constraint condition that the working width (B) is less than or equal to the overall width (A) (B≦A) (S2 in FIG. 8). Also, when spraying is input as the type of agricultural work, the dimension determination unit 1d refers to the constraint condition table T1 and confirms that there are no constraint conditions regarding the working width (B) and overall width (A) (S2 in FIG. 8).

[0087] As another example, in the constraint condition table T1, a constraint condition that the working width (B) is equal to or less than the overall width (A) (B≦A) or that the working width (B) is greater than the overall width (A) (B>A) may be associated with spraying work. In this case, when spraying work is input as the type of agricultural work, the dimension determination unit 1d extracts the constraint condition that the working width (B) is equal to or less than the overall width (A) (B≦A) or that the working width (B) is greater than the overall width (A) (B>A) (S2 in FIG. 8).

[0088] Next, the dimension determination unit 1d determines whether the input dimensional information of the working device 2 (changed values of the working width (B) and the overall width (A)) satisfies the extracted constraints. For example, if the type of agricultural work is tillage, puddling, or rough tillage, and the input working width (B) is greater than the overall width (A), the dimension determination unit 1d determines that the dimensional information of the working device 2 does not satisfy the constraints (B≦A) (S3: NO), rejects the acceptance of the dimensional information, and invalidates the dimensional information (S5). The dimensional information of the working device 2 rejected by the dimension determination unit 51d in this way is deleted from the internal memory by, for example, the control unit 51. Therefore, inappropriate dimensional information of the working device 2 that does not satisfy the constraints will not be used thereafter by the field registration unit 51a, the area setting unit 51b, the route creation unit 51c, the border crossing determination unit 51e, or the like.

[0089] Furthermore, if the dimension determination unit 1d determines that the dimensional information of the working device 2 does not satisfy the constraint condition (B≦A) (S3: NO), the notification unit 51g notifies the user of the determination result with an error notification (S6). At this time, the notification unit 51g displays an error notification U1 in a pop-up on the width setting screen D4d, as shown in FIG. 7F, for example. The error notification U1 includes a message M1 indicating that the working width of the working device 2 exceeds the overall width and a message M2 prompting the user to change the working width or overall width. When the close key B80 is tapped, the error notification U1 is deleted from the width setting screen D4d. Then, when the operator re-enters the dimensional information of the working device 2 (the changed value of the working width (B) or overall width (A)) on the width setting screen D4d, the dimension determination unit 1d repeatedly executes step S1 and subsequent steps in FIG. 8.

[0090] When the type of agricultural work is tillage, puddling, or rough tillage, if the input working width (B) is less than or equal to the total width (A), the dimension determination unit 1d determines that the dimensional information of the working device 2 satisfies the constraint condition (B≦A) (S3: YES in FIG. 8), accepts the dimensional information, and validates the dimensional information (S4). Also, when the type of agricultural work is spraying, the dimension determination unit 1d determines that the dimensional information of the working device 2 satisfies the constraint condition (S3: YES), even if the input working width (B) is less than or equal to the total width (A), or even if the working width (B) is greater than the total width (A), and accepts the dimensional information and validates the dimensional information (S4).

[0091] The dimension information of the work implement 2 received by the dimension determination unit 51d as described above is stored as valid dimension information in the internal memory by, for example, the control unit 51. The valid dimension information of the work implement 2 stored in the internal memory is subsequently used by the field registration unit 51a, the area setting unit 51b, the route creation unit 51c, the border crossing determination unit 51e, and the like.

[0092] When the dimension determination unit 1d receives the dimensional information of the working device 2 (S4), the dimension constraint processing ends. In other words, the dimension constraint processing does not end until dimensional information of the working device 2 that satisfies the constraint conditions (changed values of the working width (B) and overall width (A)) is input. When the dimension constraint processing ends, the control unit 51 causes the display operation unit 52 to again display the device confirmation screen D4c (FIG. 7C) that reflects the valid dimensional information of the working device 2 received by the dimension determination unit 1d.

[0093] As described above, the dimension determination unit 1d refuses to accept dimension information of the work device 2 that does not satisfy the constraint conditions (S5), thereby preventing the use of the dimension information of the work device 2 from executing the following operations: creation of a driving route by the route creation unit 51c (described later); display (output) of the driving route L1 by the display operation unit 52; transmission (output) of the driving route to the automatic control unit 61 (Figure 1) by the communication unit 54; and determination of whether or not a border has been crossed by the border crossing determination unit 51e.

[0094] When the operator selects one of the operation device keys B36a to B36d on the device selection screen D4b (Fig. 7B) and operates the next key B9, the dimensional information of the operation device 2 on the device confirmation screen D4c (Fig. 7C) displayed on the display operation unit 52 is the dimensional information of the operation device 2 registered in advance in the memory unit 53 as described above, and is set to a value that satisfies the constraint conditions. Furthermore, when the operator first operates the width setting key B37 on the device confirmation screen D4c, the dimensional information of the operation device 2 on the width setting screen D4d (Fig. 7D) displayed on the display operation unit 52 is the dimensional information of the operation device 2 registered in advance in the memory unit 53 as described above, and is set to a value that satisfies the constraint conditions.

[0095] Therefore, when the Next key B9 is operated without inputting a change value for the dimensional information of the working device 2 on the width setting screen D4d (FIG. 7D), the dimensional information of the working device 2 that was displayed on the width setting screen D4d is input, but this dimensional information is essentially the dimensional information of the working device 2 that has been pre-registered in the storage unit 53. In this case, the dimensional information of the working device 2 that is received by the dimension determination unit 51d in step S1 of FIG. 8 is also the dimensional information that has been input by the display operation unit 52, but is essentially the dimensional information of the working device 2 that has been pre-registered in the storage unit 53.

[0096] When the operator selects the length setting key B38 on the device confirmation screen D4c, the control unit 51 causes the display operation unit 52 to display a length setting screen D4e shown in FIG. 7E. On the length setting screen D4e, it is possible to change the set values for the overall length and working position of the working device 2. The overall length refers to the length from the connection position of the working device 2 to the lower link 8b (FIGS. 1 and 2) of the lifting device 8 to the rear end of the housing of the working device 2 (length C on screen D4e). The working position refers to the length from the connection position of the working device 2 to the position where ground work starts (length D on screen D4e). The position where ground work starts refers to the position of the front end of the working member (blade, bar, nozzle, etc.) of the working device 2 that performs ground work. After the operator selects the input field K3 for the total length (C) or the input field K4 for the working position (D), the operator can operate the plus key B45 or the minus key B46 to move the cursor K12 left or right, thereby inputting the change value for the total length (C) or the working position (D) into the input field K3 or the input field K4.

[0097] Furthermore, when the operator selects the type setting key B39 on the device confirmation screen D4c (FIG. 7C), the control unit 51 displays a type setting screen (not shown) on the display operation unit 52. On the type setting screen, it is possible to change the setting of the type of the working device 2. In more detail, it is possible to change the speed stage of the auxiliary transmission, whether or not to link with the PTO, whether or not to lift by the lifting device 8, etc. on the type setting screen.

[0098] When the operator inputs the change value of the dimension information or type of the work device 2 on the length setting screen D4e or type setting screen described above and then selects the Next key B9, the control unit 51 also causes the display operation unit 52 to display the device confirmation screen D4c that reflects the change content of the dimension information or type on the setting screen.

[0099] When the operator selects the Next key B9 on the device confirmation screen D4c, the control unit 51 stores the setting information displayed on the device confirmation screen D4c (type of farm work, name, dimension information, type, and whether or not work was performed previously) in internal memory, and displays the field selection screen D5 shown in Fig. 10 on the display operation unit 52. At this time, if any of the setting information displayed on the device confirmation screen D4c (type of farm work, name, dimension information, type, and whether or not work was performed previously) is already stored in internal memory, the setting information displayed on the device confirmation screen D4c may overwrite the already stored information, or other setting information may be stored in internal memory without overwriting the already stored information.

[0100] The field selection screen D5 shown in Figure 10 displays one or more registered field maps MP2, an up arrow key B41, a down arrow key B42, a next key B9, and a back key B8. Three field maps MP2 are displayed in Figure 10. If there are four or more pre-registered field maps MP2, the operator can select the up arrow key B41 or the down arrow key B42, which will cause the control unit 51 to display another field map MP2 on the field selection screen D5.

[0101] When the operator selects one of the field maps MP2, the control unit 51 displays the selected field map MP2 in a different display format from the other field maps MP2. In FIG. 10, only the selected field map MP2 is surrounded by a thick frame. The control unit 51 also displays the date and time of the previous work performed on the selected field map MP2 and the area of the field map MP2 on the field selection screen D5. When the operator selects the Next key B9 with one of the field maps MP2 selected, the control unit 51 stores the information on the selected field map MP2 in its internal memory and displays the route creation 1 screen D6 shown in FIG. 11 on the display operation unit 52. The information on the field map MP2 includes the identification information, outline, area, and date and time of the previous work performed on the field map MP2, as well as the identification information, position, and outline of the field corresponding to the field map MP2.

[0102] 11 displays the selected field map MP2 (corresponding field outline H1), the agricultural machine mark X1, a message indicating the input operation procedure, work keys B43a, B43b, B44, a next key B9, and a back key B8. The work keys B43a, B43b, B44 are keys for making settings to create a travel route for the agricultural machine 1. In other words, the work keys B43a, B43b, B44 are keys for setting work conditions for performing agricultural work on the field by the agricultural machine 1 (traveling body 3) and the work implement 2.

[0103] More specifically, the automatic central work key B43a is a key for selecting whether or not to perform agricultural work using the work implement 2 while the traveling body 3 of the agricultural machine 1 is traveling in automatic driving in a central area set in the field map MP2, as will be described later. The automatic headland work key B43b is a key for selecting whether or not to perform agricultural work using the work implement 2 while the traveling body 3 of the agricultural machine 1 is traveling in automatic driving in a headland set in the field map MP2, as will be described later.

[0104] The work type key B44 is a key for selecting the state of work to be performed by the work implement 2. In this embodiment, an example is given in which tillage work is selected on the work selection screen D3 in Fig. 6, and therefore the work type key B44 in Fig. 11 is a key for selecting whether the type of tillage work is adjacent work or indirect work. If another agricultural work is selected on the work selection screen D3 in Fig. 6, the work type key B44 in Fig. 11 is a key for selecting the state of that other agricultural work.

[0105] FIG. 11 shows a state in which the automatic center work key B43a has been selected to have the agricultural machine 1 travel in automatic operation in the central area of the field while performing agricultural work with the work implement 2. The automatic headland work key B43b also shows a state in which the automatic headland work key B43b has been selected to have the agricultural machine 1 travel in automatic operation in the headland of the field while performing agricultural work with the work implement 2. The work type key B44 also shows a state in which adjacent work has been selected as the type of tillage work. When the operator selects the Next key B9, the control unit 51 stores the work conditions (the settings made using the work keys B43a, B43b, and B44) displayed on the route creation 1 screen D6 in its internal memory, and displays the route creation 2 screen D7 shown in FIG. 12A on the display operation unit 52.

[0106] The route creation 2 screen D7 displays the selected field map MP2, the agricultural machinery mark X1, a message indicating the input operation procedure, multiple setting items and their corresponding numerical input fields, a recommendation key B12, a route creation key B13, a trajectory prediction key B14, a plus key B45, a minus key B46, a next key B9, and a back key B8. While the route creation 2 screen D7 is displayed, the control unit 51 may obtain the actual position of the traveling vehicle body 3 detected by the positioning device 40 via the communication unit 54, and display the agricultural machinery mark X1 at a corresponding location on the field map MP2 according to the position of the traveling vehicle body 3.

[0107] The multiple setting items on the route creation 2 screen D7 are creation conditions for creating a travel route, and also work conditions for performing agricultural work in the field by the agricultural machine 1 and the work implement 2. The setting items include the expected work distance, number of headlands, number of automatic driving headlands, work direction, headland overlap, and central overlap. Of these, it is possible to input values for the items other than the expected work distance. The number of headlands refers to the number of headlands that are set inside the registered field contour H1 (field map MP2), one or more of which are set along said contour H1. The number of automatic driving headlands refers to the number of headlands, out of the set number of headlands, on which agricultural work is performed by the work implement 2 while the agricultural machine 1 is traveling in automatic driving mode.

[0108] The working direction is the direction in which work is performed with the work implement 2 while the traveling vehicle body 3 is moved back and forth in a straight line in the center part inside the headland of the field. By entering a specific number (for example, "1" or "4") in the number input field for the working direction, the up, down, left, and right directions corresponding to that number are set on the route creation 2 screen D7. The headland overlap is the amount by which the working width of the work implement 2 extends beyond the headland. The central overlap is the amount by which the working widths overlap when work is performed with the work implement 2 while the traveling vehicle body 3 is moved back and forth in a straight line in the center of the field.

[0109] On the route creation 2 screen D7, the operator can select the numeric input field for each setting item and input a numeric value into each numeric input field by operating the plus key B45 or minus key B46. Also, when the operator selects the recommendation key B12, the control unit 51 reads out the recommended value for each setting item corresponding to the agricultural work selected on the work selection screen D3 (FIG. 6) from the recommended values stored in advance in the memory unit 53, and inputs (displays) the recommended value into the corresponding numeric input field.

[0110] When the operator selects the route creation key B13 after inputting values into each setting item on the route creation 2 screen D7, the control unit 51 stores the values of each setting item in its internal memory. Furthermore, the area setting unit 51b (FIG. 1) sets a central area (second area) C1 and a headland area (first area) E1 on the field map MP2, as shown in FIG. 12B. Furthermore, the route creation unit 51c (FIG. 1) creates a travel route (planned travel route) L1 on the field map MP2.

[0111] 13A to 13D are diagrams for explaining a method for setting areas C1 and E1 and travel route L1. When the operator selects the route creation key B13, the area setting unit 51b first sets a central area C1 and a headland area E1 based on the field contour H1, the effective working width of the work implement 2, the number of headlands entered on the route creation 2 screen D7, or the headland overlap. Specifically, for example, as shown in FIG. 13A, the area setting unit 51b calculates contours H2c, H2b, and H2a formed by offsetting the field contour H1 inward the same number of times as the number of headlands, using a width W4 obtained by subtracting the headland overlap W2 from the working width W1 of the work implement 2. The area setting unit 51b then sets the area (central portion) surrounded by the innermost contour H2a as the central area C1. The working width W1 of the working device 2 is the working width (A) that has been validated by the dimension determining unit 51d in step S4 of the dimension constraint processing shown in FIG.

[0112] As another example, the area setting unit 51b may calculate the contour formed by offsetting the field contour H1 inward the same number of times as the number of headlands within the effective working width (A) of the work implement 2 (or the total effective width (B) of the work implement 2), and set the area (central part) surrounded by the contour formed on the innermost side as the central area.

[0113] After setting the central area C1 as described above, the area setting unit 51b sets a frame-shaped area (outer frame portion) outside the central area C1 and inside the contour H1 of the field as the headland area E1. Then, the area setting unit 51b stores data such as the positions indicating the areas C1 and E1 in the memory unit 53.

[0114] The route creation unit 51c creates a travel route L1 based on the set areas C1 and E1, the effective working width of the work implement 2, the input working direction, the headland overlap, and the central overlap. Specifically, as shown in FIG. 13B, the route creation unit 51c first creates multiple unit work sections C2 within the central area C1 by dividing it sequentially by the working width W1 of the work implement 2, starting from one end (the right end in FIG. 13B) of the central area C1 that is parallel to the working direction (the up-and-down direction in FIG. 13B). In this process, the route creation unit 51c overlaps the working width W1 with the headland area E1 by the headland overlap W2 for the first unit work section C2 created. Furthermore, for the second or subsequent unit work section C2 created, the route creation unit 51c overlaps the working width W1 with the previously created unit work section C2 by the central overlap W3.

[0115] Next, as shown in Figure 13C, the route creation unit 51c creates a straight route L1a along which the traveling vehicle body 3 travels straight for each unit work section C2. At this time, the route creation unit 51c creates a straight straight route L1a connecting both longitudinal ends of the unit work section C2 on the center line in the width direction (left-right direction in Figure 13C) of the unit work section C2. Note that for the last created unit work section C2 (the unit work section C2 at the left end of the central area C1 in Figure 13B), if the straight route L1a created for that unit work section C2 is created outside the central area C1, the route creation unit 51c may exclude that straight route L1a from the traveling route L1.

[0116] Next, the route creation unit 51c creates a route L1b that connects the adjacent straight routes L1a in the headland area E1. This route L1b is a turning route along which the traveling vehicle body 3 turns from one of the two adjacent straight routes L1a to the other.

[0117] 13C illustrates a simple semicircular turning route L1b, but this shape is for the convenience of making it easier to display on the display screen of the display operation unit 52 and to make the traveling route L1 easier to view on the display screen. In reality, when the traveling vehicle body 3 travels along one straight route L1a and then turns toward the other straight route L1a, the traveling vehicle body 3 turns while moving forward or backward, and therefore traces a trajectory with a more complex shape than the turning route L1b. The route creation unit 51c may create a turning route L1b with a shape other than a semicircular shape. The same applies to the turning route L1r described below.

[0118] When the traveling body 3 is traveling based on the straight route L1a, the control device 60 (Fig. 1) of the agricultural machine 1 lowers the working implement 2 using the lifting device 8 (Fig. 2) and performs ground work with the working implement 2. Furthermore, when the traveling body 3 is traveling based on the turning route L1b, the control device 60 raises the working implement 2 using the lifting device 8 and stops the ground work with the working implement 2.

[0119] That is, the straight route L1a is a work route along which the travelling body 3 of the agricultural machine 1 travels in automatic driving mode while performing ground work with the work implement 2. Furthermore, the central area C1, in which a plurality of straight routes L1a have been created, is a work area in which the travelling body 3 travels in an automatic driving mode while traveling back and forth in a straight line while performing ground work with the work implement 2. Note that the work route is not limited to a straight route such as the straight route L1a, but may also be a curved route. Furthermore, it is sufficient that at least one or more straight work routes and curved work routes are created in the work area.

[0120] For example, on the route creation 1 screen D6 in Fig. 11, work in the central area C1 is selected with the automatic center work key B43a, no work in the headland is selected with the automatic headland work key B43b, and adjacent work is selected with the work type key B44. In this case, the route creation unit 51c creates a traveling route L1 consisting of a straight route L1a and a turning route L1b, as shown in Fig. 13C. Furthermore, the route creation unit 51c sets a start position Ps at the end of one of the straight routes L1a on both sides of the central area C1 that is not connected to the turning route L1b (the upper end of the straight route L1a on the right side in Fig. 13C), and sets a goal position Pg at the end of the other straight route L1a (the lower end of the straight route L1a on the left side in Fig. 13C).

[0121] When creation of the travel route L1 is completed as described above, the control unit 51 displays the areas C1, E1, travel route L1, start position Ps, and goal position Pg on the route creation 2 screen D7 and stores them in internal memory as route information. The route creation unit 51c also calculates an estimated working distance for ground work performed by the work implement 2 while the traveling vehicle body 3 is traveling based on all of the straight routes L1a. The control unit 51 then displays the estimated working distance on the route creation 2 screen D7.

[0122] Meanwhile, on the route creation 1 screen D6 in Fig. 11, work in the central area C1 is selected with the automatic central work key B43a, work in the headland is selected with the automatic headland work key B43b, and adjacent work is selected with the work type key B44. In this case, the route creation unit 51c creates a circular route L1c that circles around the outside of the central area C1 in the headland area E1 as shown in Fig. 13D, in addition to the straight route L1a and the turning route L1b. At this time, for example, of the headlands E2a, E2b, and E2c that have been set outside the central area C1 by the area setting unit 51b, the route creation unit 51c creates the circular route L1c in the headland E2a that is closest to the central area C1.

[0123] The route creation unit 51c sets a start position Ps at the end of one of the straight routes L1a at either end of the central area C1 (the left and right ends in FIG. 13D) that is not connected to the circular route L1b (the upper end of the straight route L1a at the right end in FIG. 13D), and connects a circular route L1c to the end of the other straight route L1a (the lower end of the straight route L1a at the left end in FIG. 13D). The route creation unit 51c also sets a goal position Pg at the end of the circular route L1c that is not connected to the straight route L1a.

[0124] The circular route L1c is a work route on which ground work is performed by the work implement 2 while the traveling vehicle body 3 is traveling in automatic driving mode. The circular route L1c includes multiple substantially straight straight routes L1s and turning routes L1r that curve at a predetermined radius of curvature or greater. The straight routes L1s are created on the center line in the width direction of the headland E2a. One straight route L1s and the other straight route L1s, which are arranged front and rear with respect to the traveling direction of the circular route (traveling route) L1c, have different extension directions (traveling directions). The turning route L1r connects one straight route L1s and the other straight route L1s, and is a route for turning the traveling vehicle body 3 from one straight route L1s to the other straight route L1s.

[0125] Depending on the shape of the field contour H1 (for example, if the field contour H1 is distorted), the circular route L1c may include, in addition to the straight route L1s and the turning route L1r, a gentle curved portion curved at less than a predetermined radius of curvature (a curved route, not shown). In this case, when the traveling vehicle body 3 is traveling automatically based on the straight route L1s or the gentle curved portion of the circular route L1c, ground work may be performed by the working device 2, but when the traveling vehicle body 3 is traveling automatically based on the turning route L1r, ground work may not be performed by the working device 2.

[0126] The headland E2a for which the circular route L1c has been created as described above is a work area in which the traveling vehicle body 3 performs ground work using the work implement 2 while traveling around the outside of the central area C1. As another example, the route creation unit 51c may also create circular routes for other headlands E2b and E2c located outside the headland E2a. Furthermore, a key for inputting the number of headlands for which a circular route is to be created may be provided on the route creation 2 screen D7.

[0127] Furthermore, the route creation unit 51c may create a circular route that goes around at least one of the multiple headlands E2a, E2b, and E2c multiple times, or may create a circular route that passes through both one adjacent headland and the other adjacent headland. In other words, the route creation unit 51c may create a circular route in the headland area E1 that goes around the periphery of the central area C1 a number of times greater than the number of headlands.

[0128] As described above, the route creation unit 51c creates a travel route L1 consisting of a straight route L1a, a turning route L1b, and a circular route L1c, and then sets a start position Ps and a finish position Pg for the travel route L1. Then, as shown in FIG. 12B, the control unit 51 displays route information such as areas C1 and E1, the travel route L1, the start position Ps, and the finish position Pg on a route creation 2 screen D7. The route creation unit 51c also calculates an estimated working distance for performing ground work with the work implement 2 while the traveling vehicle body 3 is traveling, based on all of the straight routes L1a and L1s. Then, the control unit 51 displays the estimated working distance on the route creation 2 screen D7.

[0129] After the travel route L1 and the like are displayed on the route creation 2 screen D7, the operator selects the trajectory prediction key B14. This causes the control unit 51 to calculate the work portion where ground work is predicted to be performed by the work implement 2 while the traveling vehicle body 3 is traveling in automatic driving based on the travel route L1, i.e., the predicted work trajectory of the work implement 2. The control unit 51 then displays the predicted work trajectory so that it is superimposed on the travel route L1 on the field map MP2 in the route creation 2 screen D7 (not shown).

[0130] Furthermore, after the driving route L1 and the like are displayed on the route creation 2 screen D7, when the operator selects the Next key B9, the control unit 51 causes the display operation unit 52 to display the driving control screen D8 shown in Fig. 14. The control unit 51 also generates automatic driving data based on the setting information stored in the internal memory, and transmits (outputs) the automatic driving data to the control device 60 of the agricultural machine 1 via the communication unit 54. The automatic driving data includes route information, the type of work device 2, and automatic driving work information.

[0131] The travel control screen D8 shown in Fig. 14 is a screen that displays the travel state of the agricultural machine 1 and the work state of the work implement 2 in the automatic travel work mode. Note that in Fig. 14, the travel state and work state of the agricultural machine 1 some time after the automatic travel work mode has been started are displayed on the travel control screen D8. The travel control screen D8 displays a field map MP2, travel route L1, start position Ps, goal position Pg, agricultural machine mark X2, the travel state of the agricultural machine 1, setting change key B20, status display key B21, work trajectory key B15, and trajectory clear key B16.

[0132] The control unit 51 acquires the actual position of the traveling vehicle body 3 detected by the positioning device 40 at a predetermined cycle using the communication unit 54, and causes the agricultural machine mark X2 to be displayed at any time at a corresponding location on the field map MP2 according to the position of the traveling vehicle body 3. In other words, the agricultural machine mark X2 on the travel control screen D8 indicates the actual position of the traveling vehicle body 3 of the agricultural machine 1.

[0133] For example, while viewing the travel control screen D8, the operator manually moves the agricultural machine 1 to the start position Ps, and then performs a predetermined operation on the mode switch 65 (Fig. 1) to switch to the automatic travel work mode. As a result, the automatic control unit 61 (Fig. 1) switches to the automatic travel work mode, and performs ground work with the work device 2 while causing the traveling body 3 to travel in automatic operation based on the automatic travel data received from the agricultural work support device 50 and the position of the traveling body 3 detected by the positioning device 40.

[0134] Specifically, the automatic control unit 61 first reads the route information included in the automatic traveling data and grasps the traveling route L1, the start position Ps, and the goal position Pg. Then, the automatic control unit 61 performs ground work with the working device 2 while causing the traveling vehicle body 3 to travel automatically from the start position Ps based on the straight route La1 and the turning route L1b of the traveling route L1. At this time, when the automatic control unit 61 is causing the traveling vehicle body 3 to travel automatically based on the straight route L1a, the automatic control unit 61 performs ground work with the working device 2. Furthermore, when the automatic control unit 61 is causing the traveling vehicle body 3 to travel (turn) automatically based on the turning route L1b, the automatic control unit 61 temporarily stops the ground work with the working device 2, and resumes the ground work with the working device 2 when the traveling vehicle body 3 begins to travel automatically based on the adjacent straight route L1a. As a result, the traveling vehicle body 3 travels straight back and forth in the central area C1 based on the automatic driving, and ground work is performed by the working device 2 in the central area C1.

[0135] Thereafter, the automatic control unit 61 performs ground work using the working device 2 while automatically driving the traveling vehicle body 3 based on the circuit route L1c and the position of the traveling vehicle body 3. As a result, the traveling vehicle body 3 automatically drives around the outside of the central area C1, and the working device 2 performs ground work on the headland E2a (see FIG. 13D, etc.) surrounding the central area C1.

[0136] 15A to 15D are diagrams for explaining automatic steering of the agricultural machine 1. In the automatic traveling work mode, the automatic control unit 61 calculates the deviation between the position of the traveling vehicle body 3 detected by the positioning device 40 and the traveling route L1 while automatically traveling the traveling vehicle body 3. If the deviation is less than a threshold (for example, FIG. 15A), the automatic control unit 61 maintains the rotation angle of the steering shaft 31 (FIG. 1). If the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is equal to or greater than the threshold and the traveling vehicle body 3 is located on the left side of the traveling route L1 (for example, FIG. 15B), the automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 is rightward. If the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is equal to or greater than the threshold and the traveling vehicle body 3 is located on the right side of the traveling route L1 (for example, FIG. 15C), the automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 is leftward.

[0137] In the above example, the steering angle of the steering device 29 is changed based on the deviation between the position of the traveling vehicle body 3 and the traveling route L1. However, as another example, the steering angle of the steering device 29 may be changed based on the angle θg of the traveling direction F1 of the traveling vehicle body 3 with respect to the traveling route L1 shown in Fig. 15D. In this case, for example, the automatic control unit 61 calculates the traveling direction F1 of the traveling vehicle body 3 from a change in the position of the traveling vehicle body 3, and further calculates the angle θg of the traveling direction F1 with respect to the traveling route L1. Then, when the angle θg is equal to or greater than a threshold value, the automatic control unit 61 rotates the steering shaft 31 so that the traveling direction F1 of the traveling vehicle body 3 coincides with the orientation of the traveling route L1 (i.e., θg = "0°").

[0138] As another example, the automatic control unit 61 may calculate the first steering angle based on the deviation between the position of the traveling vehicle body 3 and the traveling route L1, and may calculate the second steering angle based on the traveling route L1 and the traveling direction F1 of the traveling vehicle body 3. Then, the automatic control unit 61 may calculate a third steering angle based on the first steering angle and the second steering angle, and rotate the steering shaft 31 based on the third steering angle.

[0139] Furthermore, when the traveling vehicle body 3 is automatically traveling based on the traveling route L1, the automatic control unit 61 calculates the actual vehicle speed of the traveling vehicle body 3 based on changes in the position of the traveling vehicle body 3. Then, the automatic control unit 61 controls the driving of the transmission 5, the braking device 6, and the prime mover 4 so that the actual vehicle speed matches the vehicle speed associated with the straight route L1a, the turning route L1b, or the circular route L1c.

[0140] As described above, in the automatic traveling work mode of the agricultural machine 1, the automatic control unit 61 automatically steers the traveling body 3 while automatically changing the traveling speed of the traveling body 3 based on the traveling route L1 and the position of the traveling body 3 (agricultural machine 1). In addition, the automatic control unit 61 automatically starts and stops agricultural work (ground work) by the work implement 2.

[0141] While the agricultural machine 1 is in the automatic driving work mode, the border crossing determination unit 51e (Figure 1) of the agricultural work support device 50 determines whether at least one of the work device 2 and the agricultural machine 1 has crossed the border from the field based on the position of the agricultural machine 1 detected by the positioning device 40, the field information, the valid dimensional information of the work device 2, and the dimensional information of the agricultural machine 1.

[0142] In detail, the border crossing determination unit 51e calculates the external positions (latitude and longitude) of the agricultural machine 1 and the work implement 2 from the GPS position (positioned position; latitude and longitude) detected by the positioning device 40, the installation position of the GPS on the agricultural machine 1, and the lengthwise dimensions (total length of the agricultural machine 1, total length of the work implement 2, etc.) and widthwise dimensions (total width of the agricultural machine 1, total width of the work implement 2, etc.) of the agricultural machine 1 and the work implement 2. Then, the border crossing determination unit 51e confirms whether the external position of the agricultural machine 1 or the work implement 2 is outside the contour H1 of the field or within the contour H1 (inside the field).

[0143] If the external positions of the agricultural machine 1 and the work implement 2 are within the contour H1 of the field, the border crossing determination unit 51e determines that the agricultural machine 1 and the work implement 2 have not crossed the border of the field (no border crossing). In this case, the automatic control unit 61 continues the traveling and steering of the agricultural machine 1 based on the traveling route L1 and the agricultural work by the work implement 2 (continuation of the automatic traveling and work mode).

[0144] On the other hand, if the external position of the implement 2 or agricultural machine 1 is outside the field contour H1, the border crossing determination unit 51e determines that the implement 2 or agricultural machine 1 has crossed the field (border crossing has occurred). In this case, the automatic control unit 61 stops the traveling and steering of the agricultural machine 1 based on the traveling route L1 and the agricultural work by the implement 2 (stopping the automatic traveling and work mode). Since the field contour H1 is set inside the ridges or other structures that actually surround the field, as shown in FIG. 5A and other figures, the automatic control unit 61 stops the traveling of the agricultural machine 1 immediately after the border crossing determination unit 51e determines that the implement 2 or agricultural machine 1 has crossed the field, thereby preventing the agricultural machine 1 and the implement 2 from colliding with the ridges or other structures. The notification unit 51g may notify the user of the determination result of the border crossing determination unit 51e via the display operation unit 52 or the alarm device 63.

[0145] In the automatic travel work mode, the control unit 51 (FIG. 1) of the agricultural work support device 50 detects the operating states of the agricultural machine 1 and the work implement 2 based on the detection results of the positioning device 40 and the detection device 64, or log data acquired from the control device 60. When the operator selects the status display key B21 on the travel control screen D8 shown in FIG. 14, the control unit 51 displays the operating states of the agricultural machine 1 and the work implement 2 in a pop-up on the travel control screen D8.

[0146] Furthermore, when the operator selects the work trajectory key B15, the control unit 51 calculates the actual work trajectory along which the work implement 2 performed ground work, based on the position of the traveling vehicle body 3 detected by the positioning device 40 and the effective working width of the work implement 2. The control unit 51 then displays the actual work trajectory (the hatched portion in FIG. 10) so that it is superimposed on the straight routes L1a, L1s on the field map MP2. When the operator selects the trajectory clear key B16, the control unit 51 erases the display of the work trajectory.

[0147] The automatic control unit 61 of the agricultural machine 1 causes the traveling body 3 to travel in automatic operation based on the traveling route L1 and the position of the traveling body 3, while performing ground work with the working device 2, and the working device 2 arrives at the goal position Pg. At this time, the automatic control unit 61 stops the automatic traveling work mode and stops the traveling body 3 and the working device 2. This completes the agricultural work based on the traveling route L1 in the automatic traveling work mode of the agricultural machine 1 and the working device 2.

[0148] When the control unit 51 detects that the agricultural work has been completed, it compares the setting information of the agricultural machine 1 stored in the internal memory (the type of agricultural work and the type of agricultural machine 1 on screen D4a in FIG. 7A) with the setting information of the corresponding agricultural machine 1 registered in the storage unit 53. If the setting information of the agricultural machine 1 stored in the internal memory does not match the setting information of the corresponding agricultural machine 1 registered in the storage unit 53, the control unit 51 updates (overwrites) the setting information of the corresponding agricultural machine 1 registered in the storage unit 53 with the setting information of the agricultural machine 1 stored in the internal memory.

[0149] Furthermore, the control unit 51 compares the setting information of the maintenance apparatus 2 stored in the internal memory (the dimension information and type of the maintenance apparatus 2 on screen D4c in FIG. 7C) with the setting information of the corresponding maintenance apparatus 2 registered in storage unit 53. If the setting information of the maintenance apparatus 2 stored in the internal memory does not match the setting information of the corresponding maintenance apparatus 2 registered in storage unit 53, the control unit 51 updates the setting information of the corresponding maintenance apparatus 2 registered in storage unit 53 with the setting information of the maintenance apparatus 2 stored in the internal memory. Furthermore, the control unit 51 rewrites the previous operation (screen D4b in FIG. 7B, screen D4c in FIG. 7C) included in the setting information of the maintenance apparatus 2 registered in storage unit 53 to "Yes".

[0150] Furthermore, the control unit 51 may associate the setting information of the agricultural machine 1, the setting information of the work implement 2, the field setting information (information of the field map MP2 selected on screen D5 of FIG. 10), the work conditions (setting information on screen D6 of FIG. 11, screen D7 such as in FIG. 10A, and screen D9 of FIG. 10), and the route information (areas C1 and E1, travel route L1, and positions Ps and Pg on screen D7 of FIG. 10B and screen D8 of FIG. 14) stored in the internal memory with the identification information of the agricultural machine 1 and the identification information of the work implement 2, and record (save) these as a work history in a predetermined area of the storage unit 53. In this case, the date and time when agricultural work based on the travel route L1 in the autonomous travel work mode of the agricultural machine 1 and the work implement 2 was started or completed may be included in the work history.

[0151] As described above, the modes executable by the agricultural machine 1 include an automatic steering operation mode in addition to the automatic driving operation mode. In the automatic driving operation mode and the automatic steering operation mode, ground work by the working device 2 is performed automatically as appropriate. In addition to the automatic driving operation mode and the automatic steering operation mode, the operation modes executable by the agricultural machine 1 include a manual driving operation mode. In the manual driving operation mode, the operator of the agricultural machine 1 changes the traveling speed of the traveling body 3 by operating the accelerator member or brake member of the operation device 62, and steers the traveling body 3 by operating the steering wheel 30. Furthermore, in the manual driving operation mode, the execution and stopping of ground work by the working device 2 may be controlled by the operator using the operation device 62, or the automatic control unit 61 may control it based on the position of the traveling body 3 and the travel route L1. In addition to the above modes, the agricultural machine 1 can also execute, for example, an automatic driving mode in which the traveling body 3 is driven automatically without automatically performing ground work by the working device 2, or an automatic steering mode in which the traveling body 3 is automatically steered.

[0152] For example, when the operator selects the autosteer key B2b on the home screen D1 shown in Fig. 3, screens similar to screens D3 to D9 that are displayed when the automatic driving key B2a is selected are sequentially displayed on the display operation unit 52. Then, on each of these screens, the operator can make various settings for executing the automatic steering operation mode in the same way as the various settings for executing the automatic driving operation mode.

[0153] The control unit 51 stores the various setting information input to execute the automatic steering operation mode in its internal memory, similar to the various setting information for executing the automatic driving operation mode. In addition, the dimension determination unit 51d executes the dimension constraint processing shown in Fig. 8 to determine whether the dimensional information of the working device 2 input to execute the automatic steering operation mode satisfies the constraint conditions according to the type of agricultural work, and decides whether or not to accept the dimensional information of the working device 2 according to the determination result.

[0154] Furthermore, the route creation unit 51c creates a travel route in the automatic steering work mode based on various setting information such as valid dimensional information of the working implement 2 stored in the internal memory of the control unit 51. Then, the control unit 51 displays route information including the travel route on the display operation unit 52, generates automatic steering data including the route information, and transmits (outputs) the automatic steering data to the agricultural machine 1 via the communication unit 54. When the automatic steering data is received by the communication unit 54 of the agricultural machine 1, the automatic control unit 61 of the control device 60 transitions to the automatic steering work mode, and performs ground work with the work implement 2 while automatically steering the traveling body 3 based on the travel route and the position of the traveling body 3 included in the automatic steering data.

[0155] In the above-described embodiment, an example was shown in which it was determined whether or not the widthwise dimension information of the working device 2 (total width and working width) of the dimensional information of the working device 2 input via the display operation unit 52 satisfies the constraint conditions, but it may also be determined whether or not the lengthwise dimension information of the working device 2 satisfies the constraint conditions. On the length setting screen D7e shown in Fig. 7E, any change values can be input for the lengthwise dimension information of the working device 2, namely the total length (C) and working position (D).

[0156] In FIG. 7E, the distance from the coupling position of the working implement 2 to the lower link 8b (FIGS. 1 and 2) of the lifting device 8 to the working position (D) of the working implement 2 is shorter than the overall length (C). However, depending on the type of working implement 2, the distance to the working position (D) of the working implement 2 may be longer than the overall length (C). Specifically, with a first working implement such as a tilling implement, rough tilling implement, or puddling implement, a first agricultural task such as tilling, rough tilling, or puddling is performed when the distance to the working position (D) is equal to or shorter than the overall length (C). In contrast, with a second working implement such as a spraying implement, a second agricultural task such as spraying is performed when the distance to the working position (D) is equal to or shorter than the overall length (C) and when the distance to the working position (D) exceeds the overall length (C) (i.e., the distance to the working position (D) is greater than the overall length (C)).

[0157] FIG. 16 is a diagram showing another example of a constraint condition table T2. Information showing the contents of the constraint condition table T2 is stored in advance in a predetermined storage area of the storage unit 53. In the constraint condition table T2, constraint conditions regarding the overall length (C) and work position (D) of the work implement 2 are associated with each type of agricultural work. In particular, in the constraint condition table T2, the constraint condition that the length to the work position (D) is equal to or less than the overall length (C) (D≦C) is associated with tilling work, puddling work, and rough plowing work. In contrast, no constraint conditions regarding the length to the work position (D) and the overall length (C) are associated with spraying work. In other words, no constraint conditions regarding the length to the work position (D) and the overall length (C) are set for spraying work.

[0158] When the operator selects the Next key B9 on the length setting screen D4e (Fig. 7E), the lengthwise dimension information of the working device 2 displayed on the length setting screen D4e (changed values for total length (C) and working position (D)) is stored in the internal memory of the control unit 51, the dimension information is entered, and the dimension determination unit 1d executes the dimension constraint processing shown in Fig. 8. In this case, the dimension determination unit 1d confirms the input of the type of farm work and the lengthwise dimension information of the working device 2 (S1 in Fig. 8), and then extracts (reads) constraint conditions corresponding to the type of farm work from the constraint condition table T2 stored in the memory unit 53 (S2).

[0159] For example, if any of tilling, puddling, and rough plowing is input as the type of agricultural work, the dimension determination unit 1d refers to the constraint condition table T2 and extracts the constraint condition that the length to the work position (D) is less than or equal to the total length (C) (D≦C) (S2 in FIG. 8). Also, if spraying is input as the type of agricultural work, the dimension determination unit 1d refers to the constraint condition table T2 and confirms that there are no constraint conditions regarding the length to the work position (D) and the total length (C) (S2).

[0160] As another example, in the constraint table T2, a constraint condition that the length to the work position (D) is equal to or less than the total length (C) (D≦C) or that the length to the work position (D) is greater than the total length (C) (D>C) may be associated with spraying work. In this case, when spraying work is input as the type of agricultural work, the dimension determination unit 1d extracts the constraint condition that the length to the work position (D) is equal to or less than the total length (C) (D≦C) or that the length to the work position (D) is greater than the total length (C) (D>C) (S2 in FIG. 8).

[0161] Next, the dimension determination unit 1d determines whether the input dimensional information of the working device 2 (changed values of the total length (C) and the working position (D)) satisfies the constraints. For example, if the type of agricultural work is one of tilling, puddling, and rough plowing, and the input length to the working position (D) is greater than the total length (C), the dimension determination unit 1d determines that the dimensional information of the working device 2 does not satisfy the constraints (D≦C) (S3: NO), rejects the acceptance of the dimensional information, and invalidates the dimensional information (S5). The dimension determination unit 1d then issues an error notification indicating the determination result via the notification unit 51g (S6). At this time, the notification unit 51g displays an error notification U2 in a pop-up on the length setting screen D4e, as shown in FIG. 17, for example. The error notification U2 includes a message M3 indicating that the working position of the working device 2 exceeds the total length and a message M4 prompting the user to change the working position or the total length.

[0162] On the other hand, when the type of agricultural work is tillage, puddling, or rough tillage, if the input length to the work position (D) is less than or equal to the total length (C), the dimension determination unit 1d determines that the dimensional information of the work device 2 satisfies the constraint condition (D≦C) (S3: YES in FIG. 8 ), and accepts and validates the dimensional information (S4). Also, when the type of agricultural work is spraying, the dimension determination unit 1d determines that the dimensional information of the work device 2 satisfies the constraint condition (S3: YES), even if the input length to the work position (D) is less than or equal to the total length (C), or even if the length to the work position (D) is greater than the total length (C), and accepts and validates the dimensional information (S4). When the dimensional constraint processing is thus completed, the control unit 51 causes the display operation unit 52 to again display the device confirmation screen D4c reflecting the valid lengthwise dimensional information of the work device 2.

[0163] It is also possible to input lengthwise dimension information of the working device 2 other than the overall length (C) and working position (D) described above, and determine the appropriateness of the dimension information based on constraints. FIG. 18 is a diagram showing another example of a length setting screen D4g. For example, when the operator selects the length setting key B38 on the device confirmation screen D4c shown in FIG. 7C, the control unit 51 causes the display operation unit 52 to display a length setting screen D4g shown in FIG. 18 instead of the length setting screen D4e shown in FIG. 7E. On the length setting screen D4g, it is possible to change the set values of the working device front end position and working rear end position in addition to the overall length and working position of the working device 2.

[0164] The working device front end position is the length from the connection position of the working device 2 to the lower link 8b (Figs. 1 and 2) of the lifting device 8 to the front end of the housing of the working device 2 (length F on screen D4g). The working rear end position is the length from the connection position of the working device 2 to the rear end of the working member (blade, bar, nozzle, etc.) of the working device 2 that performs ground work (length E on screen D4g). After the operator selects the input field K5 for the working device front end position or the input field K6 for the working rear end position, the operator can input a change value for the working device front end position (F) or rear working end position (E) into the input field K5 or input field K6 by operating the plus key B45 or minus key B46 to move the cursor K12 left or right.

[0165] In Figure 18, the length from the coupling position of the working device 2 to the working device front end position (F) of the working device 2 is shorter than the length to the working position (D), but depending on the type of working device 2, the length to the working device front end position (F) may be longer than the length to the working position (D). Also, in Figure 18, the length to the working rear end position (E) of the working device 2 is shorter than the overall length (C), but depending on the type of working device 2, the length to the working rear end position (E) may be longer than the overall length (C).

[0166] Specifically, with a first implement such as a tilling implement, rough tilling implement, or puddling implement, a first agricultural task such as tilling, rough tilling, or puddling is performed when the length from the coupling position of the implement 2 to the implement front end position (F) is less than the length to the working position (D) and the length to the working rear end position (E) is less than the overall length (C). In contrast, with a second implement such as a spraying implement, a second agricultural task such as spraying is performed regardless of the length to the implement front end position (F) to the working position (D), and the second agricultural task is performed regardless of the length to the working rear end position (E) of the implement.

[0167] FIG. 19 is a diagram showing a constraint condition table T3 of another example. Information indicating the content of the constraint condition table T3 is stored in advance in a predetermined storage area of the storage unit 53. In the constraint condition table T3, constraint conditions regarding the overall length (C) of the working device 2, the working position (D), the front end position (F) of the working device, and the rear end position (E) of the working device, which are dimensional information in the length direction of the working device 2, are associated with each type of agricultural work.

[0168] Specifically, in the constraint condition table T3, for tilling work, harrowing work, and rough tillage work, there are constraint conditions that the length up to the front end position (F) of the working device is less than the overall length (C) (F < C), the length up to the rear end position (E) of the working device is less than the overall length (C) (E < C), the length up to the front end position (F) of the working device is less than the length up to the working position (D) (F < D), the length up to the rear end position (E) of the working device is greater than the length up to the working position (D) (E > D), and the length up to the front end position (F) of the working device is less than the length up to the rear end position (E) (F < E), respectively.

[0169] On the other hand, for spraying work, there are constraint conditions that the length up to the front end position (F) of the working device is less than the overall length (C) (F < C), the length up to the rear end position (E) of the working device is greater than the length up to the working position (D) (E > D), and the length up to the front end position (F) of the working device is less than the length up to the rear end position (E) (F < E), respectively. That is, the constraint condition that the length up to the rear end position (E) of the working device is less than the overall length (C) (E < C) and the constraint condition that the length up to the front end position (F) of the working device is less than the length up to the working position (D) (F < D) are not associated with spraying work.

[0170] When the operator selects the Next key B9 on the length setting screen D4g in Figure 18, the lengthwise dimension information of the working implement 2 displayed on the length setting screen D4g (changed values for the overall length (C), working position (D), working implement front end position (F), and working implement rear end position (E)) is stored in the internal memory of the control unit 51, the dimension information is entered, and the dimension determination unit 1d executes the dimension constraint processing shown in Figure 8. In this case, the dimension determination unit 1d confirms the input of the type of farm work and the lengthwise dimension information of the working implement 2 (S1 in Figure 8), and then extracts constraint conditions corresponding to the type of farm work from the constraint condition table T3 stored in the memory unit 53 (S2).

[0171] Next, the dimension determination unit 1d determines whether the input lengthwise dimension information of the working device 2 (changed values of the total length (C), working position (D), working device front end position (F), and working rear end position (E)) satisfies the constraint conditions. If the dimension determination unit 1d determines that the lengthwise dimension information of the working device 2 does not satisfy the constraint conditions (S3: NO), it rejects the acceptance of the dimension information, invalidates the dimension information (S5), and issues an error notification indicating the determination result via the notification unit 51g (S6). At this time, the notification unit 51g displays an error notification in a pop-up on the length setting screen D4g, including, for example, a message indicating the details of the constraint conditions that were not satisfied and the lengthwise dimension information, and a message urging the user to change the lengthwise dimension information.

[0172] On the other hand, if the dimension determination unit 1d determines that the lengthwise dimension information of the working device 2 satisfies the constraint conditions (S3: YES), it accepts and validates the dimension information (S4), and terminates the dimension constraint processing. Thereafter, the control unit 51 causes the display operation unit 52 to again display the device confirmation screen D4c, which reflects the valid lengthwise dimension information of the working device 2. When the length setting key B38 is first operated on the device confirmation screen D4c (FIG. 7C), the length dimension information of the working device 2 (total length (C), working position (D), working front end position (F), and working rear end position (E)) on the length setting screen D4g (FIG. 18) displayed on the display operation unit 52 is the dimension information of the working device 2 registered in advance in the memory unit 53 and is set to values that satisfy the constraint conditions. The same applies to the length setting screen D4e in FIG. 7E.

[0173] The above-mentioned work position (D) is the length from the coupling position of the work implement 2 to the start of ground work, i.e., the work start position, but in addition to this, the work end position, which indicates the length from the coupling position of the work implement 2 to the end of ground work, may be made to be input as dimensional information of the work implement 2, and the suitability of the work start position and work end position may be determined based on constraint conditions.

[0174] FIG. 20A is a diagram showing another example of a length setting screen D4h. For example, when the operator selects the length setting key B38 on the device confirmation screen D4c shown in FIG. 7C, the control unit 51 causes the display operation unit 52 to display the length setting screen D4h shown in FIG. 20A instead of the length setting screen D4e shown in FIG. 7E. The length setting screen D4h allows the setting value of the overall length of the work device 2 to be changed. The length setting screen D4h also displays the work start position and the work end position as the work position of the work device 2. When the operator selects the detail setting key B38a on the length setting screen D4h, the control unit 51 causes the display operation unit 52 to display the length detail setting screen D4i shown in FIG. 20B. The length detail setting screen D4i allows the setting values of the work start position and the work end position included in the work position to be changed.

[0175] As shown on the length detail setting screen D4i in Figure 20B, the work start position is the length (Ds) from the coupled position of the work implement 2 to the position where ground work starts. In other words, when the work start position (Ds) of the work implement 2 reaches the start point of the work route L1a, L1s, ground work by the work implement 2 begins. The work end position is the length (De) from the coupled position of the work implement 2 to the position where ground work ends. In other words, when the work end position (De) of the work implement 2 reaches the end point of the work route L1a, L1s, ground work by the work implement 2 ends.

[0176] After the operator selects the input field K4s for the work start position (Ds) or the input field K4e for the work end position (De), the operator can operate the plus key B45 or minus key B46 to move the cursor K12 left or right, thereby inputting a change value for the work start position (Ds) or the work end position (De) into the input field K4s or K4e. In FIGS. 20A and 20B, the work start position (Ds) and the work end position (De) of the working device 2 are shown to have the same value (the same position), but the work start position (Ds) and the work end position (De) may be different. Also, in FIGS. 20A and 20B, the work start position (Ds) and the work end position (De) are shown to be smaller than the overall length (C), but depending on the type of working device 2, the work start position (Ds) and the work end position (De) may be larger than the overall length (C).

[0177] Specifically, with a first working implement such as a tilling implement, a first agricultural work such as tilling is performed when the work start position (Ds) is equal to or lower than the work end position (De) and the distance between the work start position (Ds) and the work end position (De) is equal to or lower than the total length (C). In contrast, with a second working implement such as a spraying implement, a second agricultural work such as spraying is performed when the work start position (Ds) is less than the work end position (De) or when the distance between the work start position (Ds) and the work end position (De) is less than the total length (C).

[0178] 21 is a diagram showing another example of a constraint condition table T4. Information showing the contents of the constraint condition table T4 is stored in advance in a predetermined storage area of the storage unit 53. In the constraint condition table T4, constraint conditions related to the overall length (C) of the work implement 2, which is dimensional information in the length direction of the work implement 2, and the work start position (Ds) and work end position (F) included in the work position are associated with each type of agricultural work.

[0179] Specifically, the constraint table T4 associates the constraint that the work start position (Ds) is equal to or less than the work end position (De) (Ds≦De), and the constraint that the work start position (Ds) and the work end position (De) are equal to or less than the total length (C) (Ds≦C, De≦C) with tillage work, puddling work, and rough plowing work, respectively. In contrast, for spraying work, no constraints are associated with the dimensional information of the work start position (Ds), work end position (De), and total length (C).

[0180] When the operator selects the Next key B9 on the length detail setting screen D4i in FIG. 20B, the set values for the work start position (Ds) and work end position (De) displayed on the length detail setting screen D4i are displayed on the length setting screen D4h in FIG. 20A. When the operator selects the Next key B9 on the length setting screen D4h, the lengthwise dimension information of the work implement 2 displayed on the length setting screen D4h (the total length (C) and the changed values for the work start position (Ds) and work end position (De)) is stored in the internal memory of the control unit 51, and the dimension information is entered, and the dimension determination unit 1d executes the dimension constraint processing shown in FIG. 8. In this case, the dimension determination unit 1d confirms the input of the type of agricultural work and the lengthwise dimension information of the work implement 2 (S1 in FIG. 8), and then extracts constraint conditions corresponding to the type of agricultural work from the constraint condition table T4 stored in the memory unit 53 (S2).

[0181] Next, the dimension determination unit 1d determines whether the input lengthwise dimension information of the working device 2 (changed values of the total length (C), the work start position (Ds), and the work end position (De)) satisfies the constraint conditions. If the dimension determination unit 1d determines that the lengthwise dimension information of the working device 2 does not satisfy the constraint conditions (S3: NO), it rejects the acceptance of the dimension information, invalidates the dimension information (S5), and issues an error notification indicating the determination result via the notification unit 51g (S6). At this time, the notification unit 51g displays an error notification in a pop-up on the length setting screen D4h (not shown), including, for example, a message indicating the details of the constraint conditions that were not satisfied and the lengthwise dimension information, and a message urging the user to change the lengthwise dimension information.

[0182] On the other hand, if the dimension determination unit 1d determines that the lengthwise dimension information of the working device 2 (changed values of the total length (C), work start position (Ds), and work end position (De)) satisfies the constraint conditions (S3: YES), it accepts and validates the dimension information (S4), and terminates the dimension constraint processing. Thereafter, the control unit 51 causes the display operation unit 52 to again display the device confirmation screen D4c reflecting the valid lengthwise dimension information of the working device 2. Note that when the length setting key B38 is operated for the first time on the device confirmation screen D4c (FIG. 7C), the length dimension information of the working device 2 (total length (C), work start position (Ds), work end position (De)) on the length setting screen D4h (FIG. 20A) displayed on the display operation unit 52 is the dimension information of the working device 2 registered in advance in the storage unit 53, and is set to values that satisfy the constraint conditions.

[0183] The determination by the dimension determination unit 51d described above of whether the width direction dimension information of the working device 2 satisfies the constraint conditions and the determination of whether the length direction dimension information of the working device 2 satisfies the constraint conditions may be performed by the dimension determination unit 51d in accordance with the procedure of the dimension constraint processing shown in FIG. 8, for example, when the operator selects the Next key B9 on the device confirmation screen D4c (FIG. 7C).

[0184] The above-described types of agricultural tasks and work implements 2 are merely examples and are not limited to these. In addition to the above, for example, a transplanting implement and a harvesting implement may be included in the first work implement performing the first agricultural task, and a seeding implement and a watering implement may be included in the second work implement performing the second agricultural task. Furthermore, constraints related to the dimensional information (A-F) for transplanting and harvesting tasks may be the same as the constraints for tilling tasks and included in the constraint condition tables T1-T4. Furthermore, constraints related to the dimensional information (A-F) for seeding and watering implements may be the same as the constraints for spraying tasks and included in the constraint condition tables T1-T4.

[0185] Furthermore, in addition to the widthwise and lengthwise dimensional information of the working device 2, heightwise dimensional information such as the height of the working device 2 and the raised position (non-working height) and lowered position (working height) of the working device 2 by the lifting device 8 may also be input via the display operation unit 52, and the dimension determination unit 51d may determine whether or not predetermined constraints are met. Furthermore, for a second working device such as a spraying device, constraints on the dimensional information may not be set, and the determination of whether or not the constraints are met may be omitted.

[0186] Furthermore, the dimensional information of the work implement 2 may be used not only when the area setting unit 51b and the route creation unit 51c create the travel route L1, and when the border crossing determination unit 51e determines whether the work implement 2 is crossing the border, but also in other processes, such as when the field registration unit 51a registers the field outline H1. Furthermore, the dimensional information of the work implement 2 used by each unit may be not only the working width, but also the overall width, overall length, working position (work start position, work end position), work implement front end position, work end position, or other dimensions. For example, to prevent the work implement 2 and agricultural machine 1 from crossing the border of the field and leaving unworked areas, it is effective to use the longitudinal dimension of the work implement 2 when creating the circular route L1c and the turning routes L1b and L1r. The types of work implement 2 and agricultural work are not limited to the examples described above, and other types may also be used.

[0187] In the above-described embodiment, the type of agricultural work is input on the work selection screen D3 (Figure 6), but in addition to this, the control unit 51 or the dimension determination unit 51d may determine the type of agricultural work that can be performed by the work device 2 input on the device selection screen D4b (Figure 7B), for example, from the unique information of the work device 2.

[0188] In the above-described embodiment, while the automatic driving operation mode or the automatic steering operation mode is being executed, the border crossing determination unit 51e determines whether or not the agricultural machine 1 or the work implement 2 has crossed the border from the field. However, in addition to this, for example, immediately after the route creation unit 51c has created the travel route L1, the border crossing determination unit 51e may also determine whether or not the agricultural machine 1 or the work implement 2 has crossed the border from the field in order to determine the suitability of the travel route L1.

[0189] In the above-described embodiment, an example has been shown in which the field registration unit 51a, the area setting unit 51b, the route creation unit 51c, the dimension determination unit 51d, the border crossing determination unit 51e, and the notification unit 51g are provided in the control unit 51 of the agricultural work support device 50, but in addition to this, for example, at least one of the above units 51a, 51b, 51c, 51d, 51e, and 51g may be provided in the control device 60 of the agricultural machine 1, or may be configured as a device separate from the control device 60. Furthermore, the storage unit 53 may be provided in the control device 60 of the agricultural machine 1 instead of in the agricultural work support device 50, or in an electronic device such as a PC on the agricultural machine 1 or on the cloud.

[0190] Furthermore, the input unit may be configured by a communication circuit or input interface for inputting registered information (which may also include setting information) such as the field map MP2 (field), the agricultural machine 1, the work implement 2, and work conditions from a server or storage medium that stores the registered information, other than the display operation unit 52. Furthermore, the input unit, display unit, or output unit may be configured by a communication circuit, input interface, display, touchpad, keys, or output interface mounted on the agricultural machine 1, other than the display operation unit 52 and communication unit 54 provided in the farm work support device 50. Furthermore, the dimension determination unit 51d may determine whether or not the dimension information of the work implement 2 input from the operator or an external device via such other input unit satisfies the constraints.

[0191] Furthermore, the agricultural work support device 50 may be configured as a mobile tablet terminal device, for example, a smartphone, or a terminal device fixed to the agricultural machine 1. The agricultural work support device may also be configured as an electronic device such as a PC not mounted on the agricultural machine 1, such as a server installed on the cloud. Instead of the agricultural work support device, the agricultural work support system may include an application program that can be downloaded from the cloud and installed by an electronic device owned by an operator. In this case, the application program may comprise the field registration unit 51a, area setting unit 51b, route creation unit 51c, dimension determination unit 51d, border crossing determination unit 51e, and notification unit 51g, and notifications from the notification unit may be displayed on a display unit provided in the electronic device on which the application program is installed or on a display device connected to the electronic device. Alternatively, the notification from the notification unit may be output as audio from a speaker on the agricultural machine or electronic device.

[0192] The farm work support system 100, the agricultural machine 1, and the farm work support device 50 of the present embodiment described above have the following configurations and provide the following effects.

[0193] The agricultural work support system 100 of this embodiment includes an input unit (display operation unit) 52 that inputs dimensional information of the work implement 2 connected to the agricultural machine 1 and work conditions for performing agricultural work in the field using the agricultural machine 1 and the work implement 2, a route creation unit 51c that creates a travel route L1 for the agricultural machine 1 on a map (field map) MP2 showing the field based on the dimensional information and work conditions, output units 52, 54 (display operation unit 52, communication unit 54) that output the travel route L1, and a dimension determination unit 51d that determines whether the dimensional information of the work implement 2 input by the input unit 52 satisfies predetermined constraints according to the type of agricultural work performed by the work implement 2, and refuses to accept the dimensional information if it is determined that the dimensional information does not satisfy the constraints.

[0194] The agricultural machine 1 of this embodiment is an agricultural machine that performs agricultural work supported by the agricultural work support system 100, and is equipped with a travelling body 3 that can be driven, coupling units 8g, 8h that can couple a working implement 2 to the travelling body 3, an input unit 52 that inputs dimensional information of the working implement 2 coupled to the travelling body 3 and work conditions for performing agricultural work in a field using the agricultural machine 1 and the working implement 2, a route creation unit 51c that creates a travel route L1 for the travelling body 3 on a map MP2 that shows the field based on the dimensional information and work conditions of the working implement 2, output units 52, 54 that output the travel route L1, and a dimension determination unit 51d that determines whether the dimensional information of the working implement 2 input by the input unit 52 satisfies predetermined constraints according to the type of agricultural work to be performed by the working implement 2, and refuses to accept the dimensional information if it is determined that the dimensional information does not satisfy the constraints.

[0195] The farm work support device 50 of this embodiment is a farm work support device included in the farm work support system 100, and includes the input unit 52, the route creation unit 51c, the output units 52 and 54, and the dimension determination unit 51d.

[0196] According to the above configuration, even if the actual dimensions of the working device 2 change due to, for example, replacement, adjustment, or maintenance of the working device 2, the dimensional information of the working device 2 can be re-input via the input unit 52, an appropriate travel route L1 can be created based on the dimensional information, and the travel route L1 can be output. Furthermore, if the dimensional information of the working device 2 input via the input unit 52 is inappropriate and therefore does not satisfy the constraints, the dimensional information is not accepted. This prevents an inappropriate travel route L1 from being created based on the dimensional information and from being output. It also prevents other processes executed using the dimensional information of the working device 2 from being executed based on inappropriate dimensional information. This improves convenience and enables an appropriate travel route L1 to be obtained in response to changes in the dimensions of the working device 2. As a result, the agricultural machine 1 can be driven stably based on the appropriate travel route L1. It also prevents the agricultural machine 1 from traveling based on the inappropriate travel route L1, resulting in a risk of the agricultural machine 1 or the working device 2 colliding with ridges or other obstacles around the field.

[0197] In this embodiment, the dimension determination unit 51d refuses to accept the dimensional information of the working device 2 input by the input unit 52, thereby preventing the route creation unit 51c from creating a travel route L1 based on the dimensional information or the output of the travel route L1 by the output units 52, 54. This makes it possible to improve convenience and obtain an appropriate travel route L1 in response to changes in the dimensions of the working device 2.

[0198] Furthermore, in this embodiment, when the dimension determination unit 51d determines that the dimension information of the working device 2 satisfies the constraint conditions, the route creation unit 51c creates a travel route L1 based on the dimension information, and the output units 52, 54 output the travel route L1 created by the route creation unit 51c. This makes it possible to more stably travel the agricultural machine 1 based on an appropriate travel route L1.

[0199] Furthermore, in this embodiment, the farm work support system 100 includes a notification unit 51g that notifies the determination result when the dimension determination unit 51d determines that the dimension information of the working device 2 does not satisfy the constraint conditions. This allows the user to recognize the reason why the dimension information of the working device 2 input by the input unit 52 is inappropriate, further improving convenience.

[0200] Furthermore, in this embodiment, when the dimension determination unit 51d determines that the dimension information of the operating device 2 does not satisfy the constraint conditions, the notification unit 51g notifies the user to change the dimension information. This prompts the user to re-input appropriate dimension information of the operating device 2 using the input unit 52, thereby further improving convenience.

[0201] Furthermore, in this embodiment, the dimension determination unit 51d extracts constraint conditions corresponding to the type of agricultural work input by the input unit 52 from the storage unit 53, which stores constraint conditions determined in advance according to the type of agricultural work. This makes it possible to set constraint conditions according to the type of agricultural work to be performed by the agricultural machine 1 and the work implement 2.

[0202] Furthermore, in this embodiment, the farm work support system 100 includes a position detection unit (positioning device) 40 that detects the position of the agricultural machine 1, and a border crossing determination unit 51e that determines whether the agricultural machine 2 or the agricultural machine 1 has crossed the border from the field based on the position of the agricultural machine 1, the map MP2, dimensional information of the agricultural machine 2, and dimensional information of the agricultural machine 1. The dimension determination unit 51d refuses to accept the dimensional information of the agricultural machine 2 input by the input unit 52, thereby preventing the border crossing determination unit 51e from determining whether or not the agricultural machine 2 or the agricultural machine 1 has crossed the border from the field based on the dimensional information. This prevents the border crossing determination unit 51e from erroneously determining whether or not the agricultural machine 2 or the agricultural machine 1 has crossed the border from the field using inappropriate dimensional information of the agricultural machine 2 that does not satisfy the constraints. This also prevents the risk of the agricultural machine 2 or the agricultural machine 1 colliding with a ridge or the like around the field due to an erroneous determination by the border crossing determination unit 51e.

[0203] Furthermore, in this embodiment, the farm work support system 100 includes a control unit 51 that reads out dimensional information corresponding to the identification information of the working device 2 input by the input unit 52 from a storage unit 53 that stores dimensional information and identification information of the working device 2 in association with each other. After the control unit 51 reads out the dimensional information of the working device 2, if a changed value for the dimensional information of the working device 2 is input by the input unit 52, the dimension determination unit 51d determines whether the changed value satisfies the constraint conditions. This makes it possible to update the dimensional information of the working device 2 that has been stored (registered) in advance in the storage unit 53 with the changed value for the dimensional information input by the input unit 52, further improving convenience. Furthermore, because it is determined whether the changed value for the dimensional information of the working device 2 satisfies the constraint conditions, it is possible to distinguish between an appropriate changed value that satisfies the constraint conditions and an inappropriate changed value that does not satisfy the constraint conditions.

[0204] Furthermore, in this embodiment, the agricultural work support system 100 includes an automatic control unit 61 that drives the working implement 2 while automatically traveling or steering the agricultural machine 1 based on the traveling route L1 output by the output unit 54 and the position of the agricultural machine 1 detected by the position detection unit 40 to perform agricultural work in the field, and the output units 52, 54 include a display unit 52 that displays the traveling route L1 or a communication unit 54 that transmits the traveling route L1 to the automatic control unit 61. This allows an appropriate traveling route L1 created based on appropriate dimensional information of the working implement 2 that satisfies the constraints to be displayed on the display unit 52 so that a user such as an operator can visually confirm it, further improving convenience. Furthermore, the automatic control unit 61 can automatically travel or steer the agricultural machine 1 based on the appropriate traveling route L1, allowing the working implement 2 to stably perform agricultural work in the field, further improving convenience.

[0205] In addition, in this embodiment, the dimensional information of the work implement 2 includes the overall width, which is the length of the external shape of the work implement 2 in the left-right direction perpendicular to the traveling direction and height direction of the agricultural machine 1, and the working width, which is the width across which the work implement 2 performs ground work. The types of agricultural work include first agricultural work (tilling, harrowing, rough plowing, etc.) that is performed in contact with objects in the field, and second agricultural work (spraying, etc.) that is performed at a distance from objects in the field. The work implements 2 include first work implements (tilling implements, harrowing implements, rough plowing implements, etc.) that perform the first agricultural work, and second work implements (spraying implements, etc.) that perform the second agricultural work. The dimension determination unit 51d sets a constraint that the working width be less than the overall width when the first agricultural work is performed by the first work implement, and does not set a constraint that the working width be less than the overall width when the second agricultural work is performed by the second work implement.

[0206] As described above, when the input working width of the first working implement is equal to or less than the overall width, a travel route L1 is appropriately created based on that working width, and the first agricultural work can be stably performed with the first working implement based on that travel route L1. Furthermore, when the input working width of the first working implement is greater than the overall width, a travel route L1 is not created based on that working width, and the first agricultural work is not performed with the first working implement, thereby preventing the first working implement and the agricultural machine 1 from colliding with ridges or the like around the field. Furthermore, whether the input working width of the second working implement is equal to or less than the overall width or less than the overall width, a travel route L1 is appropriately created based on that working width, and the second agricultural work can be stably performed with the second working implement based on that travel route L1.

[0207] Furthermore, in this embodiment, if the working width of the first work device input by the operator via the input unit 52 exceeds the overall width (is equal to or greater than the overall width), the dimension determination unit 51d determines that the dimensional information of the first work device does not satisfy the constraint conditions and refuses to accept the dimensional information of the first work device input via the input unit 52, and the notification unit 51g notifies the operator that the working width exceeds the overall width and encourages the operator to change the working width or the overall width.

[0208] As described above, when the working width of the first working device input by the operator via input unit 52 exceeds the overall width, the inappropriate working width and overall width are not accepted, preventing the creation of an inappropriate travel route L1 based on the working width and the output of the inappropriate travel route L1. In other words, it is possible to deal with input errors in the dimensional information of the working device 2 by the operator. Furthermore, when the working width of the first working device input by the operator via input unit 52 is equal to or less than the overall width, an appropriate travel route L1 can be created based on the working width and output.

[0209] In addition, in this embodiment, the dimensional information of the work implement 2 includes the overall length, which is the external length from the coupled position of the work implement 2 in the front-to-rear direction parallel to the traveling direction of the agricultural machine 1, and the length to the work position of the work implement 2, and the work position includes the work start position where the work implement 2 starts ground work from the coupled position, and the work end position where the work implement 2 ends ground work from the coupled position, and when a first agricultural work (tilling work, harrowing work, rough plowing work, etc.) is performed by a first work implement (tilling implement, harrowing implement, rough plowing implement, etc.), the dimension determination unit 51d sets as a constraint that the length to the work position is less than or equal to the overall length, or that the length to the work start position is less than or equal to the length to the work end position, and when a second agricultural work (spraying work, etc.) is performed by a second work implement (spraying implement, etc.), the dimension determination unit 51d does not set as a constraint that the length to the work position is less than or equal to the overall length, and that the length to the work start position is less than or equal to the length to the work end position.

[0210] As described above, when the input length to the work position of the first work implement is less than the total length, or when the length to the work start position included in the work position is less than the length to the work end position, it is possible to appropriately create the travel route L1 and determine whether the agricultural machine 1 and the work implement 2 have crossed the boundary from the field, based on the dimensional information. Also, when the input length to the work position of the first work implement exceeds the total length and / or the length to the work start position exceeds the length to the work end position, it is possible to prevent inappropriate creation of the travel route L1 and determination of whether the agricultural machine 1 and the work implement 2 have crossed the boundary from the field, based on the length to the work position or the total length. Furthermore, regardless of how large the input length to the work position of the second work implement is relative to the total length, or how large the length to the work start position is relative to the length to the work end position, it is possible to appropriately create the travel route L1 and determine whether the agricultural machine 1 and the work implement 2 have crossed the boundary from the field.

[0211] Furthermore, in this embodiment, if the length to the work position, which is the dimensional information of the first work device input by the operator via the input unit 52, exceeds (is greater than) the total length, or if the length to the work start position exceeds the length to the work end position, the dimension determination unit 51d determines that the dimensional information of the first work device does not satisfy the constraint conditions and refuses to accept the dimensional information of the first work device input via the input unit 52, and the notification unit 51g notifies the operator of the determination result of the dimension determination unit 51d and a recommendation to change the dimensional information that does not satisfy the constraint conditions.

[0212] As described above, if the length to the work position of the first work implement input by the operator via the input unit 52 exceeds the total length, and / or if the length to the work start position exceeds the length to the work end position, the dimensional information is not accepted, thereby preventing inappropriate creation of the travel route L1 and determination of whether the agricultural machine 1 and the work implement 2 have crossed the boundary from the field based on the dimensional information. In other words, it is possible to deal with input errors in the dimensional information of the work implement 2 by the operator. Furthermore, if the length to the work position of the first work implement input by the operator via the input unit 52 is less than the total length, or if the length to the work start position is less than the length to the work end position, it is possible to appropriately create an appropriate travel route L1 based on the length to the work position or the total length, and appropriately perform processes such as determination of whether the agricultural machine 1 and the work implement 2 have crossed the boundary from the field.

[0213] In this embodiment, the first work implement includes a tilling implement, a puddling implement, and a rough tillage implement, and the second work implement includes a spraying implement. As a result, when the dimensional information of the tilling implement, puddling implement, or rough tillage implement input by the input unit 52 satisfies the corresponding constraints, an appropriate travel route L1 is created based on the dimensional information, and the tilling implement, puddling implement, or rough tillage implement can perform tilling, puddling, and rough tillage appropriately and stably, respectively, based on the appropriate travel route L1. Furthermore, when the dimensional information of the tilling implement, puddling implement, or rough tillage implement input by the input unit 52 does not satisfy the corresponding constraints, an inappropriate travel route L1 is not created based on the dimensional information, and it is possible to prevent tilling, puddling, or rough tillage from being performed based on the inappropriate travel route L1. Furthermore, even when dimensional information of the spraying device is input by the input unit 52, if the dimensional information satisfies the corresponding constraint conditions, spraying work can be carried out appropriately and stably based on an appropriate travel route L1, and if the dimensional information does not satisfy the corresponding constraint conditions, spraying work can be prevented from being carried out based on an inappropriate travel route L1.

[0214] Furthermore, in this embodiment, the agricultural machine 1 is equipped with a position detection unit 40 that detects the position of the traveling body 3, and an automatic control unit 61 that drives the working implement 2 while automatically traveling or steering the traveling body 3 based on the traveling route L1 and the position of the traveling body 3 to perform agricultural work in the field, and when the dimension determination unit 51d determines that the dimensional information of the working implement 2 satisfies the constraint conditions, the output unit 54 outputs the traveling route L1 created by the route creation unit 51c to the automatic control unit 61. As a result, the automatic control unit 61 can automatically travel or steer the agricultural machine 1 based on the appropriate traveling route L1, while allowing the working implement 2 to stably perform agricultural work in the field, making it possible to further improve convenience.

[0215] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0216] 1. Agricultural machinery 2. Work equipment 3 Running vehicle 8g, 8h connection part 40 Positioning device (position detection unit) 50 Farming support equipment 51 Control section 51c Route Creation Department 51d Dimension judgment section 51e Border Crossing Judgment Department 51g Notification section 52 Display operation unit (input unit, display unit, output unit) 53 Memory section 54 Communication unit (output unit) 61 Automatic control unit 100 Agricultural work support system L1 Driving Route MP2 Field Map (Map)

Claims

1. an input unit for inputting dimensional information of a work implement connected to an agricultural machine and work conditions for performing agricultural work in a field using the agricultural machine and the work implement; a route creation unit that creates a travel route for the agricultural machine on a map showing the field based on the dimensional information of the work implement and the work conditions; an output unit that outputs the travel route; a dimension determination unit that determines whether the dimension information of the work device input by the input unit satisfies predetermined constraints according to the type of agricultural work performed by the work device, and that rejects acceptance of the dimension information when it is determined that the dimension information does not satisfy the constraints; The dimensional information of the work implement includes an overall length, which is the length of the outer shape of the work implement from the coupling position in a front-to-rear direction parallel to the traveling direction of the agricultural machine, and a length to a work position of the work implement, the work position including a work start position from the coupling position where the work implement starts ground work, and a work end position from the coupling position where the work implement ends ground work, The types of agricultural work include a first agricultural work performed in contact with an object in the field and a second agricultural work performed at a distance from the object in the field, the work devices include a first work device that performs the first agricultural task and a second work device that performs the second agricultural task; The dimension determination unit sets as a constraint that, when the first agricultural work is performed by the first work device, the length to the work position is less than or equal to the total length, or the length to the work start position is less than or equal to the length to the work end position, and does not set as a constraint that, when the second agricultural work is performed by the second work device, the length to the work position is less than or equal to the total length, and the length to the work start position is less than or equal to the length to the work end position.

2. A notification unit that notifies a result of the determination when the dimension determination unit determines that the dimension information of the working device does not satisfy the constraint condition, When the length to the work position, which is the dimension information of the first work device input by the operator via the input unit, exceeds the total length, or when the length to the work start position exceeds the length to the work end position, the dimension determination unit determines that the dimension information of the first working device does not satisfy the constraint condition and rejects acceptance of the dimension information of the first working device input by the input unit; The agricultural work support system according to claim 1 , wherein the notification unit notifies the determination result of the dimension determination unit and a request to change the dimension information that does not satisfy the constraints.

3. The agricultural work support system according to claim 1 or 2, wherein the dimension determination unit refuses to accept the dimension information of the work device input by the input unit, thereby preventing the route creation unit from creating the driving route based on the dimension information or the output unit from outputting the driving route.

4. When the dimension determination unit determines that the dimension information of the working device satisfies the constraint condition, the route creation unit creates the travel route based on the dimension information, 4. The agricultural work support system according to claim 1, wherein the output unit outputs the travel route created by the route creation unit.

5. The agricultural work support system according to any one of claims 1, 3 and 4, further comprising a notification unit that notifies the determination result when the dimension determination unit determines that the dimension information of the work device does not satisfy the constraint conditions.

6. The agricultural work support system according to claim 2 or 5, wherein the notification unit notifies the user to change the dimension information of the work device when the dimension determination unit determines that the dimension information of the work device does not satisfy the constraint condition.

7. The agricultural work support system according to any one of claims 1 to 6, wherein the dimension determination unit extracts the constraint conditions corresponding to the type of agricultural work input by the input unit from a memory unit that stores the constraint conditions predetermined according to the type of agricultural work.

8. a position detection unit that detects the position of the agricultural machine; a border crossing determination unit that determines whether or not the work implement or the agricultural machine has crossed the border from the field based on the position of the agricultural machine, the map, dimensional information of the work implement, and dimensional information of the agricultural machine, The agricultural work support system described in any one of claims 1 to 7, wherein the dimension determination unit refuses to accept the dimension information of the work equipment input by the input unit, thereby preventing the border crossing determination unit from determining whether or not there has been a border crossing based on the dimension information.

9. a control unit that reads out, from a storage unit that stores the dimension information of the working device and the identification information in association with each other, the dimension information corresponding to the identification information of the working device input by the input unit; The agricultural work support system according to any one of claims 1 to 8, wherein, when a changed value of the dimensional information of the work device is input by the input unit after the control unit reads out the dimensional information of the work device, the dimension determination unit determines whether the changed value satisfies the constraint condition.

10. an automatic control unit that performs agricultural work on the field by driving the work implement while automatically driving or steering the agricultural machine based on the travel route output by the output unit and the position of the agricultural machine detected by a position detection unit, The agricultural work support system according to any one of claims 1 to 9, wherein the output unit includes a display unit that displays the driving route or a communication unit that transmits the driving route to the automatic control unit.

11. The dimensional information of the work implement includes an overall width, which is the length of the outer shape of the work implement in the left-right direction perpendicular to the traveling direction and height direction of the agricultural machine, and a working width, which is the width over which the work implement performs ground work; The agricultural work support system according to any one of claims 1 to 10, wherein the dimension determination unit sets the constraint condition that the working width is less than or equal to the overall width when the first agricultural work is performed by the first work device, and does not set the constraint condition that the working width is less than or equal to the overall width when the second agricultural work is performed by the second work device.

12. A notification unit that notifies a result of the determination when the dimension determination unit determines that the dimension information of the working device does not satisfy the constraint condition, When the working width of the first working device input by the operator via the input unit exceeds the overall width, the dimension determination unit determines that the dimension information of the first working device does not satisfy the constraint condition and rejects acceptance of the dimension information of the first working device input by the input unit; The agricultural work support system according to claim 11 , wherein the notification unit notifies the user that the working width exceeds the overall width and prompts the user to change the working width or the overall width.

13. A travelable vehicle body; a coupling portion capable of coupling a working device to the traveling vehicle body; an input unit that inputs dimensional information about a work implement coupled to the traveling vehicle body and work conditions for performing agricultural work in a field with the work implement while the traveling vehicle body is traveling; a route creation unit that creates a travel route for the traveling vehicle body on a map showing the field based on the dimensional information of the work implement and the work conditions; an output unit that outputs the travel route; a dimension determination unit that determines whether the dimension information of the work device input by the input unit satisfies predetermined constraints according to the type of agricultural work performed by the work device, and that rejects acceptance of the dimension information when it is determined that the dimension information does not satisfy the constraints; The dimensional information of the working device includes an overall length, which is the length of the outer shape of the working device from the coupling position in a front-to-rear direction parallel to the traveling direction of the traveling vehicle body, and a length to a working position of the working device, the working position including a work start position from the coupling position where the working device starts ground work, and a work end position from the coupling position where the working device ends ground work, The types of agricultural work include a first agricultural work performed in contact with an object in the field and a second agricultural work performed at a distance from the object in the field, the work devices include a first work device that performs the first agricultural task and a second work device that performs the second agricultural task; The dimension determination unit, when performing the first agricultural work using the first work device, sets as a constraint that the length to the work position is less than or equal to the total length, or that the length to the work start position is less than or equal to the length to the work end position, and, when performing the second agricultural work using the second work device, does not set as a constraint that the length to the work position is less than or equal to the total length, and that the length to the work start position is less than or equal to the length to the work end position.

14. an input unit for inputting dimensional information of a work implement connected to an agricultural machine and work conditions for performing agricultural work in a field using the agricultural machine and the work implement; a route creation unit that creates a travel route for the agricultural machine on a map showing the field based on the dimensional information of the work implement and the work conditions; an output unit that outputs the travel route; a dimension determination unit that determines whether the dimension information of the work device input by the input unit satisfies predetermined constraints according to the type of agricultural work performed by the work device, and that rejects acceptance of the dimension information when it is determined that the dimension information does not satisfy the constraints; The dimensional information of the work implement includes an overall length, which is the length of the outer shape of the work implement from the coupling position in a front-to-rear direction parallel to the traveling direction of the agricultural machine, and a length to a work position of the work implement, the work position including a work start position from the coupling position where the work implement starts ground work, and a work end position from the coupling position where the work implement ends ground work, The types of agricultural work include a first agricultural work performed in contact with an object in the field and a second agricultural work performed at a distance from the object in the field, the work devices include a first work device that performs the first agricultural task and a second work device that performs the second agricultural task; The dimension determination unit, when performing the first agricultural work using the first work device, sets as a constraint that the length to the work position is less than or equal to the total length, or that the length to the work start position is less than or equal to the length to the work end position, and when performing the second agricultural work using the second work device, does not set as a constraint that the length to the work position is less than or equal to the total length, and that the length to the work start position is less than or equal to the length to the work end position.

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