Agricultural work support device, agricultural work support system, agricultural machinery, and driving line creation method

Abstract

To properly create a travel line on which an agricultural machine travels in order to perform farm work with a work device in a farm field.SOLUTION: An agricultural work support device includes: an input unit which receives input of farm field information, device information of a work device, and a working condition of the farm work performed by the work device while making the agricultural machine travel in a farm field; and a control unit which creates a plurality of travel lines on which the agricultural machine travels in order to perform the farm work with the work device in a farm field map on the basis of the farm field information, the device information and the working condition. The control unit identifies the multiple farm field sides from the farm field information, identifies a work direction and a headland width of the farm work from the working condition, and shifts each end point of the multiple travel lines created on the farm field map parallel to the work direction in a shortening direction of each travel line on the basis of the multiple farm field sides and headland width.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for assisting agricultural work performed by a work implement connected to an agricultural machine while the agricultural machine is traveling in a field. [Background technology]

[0002] Patent Document 1 discloses a technology in which a work path creation unit creates multiple driving lines (straight-line agricultural work paths) along which a tractor travels to perform agricultural work using a work implement (work machine) connected to the tractor, in a work area in the center of a field, at intervals such as the working width of the work implement (paragraphs 0045-0046, Figure 6, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-135995 Summary of the Invention [Problem to be solved by the invention]

[0004] When agricultural machinery travels through a work area in a field and performs agricultural work using a work implement at a fixed working width, areas narrower than the working width may occur. Performing agricultural work using a fixed working width in such a narrow area can result in at least one of the agricultural machinery and the work implement extending beyond the field, which is undesirable. To prevent agricultural machinery and other equipment from extending beyond the field, one method involves creating multiple travel lines in the work area at intervals of the narrow working width, and overlapping the work trajectories of the work implements performed while the agricultural machinery is traveling. However, in this case, if the amount of overlap of the work trajectories increases, the number of travel lines increases, which can increase the distance the agricultural machinery travels. Furthermore, in the case of spraying work, the amount of material sprayed may be unnecessarily large, which is inefficient.

[0005] SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to efficiently perform agricultural work using a work implement while traveling an agricultural machine in a field. [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 device of the present invention comprises an input unit to which field information representing a field, device information of a work device coupled to an agricultural machine, and work information of agricultural work to be performed by the work device while the agricultural machine is traveling in the field are input, and a control unit that creates, on a field map representing the field, a plurality of travel lines along which the agricultural machine is to travel in order to perform the agricultural work with the work device, based on the field information, the device information, and the work information. The control unit generates a plurality of travel lines along which the agricultural machine is to travel in order to perform the agricultural work with the work device, based on the device information. The specifications of the variable working width and a predetermined first working width are specified, and one or more first driving lines along which the agricultural work is carried out at the first working width are created on the field map. If simply creating the first driving lines results in a surplus area on the field map that is narrower than the first working width by a predetermined value or more, a second working width of the work implement is determined based on the specifications of the working width in accordance with the width of the surplus area, and a second driving line along which the agricultural work is carried out at the second working width in the surplus area is created on the field map. [Effects of the Invention]

[0008] According to the present invention, agricultural work can be efficiently performed using the work device while the agricultural machine is traveling in the field. It is possible to do so. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of an agricultural work support system. [Figure 2] FIG. 10 is a diagram showing a work selection screen. [Figure 3] FIG. 10 is a diagram showing a work device setting confirmation screen. [Figure 4] FIG. 10 is a diagram showing a field selection screen. [Figure 5A] FIG. 10 is a diagram showing a route creation screen. [Figure 5B] FIG. 10 is a diagram showing a route creation screen after a driving line has been created. [Figure 5C] FIG. 10 is a diagram showing a route creation screen after a travel route has been created. [Figure 6] FIG. 10 is a diagram showing a ridge information setting screen. [Figure 7] FIG. 10 is a diagram showing a collaborative work setting screen. [Figure 8] FIG. 10 is a diagram showing a driving control screen. [Figure 9A] 10 is a flowchart showing the operation of creating a driving line of the agricultural work support device. [Figure 9B] 9B is a flowchart continuing from FIG. 9A. [Figure 10A] FIG. 1 is a diagram showing a farm field map. [Figure 10B] FIG. 10 is a diagram showing ridge positions. [Figure 10C] FIG. 10 is a diagram showing the ridge position and the first travel line for pest control work. [Figure 10D] FIG. 2 is a diagram showing a first travel line and a second travel line for pest control work. [Figure 10E] FIG. 1 is a diagram showing a travel route for pest control work. [Figure 11] FIG. 1 is a diagram showing a running device of an agricultural machine and furrows. [Figure 12A] 10A and 10B are diagrams illustrating an example of left and right equal working devices and a remaining area. [Figure 12B] 10A and 10B are diagrams showing other examples of working devices and spare areas that are balanced on the left and right sides. [Figure 12C] FIG. 10 is a diagram showing an example of a single-sided working device and a remaining area. [Figure 12D] 10A and 10B are diagrams illustrating another example of a single-sided working device and a remaining area. [Figure 12E] 10A and 10B are diagrams illustrating another example of a single-sided working device and a remaining area. [Figure 12F] 10A and 10B are diagrams illustrating another example of a single-sided working device and a remaining area. [Figure 13A] 10 is a flowchart showing a display operation of the farm work support device. [Figure 13B] This is a flowchart continuing from FIG. 13A. [Figure 14A] FIG. 10 is a diagram showing an example of a route creation screen displaying a work line and a travel line. [Figure 14B] FIG. 10 is a diagram showing another example of the route creation screen displaying the work line and the travel line. [Figure 15] FIG. 10 is a diagram showing a route creation screen on which display setting keys for completed and uncompleted routes are displayed. [Figure 16A] 10 is a flowchart showing the operation of the agricultural work support system in an automatic work mode. [Figure 16B] This is a flowchart continuing from FIG. 16A. [Figure 17A] FIG. 10 is a diagram showing an example of a first notification screen. [Figure 17B] FIG. 10 is a diagram showing an example of a second notification screen. [Figure 17C] FIG. 10 is a diagram showing an example of a third notification screen. [Figure 18] FIG. 1 is a side view of an agricultural machine. [Figure 19] FIG. 2 is a plan view of the agricultural machine and the soil-raising device. [Figure 20A] FIG. 2 is a plan view of the agricultural machine and the spraying device in an extended state. [Figure 20B] FIG. 2 is a plan view of the agricultural machine and the spraying device in a retracted state. [Figure 20C] FIG. 2 is a plan view of the agricultural machine and the spraying device in a stowed state. [Figure 21A] FIG. 10 is a schematic plan view of another spraying device. [Figure 21B] FIG. 10 is a schematic plan view of another spraying device. [Figure 21C] FIG. 10 is a schematic plan view of another spraying device. [Figure 21D] FIG. 10 is a schematic plan view of another spraying device. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] 18 is a side view of the agricultural machine 1 of this embodiment. The agricultural machine 1 is configured as a tractor. Note that the agricultural machine of the present invention 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.

[0012] The agricultural machine 1 includes a body 3, a prime mover 4, a transmission 5, and traveling devices 7. A pair of traveling devices 7 are provided on the body 3, one on each side, and support the body 3 so that it can travel. Each of the pair of traveling devices 7 has a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. The rear wheel 7R may also be a tire type or a crawler type.

[0013] 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 propulsive force of the traveling device 7 by changing gears, and is also capable of switching the traveling device 7 between forward and reverse. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, causing the vehicle body 3 to travel forward and backward. In FIG. 18, the left side is the front of the vehicle body 3, and the right side is the rear of the vehicle body 3. Furthermore, as you face FIG. 18, the back side is the right side of the vehicle body 3, and the front side is the left side of the vehicle body 3.

[0014] A cabin 9 is provided on the vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A lifting device 8 configured with a three-point linkage mechanism or the like is provided at the rear of the vehicle body 3. A working implement 2 for performing agricultural work can be connected to the lifting device 8. More specifically, the working implement 2 can be connected to coupling parts 8g, 8h provided on the lifting device 8. By connecting the working implement 2 to the coupling parts 8g, 8h, the working implement 2 and the vehicle body 3 (agricultural machine 1) are connected together, and the vehicle body 3 can tow the working implement 2.

[0015] The working implements 2 perform agricultural work for cultivating crops in open fields. For example, the working implements 2 include a tilling implement (rotary tiller) for tilling the field, a spraying implement for spraying materials such as fertilizer or pesticides, a soil-raising implement (also called a ridge-making implement) for raking soil, a seeding implement for sowing crop seeds, a transplanting implement for transplanting seedlings, and a harvesting implement for harvesting crops.

[0016] 19 is a plan view of an example of the agricultural machine 1 and the hilling device 2A. The hilling device 2A has a plurality of ridge formers 72 and a rotary tilling unit 73. The rotary tilling unit 73 is provided forward of the plurality of ridge formers 72 (in the direction closer to the body 3 of the agricultural machine 1). The plurality of ridge formers 72 are provided at predetermined intervals in the width direction of the agricultural machine 1.

[0017] As the agricultural machine 1 travels straight ahead in the field and the cultivator 2A towed by the agricultural machine 1 is driven, the soil in the field is tilled by the rotary tiller 73, and then the soil is shaped into a trapezoidal shape by a plurality of ridge formers 72, forming a plurality of ridges Ua of a predetermined width and at predetermined intervals. In the example shown in FIG. 19, two ridge formers 72 are provided on the cultivator 2A, so two band-shaped ridges Ua are formed simultaneously. The number of ridge formers 72 provided on the cultivator 2A is not limited to two, and may be one, or three or more. The same number of ridges Ua as the number of ridge formers 72 provided on the cultivator 2A are formed simultaneously.

[0018] 20A to 20C are plan views of an example of the agricultural machine 1 and the spraying device 2B. The spraying device 2B is also called a boom sprayer. The spraying device 2B has a frame 75, a spraying unit 76, a tank 77, and a pump 78. The frame 75 is connected to the lifting device 8 of the agricultural machine 1, and supports the spraying unit 76, the tank 77, and the pump 78.

[0019] As shown in FIG. 20A, one or more spraying units 76 are provided extending in the width direction of the agricultural machine 1. In this example, three spraying units 76 (76L, 76R, 76M) are provided on the spraying device 2B. The spraying units 76 include a boom 76a, a spraying pipe 76b, and a nozzle 76c. The boom 76a extends in the width direction of the agricultural machine 1. The booms 76a of the left and right spraying units 76L, 76R are configured as multi-stage booms and are extendable in the width direction of the agricultural machine 1. The spraying pipe 76b is installed parallel to the boom 76a. The spraying pipe 76b is provided with a plurality of nozzles 76c at predetermined intervals in the axial direction of the spraying pipe 76b. A spraying port 76d is formed at the tip of each nozzle 76c. That is, a plurality of spraying ports 76d are provided at predetermined intervals in the longitudinal direction of the spraying unit 76. The tank 77 stores liquid pesticide. A pump 78 supplies the pesticide in the tank 77 to the nozzle 76c through the spray pipe 76b.

[0020] As the agricultural machine 1 travels straight ahead in the field and the spraying device 2B towed by the agricultural machine 1 is driven, materials such as pesticides or fertilizers are sprayed from the spraying ports 76d of the multiple nozzles 76c, thereby performing spraying work (pest control work or fertilization work). As will be described later, the spraying state of the spraying device 2B can be manually controlled. An operator manually operates the spraying device 2B using an auxiliary controller or an operation box (both not shown) provided on the spraying device 2B. In addition, the operator attaches and detaches an appropriate number of spraying units 76 to and from the frame 75.

[0021] The spraying devices that can be connected to the agricultural machine 1 include not only the towed spraying device 2B shown in FIG. 20A but also directly mounted spraying devices that are mounted on the body 3 of the agricultural machine 1. In addition to the spraying device 2B that is manually operated using an auxiliary controller or the like, there are also spraying devices that are controllably connected to the agricultural machine 1 via ISO-BUS, and these spraying devices are operated by operation signals sent from the agricultural machine 1.

[0022] 1 is a configuration diagram of an agricultural work support system 100. The agricultural work support system 100 and the agricultural work support device 50 support agricultural work performed by an agricultural machine 1 using a work implement 2 while the agricultural machine 1 is traveling in a field.

[0023] 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 position detection device 40, an alarm device 63, and a status 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 position detection device 40, the alarm device 63, and the status 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.

[0024] The control device 60 is composed of an electronic control unit (ECU) that includes a CPU and internal memory. The internal memory of the control device 60 includes a volatile memory and a non-volatile memory. The control device 60 controls the operation of each part of the agricultural machine 1 based on software programs and control data stored in the internal memory. The control device 60 is a controller that controls the travel of the agricultural machine 1 and the operation of the work device 2. The operating device 62 is composed of switches, levers, pedals, other keys, etc. that can be operated by a driver seated in the driver's seat 10 or a worker near the agricultural machine 1.

[0025] The prime mover 4 (for example, an engine or an electric motor) is controlled by a control device 60 to drive, stop, and 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.

[0026] The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal transmitted from a control device 60. The control valve 38 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 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 vehicle body 3.

[0027] The control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the drive of the transmission 5. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the vehicle body 3 to travel forward and backward. Furthermore, for example, when the working device 2 performs ground work, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

[0028] The control device 60 also communicates with the work apparatus 2 via the in-vehicle network N1. Specifically, the work apparatus 2 is equipped with a control unit and a communication unit (not shown). The control device 60 transmits a work command to the work apparatus 2 via the in-vehicle network N1. When the control unit of the work apparatus 2 receives the work command via the communication unit, 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 of the work apparatus 2 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. The control device 60 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.

[0029] Note that there are also working apparatuses 2 that do not have a control unit or a communication unit. For this type of working apparatus 2, the control device 60 does not communicate via the in-vehicle network N1, but as will be described later, the working apparatus 2 is raised and lowered by the lifting device 8 to change the position of the working apparatus 2, thereby controlling the operation of the working apparatus 2 and detecting the working state of the working apparatus 2.

[0030] 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 (FIG. 18). The steering shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists steering by the handle 30.

[0031] The assist mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal 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 39 that changes the direction of the front wheels 7F.

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

[0033] The body 3 of the agricultural machine 1 can be manually steered by manually operating the steering wheel 30, or automatically steered by the control device 60. Furthermore, the transmission 5 or the brake device 6 is operated in response to manual operation of an accelerator member or a brake pedal (both not shown) provided on the operation device 62, thereby enabling the body 3 to travel and stop. Furthermore, the body 3 can be automatically traveled and stopped in response to control of the transmission 5 and the brake device 6 by the control device 60. That is, the agricultural machine 1 is capable of manual driving in which a worker or the like (driver) performs driving and steering operations, automatic driving in which the control device 60 automatically performs driving and steering, and auto-steer driving (also referred to as automatic steering or semi-automatic driving) in which the control device 60 automatically performs steering and the worker or the like performs driving operations.

[0034] The lifting device 8 is provided with a hydraulic cylinder as an actuator. The hydraulic cylinder is connected to a control valve 36. The control valve 36 is an electromagnetic valve that operates based on a control signal sent from a control device 60. The control valve 36 is supplied with hydraulic oil discharged from a hydraulic pump 33. The control device 60 electrically controls the switching position or opening degree of the control valve 36, thereby adjusting the hydraulic pressure supplied to the hydraulic cylinder of the lifting device 8 and causing the hydraulic cylinder to extend or retract. As the hydraulic cylinder of the lifting device 8 extends or retracts, connecting portions 8g and 8h (FIG. 18) rotate up and down, and the working device 2 connected to the connecting portions 8g and 8h moves up and down.

[0035] The position detection 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 (such as the position of the positioning satellite and the transmission time) transmitted from a satellite positioning system (positioning satellite) such as GPS, GLONASS, Beidou, Galileo, or Michibiki. The position detection device 40 detects the current position (such as latitude and longitude) based on the satellite signals received by the receiving device 41. That is, the position detection device 40 is a positioning device that detects the position of the agricultural machine 1 (vehicle body 3) using the satellite positioning system. The inertial measurement unit 42 includes an acceleration sensor and a gyro sensor, etc. The inertial measurement unit 42 detects the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3. The alarm device 63 is configured with a buzzer, speaker, warning light, etc. provided on the vehicle body 3. The alarm device 63 issues an alarm around the vehicle body 3 by sound or light.

[0036] The state detection device 64 is composed of sensors and the like installed in each part of the agricultural machine 1 and the working implement 2. Based on output signals from the sensors and the like, the state detection device 64 detects the operating state (driving and stopped 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 operating device 62. The state detection device 64 also detects the operating state of the working implement 2 based on output signals from the sensors and the like.

[0037] The state detection device 64 also includes an object detection unit 64a, a laser sensor such as LiDAR, an ultrasonic sensor, a camera, etc. The laser sensor, ultrasonic sensor, camera, etc. are installed at the front, rear, left and right sides of the vehicle body 3. The object detection unit 64a detects the presence or absence of objects around the agricultural machine 1 and the work implement 2, and the distance to the objects, etc., from output signals from the laser sensor or ultrasonic sensor. The object detection unit 64a also detects the presence or absence of objects around the agricultural machine 1 and the work implement 2, etc., from captured images of the surroundings of the agricultural machine 1 and the work implement 2 taken by the camera. In other words, the state detection device 64 detects the state around the agricultural machine 1 using the laser sensor, ultrasonic sensor, camera, etc.

[0038] The agricultural work support device 50 is configured, for example, as 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 That is, the agricultural machine 1 is equipped with the farm work support device 50. In addition, the farm work support device 50 can also be detached from the agricultural machine 1.

[0039] The agricultural work support device 50 is equipped with a control unit 51, a display operation unit 52, a memory unit 53, and a communication unit 54. The control unit 51 is a processor of the agricultural work support device 50, and includes a CPU and internal memory. The internal memory of the control unit 51 includes a volatile memory and a non-volatile memory.

[0040] The display operation unit 52 is composed of a touch panel display and displays (outputs) various types of information on the screen. The display operation unit 52 also displays predetermined information on the screen to notify a worker or the like of the information. That is, the display operation unit 52 outputs a notification (screen) including the predetermined information. An operator, such as a worker, performs predetermined operations on the display screen of the display operation unit 52 to input various types of information or instructions. The display operation unit 52 is a display device, an input device (input unit, input interface), and an output device (output unit, output interface) of the agricultural work support device 50. That is, the display operation unit 52 is a user interface. Instead of the display operation unit 52, an independent display device, an input device, and an output device may be provided in the agricultural work support device 50. Furthermore, a speaker included in the alarm device 63 of the agricultural machine 1 may be used as an output device to output predetermined information by voice, thereby notifying the worker of the information.

[0041] 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 the memory unit 53 in a readable and writable manner. The control unit 51 controls each unit of the agricultural work support device 50 based on software programs and control data, etc. stored in the memory unit 53 or the internal memory. The communication unit 54 is composed of a communication interface for connecting to the in-vehicle network N1. The control unit 51 communicates with the control device 60, the operation device 62, the position detection device 40, the alarm device 63, the status detection device 64, and the work device 2 via the in-vehicle network N1 using the communication unit 54. The communication unit 54 can also communicate with external devices such as servers via the Internet, etc. The communication unit 54 is an input device (input unit, input interface) and an output device (output unit, output interface) that inputs and outputs (transmits and receives) information, data, and instructions to and from the control device 60 of the agricultural machine 1.

[0042] Field information indicating the field, machine information indicating the agricultural machine 1, device information indicating the work implement 2, and work information on the agricultural work to be performed by the work implement 2 while the agricultural machine 1 is traveling in the field are input to the agricultural work support device 50 by the display operation unit 52 or the communication unit 54, and are stored in the internal memory of the storage unit 53 or the control unit 51. Based on at least the field information, device information, and work information, the control unit 51 creates multiple driving lines on a field map indicating the field along which the agricultural machine 1 should travel in order to perform agricultural work with the work implement 2.

[0043] The field information includes information such as the field's identification information (ID), position (coordinates), contour, and area. The equipment information of the work equipment 2 includes the specifications of the work equipment 2 (including dimensions, performance, functions, identification information, etc.) and information regarding manual operation of the work equipment 2. The work information includes the type of corresponding agricultural work, the work conditions for performing the corresponding agricultural work using the agricultural machine 1 and the work equipment 2, the work plan, and the work history. The work conditions include the work direction and headland width, etc. The work plan includes the travel line of the agricultural machine 1, the travel route connecting multiple travel lines, and the planned work position. The work history includes the actual work position where the agricultural work was performed by the agricultural machine 1 and the work equipment 2. The machine information of the agricultural machine 1 includes information indicating the specifications of the agricultural machine 1 (including dimensions, performance, functions, identification information, etc.). The machine information of the agricultural machine 1 is also stored in a memory provided inside the control device 60.

[0044] When creating a traveling line for the agricultural machine 1, the control unit 51 identifies the specifications of the changeable working width of the working device 2 (such as the state and range of variation) and a predetermined first working width for the working device 2, for example, based on device information for the working device 2, and creates one or more first traveling lines for the agricultural machine 1 for performing agricultural work at the first working width on the field map. Furthermore, if simply creating the first traveling line results in a surplus area on the field map that is narrower than the first working width by a predetermined value or more, the control unit 51 determines a second working width for the working device 2 in accordance with the width of the surplus area, based on the specifications of the working width of the working device 2, and creates a second traveling line for the agricultural machine 1 for performing agricultural work in the surplus area with the second working width on the field map.

[0045] The control unit 51 displays the field map on the display operation unit 52. At this time, the control unit 51 causes the display operation unit 52 to draw, on the field map, at least one of the work positions and driving lines of multiple types of agricultural work that are carried out in coordination in the field, for example.

[0046] Furthermore, the control unit 51 transmits the field information, device information, work information, etc. to the control device 60 of the agricultural machine 1 via the communication unit 54. The control device 60 controls the driving of the prime mover 4, the transmission 5, the braking device 6, the steering device 29, the lifting device 8, and the work device 2 based on the field information, device information, work information, the position of the agricultural machine 1 (body 3) detected by the position detection device 40, and the detection results of the state detection device 64, and executes automatic operation in which the agricultural machine 1 (body 3) travels and steers automatically while the work device 2 performs agricultural work (ground work) in the field.

[0047] At that time, the control device 60 determines whether manual operation of the work device 2 is required based on the above-mentioned information. Specifically, the device information of the work device 2 includes information regarding manual operation, such as whether manual operation is required and the details of the manual operation. The control device 60 determines whether manual operation of the work device 2 is required based on the information regarding manual operation of the work device 2, the position of the agricultural machine 1 in the field, the operating state of the agricultural machine 1, the work state of the work device 2, and the like. Note that information regarding manual operation of the work device 2 is set by, for example, the operator using the agricultural work support device 50. If the control device 60 determines that manual operation of the work device 2 is required, it outputs a notification to that effect via the display operation unit 52 of the agricultural work support device 50, for example.

[0048] Furthermore, based on the above information, the control device 60 can also perform auto-steer operation, in which the driving of the agricultural machine 1 (body 3) is left to the manual, and agricultural work is performed in the field using the work device 2 while automatically steering the agricultural machine 1. In auto-steer operation, 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 driving speed of the body 3 is changed in response to this operation.

[0049] The agricultural machine 1 can also be driven and steered manually, and when driven manually, agricultural 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 operating device 62 to change the traveling speed of the vehicle body 3, and steers the vehicle body 3 by operating the steering wheel 30 (FIG. 1).

[0050] 2 to 8 are diagrams showing examples of screens displayed on the display operation unit 52 of the agricultural work support device 50. In this embodiment, the operator inputs device information indicating the work device 2 for open-field cultivation (field farming), field information indicating the field, and work information for the agricultural work, using screens D3 to D7 of the display operation unit 52 in FIGS. 2 to 6, etc. Then, the control unit 51 of the agricultural work support device 50 creates multiple travel lines along which the agricultural machine 1 travels to perform the open-field cultivation work with the work device 2, based on the device information, field information, work information, etc. Furthermore, the control unit 51 creates a travel route by connecting the multiple travel lines (FIG. 5C), and controls the travel route. The state of the agricultural machine 1 when it is traveling based on the route is displayed on a screen D8 (FIG. 8) of the display operation unit 52.

[0051] When the operator starts up the agricultural work support device 50, the control unit 51 displays a home screen (not shown) on the display operation unit 52. When the operator performs a predetermined input operation on the home screen using the display operation unit 52, the control unit 51 displays the work selection screen D3 shown in FIG. 2 on the display operation unit 52. Data for the work selection screen D3 and data for each screen described below are stored in the memory unit 53. The control unit 51 reads data from the memory unit 53 as necessary and displays a screen based on the data on the display operation unit 52.

[0052] On the work selection screen D3, the operator selects the type of agricultural work to be performed by the agricultural machine 1 and the work implement 2. When the operator operates (tap) one of the work keys B31 to B35, the agricultural work corresponding to the operated work key B31 to B35 is selected. The example in FIG. 2 shows a state in which pest control work has been selected.

[0053] The work selection screen D3 in Fig. 2 shows examples of agricultural work for outdoor cultivation of crops, including, but not limited to, tilling, sowing, soiling, pest control, and fertilizing. When the operator operates the arrow keys B41 and B42, the control unit 51 displays other agricultural work, such as transplanting and harvesting, that is not shown in Fig. 2, on the work selection screen D3. Note that sowing and transplanting are examples of planting work in which materials such as crop seeds or seedlings (seed potatoes in the case of potatoes) are planted in a field.

[0054] When the operator operates one of the task keys B31 to B35 on the task selection screen D3 and then operates the next key B9, the control unit 51 determines that the task corresponding to the operated task key has been designated as the target task, and stores task designation information indicating the designated target task in the internal memory or storage unit 53. The control unit 51 also displays the task equipment setting confirmation screen (hereinafter simply referred to as the "equipment setting screen") D4 shown in FIG. 3 on the display operation unit 52. When the operator operates the back key B8, the control unit 51 displays the previous screen on the display operation unit 52 (the same applies to subsequent screens D4 to D7).

[0055] The operator inputs and confirms device information for the work device 2 on the device setting screen D4. In the example of FIG. 3, the control unit 51 displays the identification information and dimensional information of the currently set spraying device 2B for pest control work on the device setting screen D4 as device information for the work device 2. The dimensional information includes the overall width, overall length, and working width of the spraying device 2B. The working width includes the individual working widths of the left spraying unit, right spraying unit, and central spraying unit, as well as the total working width that indicates the working width of the entire spraying device 2B.

[0056] As shown in Fig. 20A, the spraying device 2B has three spraying units 76: a left spraying unit 76L, a right spraying unit 76R, and a central spraying unit 76M. Of these, the left spraying unit 76L and the right spraying unit 76R are extendable and retractable in the left and right width directions of the agricultural machine 1 (body 3) as shown in Figs. 20A and 20B by actuators not shown. Furthermore, the left spraying unit 76L and the right spraying unit 76R are changeable by actuators not shown between a state in which they protrude to the left and right sides of the agricultural machine 1 (working state) as shown in Figs. 20A and 20B, and a stored state in which they do not protrude to the left and right sides of the agricultural machine 1 (non-working state) as shown in Fig. 20C.

[0057] In the example of Figures 20A to 20C, the left sprinkling unit 76L and the right sprinkling unit 76R are rotated in a horizontal plane by an actuator to change between a protruding state in which they extend in the left-right direction of the agricultural machine 1 and a retracted state in which they extend in the front-rear direction of the agricultural machine 1. However, depending on the model of the sprinkling device 2B, the left sprinkling unit 76L and the right sprinkling unit 76R may be rotated by an actuator. The left and right spraying units 76L and 76R may be rotated by the actuator in a vertical plane or in an inclined plane inclined at an acute angle to the vertical plane to change between a protruding state in which they are extended in the left and right directions of the agricultural machine 1 and a stored state in which they are moved toward the center of the agricultural machine 1 or the spraying device 2B. Also, there may be cases in which one of the left and right spraying units 76L and 76R is in the protruding state and the other spraying unit 76 is in the stored state.

[0058] The worker manually operates the spraying device 2B using the auxiliary controller or operation box to put at least one of the left spraying unit 76L and the right spraying unit 76R into a protruding state, and turns on (drives) the spraying unit 76 in the protruding state, thereby spraying the material (chemical) from the spraying port 76d of the nozzle 76c of the protruding spraying unit 76. Furthermore, the worker manually operates the spraying device 2B using the auxiliary controller or operation box to turn on the central spraying unit 76M, thereby spraying the material from the spraying port 76d of the nozzle 76c of the central spraying unit 76M.

[0059] In addition, the worker can manually operate the spraying device 2B using an auxiliary controller or operation box to change the protrusion length of at least one of the left spraying unit 76L and the right spraying unit 76R, or turn each of the multiple spraying units 76L, 76R, and 76M ON (driven state) or OFF (stopped state), thereby changing the working width Wa of the spraying device 2B (the width over which materials are sprayed).

[0060] Alternatively, an operator may manually operate the spraying device 2B using an auxiliary controller or an operation box to turn each of the multiple nozzles 76c of each of the multiple spraying units 76 (76L, 76R, 76M) ON (open state in which the material can be sprayed) or OFF (closed state in which the material cannot be sprayed), thereby changing the working width Wa and spraying position of the spraying device 2B. Alternatively, an operator may manually operate the spraying device 2B using an auxiliary controller or an operation box to tilt at least one of the multiple spraying units 76 in the front-to-back or up-down direction of the agricultural machine 1 with an actuator, thereby changing the attitude of the spraying unit 76, thereby changing the working width Wa, etc. of the spraying device 2B.

[0061] In addition to the above-described spraying device 2B, there is also a spraying device 2B having a plurality of spraying units 76 located on one of the left and right sides and directly behind the agricultural machine 1, as shown in FIG. 21A, for example. There is also a spraying device 2B having only a spraying unit 76 located on one of the left and right sides of the agricultural machine 1, as shown in FIG. 21B, for example. There is also a spraying device 2B having only a spraying unit 76 located directly behind the agricultural machine 1, as shown in FIG. 21C, for example. The spraying device 2B shown in FIG. 20A can also be changed to essentially the operating form shown in FIGS. 21A to 21C by appropriately turning on or off the plurality of spraying units 76.

[0062] 21D, there is also a spraying device 2B having a plurality of spraying units 76 extending from the center in the width direction of the agricultural machine 1 to the left and right sides. Although not shown, there is also a spraying device 2B having a single spraying unit 76 extending from the center in the width direction of the agricultural machine 1 to one or both of the left and right sides. In this way, the spraying device 2B has specifications for various working states, but is not limited to the specifications exemplified above.

[0063] When the operator (or worker) operates the setting key B37 on the device setting screen D4 in Fig. 3, the identification information and dimensional information of the spraying device 2B can each be changed. For example, if the operator operates the setting key B37 and then changes (inputs) the identification information of the spraying device 2B using the display operation unit 52, the control unit 51 reads out the device information of the spraying device 2B corresponding to the changed identification information from the storage unit 53 and stores it in the internal memory, and displays the dimensional information of the spraying device 2B from that information on the device setting screen D4.

[0064] Furthermore, after the operator operates the setting key B37, if the operator appropriately changes (inputs) the overall width or overall length of the spraying device 2B or the working width of each spraying unit 76 (76L, 76R, 76M) based on the specifications of the spraying device 2B connected to the agricultural machine 1, the control unit 51 causes the display operation unit 52 to display the changed overall width, overall length, or working width on the device setting screen D4. Furthermore, the control unit 51 calculates the total working width by, for example, subtracting a predetermined overlap from the sum of the working widths of the spraying units 76, and causes the display operation unit 52 to display the total working width on the device setting screen D4. In the example of Figure 3, the working widths of the left spraying unit 76L and the right spraying unit 76R are each 650 cm, the working width of the central spraying unit 76M is 180 cm, and the overlap of the working widths of the left spraying unit 76L and the right spraying unit 76R with respect to the working width of the central spraying unit 76M is 15 cm each, so the control unit 51 subtracts both overlaps from the total value of the working widths of each spraying unit 76, 1480 cm, to calculate a total working width of 1450 cm (total working width = 650 cm + 650 cm + 180 cm - 15 cm - 15 cm = 1450 cm). As another example, the control unit 51 may calculate the total value of the working widths of each spraying unit 76 as the total working width.

[0065] In the above, an example has been shown in which the operator inputs and changes device information for a work apparatus 2 for pest control work (spraying apparatus 2B) on the device setting screen D4, but device information for work apparatus 2 for other agricultural work can also be input and changed on the device setting screen D4. The storage unit 53 also stores device information for work apparatus 2 for agricultural work other than the work apparatus 2 for pest control work shown in FIG. 3. The control unit 51 determines the work apparatus 2 for that agricultural work according to the agricultural work selected on the work selection screen D3 of FIG. 2, reads out the device information for that work apparatus 2 from the storage unit 53, and displays it on the device setting screen D4 of FIG. 3. The storage unit 53 also stores machine information for one or more agricultural machines 1 that have been registered in advance.

[0066] When the operator checks the contents displayed on the equipment setting screen D4 and operates the Next key B9, the control unit 51 stores the equipment information of the work equipment 2 displayed on the equipment setting screen D4 in the internal memory or the storage unit 53, and displays the field selection screen D5 shown in Figure 4 on the display operation unit 52.

[0067] On the field selection screen D5, the operator selects one of the field maps MP2 representing one or more fields pre-registered in the storage unit 53. 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. 4, the selected field map MP2 is surrounded by a thick frame. When the operator selects the Next key B9 with one of the field maps MP2 selected, the control unit 51 reads out field information including the selected field map MP2 from the storage unit 53, stores the field information in its internal memory, and displays the route creation screen D7 shown in FIG. 5A on the display operation unit 52.

[0068] The route creation screen D7 displays the field map MP2 selected on the field selection screen D5, the agricultural machine mark K1, various input fields, keys, etc. The operator inputs work conditions on the route creation screen D7. In the example of Fig. 5A, the operator inputs or changes the work direction and headland width as work conditions.

[0069] The working direction is the direction in which work is performed by the working implement 2 while the agricultural machine 1 is reciprocated in a straight line in the field. The operator inputs, as the working direction, one of the directions parallel to each of the multiple field sides H1a to H1e that make up the outline H1 of the field (field map MP2). In more detail, when the operator inputs a predetermined value (for example, "1", "2", ...) in the numerical input field for the working direction, the field side corresponding to the value is designated as the reference side, and a direction parallel to the reference side is input as the working direction. In the rectangular field map MP2 shown in FIG. 5A, one of the field sides H1a to H1e is designated as the reference side, and the up-down direction or left-right direction parallel to the reference side can be input as the working direction. The headland width is the width of the headland provided at the edge of the field (width parallel to the working direction). The headland width can be a value greater than "0". A numerical value is entered.

[0070] When the operator operates the task cooperation key B21, the control unit 51 displays the task cooperation screen D6 shown in FIG. 6 on the display operation unit 52. At this time, the control unit 51 may display the task cooperation screen D6 as a pop-up on the device setting screen D4, or may display the task cooperation screen D6 on the display operation unit 52 instead of the device setting screen D4. The task cooperation screen D6 displays other agricultural tasks that can be cooperated with the target agricultural task selected on the task selection screen D3 of FIG. 2. In this example, because pest control work is specified as the target agricultural task on the task selection screen D3, the control unit 51 identifies sowing and soil ripening as agricultural tasks that can be cooperated with the pest control work and displays a sowing setting box B23 and a soil ripening setting box B24 on the task cooperation screen D6 so that they can be selectively specified. Note that the control unit 51 may also display a setting box corresponding to either sowing or soil ripening as agricultural tasks that can be cooperated with the pest control work on the task cooperation screen D6.

[0071] As shown in Fig. 6, when the operator selects (tap) the soil cultivation setting box B24, soil cultivation is designated as the cooperative agricultural work, and the control unit 51 displays in the soil cultivation setting box B24 the work information for the soil cultivation work that has been stored in advance in the memory unit 53. The work information for the soil cultivation work includes ridge information such as the ridge width and total number of ridges of the multiple ridges Ua that are formed in the field by performing the soil cultivation work.

[0072] The total number of ridges refers to the number of ridges Ua formed in a field. Ridge width refers to the width Wu of the location of the soil in the field where one ridge Ua is formed, as shown in Figure 11, for example. In other words, ridge width Wu is the sum of the ridge bottom width Wub, which indicates the width of the ridge Ua itself, and the ridge spacing Su, which indicates the distance between the bottoms of adjacent ridges Ua (Wu = Wub + Su). Note that the ridge shoulder width Wuc, which indicates the width of the top end of the ridge Ua, may be used as the width of the ridge Ua itself, and the distance between the top ends of adjacent ridges Ua may be used as the ridge spacing.

[0073] When the ridge information is stored in the memory unit 53, the control unit 51 displays the set values ​​for the ridge width Wu and the total number of ridges included in the ridge information in the numerical input fields for the ridge width Wu and the total number of ridges in the cultivation soil setting box B24 (FIG. 6). If the set values ​​displayed in the numerical input fields for the ridge width Wu and the total number of ridges in the cultivation soil setting box B24 are used when ridges Ua have not yet been formed in the field corresponding to the field map MP2 (when cultivation soiling has not yet been performed), the operator can change the set values ​​by operating the display operation unit 52. On the other hand, if the set values ​​displayed in the numerical input fields for the ridge width Wu and the total number of ridges in the cultivation soil setting box B24 are used when ridges Ua have already been formed in the field corresponding to the field map MP2 (when cultivation soiling has already been performed), the control unit 51 displays the set values ​​in the cultivation soil setting box B24 so that they cannot be changed.

[0074] The work information for the hilling work may be work information set in the agricultural work support device 50 and stored in the memory unit 53, or may be work information received by the control unit 51 from an external device such as a server via the communication unit 54 and stored in the memory unit 53. The work information for the hilling work may be work information for hilling work that has not yet been performed, or may be work information for hilling work that has already been performed.

[0075] If work information for the ridge work is not stored in the memory unit 53, the control unit 51 displays only the item names "ridge width Wu" and "total number of ridges" in the ridge work setting box B24. In this case, the control unit 51 may not accept numerical input into the numerical input fields for the ridge width Wu and total number of ridges in the ridge work setting box B24, and may output (display) a message (notification) indicating that the ridge work and the pest control work cannot be linked on the work linkage screen D6 or the like (not shown). Alternatively, the operator may operate the display operation unit 52 to input numerical values ​​into the numerical input fields for the ridge width Wu and total number of ridges in the ridge work setting box B24, and the control unit 51 may accept the input numerical values.

[0076] When the operator selects the sowing setting box B23, sowing is designated as the linked agricultural work, and the control unit 51 displays the work information for the sowing work stored in advance in the memory unit 53 in the sowing setting box B23 (not shown). The work information for the sowing work may also include ridge information such as the ridge width Wu of the ridges, including the work position of the sowing work, and the total number of ridges. Alternatively, instead of ridge information, the control unit 51 may display sowing information such as the sowing position or sowing row in the sowing setting box B23. Furthermore, as in the case of the culture soil setting box B24 described above, the control unit 51 may display the items and setting values ​​of the work information for the sowing work in the sowing setting box B23, and the operator may change and input the work information for the sowing work.

[0077] When the operator operates the OK key B10 on the work collaboration screen D6, the control unit 51 stores in the memory unit 53 the work designation information indicating the coordinated agricultural work specified on the work collaboration screen D6 and the display or input work information of the coordinated agricultural work, and causes the display operation unit 52 to display the route creation screen D7 of FIG. 5A. At this time, the control unit 51 displays the work direction and headland width set for the coordinated agricultural work in the work direction and headland width input fields on the route creation screen D7. Then, when the operator operates the line creation key B13 on the route creation screen D7, the control unit 51 stores the settings on the route creation screen D7 and the like in its internal memory and creates, on the field map MP2, a travel line along which the agricultural machine 1 should travel in order to perform the target agricultural work in the field with the implement 2.

[0078] Figures 9A and 9B are flowcharts showing the operation of creating a driving line by the agricultural work support device 50. Each step in Figures 9A and 9B is executed by the control unit 51. Figures 10A to 10D are diagrams showing the process of creating a driving line in the farm field map MP2. Below, an example will be described in which a driving line is created for the agricultural machine 1 to travel on in order to perform pest control work as the target agricultural work using the spraying device 2B.

[0079] As described above, when the operator inputs numerical values ​​and selections for each setting item on the route creation screen D7 of Figure 5A and then operates the line creation key B13, the control unit 51 temporarily stores the numerical values ​​and other information input for each setting item in its internal memory, and then reads the field information, equipment information for the work equipment 2, and work information for the target agricultural work stored in its internal memory (S1 in Figure 9A).

[0080] The control unit 51 then identifies a plurality of field sides H1a-H1e that indicate the field contour H1 from the field information, identifies a first working width Wa1 that serves as the basis for the spraying device 2B and specifications for the changeable working width Wa of the spraying device 2B from the device information, and identifies the work direction and headland width from the work information (S2). The first working width Wa1 of the spraying device 2B identified at this time is the total working width of the spraying device 2B set on the device setting screen D4 of Fig. 3. The specifications for the changeable working width Wa of the spraying device 2B include the spraying units 76 (76L, 76R, 76M) provided on the spraying device 2B, the changeable form of the spraying units 76 (number of installed units, installation state, posture, etc.), and the change range of the working width of the spraying units 76 (range from minimum to maximum).

[0081] 10A, for example, the control unit 51 creates offset sides H2a and H2c parallel to the field sides H1a and H1c in the field map MP2 at positions offset by the headland width Wp from the field sides H1a and H1c that are not parallel to the working direction V. The control unit 51 then determines a central region C1 surrounded by the offset sides H2a and H2c and the other field sides H1b and H1d, and determines the parts of the field map MP2 other than the central region C1 as headlands E1a and E1c (S3 in FIG. 9A). That is, headland E1a is the region surrounded by the field sides H1a, H1b, H1d and the offset side H2a, and headland E1c is the region surrounded by the field sides H1c, H1b, H1d and the offset side H2c.

[0082] As another example, the control unit 51 may control the field sides H1b and H1d (FIG. 10A) parallel to the working direction V. Alternatively, offset sides parallel to the field sides H1b and H1d may be created by offsetting them inward by the headland width Wp or a predetermined distance, and the area enclosed by these offset sides and the aforementioned offset sides H2a and H2c may be determined as the central area. In this case, headlands are set between the central area and the field sides H1a to H1d.

[0083] Next, the control unit 51 checks whether work information for an coordinated agricultural work (e.g., hilling) that is coordinated with the target agricultural work (pest control work) for which a travel line is to be created is stored in the memory unit 53. If the work information for the coordinated agricultural work is stored in the memory unit 53 (S4: YES in FIG. 9A), the control unit 51 identifies the work status and work position of the coordinated agricultural work from the work information for the coordinated agricultural work (S5). Specifically, at this time, the control unit 51 identifies the ridge width Wu and total number of ridges of the ridges Ua formed by the coordinated agricultural work, the hilling, as the work status, and identifies the ridge position as the work position of the coordinated agricultural work based on the ridge width Wu, total number of ridges, and field information (such as the central work area in the field). The ridge position refers to the position of multiple ridges Ua formed in the field.

[0084] In Figure 10B, multiple ridge positions R1 identified by the control unit 51 are each represented by a thick dashed line. The ridge positions R1 are straight lines parallel to the working direction V and are also called ridge lines R1. The width direction of the ridges Ua corresponding to each of the multiple ridge positions (ridge lines) R1 is perpendicular to the working direction V.

[0085] As another example, the control unit 51 may identify the work position (such as the ridge position) of the coordinated agricultural work based on the travel line included in the work information for the coordinated agricultural work (the travel line along which the work implement 1 is made to travel in order to perform the coordinated agricultural work with the work implement 2) and the device information for the work implement 2 that is performing the coordinated agricultural work. Alternatively, the control unit 51 may include a travelable line for the work implement 1 that is not performing the coordinated agricultural work (such as a furrow line that represents the furrow space Su where no furrows Ua are formed, as shown in FIG. 11) in the work information for the coordinated agricultural work and store it in the memory unit 53 in advance, and then identify the work position (such as the ridge position) for the coordinated agricultural work based on the travelable line.

[0086] Next, the control unit 51 determines the relative position of the work implement 2 with respect to the body 3 of the agricultural machine 1 and the spacing between the pair of left and right traveling units 7 lined up in the width direction of the body 3, from the machine information of the agricultural machine 1 and the device information of the work implement 2 stored in the memory unit 53 (S6 in FIG. 9A). At this time, the control unit 51 uses the position of the body 3 detected by the position detection device 40, for example, as a reference point, and determines (calculates) a first distance from the reference point in the fore-and-aft direction of the body 3 to the center of the traveling unit 7, and a second distance from the reference point in the width direction of the body 3 to the center of the traveling unit 7, as the relative position of the work implement 2 with respect to the body 3. The control unit 51 also detects the spacing between the front wheels 7F and the spacing between the rear wheels 7R of the pair of left and right traveling units 7 from the machine information of the agricultural machine 1, and determines the narrower of these spacings as the spacing Ta between the traveling units 7. Then, as shown in FIG. 11, the control unit 51 calculates the number of ridges to be passed between the traveling devices 7 based on the interval Ta between the traveling devices 7, the ridge position R1, and the ridge width Wu (S7 in FIG. 9A).

[0087] Furthermore, the control unit 51 calculates the number of work-target ridges that fall within the range in which the spraying device 2B can simultaneously perform agricultural work (pest control work) in the first work width Wa1 based on the first work width Wa1, ridge position R1, and ridge width Wu (S8). The control unit 51 also divides the total number of ridges by the number of work-target ridges, determines the quotient as the number of first travel lines to be created, and determines the remainder number of ridges (S9). Note that if the total number of ridges is divisible by the number of work-target ridges, the remainder number of ridges will be "0".

[0088] Next, the control unit 51 creates a determined number of first travel lines L1 on the field map MP2, along which the target agricultural work will be carried out, with a first work width Wa1, as shown in Fig. 10C, based on the ridge position R1 of the coordinated agricultural work (S10 in Fig. 9B). In more detail, when creating multiple first travel lines L1, the control unit 51 first creates a first travel line L1 in the corresponding position within the central area C1, a distance Wa1 / 2, half the first work width Wa1, from one side of the central area C1 parallel to the work direction V shown in Fig. 10C. A single first running line L1 parallel to the ridge line R1 is created across multiple offset sides H2a, H2c that are not parallel to the working direction V. Then, using the single first running line L1 as a reference, the control unit 51 creates first running lines L1 parallel to the working direction V and the ridge line R1 across the offset sides H2a, H2c in the central region C1 at intervals of the first working width Wa1.

[0089] As shown in FIG. 10C, simply creating the first traveling line L1 in the central region C1 may result in a surplus region C1r at the edge of the central region C1, the width Wr of which is narrower than the first working width Wa1 by a predetermined value or more. In this case, the predetermined value is set to a value smaller than the first working width Wa1. If the surplus region C1r occurs at the edge of the central region C1 (S12 in FIG. 9B: YES), the control unit 51 calculates the width Wr of the surplus region C1r based on the number of surplus ridges, the ridge position R1, and the ridge width Wu (S13). Note that, depending on the working conditions, the surplus region C1r may occur in a location other than the edge of the central region C1.

[0090] Next, the control unit 51 determines the second working width Wa2 of the working device 2 according to the width Wr of the remaining area C1r based on the specifications of the working width Wa of the working device 2 (S14 in FIG. 9B). At this time, the control unit 51 determines at least one of the spraying units 76 (76L, 76R, 76M) and the spraying port 76d that are compatible with the width Wr of the remaining area C1r, and determines the second working width Wa2 based on at least one of the compatible spraying units 76 and the spraying port 76d. That is, the control unit 51 determines the working configuration of the working device 2 to achieve the second working width Wa2 (the spraying unit that is effective for spraying among the multiple spraying units 76L, 76R, 76M, the widthwise projection length, posture, and spraying position (spraying port 76d) of the effective spraying unit). Note that the second working width Wa2 is narrower than the first working width Wa1. The control unit 51 stores the determined second working width Wa2 of the working implement 2 and the working form in the storage unit 53 in association with each other.

[0091] Next, the control unit 51 creates a second traveling line L2 in the central region C1 along which agricultural work is carried out at the second working width Wa2, as shown in Fig. 10D (S15 in Fig. 9B). At this time, the control unit 51 creates the second traveling line L2 parallel to the working direction V and the ridge line R1 in the central region C1 across the offset sides H2a and H2c, based on the ridge positions of the coordinated agricultural work in the remaining region C1r, the relative position of the work implement 2 with respect to the body 3 of the agricultural machine 1, and the number of ridges passed through.

[0092] 12A, for example, if the central axis Ja in the width direction of the agricultural machine 1 and the central axis Ja in the width direction of the spraying device 2B (working device 2) coincide and the number of ridges in the remainder area C1r is an even number, like the number of passed ridges, the value obtained by subtracting the number of passed ridges from the number of ridges in the remainder area C1r is also an even number, and the control unit 51 determines a second working width Wa2 that is approximately equal to the width Wr of the remainder area C1r based on the fact that the subtracted value is an even number. In addition, the control unit 51 determines the working width of each of the spraying units 76L, 76R, and 76M and the spraying port 76d for spraying materials so that pest control work can be performed evenly on the left and right sides by the left spraying unit 76L, right spraying unit 76R, and central spraying unit 76M of the spraying device 2B on the ridges Ua2 in the remainder area C1r. Then, the control unit 51 aligns the central axis Ja of the agricultural machine 1 and the work implement 2 with the central position Ju in the parallel direction of the multiple ridges Ua2 in the remainder area C1r, and creates a second driving line L2 in the remainder area C1r that passes through the central axis Ja and the central position Ju (Figure 10D).

[0093] In this case, the central spraying unit 76M performs pest control work on the ridges Ua2 that pass between the pair of traveling devices 7. The left spraying unit 76L and the right spraying unit 76R each perform pest control work on half (3) of the number of ridges Ua2 obtained by subtracting the number of ridges passed (2) from the number of ridges in the remaining area C1r (8 in the example of Figure 12A).

[0094] Furthermore, for example, if the number of ridges in the remainder area C1r is an odd number different from the number of ridges passed, the value obtained by subtracting the number of ridges passed from the number of ridges in the remainder area C1r will also be an odd number, so the control unit 51 determines the value obtained by adding the ridge width Wu to the width Wr of the remainder area C1r as the second working width Wa2, based on the fact that the subtracted value is odd, as shown in Figure 12B, for example. Furthermore, the control unit 51 determines the working width and the spraying port 76d for spraying materials for each of the spraying units 76L, 76R, and 76M so that pest control work can be performed evenly on the left and right sides by the left spraying unit 76L, right spraying unit 76R, and central spraying unit 76M for the ridge Ua2 in the remainder area C1r and one ridge Ua1 adjacent to the ridge Ua2 (a ridge that is not in the remainder area C1r). Then, the control unit 51 aligns the central axis Ja of the agricultural machine 1 and the work implement 2 (spraying implement 2B) with the central position Jv in the parallel direction of the ridges Ua1 and Ua2, and creates a second driving line L2 passing through the central axis Ja and the central position Jv in the remaining area C1r.

[0095] In this case, too, the central spraying unit 76M performs pest control work on the ridge Ua2 that passes between the pair of traveling devices 7. The left spraying unit 76L and the right spraying unit 76R each perform pest control work on half (4) of the number of ridges Ua2 and Ua1 (8) among the multiple ridges Ua in the central region C1, which is the total number (10) of the number of ridges in the remainder region C1r (in the example of Figure 12B, there are 9 ridges Ua2 in the remainder region C1r) and the number of adjacent ridges Ua1 (1) minus the number of ridges they pass through (2).

[0096] Furthermore, for example, if the number of ridges in the remainder area C1r is less than the maximum number of work ridges (e.g., 10) on which pest control work can be performed by the left sprinkling unit 76L and the central sprinkling unit 76M, the control unit 51 determines a second work width Wa2 that is approximately equal to the width Wr of the remainder area C1r, as shown in FIG. 12C, for example. The control unit 51 also determines the work widths of the left sprinkling unit 76L and the central sprinkling unit 76M and the spraying port 76d for spraying materials so that pest control work can be performed by the left sprinkling unit 76L and the central sprinkling unit 76M of the sprinkling device 2B on the ridges Ua2 in the remainder area C1r. The control unit 51 then positions the central axes Ja of the agricultural machine 1 and the sprinkling device 2B between any two of the ridges Ua2 and creates a second traveling line L2 that passes through the central axes Ja in the remainder area C1r.

[0097] In this case, the central spraying unit 76M performs pest control work on the ridges Ua2 that pass between the pair of left and right traveling devices 7. To the left of the pair of traveling devices 7, there are six ridges Ua2, which is the number of ridges in the remaining area C1r (in the example of Figure 12C, there are eight ridges Ua2 in the remaining area C1r) minus the number of ridges that have passed (two), so the left spraying unit 76L performs pest control work on the ridges Ua2 on the left side. Note that the control unit 51 may create a second traveling line L2 in the remaining area C1r so that the right spraying unit 76R and the central spraying unit 76M can perform pest control work on the ridges Ua2 in the remaining area C1r instead of the left spraying unit 76L.

[0098] Furthermore, for example, if the number of ridges in the remainder area C1r is less than the maximum number of work ridges (e.g., eight) that can be worked on by the left spraying unit 76L alone, the control unit 51 determines a second work width Wa2 that is approximately equal to the width Wr of the remainder area C1r, as shown in Fig. 12D, for example. The control unit 51 also determines the work width of the left spraying unit 76L and the spraying port 76d for spraying materials so that the left spraying unit 76L of the spraying device 2B can perform pest control work on the ridges Ua2 in the remainder area C1r. The control unit 51 then positions the central axis Ja of the agricultural machine 1 and the spraying device 2B between two ridges Ua1 that are not in the remainder area C1r, and creates a second traveling line L2 that passes through the central axis Ja in the central area C1.

[0099] Alternatively, as shown in Fig. 12E, the control unit 51 may position the central axis Ja of the agricultural machine 1 and the spraying device 2B between the number of passing ridges (two) of the ridges Ua2 in the remainder area C1r that are located near the field side H1d parallel to the working direction V, and create a second traveling line L2 passing through the central axis Ja in the remainder area C1r. The ridges Ua2 that pass between the devices 7 may be excluded from the pest control work by the spraying device 2B, and the left spraying unit 76L may perform pest control work on the other ridges Ua2. In this case, the operator may perform separate pest control work on the ridges Ua2 that pass between the pair of traveling devices 7.

[0100] Furthermore, for example, if the number of ridges in the remainder area C1r is less than the maximum number of work ridges (for example, 8) that can be worked on by the left spraying unit 76L alone, and a non-working area Ed in which no ridges Ua are formed is provided between the ridge Ua2 in the remainder area C1r and the nearest field edge H1d, as shown in Figure 12F, the control unit 51 may create a second driving line L2 in the non-working area Ed and perform pest control work on the ridge Ua2 in the remainder area C1r using the left spraying unit 76L.

[0101] The spraying device 2B, the operation mode of the spraying device 2B, the second traveling line L2, and the method for creating the second traveling line L2 are not limited to those exemplified above. In addition, there may be a spraying device 2B and an operation mode of the spraying device 2B other than those exemplified above, and the second traveling line L2 may be created by another method.

[0102] Furthermore, the control unit 51 may create the second traveling line L2 so that a work trajectory when the agricultural machine 1 travels along the second traveling line L2 and the spraying device 2B performs pest control work in the second working width Wa2 partially overlaps with a work trajectory when the agricultural machine 1 travels along a first traveling line L1 adjacent to the second traveling line L2 and the spraying device 2B performs pest control work in the first working width Wa1. Furthermore, the control unit 51 may create a plurality of first traveling lines L1 so that a work trajectory when the agricultural machine 1 travels along one of the first traveling lines L1 and the spraying device 2B performs pest control work in the first working width Wa1 partially overlaps with a work trajectory when the agricultural machine 1 travels along the other first traveling line L1 adjacent to the one of the first traveling lines L1 and the spraying device 2B performs pest control work in the first working width Wa1.

[0103] Furthermore, after step S3 in FIG. 9A, if the work information for the coordinated agricultural work is not stored in the memory unit 53 (S4: NO in FIG. 9A), the control unit 51 creates one or more first traveling lines L1 in the field map MP2 along which agricultural work is carried out at the first working width Wa1 (S11 in FIG. 9B). If simply creating the first traveling line L1 in the central region C1 results in a surplus region C1r at the edge of the central region C1 whose width Wr is narrower than the first working width Wa1 by a predetermined value or more (S12: YES), the control unit 51 calculates the width Wr of the surplus region C1r (S13). Furthermore, the control unit 51 determines a second working width Wa2 for the spraying device 2B according to the width Wr of the surplus region C1r based on the specifications of the working width Wa of the spraying device 2B (S14), and creates a second traveling line L2 in the central region C1 along which agricultural work is carried out at the second working width Wa2 (S15).

[0104] As described above, once the first traveling line L1 and second traveling line L2 for the target agricultural work have been created in the field map MP2, the control unit 51 stores information (position, length, size, etc.) indicating the traveling lines L1, L2, the central area C1, and the headlands E1a, E1c in the memory unit 53 (S16). At this time, the control unit 51 associates the information on the traveling lines L1, L2, etc. for the target agricultural work with other work information for the target agricultural work so that the information is included in the work information for the target agricultural work. Note that if the remainder area C1r does not occur at the edge of the central area C1 (S12: NO), the control unit 51 stores information indicating the first traveling line L1, the central area C1, and the headlands E1a, E1c in the memory unit 53 (S16).

[0105] When the control unit 51 determines the plurality of driving lines L1, L2 and the headlands E1a, E1c, etc. as described above, it displays the plurality of driving lines L1, L2 on the farm field map MP2 in the route creation screen D7, as shown in FIG. 5B. After changing at least one of the values ​​of the work direction on 7, headland width, ridge information on the work collaboration screen D6 (Figure 6), and equipment information for the work equipment 2 on the equipment setting screen D4 (Figure 3), when the operator operates the line creation key B13 again, the control unit 51 creates driving lines L1 and L2 on the field map MP2 as described above, and also sets headlands E1a and E1c and a central area C1.

[0106] That is, the control unit 51 changes the travel lines L1, L2, etc. in response to changes in at least one of the work information for the target agricultural work, the work information for the linked agricultural work, and the equipment information for the work equipment 2. The operator can change the work information or equipment information while viewing the travel lines L1, L2, etc. displayed on the route creation screen D7, and appropriately set the travel lines L1, L2, etc. Furthermore, even if the operator changes the settings (input values) on the previous screens D3 to D6, the control unit 51 changes the travel lines L1, L2, etc. in response to the change in the settings.

[0107] The route creation screen D7 is provided with a link display key B22 for displaying not only the driving lines L1, L2 of the target agricultural work but also the work positions of the linked agricultural work on the field map MP2. When the operator operates the link display key B22, the control unit 51 causes the display operation unit 52 to display the display setting screen D9 of Figure 7. At this time, the control unit 51 may display the display setting screen D9 as a pop-up on the route creation screen D7, or may display the display setting screen D9 on the display operation unit 52 instead of the route creation screen D7.

[0108] The display setting screen D9 displays display setting keys B50 to B55 for setting (instructing) whether to display (ON) or hide (OFF) the work positions and travel lines of other agricultural work that can be coordinated with the target agricultural work. As described above, pest control work is designated as the target agricultural work on the work selection screen D3 of Fig. 2, and soiling work is selected and designated as the coordinated agricultural work on the work coordination screen D6 of Fig. 6. Therefore, in the initial state of the display setting screen D9, as shown in Fig. 7, the control unit 51 turns OFF the display setting key B54 corresponding to the work position of the pest control work and turns ON the display setting key B55 corresponding to the travel line of the pest control work. In other words, the control unit 51 sets the display so that the work position of the pest control work, which is the target agricultural work, is not displayed, but the travel line is displayed.

[0109] The control unit 51 also turns ON the display setting key B52 corresponding to the work position of the hilling work, and turns OFF the display setting key B53 corresponding to the travel line of the hilling work. That is, the control unit 51 sets the work position of the hilling work, which is an associated agricultural work, to be displayed, but not the travel line. The control unit 51 also turns OFF the display setting key B50 corresponding to the work position of the sowing work, and the display setting key B51 corresponding to the travel line. That is, the control unit 51 sets the work position and travel line of the sowing work, which is neither the target agricultural work nor the associated agricultural work, to be displayed.

[0110] The operator can switch the display setting keys B50 to B55 ON (display) or OFF (non-display) by operating the display operation unit 52. That is, the operator can input display instruction information (first instruction information, second instruction information) that instructs the display or non-display of the work positions and travel lines for sowing work, soil cultivation work, and pest control work, respectively, by operating the display setting keys B50 to B55 using the display operation unit 52. When the operator operates the OK key B10 on the display setting screen D9, the control unit 51 stores the display instruction information input using the display setting keys B50 to B55 on the display setting screen D9 in the memory unit 53, and causes the display operation unit 52 to display the route creation screen D7, such as FIG. 5A.

[0111] 13A and 13B are flowcharts showing the display operation of the agricultural work support device 50. The control unit 51 starts this display operation when, for example, the line creation key B13 or the linked display key B22 is operated to cause the display operation unit 52 to display the running line or work position of at least one of the target agricultural work and the linked agricultural work.

[0112] First, the control unit 51 reads display instruction information for multiple agricultural works stored in the memory unit 53 (S21 in FIG. 13A). For example, if the display setting key B55 on the display setting screen D9 (FIG. 7) is turned ON and an instruction to display the driving line of the target agricultural work (pest control work, second agricultural work) is indicated in the display instruction information (first instruction information, second instruction information) (S22 in FIG. 13A: YES), the control unit 51 reads out the work information for the target agricultural work from the memory unit 53 and identifies information indicating the driving line of the target agricultural work from the work information (S23).

[0113] Furthermore, when the display setting key B54 is turned ON on the display setting screen D9 (Figure 7) and an instruction to display the work position of the target agricultural work is indicated in the display instruction information (second instruction information) (S24: YES in Figure 13A), the control unit 51 reads out the work information of the target agricultural work from the memory unit 53 and identifies the work position of the target agricultural work from the work information, etc. (S25).

[0114] Furthermore, when the display setting key B52 is turned ON on the display setting screen D9 (Figure 7) and an instruction to display the work position of the coordinated agricultural work (climbing work, first agricultural work) is indicated in the display instruction information (first instruction information, second instruction information) (S26: YES in Figure 13A), the control unit 51 reads out the work information of the coordinated agricultural work from the memory unit 53 and identifies the work position of the coordinated agricultural work from the work information, etc. (S27).

[0115] Furthermore, when the display setting key B53 is turned ON on the display setting screen D9 (Figure 7) and an instruction to display the driving line of the coordinated agricultural work is indicated in the display instruction information (second instruction information) (S28: YES in Figure 13A), the control unit 51 reads out the work information of the coordinated agricultural work from the memory unit 53 and identifies information indicating the driving line of the coordinated agricultural work from the work information (S29).

[0116] Furthermore, when the display setting key B50 is turned ON on the display setting screen D9 (Figure 7) and the display instruction information indicates an instruction to display the work position of at least one of other agricultural work (sowing work) that can be coordinated (S30: YES in Figure 13B), the control unit 51 reads out the work information of the other agricultural work from the memory unit 53 and identifies the work position of the other agricultural work from the work information, etc. (S31).

[0117] Furthermore, when the display setting key B51 is turned ON on the display setting screen D9 (Figure 7) and the display instruction information indicates an instruction to display the driving lines of other agricultural work (S32: YES in Figure 13B), the control unit 51 reads out the work information of the other agricultural work from the memory unit 53 and identifies information indicating the driving lines of the other agricultural work from the work information (S33).

[0118] Then, as shown in Figures 14A and 14B, the control unit 51 displays the field map MP2 on the route creation screen D7 displayed on the display operation unit 52 (S34 in Figure 13B), and draws the driving line and work position identified in steps S22 to S33 on the field map MP2 using the display operation unit 52 (S35).

[0119] 14A and 14B show examples of a route creation screen D7 that displays the driving lines and work positions of multiple types of agricultural work. On the field map MP2 in the route creation screen D7 shown in Fig. 14A, the control unit 51 and the display operation unit 52 draw (display) the driving lines L1 and L2 of the target agricultural work (pest control work, second agricultural work) with thick solid lines, and the work position R1 of the coordinated agricultural work (ridge work, first agricultural work) with thick dashed lines. Furthermore, the control unit 51 and the display operation unit 52 display a legend Z on the route creation screen D7 that indicates the display format of the driving lines L1 and L2 and the work position R1.

[0120] On the field map MP2 in the route creation screen D7 shown in FIG. 14B, the control unit 51 and the display operation unit 52 draw the driving lines L1 and L2 of the target agricultural work (pest control work, second agricultural work) as well as the work position Y1 of the target agricultural work (pesticide spraying trajectory (spraying range)). In addition to the work position R1 of the first agricultural work (climbing work, first agricultural work), the running line L4 of the coordinated agricultural work is drawn with a two-dot chain line. The work position Y1 of the target agricultural work covers a wider area than the work position R1 of the coordinated agricultural work, and is represented by a hatched rectangle in Fig. 14B. In addition, a legend Z indicating the display form of the running lines L1, L2, L4 and the work positions R1, Y1 is displayed on the route creation screen D7 by the control unit 51 and the display operation unit 52.

[0121] Although not shown in the figure, when there is an instruction to display at least one of the work positions and driving lines of other agricultural work (sowing work) that can be coordinated, the control unit 51 draws at least one of the work positions and driving lines of the other agricultural work (sowing work) on the field map MP2 in a form (or object) different from the driving lines L1, L2, L4 and work positions R1, Y1 of the target agricultural work (pest control work) and the coordinated agricultural work (soiling work).

[0122] The control unit 51 may display the driving lines and work positions of at least one of the target agricultural work, the associated agricultural work, and the other agricultural work on the field map MP2 using different-looking objects, colors, patterns, etc. Furthermore, the control unit 51 may display the field map MP2 including at least one of the driving lines and work positions of at least one of the target agricultural work, the associated agricultural work, and the other agricultural work not only on the route creation screen D7 but also on other screens displayed by the display operation unit 52, such as the driving control screen D8 described below.

[0123] 15, the control unit 51 may display, on the route creation screen D7, a display setting key B25 for setting (instructing) whether to display or hide the work positions and travel lines of agricultural work that has already been performed, and a display setting key B26 for setting (instructing) whether to display or hide the work positions and travel lines of agricultural work that has not yet been performed.The control unit 51 may then control whether to display or hide the work positions and travel lines of the target agricultural work (pest control work), the associated agricultural work (climbing work), and other agricultural work (sowing work) on the field map MP2, based on information indicating instructions (third instruction information) input by operating the display setting keys B25 and B26.

[0124] For example, when the operator turns the display setting key B25 OFF, the control unit 51 erases the work positions and driving lines of the completed agricultural work from among the target agricultural work and associated agricultural work displayed on the field map MP2 on the route creation screen D7. Thereafter, when the operator turns the display setting key B25 ON, the control unit 51 displays, on the field map MP2 on the route creation screen D7, the work positions and driving lines of the completed agricultural work from among the target agricultural work and associated agricultural work for which a display instruction has been input on the display setting screen D9 (Fig. 7).

[0125] Furthermore, when the operator turns the display setting key B26 OFF, the control unit 51 erases the work positions and driving lines of unperformed agricultural work among the target agricultural work and associated agricultural work displayed on the field map MP2 on the route creation screen D7. After this, when the operator turns the display setting key B26 ON, the control unit 51 displays the work positions and driving lines of unperformed agricultural work among the target agricultural work and associated agricultural work for which a display instruction has been input on the display setting screen D9 (Figure 7) on the field map MP2 on the route creation screen D7.

[0126] In the above-described embodiment, an example was shown in which the operator specifies the target agricultural work and the associated agricultural work, but in addition to this, for example, the control unit 51 of the agricultural work support device 50 may determine one or more associated agricultural works according to the target agricultural work specified by the operator, and draw the driving line of the target agricultural work and the work position of the associated agricultural work on the field map MP2, respectively.

[0127] After the travel lines L1, L2 of the target agricultural work are displayed on the route creation screen D7, when the operator operates the route creation key B14, the control unit 51 determines the travel order of the multiple travel lines L1, L2 along which the agricultural machine 1 will travel. At this time, the control unit 51 determines the travel order of the multiple travel lines L1, L2 along which the agricultural machine 1 will travel, for example, from the field information. The control unit 51 determines the driving line L2 closest to the entrance / exit of the field identified from the above as the last driving line L2 in the driving order (Nth if N driving lines L1 are created), and determines the end point closest to the entrance / exit of the last driving line L2 as the goal position Pg among the end points P1, P2 of the last driving line L2 (FIG. 10E).The control unit 51 then determines the driving order of the other driving lines L1 based on the last driving line L2, and determines either the end point P1 or P2 of the first driving line L1 in the driving order as the start position Ps.The control unit 51 also determines one of the end points P1, P2 of the multiple driving lines L1, L2 as the start point P1 and the other as the end point P2 (FIG. 10E).

[0128] The control unit 51 may, for example, determine the order in which multiple driving lines L1 are created in accordance with the driving order, determine the start point of the first created driving line L1 as the start position Ps, and determine the end point of the last created driving line L1 as the goal position Pg.

[0129] After the driving order and other factors have been determined, the control unit 51 causes the display operation unit 52 to display the start position Ps and the goal position Pg on the field map MP2 in the route creation screen D7 as shown in Fig. 5C, to display arc-shaped auxiliary lines L3 connecting adjacent driving lines L1 in the determined driving order, and to display arrows on the multiple driving lines L1 indicating the traveling direction of the agricultural machine 1. As a result, the multiple driving lines L1 are connected, and a continuous driving route L10 is created and displayed on the field map MP2.

[0130] As another example, the route creation key B14 may be omitted, and after the control unit 51 has determined the multiple travel lines L1, headlands E1a, E1c, and central area C1 as described above, the control unit 51 may automatically create a series of travel routes L10 on the field map MP2 and display the travel routes L10 on the route creation screen D7. Also, the line creation key B13 may be omitted, and after field information, device information about the work implement 2, and work conditions are entered via the display operation unit 52, the control unit 51 may create multiple travel lines L1 on the field map MP2.

[0131] The operator can move (change) the start position Ps in the field map MP2 on the route creation screen D7 to another starting point P1, or move (change) the goal position Pg to another ending point P2, by operating the display operation unit 52. When the start position Ps or the goal position Pg moves to another starting point P1 or ending point P2, the control unit 51 changes the running order of the multiple driving lines L1 in accordance with the movement, and changes the display of the start position Ps, the goal position Pg, the auxiliary line L3, and the arrows indicating the traveling directions of the multiple driving lines L1.

[0132] After the start position Ps, the goal position Pg, and the like are displayed on the route creation screen D7, the operator operates the Next key B9. This causes the control unit 51 to store information indicating the travel route L10 (plurality of travel lines L1, travel order, start position Ps, goal position Pg, and auxiliary line L3) in the storage unit 53 or internal memory, and causes the display operation unit 52 to display the travel control screen D8 shown in Fig. 6. In addition, the control unit 51 generates travel data based on various setting information stored in the storage unit 53 and internal memory, and transmits (outputs) the travel data to the control device 60 of the agricultural machine 1 via the communication unit 54.

[0133] The travel data includes the type of agricultural work to be performed based on the travel data, device information for the work implement 2 used to perform the agricultural work, field information, and work information. The field information includes information indicating the field map MP2, travel lines L1, L2, travel route L10, central area C1, headlands E1a, E1c, and ridge information. The work information includes the work widths Wa1, Wa2 of the work implement 2 corresponding to the travel lines L1, L2.

[0134] The travel control screen D8 displays the agricultural machine 1 traveling in the field while performing farm work with the work implement 2. The travel control screen D8 displays a field map MP2 including the travel route L10, an agricultural machine mark K2, the travel status of the agricultural machine 1 (straight ahead, stopped, etc.), and the specifications of the work implement 2. The control unit 51 acquires the actual position of the vehicle body 3 detected by the position detection device 40 via the communication unit 54 at a predetermined cycle, and displays the agricultural machine mark K2 at a corresponding location on the field map MP2 according to the position of the vehicle body 3 as needed. In other words, the agricultural machine mark K2 on the travel control screen D8 indicates the actual position of the vehicle body 3 of the agricultural machine 1. The control unit 51 displays the type of work implement 2 ("spraying device") and the work mode ("left / right center spraying") on the travel control screen D8 as the specifications of the work implement 2.

[0135] 13A and 13B, and causes the display operation unit 52 to display the driving lines or work positions of the target agricultural work and the associated agricultural work. The control unit 51 may also display the above-mentioned display setting keys B25 and B26 on the driving control screen D8, and, depending on the operation of the display setting keys B25 and B26, control the display or non-display of the work positions and driving lines of the target agricultural work and the associated agricultural work that have been completed, or the display or non-display of the work positions and driving lines of the agricultural work that has not yet been completed.

[0136] For example, a worker (operator) manually drives the agricultural machine 1 while viewing the travel control screen D8, moves the agricultural machine 1 to a position corresponding to the start position Ps of the travel route L10 of the target agricultural work, and then switches the mode switch 62b provided on the operation device 62 (FIG. 1) to automatic operation and performs a start operation with the automatic switch 62a. As a result, the control device 60 starts an automatic work mode using automatic operation, and performs the target agricultural work in the field with the work device 2 while causing the vehicle body 3 to travel in automatic operation based on the travel data received from the agricultural work support device 50 and the position of the vehicle body 3 detected by the position detection device 40. Note that when the worker performs a stop operation with the automatic switch 62a, the control device 60 stops the automatic work mode.

[0137] 16A and 16B are flowcharts showing the operation of the agricultural work support system 100 in the automatic work mode. When the agricultural machine 1 transitions to the automatic work mode, the control device 60 first reads the travel data (S41 in FIG. 16A), and identifies the travel route L10 (including travel lines L1 and L2), headlands E1a and E1c, start position Ps, and goal position Pg of the target agricultural work from the travel data (S42). The control device 60 also identifies the specifications of the work implement 2 from the implement information of the work implement 2 included in the travel data (S43).

[0138] Then, based on the travel route and the position of the vehicle body 3, the control device 60 starts automatic driving of the agricultural machine 1 (automatic driving and automatic steering of the vehicle body 3) and agricultural work by the implement 2 (S44). At this time, the control device 60 first performs agricultural work by the implement 2 while automatically driving the vehicle body 3 from the start position Ps along the travel line based on the initial travel line where the start position Ps is located and the position of the vehicle body 3. Note that the travel control screen D8 shown in FIG. 6 shows the travel state of the agricultural machine 1 and the work state of the implement 2 some time after the automatic driving of the agricultural machine 1 has begun.

[0139] In the automatic operation mode, the control device 60 performs automatic steering of the vehicle body 3. More specifically, the control device 60 calculates the deviation between the position of the vehicle body 3 detected by the position detection device 40 and the traveling line L1 (or the traveling line L2). If the deviation is less than a threshold, the control device 60 maintains the rotation angle of the steering shaft 31 (Fig. 1). Furthermore, if the deviation between the position of the vehicle body 3 and the traveling line L1 is equal to or greater than the threshold and the vehicle body 3 is located on the left side of the traveling line L1, the control device 60 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is to the right (automatic steering). Furthermore, if the deviation between the position of the vehicle body 3 and the traveling line L1 is equal to or greater than the threshold and the vehicle body 3 is located on the right side of the traveling line L1, the control device 60 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is to the left The steering shaft 31 is rotated so that the following relation holds true: Further, the control device 60 automatically changes the traveling speed of the vehicle body 3 based on the traveling line L1 and the position of the vehicle body 3.

[0140] When the vehicle body 3 reaches the end point P2 of one of the travel lines (S45 in FIG. 16A) and the end point P2 is not the goal position Pg of the travel route (S46: NO), the control device 60 determines whether manual operation of the work device 2 is necessary based on the field information, device information and work information of the work device 2 contained in the travel data, and the position of the agricultural machine 1 (vehicle body 3).

[0141] For example, if the working implement 2 is an implement other than the spraying implement 2B (such as a soil-rearing implement or a seed-sowing implement), the control device 60 determines that manual operation of the working implement 2 is not required (S48: NO in FIG. 16A), continues the automatic work mode and automatic driving, and turns the vehicle body 3 toward the start point P1 of the next travel line. When the vehicle body 3 reaches the start point P1 of the next travel line (S45, S46: NO), the control device 60 also determines that manual operation of the working implement 2 is not required (S47: NO), continues the automatic work mode and automatic driving, and performs agricultural work using the working implement 2 while the vehicle body 3 travels along the next travel line in automatic driving. Then, when the vehicle body 3 reaches the goal position Pg of the travel route (S45, S46: YES), the control device 60 ends the automatic work mode and stops the automatic driving of the agricultural machine 1 and agricultural work by the working implement 2 (S47).

[0142] On the other hand, when the working device 2 is a spraying device 2B and the spraying unit 76 (76L, 76R, 76M, Figure 20A, etc.) provided on the spraying device 2B is manually operated between a working state (ON: spraying drive state) and a non-working state (OFF: spraying stopped state), the control device 60 determines that manual operation of the working device 2 is necessary to prevent materials from being sprayed unnecessarily while the vehicle body 3 and the spraying device 2B are turning (S48: YES).

[0143] Furthermore, when the working device 2 is a spraying device 2B and the left spraying unit 76L and right spraying unit 76R provided on the spraying device 2B are manually operated between a state in which they protrude in the left-right direction of the vehicle body 3 (Figures 20A and 20B, working state) and a stored state in which they do not protrude more than a predetermined length in the left-right direction of the vehicle body 3 (Figure 20C, non-working state), the control device 60 determines that manual operation of the working device 2 is necessary (S48: YES in Figure 16A), because the vehicle body 3 and the spraying device 2B can be rotated more stably when the left spraying unit 76L and the right spraying unit 76R are in the stored state.

[0144] When it is determined that manual operation of the working implement 2 is necessary as described above, the control device 60 checks whether a temporary stop is necessary because there is no need to change the working width Wa (S49: NO in FIG. 16B). As shown in FIG. 6, a temporary stop setting key B29 is displayed on the travel control screen D8. The temporary stop setting key B29 is a key for inputting stop necessity information that indicates whether or not to temporarily stop the automatic work mode and the automatic operation of the agricultural machine 1 when manual operation of the working implement 2 is necessary.

[0145] In the initial state, the temporary stop setting key B29 is set to ON by the control unit 51 of the agricultural work support device 50, which indicates that the agricultural machine 1 is to be temporarily stopped. Therefore, the control device 60 determines that a temporary stop is necessary (S50: YES in FIG. 16B), temporarily stops the automatic work mode, temporarily stops the automatic operation of the agricultural machine 1, and temporarily stops agricultural work by the implement 2 (S51). In other words, when the vehicle body 3 transitions from traveling along a leading travel line among the multiple travel lines L1, L2 (first travel line L1 and second travel line L2) to traveling along a trailing travel line, the control device 60 temporarily stops the automatic traveling and automatic steering of the vehicle body 3 and the agricultural work by the implement 2.

[0146] When the operator operates the pause setting key B29 to OFF, the control device 60 temporarily It is determined that stopping is not necessary (S50: NO), and the automatic work mode is not temporarily stopped, and the automatic operation of the agricultural machine 1 and agricultural work by the work implement 2 are continued. Note that when manual operation of the work implement 2 is required, the control unit 51 may separately provide, on the travel control screen D8 or the like, a start point pause setting key for inputting stop necessity information indicating whether or not to temporarily stop the agricultural machine 1 (body 3) at the start point P1 of the travel line, and an end point pause setting key for inputting stop necessity information indicating whether or not to temporarily stop at the end point P2 of the travel line.

[0147] If the arrival position of the vehicle body 3 detected in step S45 of FIG. 16A is the end point P2 of the travel line (S52: end point in FIG. 16B), the control device 60 sends a command to the control unit 51 of the agricultural work support device 50 to display, for example, a first notification screen D11 shown in FIG. 17A on the display operation unit 52 (S53 in FIG. 16B). In detail, at this time, the control device 60 sends a display command for the first notification screen D11 to the control unit 51, and the control unit 51, having received the display command, displays the first notification screen D11 on the display operation unit 52. Furthermore, the control unit 51 may display the first notification screen D11 on the display operation unit 52 instead of the travel control screen D8, or may display the first notification screen D11 as a pop-up on the travel control screen D8. (The same applies to the other notification screens D12 and D13, which will be described later.)

[0148] When the control device 60 temporarily suspends the automatic operation mode in step S51 of FIG. 16B, it displays messages K1, K2, and K3 on the first notification screen D11, as shown in FIG. 17A. Message K1, "Agricultural work by automatic operation has been temporarily suspended for the following reason," indicates that the automatic operation mode has been temporarily suspended. Message K2, "To continue agricultural work, please operate the automatic switch to start," indicates that agricultural work in the automatic operation mode will continue by operating the automatic switch 62a to start. Message K3, "The agricultural equipment must be manually operated to a non-operating state (spraying OFF, left and right spraying units stored)," indicates that the agricultural equipment 2 must be manually operated and the details of the manual operation. In other words, the control device 60 outputs a notification indicating the above three main points and the details of the manual operation of the agricultural equipment 2 by displaying the first notification screen D11 on the display operation unit 52.

[0149] Furthermore, if the control device 60 does not switch to the automatic operation mode and temporarily stop the vehicle body 3, it displays messages K2 and K3 on the first notification screen D11, but does not display message K1. (The same applies to the second notification screen D12, which will be described later.)

[0150] The worker visually checks the messages K1 to K3 displayed on the first notification screen D11 and manually operates the work device 2 (spraying device 2B) to a non-working state. Specifically, at this time, the worker uses the auxiliary controller or operation box to turn off (stop spraying) the spraying units 76 (76L, 76R, 76M) of the spraying device 2B, and to store the left spraying unit 76L and the right spraying unit 76R.

[0151] When the worker operates the automatic switch 62a to start the automatic operation mode and while the vehicle body 3 is temporarily stopped (S55: YES in FIG. 16B), the control device 60 restarts the automatic operation mode and, based on the travel data and the position of the vehicle body 3, also restarts the automatic operation mode and automatic driving of the vehicle body 3 (S57), and turns the vehicle body 3 toward the start point P1 of the next travel line. The control device 60 also sends a command to the control unit 51 to stop displaying the first notification screen D11 (S58).

[0152] In detail, at this time, the control device 60 transmits a command to stop the first notification screen D11 to the control unit 51, and the control unit 51, having received the command, erases the first notification screen D11 via the display operation unit 52. If the automatic work mode is not paused (S55: NO), the control device 60 transmits a command to the control unit 51 after a predetermined time has elapsed to stop the display of the first notification screen D11 (S58).

[0153] When the agricultural machine 1 turns by automatic driving and the vehicle body 3 reaches the start point P1 of the travel line (S45, S46: NO), the control device 60 determines whether manual operation of the work implement 2 is required. At this time, the control device 60 also determines that manual operation of the work implement 2 is required (S48: YES in FIG. 16A), there is no need to change the working width Wa (S49: NO in FIG. 16B), and if temporary suspension of the agricultural machine 1 is required (S50: YES), the control device 60 temporarily suspends the automatic work mode and temporarily suspends the vehicle body 3 (S51). Then, if the position reached by the vehicle body 3 is the start point P1 of the travel line (S52: start point), the control device 60 sends a command to the control unit 51 of the agricultural work support device 50 to display the second notification screen D12 shown in FIG. 17B on the display operation unit 52 (S54).

[0154] The second notification screen D12 displays messages K1 and K2, as well as a message K4 stating, "The work device 2 must be manually operated to the working state (spraying ON, left and right spraying units extended)." The message K4 indicates that the work device 2 must be manually operated and the details of the manual operation. In other words, by displaying the second notification screen D12 on the display operation unit 52, the control device 60 outputs a notification indicating the three main points corresponding to the messages K1, K2, and K4, respectively, and the details of the manual operation of the work device 2.

[0155] The worker visually recognizes the messages K1, K2, and K4 displayed on the second notification screen D12 and manually operates the work device 2 (spraying device 2B) to the working state. Specifically, at this time, the worker uses the auxiliary controller or the operation box to cause the left spraying unit 76L and the right spraying unit 76R of the spraying device 2B to protrude to the left and right sides of the vehicle body 3, and turns on the spraying units 76 (76L, 76R, 76M) (spraying drive).

[0156] After this, through steps S55 to S58 in FIG. 16B, the vehicle body 3 reaches end point P2 of traveling line L1 adjacent to traveling line L2 (such as in FIG. 8) (S45, S46: NO in FIG. 16A). At this time, the working device 2 is the spraying device 2B, the current working width Wa of the spraying device 2B is the first working width Wa1 corresponding to the first traveling line L1, and the next traveling line is the second traveling line L2. In this case, the control device 60 determines that the current first working width Wa1 needs to be manually changed to the second working width Wa2 corresponding to the second traveling line L2 (S48: YES).

[0157] Then, because it is necessary to change the working width Wa (S49: YES in FIG. 16B), the control device 60 specifies the second working width Wa2 as the target working width (S59). At this time, even if the pause setting key B29 is operated to OFF and an instruction is given that pausing the agricultural machine 1 is not necessary, the control device 60 pauses the automatic work mode, and pauses the automatic operation of the agricultural machine 1 and the agricultural work by the work implement 2 (S60). Then, the control device 60 sends a command to the control unit 51 of the agricultural work support device 50 to display the third notification screen D13 shown in FIG. 17C on the display operation unit 52 (S61).

[0158] The third notification screen D13 displays messages K1 and K2 and a message K5 stating, "The working width of the work implement must be manually adjusted. (Target working width: 10 m, left and right spraying units used.)" The message K5 indicates that the work implement 2 must be manually adjusted, the details of the manual adjustment, and the target working width (second working width Wa2). That is, by displaying the third notification screen D13 on the display operation unit 52, the control device 60 outputs a notification indicating the three main points corresponding to the messages M1, M2, and M5, the details of the manual adjustment of the work implement 2, and the target working width. Furthermore, before the vehicle body 3 transitions from traveling along the leading travel line L1 to traveling along the trailing travel line L2, the control device 60 outputs the third notification screen D13 on the display operation unit 52, indicating the second working width Wa2 corresponding to the trailing travel line L2. The control device 60 may also display the aforementioned message K3 ( FIG. 17A ) on the third notification screen D13.

[0159] Furthermore, when the automatic operation mode and the automatic driving (automatic travel) of the vehicle body 3 are temporarily stopped, the control device 60 causes the display operation unit 52 to display the third notification screen D13 until the automatic operation mode and the automatic driving of the vehicle body 3 are resumed (the same applies to the first notification screen D11 and the second notification screen D12; S53 to S58, S61 in FIG. 16B). Furthermore, when the automatic operation mode and the automatic driving of the vehicle body 3 are not temporarily stopped, the control device 60 causes the display operation unit 52 to display the third notification screen D13 for a predetermined time (the same applies to the first notification screen D11 and the second notification screen D12). That is, the control device 60 outputs the third notification screen D13 indicating the second working width Wa2 via the display operation unit 52 even during the transition from the traveling state of the vehicle body 3 along the leading traveling line L1 to the traveling state of the vehicle body 3 along the following traveling line L2.

[0160] The worker visually checks the messages K1, K2, and K5 displayed on the third notification screen D13 and manually adjusts the working width Wa of the work device 2 (spraying device 2B) to the target working width. Specifically, the worker uses the auxiliary controller or operation box to turn off the spraying units 76 (76L, 76R, 76M) of the spraying device 2B (stop spraying), or to set the total working width of the spraying units 76 (76L, 76R, 76M) to the target working width (second working width Wa2).

[0161] After that, after steps S55 to S58 in FIG. 16B, when the vehicle body 3 reaches the start point P1 of the travel line L2 (such as FIG. 6) (NO at S45 and S46 in FIG. 16A), the control device 60 determines that manual operation of the work implement 2 is necessary (YES at S48), that there is no need to change the working width Wa (NO at S49 in FIG. 16B), and that there is no need to temporarily stop the agricultural machine 1 (NO at S50). Furthermore, because the position reached by the vehicle body 3 is the start point P1 of the travel line L2 (S52: start point), the control device 60 causes the display operation unit 52 to display a second notification screen D12 (S54). At this time, the control device 60 may cause the second notification screen D12 to display a message K5. That is, before the vehicle body 3 transitions from a traveling state along the leading traveling line L1 to a traveling state along the trailing traveling line L2, the control device 60 outputs a third notification screen D13 showing the second working width Wa2 corresponding to the trailing traveling line L2 via the display operation unit 52.

[0162] Furthermore, after steps S55 to S58 in Figure 16B, when the vehicle body 3 reaches the end point P2 of the driving line L2 (Figure 6, etc.), i.e., the goal position Pg of the driving route L10 (S45, S46 in Figure 16A: YES), the control device 60 ends the automatic work mode and stops the driving of the vehicle body 3 and the agricultural work by the work device 2 (S47).

[0163] The control device 60 not only executes an automatic work mode (automatic driving work mode) in which agricultural work is performed by the implement 2 while automatically driving the agricultural machine 1 based on a travel line as described above, but can also execute an automatic work mode (auto-steering work mode) in which agricultural work is performed by the implement 2 while auto-steering the agricultural machine 1 based on a travel line. In other words, the travel lines L1, L2 created by the agricultural work support device 50 can be used not only for the automatic driving of the agricultural machine 1, but also for auto-steering operation of the agricultural machine 1. The automatic work mode in which the agricultural machine 1 is auto-steering is executed by the control device 60 when the operator operates the mode switch 62b (FIG. 1).

[0164] When executing the automatic work mode using auto-steer operation, and when manually operating the agricultural machine 1, the control device 60 may also display the travel route L10 including the travel lines L1 and L2 on the display operation unit 52, and display the notification screens D11 to D13 on the display operation unit 52 in the procedure shown in Figures 16A and 16B. Furthermore, instead of the control device 60, the control unit 51 of the agricultural work support device 50 may determine whether manual operation of the work device 2 is required based on the field information, device information, work information, and the position of the agricultural machine 1, and display the notification screens D11 to D13 on the display operation unit 52.

[0165] Furthermore, the control device 60 or the control unit 51 may determine whether manual operation of the work devices 2 other than the spraying device 2B is required, and depending on the result of this determination, may temporarily suspend the automatic work mode and the vehicle body 3, and display on the display operation unit 52 a notification screen indicating that the work device 2 needs to be manually operated, the details of the manual operation, and that the agricultural work has been temporarily suspended. Furthermore, for example, if the work device 2 is a reversible plow, when the work machine 1 reaches at least one of the start and end points of the travel line, the control device 60 or the like may determine whether manual operation, such as changing the direction of the tillage blade, is required, and if manual operation is required, may display on the display operation unit 52 a notification screen indicating this.

[0166] In the embodiment shown in FIG. 10D and other figures, the control unit 51 creates the driving lines L1 and L2 in the central region C1 of the field map MP2, but this is not limiting. For example, the control unit 51 may also create driving lines in the headlands E1a and E1c. The control device 60 may then automatically drive or automatically steer the agricultural machine 1 based on the driving lines created in the headlands E1a and E1c, while using the work implement 2 to perform agricultural work such as sowing, burying, and pest control on the headlands E1a and E1c. Alternatively, a worker may manually drive the agricultural machine 1 based on the driving lines created in the headlands E1a and E1c, while using the work implement 2 to perform agricultural work such as sowing, burying, and pest control on the headlands E1a and E1c. At that time, the control unit 51 may also display the driving lines and work positions of the target agricultural work and the associated agricultural work on the display operation unit 52, and when the agricultural machine 1 (body 3) reaches the start point P1 or the end point P2 of the driving line, the control unit 51 may display notification screens D11 to D13 on the display operation unit 52.

[0167] In the embodiment shown in Figure 17C, an example is shown in which the control device 60 includes the target working width (second working width Wa2) of the work device 2 (spraying device 2B) in the third notification screen D13 and displays the third notification screen D13 on the display operation unit 52, but the control device 60 or the control unit 51 may also display the current working width (first working width) of the work device 2 (spraying device 2B) on the third notification screen D13 or the driving control screen D8, etc.

[0168] Furthermore, if an operator or the like finds it annoying that one of the notification screens D11 to D13 is displayed on the display operation unit 52 every time the agricultural machine 1 (body 3) reaches the start point P1 and the end point P2 of the travel lines L1, L2, a key or the like for issuing an instruction to stop the display of the notification screens D11 to D13 as appropriate may be provided on the travel control screen D8 or the like. For example, the control device 60 may cause the display operation unit 52 to display the first notification screen D11 or the third notification screen D13 only when the agricultural machine 1 reaches the end point P2 of the travel line L1. Alternatively, the control device 60 may cause the display operation unit 52 to display the second notification screen D12 or the third notification screen D13 only when the agricultural machine 1 reaches the start point P1 of the travel lines L1, L2. As another example, instead of displaying the notification screens D11 to D13 on the display operation unit 52, the control device 60 may output audio data corresponding to the above-mentioned messages K1 to K5 from a speaker or the like provided on the agricultural work support device 50 or the agricultural machine 1.

[0169] In the embodiment described above, an example was shown in which the operator selected pest control work on the work selection screen D3 shown in Fig. 2, and the control unit 51 created driving lines L1, L2, etc. for the pest control work, but the operator may select another agricultural work on the work selection screen D3, and the control unit 51 may create driving lines, etc. for that agricultural work on the field map MP2. Furthermore, the operator or the control unit 51 may input field information, device information about the work device 2, work information, etc. to the agricultural work support device 50 via the communication unit 54 from an external storage medium or server, etc.

[0170] In the above-described embodiment, an example was given in which the agricultural work support device 50 is configured as a portable tablet terminal device, but other devices such as a smartphone or a terminal fixed to the agricultural machine 1 may also be used. The agricultural work support device may be configured from at least one of a terminal device, a computer or server installed at a location remote from the agricultural machine 1, and a server installed on a cloud. Also, at least one of a software program showing the processing procedures of Fig. 9A and Fig. 9B and a software program showing the processing procedures of Fig. 13A and Fig. 13B may be stored on a server installed on a cloud, and a computer on which the software program is installed may execute each step of Fig. 9A and Fig. 9B or each step of Fig. 13A and Fig. 13B. Then, the computer may display the driving line, work position, notification screens D11 to D13, etc. on a connected display device, and output traveling data to the agricultural machine 1, etc.

[0171] The present embodiment described above has the following configuration and provides the following effects.

[0172] The agricultural work support device 50 of this embodiment includes an input unit (display operation unit) 52 to which field information indicating the field, device information indicating the work device 2 coupled to the agricultural machine 1, and work information on the agricultural work to be performed by the work device 2 while the agricultural machine 1 is traveling in the field are input, and a control unit 51 that creates, on a field map MP2 that indicates the field, a plurality of travel lines L1 along which the agricultural machine 1 is to travel in order to perform the agricultural work with the work device 2, based on the field information, device information, and work information. The control unit 51 determines, from the device information, a changeable work width of the work device 2. The specifications of Wa and a predetermined first working width Wa1 are identified, and one or more first driving lines L1 along which agricultural work is carried out at the first working width Wa1 are created in the field map MP2. If simply creating the first driving line L1 results in a surplus area C1r in the field map MP2 whose width Wr is narrower than the first working width Wa1 by a predetermined value or more, a second working width Wa2 of the working implement 2 is determined based on the specifications of the working width Wa in accordance with the width Wr of the surplus area C1r, and a second driving line L2 along which agricultural work is carried out in the surplus area C1r at the second working width Wa2 is created in the field map MP2.

[0173] According to the above configuration, the worker performs agricultural work in the first working width Wa1 using the working implement 2 while traveling with the agricultural machine 1 along the first traveling line L1 in the field. Even if a remaining area C1r with a width Wr narrower than the first working width Wa1 occurs in the field, the worker can perform agricultural work in the remaining area C1r with the working implement 2 at a second working width Wa2 corresponding to the width Wr of the remaining area C1r while traveling with the agricultural machine 1 along the second traveling line L2. This prevents at least one of the agricultural machine 1 and the working implement 2 from extending beyond the field during agricultural work in the remaining area C1r. Furthermore, there is no need for the worker to unnecessarily overlap the work trajectories of the agricultural machine and the working implement during agricultural work, which prevents an increase in the number of traveling lines L1, an increase in the traveling distance of the agricultural machine 1, and an increase in the amount of materials (pesticides) sprayed during pest control work, etc. As a result, the worker can efficiently carry out agricultural work in the field using the agricultural machine 1 and the work implement 2.

[0174] In this embodiment, the control unit 51 identifies specifications including the variable state and variable range of the working width Wa of the working device 2 from the device information. This allows the control unit 51 to appropriately determine the second working width Wa2 of the working device 2 according to the width Wr of the surplus area C1r.

[0175] Furthermore, in this embodiment, work information for multiple types of agricultural work to be performed in the field is input by the input unit 52, and the control unit 51 identifies the work location of the cooperative agricultural work from the work information for the cooperative agricultural work that is cooperative with the target agricultural work among the multiple types of agricultural work, and creates a first traveling line L1 and a second traveling line L2 for performing the target agricultural work in the field map MP2 based on the work location of the cooperative agricultural work. This allows the worker to perform the target agricultural work and the cooperative agricultural work efficiently and appropriately while coordinating them by causing the agricultural machine 1 to travel in the field along the first traveling line L1 and the second traveling line L2, respectively, and performing the agricultural work with the work implement 2 at the first working width Wa1 and the second working width Wa2, respectively.

[0176] In this embodiment, ridge information regarding the multiple ridges Ua formed in the field is input via the input unit 52. The control unit 51 then determines, from the ridge information, the total number of ridges, indicating the number of ridges Ua, and the ridge width Wu, indicating the width of the location of the soil required to form one ridge Ua. Based on the first working width Wa1 and the ridge width Wu, the control unit 51 calculates the number of work ridges within the range in which agricultural work can be performed simultaneously within the first working width Wa1. The control unit 51 then divides the total number of ridges by the number of work ridges, determines the quotient as the number of first traveling lines L1 to be created, and determines the remaining number of ridges. Based on the remaining number of ridges and the ridge width Wu, the control unit 51 then calculates the width Wr of the remaining region C1r. This allows the control unit 51 to reliably calculate the width Wr of the remaining region C1r and appropriately determine the second working width Wa2 and second traveling lines L2 according to the width Wr. Therefore, while driving the agricultural machine 1 in the field based on the second driving line L2, the worker can efficiently perform agricultural work such as pest control on the ridges Ua in the remaining area C1r using the work implement 2 at the second working width Wa2.

[0177] Furthermore, in this embodiment, machine information of the agricultural machine 1 is input via the input unit 52, and the control unit 51 determines, from the machine information and device information, the relative position of the work device 2 with respect to the agricultural machine 1 and the interval Ta between the pair of traveling devices 7 arranged in the width direction of the body 3 of the agricultural machine 1, calculates the number of furrows to be passed between the pair of traveling devices 7 based on the interval Ta between the pair of traveling devices 7 and the furrow width, and creates the first traveling line L1 and the second traveling line L2 based on the relative position of the work device 2 with respect to the agricultural machine 1 and the number of furrows to be passed. In this way, the control unit 51 can appropriately create the first traveling line L1 and the second traveling line L2, taking into account the relative position of the work device 2 with respect to the agricultural machine 1 and the furrows Ua to be passed between the pair of traveling devices 7 of the agricultural machine 1.

[0178] Furthermore, in this embodiment, the work implement 2 is composed of a spraying device 2B that has one or more spraying units 76 extending in the width direction of the agricultural machine 1 and sprays materials from spraying ports 76d provided at predetermined intervals in the longitudinal direction of the spraying units 76, and the control unit 51 determines at least one of the spraying units 76 and the spraying ports 76d that match the width Wr of the remaining area C1r, and determines the second working width Wa2 based on at least one of the matching spraying units 76 and the spraying ports 76d. This allows the control unit 51 to appropriately determine the second working width Wa2 of the spraying device 2B according to the width Wr of the remaining area C1r, and to appropriately create a second traveling line L2 for the agricultural machine 1 to perform agricultural work in the second working width Wa2.

[0179] Furthermore, in this embodiment, field information representing a field for cultivating crops in the open field and work information for spraying materials can be input via the input unit 52, and the control unit 51 creates, in the field map MP2, a first traveling line L1 and a second traveling line L2 for the agricultural machine 1 to perform spraying work using the work implement 2. This enables the worker to efficiently perform spraying work of materials using the work implement 2 in the first working width Wa1 and the second working width Wa2 while driving the agricultural machine 1 in the field based on the first traveling line L1 and the second traveling line L2, respectively.

[0180] The agricultural work support system 100 of this embodiment also includes the above-described agricultural work support device 50, the agricultural machine 1, and a display device (display operation unit) 52 that displays a field map MP2 including a first traveling line L1 and a second traveling line L2 created by a control unit 51 provided in the agricultural work support device 50. As a result, the field map MP2, in which the first traveling line L1 and the second traveling line L2 have been appropriately created by the agricultural work support device 50, is displayed on the display device 52, allowing the worker to visually recognize the first traveling line L1 and the second traveling line L2 and perform agricultural work in the field efficiently and appropriately using the work device 2 while driving the agricultural machine 1 based on the first traveling line L1 and the second traveling line L2.

[0181] In this embodiment, the agricultural work support system 100 includes an implement 2 connected to the agricultural machine 1, and the agricultural machine 1 includes a travelable vehicle body 3, a position detection device 40 that detects the position of the vehicle body 3, and a control system that performs agricultural work in a field using the implement 2 while automatically steering or automatically traveling the vehicle body 3 along each of the first traveling line L1 and the second traveling line L2. The agricultural work support device 50 includes a control device 60. This allows the worker to perform agricultural work efficiently and appropriately in the field using the work implement 2 while driving the agricultural machine 1 by automatic driving or auto-steer driving, based on the first driving line L1 and the second driving line L2 that have been appropriately created by the agricultural work support device 50 and the position of the body 3 of the agricultural machine 1 detected by the position detection device 40.

[0182] Furthermore, in this embodiment, the agricultural work support system 100 includes an output device (display operation unit) 52 that outputs a predetermined notification, the display device 52 displays the position of the vehicle body 3 detected by the position detection device 40 on the displayed farm field map MP2, the control device 60 temporarily stops the vehicle body 3 and the working implement 2 when the vehicle body 3 transitions from traveling along a leading travel line, either the first travel line L1 or the second travel line L2, to traveling along a trailing travel line, and the output device 52 outputs a notification (third notification screen) D13 indicating the second working width Wa2 corresponding to the trailing travel line at least either during or before the transition of the vehicle body 3's traveling state. This allows the worker to recognize from the notification (third notification screen) D13 that the working width Wa of the working implement 2 needs to be changed to the second working width Wa2 before the agricultural machine 1 transitions from traveling along the leading travel line, either the first travel line L1 or the second travel line L2, to traveling along the trailing travel line, and to carry out the change.

[0183] Furthermore, in this embodiment, the output device 52 outputs notification D13 indicating the second working width Wa2, including information indicating that the working width Wa of the working device 2 needs to be manually operated and information indicating the working form of the working device 2. This allows the worker to easily recognize the working width Wa and working form of the working device 2 that should be changed from the notification (third notification screen) D13, and can easily and appropriately make the change.

[0184] The agricultural machine 1 of this embodiment also includes the above-described farm work support device 50, a vehicle body 3 that is capable of traveling and to which an implement 2 can be coupled, a position detection device 40 that detects the position of the vehicle body 3, and a display device 52 that displays a field map MP2 that has been output after the first traveling line L1 and the second traveling line L2 have been created by the farm work support device 50. This allows the worker to visually recognize the field map MP2 on which the first traveling line L1 and the second traveling line L2 have been appropriately created by the farm work support device 50 and that has been displayed on the display device 52, and to efficiently and appropriately perform farm work in the field using the implement 2 while driving the agricultural machine 1 based on the first traveling line L1 and the second traveling line L2.

[0185] The travel line creation method of this embodiment is a method for creating, in a field map MP2 representing a field, travel lines L1, L2 along which the agricultural machine 1 travels in order to perform agricultural work in the field using a work implement 2 coupled to the agricultural machine 1, and includes the steps of: inputting field information representing the field, device information for the work implement 2, and working conditions for the agricultural work using an input unit 52 of the agricultural work support device 50; specifying specifications for the changeable working width Wa of the work implement 2 and a predetermined first working width Wa1 using the device information using a control unit 51 of the agricultural work support device 50; and specifying the specifications for the changeable working width Wa of the work implement 2 and a predetermined first working width Wa1 for performing agricultural work in the field. The method includes the steps of the control unit 51 creating, in the field map MP2, one or more first traveling lines L1 along which agricultural work is carried out using a first working width Wa1, and, if simply creating the first traveling lines L1 results in a remainder area C1r in the field map MP2 that is narrower than the first working width Wa1 by at least a predetermined value, the control unit 51 determining a second working width Wa2 for the working implement 2 in accordance with the width Wr of the remainder area C1r based on the specifications of the working width Wa, and the control unit 51 creating, in the field map MP2, a second traveling line L2 along which agricultural work is carried out using the second working width Wa2 in the remainder area C1r. As a result, the first traveling line L1 and the second traveling line L2 are appropriately created by the agricultural work support device 50, and the worker can efficiently and appropriately perform agricultural work in the field using the working implement 2 while traveling the agricultural machine 1 based on the first traveling line L1 and the second traveling line L2.

[0186] 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]

[0187] 1. Agricultural machinery 2. Work equipment 2A Cultivating soil equipment (work equipment) 2B Spreading equipment (work equipment) 3. Body 7 Running gear 40 Position detection device 50 Farming support equipment 51 Control section 52 Display operation unit (input unit, display device, output device) 54 Communication unit (input unit) 60 Control device 76 Spray Unit 76d Spray port 100 Agricultural work support system C1r remainder region D13 Third notification screen L1 First driving line L2 Second driving line MP2 Field Map Ta Travel distance Ua ridge Wr width of the remaining area Wa working width Wa1 First working width Wa2 Second working width Wu ridge width

Claims

1. an input unit into which field information representing a field, device information of a work device connected to an agricultural machine, and work information of agricultural work to be performed by the work device while the agricultural machine is traveling in the field are input; a control unit that creates, on a field map showing the field, a plurality of travel lines along which the agricultural machine is to travel in order to perform the agricultural work using the work device, based on the field information, the device information, and the work information; The control unit Identifying a changeable working width specification of the working device and a predetermined first working width from the device information; creating one or more first driving lines on the farmland map along which the agricultural work is performed at the first working width; if merely creating the first traveling line results in a surplus area in the field map that is narrower than the first working width by a predetermined value or more, determining a second working width of the working implement according to the width of the surplus area based on the working width specifications; An agricultural work support device that creates, on the farm field map, a second driving line along which the agricultural work is performed in the remaining area using the second working width.

2. The agricultural work support device according to claim 1 , wherein the control unit identifies the specifications including a variable state and a variable range of the working width of the work device from the device information.

3. The work information for the plurality of types of agricultural work to be performed in the field is input by the input unit, The control unit Identifying the work location of the cooperative agricultural work that cooperates with the target agricultural work from work information of the cooperative agricultural work among the plurality of types of agricultural work; The agricultural work support device according to claim 1 , wherein the first driving line and the second driving line for carrying out the target agricultural work are created on the farm field map based on the work position of the coordinated agricultural work.

4. ridge information relating to a plurality of ridges formed in the field is input by the input unit; The control unit Identifying a total number of ridges indicating the number of the plurality of ridges and a ridge width indicating the width of a position where soil for forming one ridge is located from the ridge information; Calculating the number of work ridges included in a range in which the agricultural work can be performed simultaneously using the first work width based on the first work width and the ridge width; Dividing the total number of ridges by the number of ridges to be worked on, determining the quotient as the number of ridges to be created for the first traveling line, and determining the remaining number of ridges; The agricultural work support device according to claim 1 , wherein the width of the remaining area is calculated based on the number of remaining ridges and the ridge width.

5. machine information of the agricultural machine is input by the input unit, The control unit a relative position of the working device with respect to the agricultural machine and a distance between a pair of traveling devices arranged in a width direction of a vehicle body of the agricultural machine are identified from the machine information and the device information; Calculating the number of ridges to be passed between the pair of traveling devices based on the interval between the pair of traveling devices and the ridge width; The agricultural work support device according to claim 4 , wherein the first driving line and the second driving line are generated based on the relative position and the number of rows passed through.

6. The work implement is composed of a spraying device having one or more spraying units extending in the width direction of the agricultural machine and spraying materials from spraying ports provided at predetermined intervals in the longitudinal direction of the spraying units, The agricultural work support device according to claim 1, wherein the control unit determines at least one of the spraying unit and the spraying nozzle that is compatible with the width of the remaining area, and determines the second working width based on the compatible at least one of the spraying unit and the spraying nozzle.

7. the field information representing the field for cultivating crops in the open field and the work information of the spraying work of the material can be input by the input unit; The agricultural work support device according to claim 6 , wherein the control unit creates, on the farm field map, the first travel line and the second travel line of the agricultural machine for performing the spraying work by the work device.

8. The agricultural work support device according to any one of claims 1 to 7, the agricultural machine; a display device that displays the farm field map on which the first driving line and the second driving line have been created and output by the farm work support device.

9. the work implement coupled to the agricultural machine; The agricultural machine includes: A drivable vehicle body, a position detection device for detecting the position of the vehicle body; 9. The agricultural work support system according to claim 8, further comprising: a control device that performs the agricultural work on the field using the work device while automatically steering or automatically driving the vehicle body along each of the first driving line and the second driving line.

10. an output device that outputs a predetermined notification; the display device displays the position of the vehicle body detected by the position detection device on the displayed farm field map; the control device temporarily stops the vehicle body and the working device when transitioning from a traveling state of the vehicle body along a leading traveling line of the first traveling line or the second traveling line to a traveling state of the vehicle body along a trailing traveling line, The agricultural work support system according to claim 9, wherein the output device outputs a notification indicating the second working width corresponding to the following traveling line at least during or before the transition of the vehicle body's traveling state.

11. The agricultural work support system according to claim 10, wherein the output device outputs a notification indicating the second working width, the notification including information indicating that the working width of the work device needs to be manually operated and information indicating the working form of the work device.

12. The agricultural work support device according to any one of claims 1 to 7, a vehicle body that is capable of traveling and to which the working device can be connected; a position detection device for detecting the position of the vehicle body; a display device that displays the farm field map that is output after the first traveling line and the second traveling line are created by the agricultural work support device.

13. A travel line creation method for creating, on a field map representing a field, a travel line along which an agricultural machine travels in order to perform agricultural work in a field using a work implement coupled to the agricultural machine, the method comprising: a step in which field information representing the field, device information of the work device, and work conditions for the farm work are input by an input unit of the farm work support device; a step in which a control unit of the agricultural work support device identifies, from the device information, specifications of a changeable working width of the work device and a predetermined first working width; a step in which the control unit creates, in the field map, one or more first driving lines along which the agricultural work is to be performed at the first working width in order to perform the agricultural work in the field; when a surplus area whose width is narrower than the first working width by a predetermined value or more occurs in the field map by simply creating the first traveling line, the control unit determines a second working width of the working implement according to the width of the surplus area based on the working width specifications; a step by the control unit of creating, on the field map, a second driving line along which the agricultural work is carried out in the remaining area using the second working width.

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