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

Abstract

To create a travel line of an agricultural machine that can properly perform farm work with a work device in a central area of a farm field.SOLUTION: An agricultural work support device includes: an input unit which receives input of farm field information indicating a farm field, device information of a work device connected to an agricultural machine, and a working condition of the farm work performed by the work device while making the agricultural machine travel on the farm field; and a control unit which creates a travel line on which the agricultural machine travels in order to perform the farm work with the work device in a central area of the farm field map showing the farm field on the basis of the farm field information, the device information and the work condition. The control unit identifies from the working condition a margin distance for starting or finishing the travel of the agricultural machine and the farm work by the work device and adjusts a length of the travel line created in the central area on the basis of the margin distance.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] For example, Patent Document 1 discloses a technology for creating a driving line (working path) along which an agricultural machine coupled with a working implement travels independently in order to perform agricultural work in a field using the working implement. In the agricultural work vehicle disclosed in Patent Document 1, when the operator designates the central area (working area) of the field, a working path creating unit in the control unit creates multiple linear driving lines in the central area, parallel to each other at appropriate intervals, so that they pass through the working area. Areas of the field other than the central area are set as headlands (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] For example, when an agricultural machine travels along a travel line and starts agricultural work in a field with a work implement, the agricultural work may not be performed properly. Simply creating multiple travel lines in a designated central area as in the past is inconvenient because the part where agricultural work is not performed properly immediately after the start of work occurs in the central area of ​​the field and it is not possible to set it to occur in other areas.

[0005] In view of the above problems, the present invention has an object to improve the convenience of a travel line along which an agricultural machine travels to perform agricultural work using a work implement. [Means for solving the problem]

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

[0007] The agricultural work support device of the present invention comprises an input unit that inputs field information that indicates the field, equipment information for a work equipment connected to the agricultural machine, and working conditions for the agricultural work to be performed by the work equipment while the agricultural machine is traveling in the field, and a control unit that creates a driving line for the agricultural machine to travel in a central area of ​​a field map that indicates the field based on the field information, the equipment information, and the working conditions, in order to perform the agricultural work with the work equipment, and the control unit identifies a margin distance for starting or ending the traveling of the agricultural machine and the agricultural work by the work equipment from the working conditions, and adjusts the length of the driving line created in the central area based on the margin distance. The control unit also identifies a run-up distance of the agricultural machine as the margin distance from the working conditions, and shifts the start point of the travel line created in the central area by the run-up distance in either the extension direction or the shortening direction of the travel line, and / or identifies a coasting distance of the agricultural machine as the margin distance from the working conditions, and shifts the end point of the travel line created in the central area by the coasting distance in either the extension direction or the shortening direction of the travel line. [Effects of the Invention]

[0008] According to the present invention, it is possible to improve the convenience of the travel line along which the agricultural machine travels to perform agricultural work using the work implement. [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 driving control screen. [Figure 7]10 is a flowchart showing a procedure for creating a driving line. [Figure 8A] FIG. 1 is a diagram showing a farm field map. [Figure 8B] FIG. 10 is a diagram showing a driving line before adjustment. [Figure 8C] FIG. 10 is a diagram showing a driving line after adjustment in headland priority mode. [Figure 8D] FIG. 10 is a diagram showing a driving line after adjustment in center priority mode. [Figure 9] FIG. 10 is a diagram showing a route creation screen on which a task collaboration key is provided. [Figure 10A] 10 is a flowchart showing a procedure for creating a driving line when a plurality of agricultural works are coordinated. [Figure 10B] 10B is a flowchart continuing from FIG. 10A. [Figure 11A] FIG. 10 is a diagram showing a travel line for sowing work in headland priority mode. [Figure 11B] FIG. 10 is a diagram showing a travel line for hilling work in headland priority mode. [Figure 12A] FIG. 10 is a diagram showing a travel line for sowing work in center priority mode. [Figure 12B] FIG. 10 is a diagram showing a travel line for hilling work in center priority mode. [Figure 13] FIG. 1 is a side view of an agricultural machine. DETAILED DESCRIPTION OF THE INVENTION

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

[0011] 13 is a side view of the agricultural machine 1. 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 machine that can travel, such as a rice transplanter or a combine harvester.

[0012] The agricultural machine 1 includes a vehicle body 3, a prime mover 4, a transmission 5, and a traveling device 7. The front wheels 7F of the traveling device 7 may be tire-type or crawler-type. The rear wheels 7R of the traveling device 7 may also be tire-type or crawler-type. The prime mover 4 is configured with a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is configured with a diesel engine. The transmission 5 is capable of switching the propulsion force of the traveling device 7 by changing gears, and is also capable of switching the traveling device 7 between forward and reverse. 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. 13 , the left side is the front of the agricultural machine 1 (vehicle body 3), and the right side is the rear of the agricultural machine 1. Furthermore, when facing FIG. 13 , the back side is the right side of the agricultural machine 1, and the front side is the left side of the agricultural machine 1.

[0013] 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.

[0014] The working device 2 performs agricultural work for cultivating crops in an open field. The working device 2 is composed of, for example, a tilling device (rotary tiller) for tilling the field, a spraying device for spraying fertilizer or pesticides, a soil-raising device (also called a ridge-making device) for raking soil, a seeding device for sowing crop seeds, a transplanting device for transplanting seedlings, or a harvesting device for harvesting crops. There are.

[0015] Fig. 1 is a configuration diagram of an agricultural work support system 100. The agricultural work support system 100 includes an agricultural machine 1 and an agricultural work support device 50. The agricultural work support system 100 and the agricultural work support device 50 support agricultural work performed by a work implement 2 while the agricultural machine 1 travels in a field.

[0016] 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.

[0017] 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 an operator such as a driver seated in the driver's seat 10 or a worker located near the agricultural machine 1.

[0018] The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 is connected to a control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, an appropriate number of control valves 37 are provided according to the number of hydraulic devices, such as hydraulic clutches or hydraulic cylinders, provided in the transmission 5.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] There are also working devices 2 that do not have a control unit and a communication unit. Therefore, the control device 60 does not communicate via the in-vehicle network N1, but controls the operation of the working device 2 and detects the working state of the working device 2 by raising and lowering the working device 2 using the lifting device 8, as will be described later, to change the position of the working device 2.

[0023] 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. 13). The steering shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists steering by the handle 30.

[0024] 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.

[0025] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates in accordance with the operating state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 extends and contracts to the left or right of the vehicle body 3 in accordance with the switching position and opening degree of the control valve 34. This extension and contraction movement of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0026] 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 the operator performs driving and steering operations, automatic driving in which the control device 60 automatically performs driving and steering, and auto-steer control (also referred to as automatic steering control or semi-automatic driving) in which the control device 60 automatically performs steering and the operator performs driving operations.

[0027] 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 to adjust the hydraulic pressure supplied to the hydraulic cylinder of the lifting device 8, 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. 13) rotate up and down, and the working device 2 connected to the connecting portions 8g and 8h moves up and down.

[0028] The position detection device 40 shown in Fig. 1 has a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (position of the positioning satellite, transmission time, etc.) 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 (e.g., latitude and longitude) based on the satellite signal received by the receiving device 41. In other words, the position detection device 40 is a positioning device that detects the position of the agricultural machine 1 (body 3) using the satellite positioning system. The inertial measurement unit 42 has an acceleration sensor, a gyro sensor, etc. Inertial The measuring device 42 detects the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3. The warning device 63 is composed of a buzzer, speaker, warning light, etc. provided on the vehicle body 3. The warning device 63 issues a warning around the vehicle body 3 by sound or light.

[0029] 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.

[0030] 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.

[0031] The agricultural work support device 50 is configured from, for example, a portable tablet terminal device. The agricultural work support device 50 is mounted, for example, inside the cabin 9 of the agricultural machine 1, and is detachable from the agricultural machine 1. In other words, the agricultural machine 1 is equipped with the agricultural work support device 50. In addition, the agricultural work support device 50 can also be detached from the agricultural machine 1.

[0032] 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.

[0033] The display operation unit 52 is composed of a touch panel display and displays various types of information on the screen. Various types of information or instructions are input by the operator performing predetermined operations on the display screen of the display operation unit 52. The display operation unit 52 is a display device, an output unit (output interface), and an input unit (input interface) of the agricultural work support device 50. In other words, the display operation unit 52 is a user interface. Instead of the display operation unit 52, an independent display device, output interface, and input interface may be provided in the agricultural work support device 50.

[0034] 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 communication interfaces for connecting to the in-vehicle network N1 and an external communication network such as the Internet. 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 is an output unit and an input unit that inputs and outputs (transmits and receives) information, data, and instructions to and from the control device 60 of the agricultural machine 1.

[0035] The display operation can be performed to display information such as field information indicating the field, machine information indicating the agricultural machine 1, device information indicating the work device 2, and working conditions for agricultural work performed by the work device 2 while the agricultural machine 1 is traveling in the field. The information is input to the agricultural work support device 50 by the creation unit 52 or the communication unit 54, and stored in the storage unit 53 or the internal memory of the control unit 51. The control unit 51 creates, on a field map showing the field, multiple driving lines along which the agricultural machine 1 will travel to perform agricultural work using the work device 2, based on at least the field information, the device information, and the work conditions. The control unit 51 also adjusts the lengths of the multiple driving lines once created on the field map.

[0036] The field information includes information such as the field's identification information (ID), position (coordinates), contour, and area. The equipment information includes information indicating the specifications of the work equipment 2 (including dimensions, performance, identification information, etc.). The work conditions include information regarding the type of agricultural work, work direction, headland width, and adjustment of the travel line. The machine information of the agricultural machine 1 includes information indicating the specifications of the agricultural machine 1 (including dimensions, performance, identification information, etc.). The machine information of the agricultural machine 1 is also stored in a memory provided inside the control device 60.

[0037] The control unit 51 transmits information indicating the field information, device information, work conditions, and travel line, etc. to the control device 60 of the agricultural machine 1 via the communication unit 54. The control device 60 controls the drive of the prime mover 4, transmission 5, braking device 6, steering device 29, lifting device 8, and work device 2 based on the field information, device information, work conditions, travel line, 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.

[0038] 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.

[0039] 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).

[0040] 2 to 6 are diagrams showing examples of screens displayed on the display operation unit 52 of the agricultural work support device 50. In this embodiment, an operator inputs device information indicating the working device 2 for open-field cultivation (field farming), field information indicating the field, and working conditions for the agricultural work, using screens D3, D4, D5, and D7 of the display operation unit 52 shown in FIGS. 2 to 5B. Then, the control unit 51 of the agricultural work support device 50 creates a traveling line along which the agricultural machine 1 should travel in order to perform the agricultural work for open-field cultivation using the working device 2, based on the device information, field information, and working conditions, and displays the state of the agricultural machine 1 when traveling along this traveling line on screen D8 of the display operation unit 52.

[0041] 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.

[0042] The operator selects the type of agricultural work to be performed by the agricultural machine 1 and the work implement 2 on the work selection screen D3. When the operator operates (tap) one of the work keys B31 to B35, the farm work corresponding to the operated work key B31 to B35 is selected. The example in FIG. 2 shows a state in which sowing work has been selected.

[0043] 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 (also called ridge making), 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 planting work for planting crop seeds or seedlings (seed potatoes in the case of potatoes) in a farm field.

[0044] When the operator operates one of the work keys B31 to B35 on the work selection screen D3 and then operates the next key B9, the control unit 51 determines that the agricultural work corresponding to the operated work key has been selected, and stores information indicating the selected agricultural work in the internal memory or storage unit 53. The control unit 51 also displays the work 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 the subsequent screens D4, D5, and D7).

[0045] On the device setting screen D4, the operator checks and inputs the specifications of the work device 2. In the example of Fig. 3, the operator checks the identification information, dimensional information, and type of the work device 2 on the device setting screen D4, and operates the setting keys B37 to B39 to input and change the dimensional information and type of the work device 2, respectively.

[0046] The dimensional information of the work implement 2 includes the overall width, working width, overall length, and working position of the work implement 2. The type of work implement 2 includes the speed stage of the auxiliary transmission (not shown) for driving the work implement 2, whether the work implement 2 is raised or lowered by the lifting device 8, and whether it is linked to the PTO (Power take-off) of the agricultural machine 1.

[0047] The storage unit 53 also stores device information for work devices 2 for agricultural work other than the work device 2 for sowing work shown in Fig. 3. The control unit 51 determines the work device 2 for that agricultural work in accordance with the agricultural work selected on the work selection screen D3 in Fig. 2, reads out the device information for that work device 2 from the storage unit 53, and displays it on the device setting screen D4 in Fig. 3. The storage unit 53 also stores machine information for one or more agricultural machines 1 that have been registered in advance.

[0048] When the operator operates one of the setting keys B37 to B39 and then inputs the dimensional information or type of the work device 2 using the display operation unit 52, the control unit 51 changes the display content of the device setting screen D4 according to the input content. When the operator checks the display content of the device setting screen D4 and operates the next key B9, the control unit 51 stores the device information of the work device 2 displayed on the device setting screen D4 in the internal memory or storage unit 53, and displays the field selection screen D5 shown in Figure 4 on the display operation unit 52.

[0049] 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.

[0050] The route creation screen D7 displays the field map MP2 selected on the field selection screen D5, the agricultural machine mark M1, 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 and changes the work conditions, including the work direction, headland width, whether or not to adjust the travel line, the margin distance, and the priority mode.

[0051] 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 H1d that make up the outline H1 of the field (field map MP2). Specifically, when the operator inputs a predetermined value (e.g., "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 H1d is designated as the reference side, and the up-down direction or the 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). A numerical value greater than "0" is input as the headland width.

[0052] The line adjustment key B17 is a key for setting whether or not to adjust the driving line. When the operator operates (selects) "ON" with the line adjustment key B17, the control unit 51 adjusts the length of the driving line that was created on the field map MP2, as described below. On the other hand, when the operator operates (selects) "OFF" with the line adjustment key B17, the control unit 51 does not adjust the length of the driving line that was created on the field map MP2.

[0053] When "ON" is operated (selected) with the line adjustment key B17, a numerical value can be input in the margin distance input field. The margin distance is a margin for starting or ending the travel of the agricultural machine 1 and agricultural work by the implement 2, and indicates the adjustment amount for the length of the travel line. The margin distance includes the run-up distance and coasting distance of the agricultural machine 1. The run-up distance is the travel distance of the agricultural machine 1 required from the start of travel of the agricultural machine 1 (body 3) and ground work by the implement 2 until the ground work is performed stably. The coasting distance is the travel distance of the agricultural machine 1 required from the stop of travel of the agricultural machine 1 and ground work by the implement 2 until the ground work is completely completed. For the run-up distance and coasting distance, numerical values ​​(absolute values) greater than "0" and shorter than the headland width can be input. Furthermore, the same value or different values ​​may be input for the run-up distance and coasting distance.

[0054] The priority mode key B18 is a key for selecting either headland priority mode or center priority mode. The headland priority mode is a mode in which a margin is left in the center area of ​​the field map MP2 to secure a headland in the extension direction of the driving line. The center priority mode is a mode in which a margin is left in the headland of the field map MP2 to secure the center area as a working area. When "ON" is operated (selected) with the line adjustment key B17, the priority mode key B18 becomes valid, and it becomes possible to operate (select) either "headland priority" or "center priority".

[0055] When the operator operates (selects) "headland" with the priority mode key B18, the control unit 51 adjusts the length of the driving line that was created on the field map MP2 in headland priority mode, as described below. Also, when the operator operates (selects) "center" with the priority mode key B18, the control unit 51 adjusts the length of the driving line that was created on the field map MP2 in center priority mode.

[0056] On the route creation screen D7, the operator selects the input field for each setting item and operates the plus key B45 or minus key B46 to enter a value or a selection in each input field. When the operator operates the line creation key B13 after inputting values ​​and the like into each setting item on the route creation screen D7, the control unit 51 stores the input contents of each setting item in its internal memory. Then, the control unit 51 creates, in the field map MP2, a travel line L1 along which the agricultural machine 1 will travel in order to perform agricultural work in the field with the work implement 2.

[0057] Fig. 7 is a flowchart showing the procedure for creating a driving line L1 by the farm work support device 50. Each step in Fig. 7 is executed by the control unit 51. Figs. 8A to 8D are diagrams showing the process of creating a driving line L1 on the farm field map MP2.

[0058] As described above, when the operator operates the line creation key B13 after inputting numerical values ​​and selections for each setting item on the route creation screen D7 in Fig. 5A, 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, device information for the work implement 2, and working conditions stored in its internal memory (S1 in Fig. 7).The control unit 51 then identifies a plurality of field sides H1a-H1d that indicate the field outline H1 from the field information, identifies the working width of the work implement 2 from the device information, and identifies the working direction and headland width from the working conditions (S2).

[0059] Next, in the field map MP2, as shown in Fig. 8A, for example, the control unit 51 creates offset sides H2a, H2c (first offset side H2a and second offset side H2c) that are parallel to the field sides H1a, H1c at positions offset inward of the field map MP2 by the headland width Wp from the field sides H1a, 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, H2c and the other field sides H1b, H1d, and determines the parts of the field map MP2 other than the central region C1 as headlands E1a, E1c (S3 in Fig. 7). That is, headland E1a is an area surrounded by field sides H1a, H1b, H1d and offset side H2a, and headland E1c is an area surrounded by field sides H1c, H1b, H1d and offset side H2c.

[0060] As another example, the control unit 51 may offset the field sides H1b and H1d (FIG. 8A) parallel to the working direction V inward by the headland width Wp or a predetermined distance to create offset sides parallel to the field sides H1b and H1d, and determine the area surrounded by these offset sides and the aforementioned offset sides H2a and H2c as the central area. In this case, an offset area is set between each of the central area and the field sides H1a to H1d. The worker may select whether or not to perform farm work in the offset area.

[0061] Next, the control unit 51 creates multiple traveling lines L1 in the central area C1 based on the field information, equipment information, and work conditions (S4 in FIG. 7). At this time, the control unit 51 first creates one traveling line L1 parallel to the working direction V at a position within the central area C1 that is a distance Wa / 2, half the working width Wa, from one side of the central area C1 that is parallel to the working direction V, as shown in FIG. 8B, for example. The traveling line L1 extends along multiple offset sides H2a and H2c that are not parallel to the working direction V. Then, using the single traveling line L1 as a reference, the control unit 51 creates multiple traveling lines L1 parallel to the working direction V in the central area C1 at intervals of the working width Wa, extending from the offset side H2a to the offset side H2c.

[0062] The control unit 51 also sets one end point of each of the multiple travel lines L1 as a start point P1 and the other end point as an end point P2. At this time, the control unit 51 sets one end point of the travel line L1 closest to, for example, an entrance / exit of the field identified from the field information as the end point P2 and sets the other end point as the start point P1. The control unit 51 then sets the start points P1 and end points P2 of the other multiple travel lines L1 so that the start points P1 and end points P2 are alternately arranged on the offset sides H2a and H2c shown in FIG. 8B, for example.

[0063] Next, the control unit 51 checks whether the work conditions indicate that adjustment of the travel line L1 is ON (there is an instruction to adjust). If the work conditions indicate that adjustment of the travel line L1 is OFF (there is no instruction to adjust) (S5 in FIG. 7: NO), the control unit 51 confirms the multiple travel lines L1 set in the field map MP2 at this point in time, and stores information (position, area, etc.) indicating the travel lines L1, the central area C1, and the headlands E1a, E1c in the memory unit 53 (S10).

[0064] On the other hand, if the working conditions indicate that the adjustment of the travel line L1 is ON (S5: YES), the control unit 51 identifies the margin distance (the approach distance Y1 and the coasting distance Y2) from the working conditions (S6). The control unit 51 also confirms the selected priority mode from the working conditions.

[0065] When headland priority mode is selected (S7: headland priority), the control unit 51 shortens the multiple travel lines L1 created in the central region C1 by a margin distance (S8). Specifically, as shown in Figures 8B and 8C, the control unit 51 shifts the start points P1 of the multiple travel lines L1 created in the central region C1 by a run-up distance Y1 in the direction of shortening the travel lines L1, and shifts the end points P2 of the multiple travel lines L1 by a coasting distance Y2 in the direction of shortening the travel lines L1. That is, the control unit 51 adjusts the lengths of the multiple travel lines L1 created in the central region C1 to shorten them by the run-up distance Y1 and the coasting distance Y2, respectively. This ensures that the margin distances Y1 and Y2 of the travel lines L1 are maintained in the central region C1, and the headlands E1a and E1c in the extension direction of the travel lines L1 are not narrowed.

[0066] On the other hand, when center priority mode is selected (S7: center priority in FIG. 7), the control unit 51 extends the multiple travel lines L1 created in the central area C1 by a margin distance (S9). Specifically, as shown in FIGS. 8B to 8D, the control unit 51 shifts the start points P1 of the multiple travel lines L1 created in the central area C1 by a run-up distance Y1 in the extension direction of the travel lines L1, and shifts the end points P2 of the multiple travel lines L1 by a coasting distance Y2 in the extension direction of the travel lines L1. That is, the control unit 51 adjusts the lengths of the multiple travel lines L1 created in the central area C1 so that they are longer by the run-up distance Y1 and the coasting distance Y2, respectively. As a result, the margin distances Y1 and Y2 of the travel lines L1 are secured in the headlands E1a and E1c, and the entire central area C1 is secured as a work area for the work implement 2 to perform work.

[0067] After adjusting the lengths of the multiple driving lines L1 by the margin distances Y1 and Y2 as described above, the control unit 51 confirms the multiple driving lines L1 (adjusted driving lines L1) set in the field map MP2 and stores information indicating the driving lines L1, the central area C1, and the headlands E1a and E1c in the memory unit 53 (S10 in Figure 7).

[0068] The control unit 51 then causes the display operation unit 52 to display the determined driving lines L1 on the field map MP2 in the route creation screen D7, as shown in Fig. 5B. At this time, the headlands E1a, E1c and the central area C1 are also displayed on the field map MP2.

[0069] When the operator changes the numerical values ​​or input contents of at least one of the working direction, headland width, margin distance (run-up distance, coasting distance), and priority mode on the route creation screen D7 and operates the line creation key B13 again, the control unit 51 sets the driving line L1, headlands E1a, E1c, and central area C1 on the field map MP2 as described above, and adjusts the length of the driving line L1.

[0070] That is, the control unit 51 changes at least one of the travel line L1, the central area C1, and the headlands E1a, E1c in response to changes in at least one of the working direction, headland width, margin distance, and priority mode. The operator can change the working conditions while looking at the travel line L1, etc. displayed on the route creation screen D7, and appropriately set the travel line L1, etc. Furthermore, even if the operator changes the settings (input values) on the previous screens D3 to D5, the control unit 51 changes the driving line L1 and the like in accordance with the change in the settings.

[0071] After the travel lines L1 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 along which the agricultural machine 1 will travel. At this time, the control unit 51 determines, for example, the travel line L1 closest to the entrance / exit of the field identified from the field information as the last travel line L1 in the travel order (the Nth travel line L1 if N travel lines L1 have been created), and determines the end point P2 of the last travel line L1 as the goal position Pg. Then, the control unit 51 determines the travel order of the other travel lines L1 based on the last travel line L1, and determines the start point P1 of the first travel line L1 in the travel order as the start position Ps.

[0072] 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 L2 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 L3 is created and displayed on the field map MP2.

[0073] As another example, the route creation key B14 may be omitted, and after the control unit 51 has determined the multiple travel lines L1 as described above, the control unit 51 may automatically create a series of travel routes L3 on the field map MP2 and display the travel routes L3 on the route creation screen D7. Also, the line creation key B13 may be omitted, and after the field information, device information about the work implement 2, and work conditions are input via the display operation unit 52, the control unit 51 may create the multiple travel lines L1 on the field map MP2.

[0074] The operator can move (change) either the start position Ps or the finish position Pg in the field map MP2 on the route creation screen D7 to a different start point P1 or end point P2 by operating the display operation unit 52. When the start position Ps or the finish position Pg is moved to a different start point P1 or end point P2, the control unit 51 changes the start points P1 and end points P2 of the multiple travel lines L1 in accordance with the change. As described above, the changed start point P1 is shifted by the run-up distance Y1, and the changed end point P2 is shifted by the coasting distance Y2, thereby readjusting the lengths of the multiple travel lines L1. Furthermore, the control unit 51 changes the running order of the multiple travel lines L1 and changes the display of the start position Ps, finish position Pg, auxiliary line L2, and arrows indicating the direction of travel of the multiple travel lines L1.

[0075] 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 L3 (plurality of travel lines L1, travel order, start position Ps, goal position Pg, and auxiliary line L2) 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. The control unit 51 also 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. The travel data includes information indicating the device information of the work device 2, the field map MP2, the travel route L3, the central region C1, the offset region J1, the headlands E1a and E1c, the type of agricultural work, and the like.

[0076] The travel control screen D8 is a screen that shows the state in which agricultural work is being performed by the work implement 2 while the agricultural machine 1 is traveling in the field. The travel control screen D8 displays a field map MP2, a travel route L3, an agricultural machine mark M2, the traveling state of the agricultural machine 1, keys, etc. The control unit 51 transmits the actual position of the vehicle body 3 detected by the position detection device 40 to the communication unit 54 at a predetermined period. and displays the agricultural machine mark M2 at any time at the corresponding location on the field map MP2 according to the position of the vehicle body 3. That is, the agricultural machine mark M2 on the travel control screen D8 indicates the actual position of the vehicle body 3 of the agricultural machine 1.

[0077] For example, the 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 L3, and then performs a predetermined operation on the mode switch 62b provided on the operation device 62 (FIG. 1) to switch to the automatic travel work mode. As a result, the control device 60 switches to the automatic travel work mode, and performs agricultural work (ground 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.

[0078] In more detail, the control device 60 first reads the travel data and identifies headlands E1a, E1c, travel lines L1, start position Ps, and goal position Pg. Then, based on the multiple travel lines L1 and the position of the vehicle body 3, the control device 60 performs ground work with the work implement 2 while causing the vehicle body 3 to travel automatically from the start position Ps along the travel lines L1. 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 work implement 2 some time after the automatic operation of the agricultural machine 1 has begun.

[0079] In the automatic driving operation mode, the control device 60 performs automatic steering of the vehicle body 3. 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 driving line L1. If the deviation is less than a threshold, the control device 60 maintains the rotation angle of the steering shaft 31 (FIG. 1). If the deviation between the position of the vehicle body 3 and the driving line L1 is equal to or greater than the threshold and the vehicle body 3 is located on the left side of the driving line L1, the control device 60 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is rightward (automatic steering). If the deviation between the position of the vehicle body 3 and the driving line L1 is equal to or greater than the threshold and the vehicle body 3 is located on the right side of the driving line L1, the control device 60 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is leftward. The control device 60 also automatically changes the driving speed of the vehicle body 3 based on the driving line L1 and the position of the vehicle body 3.

[0080] When the vehicle body 3 and the working implement 2 reach the end point P2 of one of the travel lines L1, the control device 60 temporarily stops the ground work by the working implement 2 and turns the vehicle body 3 toward the start point P1 of the other adjacent travel line L1. At this time, the control device 60 turns the agricultural machine 1 and the working implement 2 based on position information of the headlands E1a, E1c, position information of the travel line L1, dimensional information of the agricultural machine 1 and the working implement 2, the position of the vehicle body 3 detected by the position detection device 40, and the detection results of the state detection device 64. Furthermore, if the working implement 2 is a working implement that performs agricultural work in a grounded state, such as a soil-raising device, the control device 60 raises the working implement 2 using the lifting device 8 during the turn to move it away from the ground.

[0081] Then, when the vehicle body 3 reaches the start point P1 of the other travel line L1, the control device 60 resumes ground work by the working implement 2 when the vehicle body 3 starts to travel in automatic driving based on the other travel line L1. If the working implement 2 is a working implement that performs agricultural work while on the ground, the control device 60 causes the lifting device 8 to lower the working implement 2 and land it during ground work.

[0082] As described above, the agricultural machine 1 travels automatically in a straight line back and forth in the central area C1 along the multiple travel lines L1, and performs ground work in the central area C1 with the work device 2. The control device 60 performs ground work with the work device 2 while causing the vehicle body 3 to travel automatically based on the multiple travel lines L1 and the position of the vehicle body 3, and when the work device 2 arrives at the goal position Pg, the control device 60 stops the automatic travel work mode and stops the vehicle body 3 and the work device 2. This completes the agricultural work in the automatic travel work mode of the agricultural machine 1 and the work device 2. do.

[0083] As described above, the control device 60 can not only perform agricultural work using the work device 2 while automatically driving the agricultural machine 1 based on the multiple travel lines L1, but can also perform agricultural work using the work device 2 while auto-steering the agricultural machine 1 based on the multiple travel lines L1. That is, the multiple travel lines L1 created by the agricultural work support device 50 can be used not only for automatic driving of the agricultural machine 1 but also for auto-steering operation of the agricultural machine 1. Furthermore, when auto-steering the agricultural machine 1, the control unit 51 of the agricultural work support device 50 may also display the travel route L3 including the multiple travel lines L1 and the position of the vehicle body 3 on the display operation unit 52. Furthermore, when the operator manually drives the agricultural machine 1 while performing agricultural work using the work device 2, the control unit 51 may also display the multiple travel lines L1 and the position of the vehicle body 3 on the display operation unit 52.

[0084] In the embodiment described above, an example has been shown in which the operator selected sowing work on the work selection screen D3 shown in Fig. 2, and the control unit 51 created multiple travel lines L1 and the like for sowing work, but if the operator selects another agricultural work on the work selection screen D3, the control unit 51 can create multiple travel lines L1 and the like for the selected agricultural work on the field map MP2. The control unit 51 may also create travel lines on headlands E1a, E1c along which the agricultural machine 1 travels to perform agricultural work using the work implement 2. Furthermore, the worker may automatically or manually drive the agricultural machine 1 on the headlands E1a, E1c to perform agricultural work using the work implement 2.

[0085] In the above-described embodiment, an example has been shown in which the control unit 51 adjusts the traveling line L1 of the agricultural machine 1 for performing a single agricultural task, but the control unit 51 may also adjust multiple traveling lines L1 of the agricultural machines 1 for performing multiple types of agricultural tasks in the same field in cooperation with each other. An embodiment in this case will be described with reference to Figs. 9 to 12B.

[0086] FIG. 9 is a diagram showing the route creation screen D7 on which a work collaboration key B19 is provided. The work collaboration key B19 is a key for setting, as a work condition, whether or not to collaborate the travel lines of multiple agricultural works. When the operator operates (selects) "ON" with the work collaboration key B19, the control unit 51 collaborates a first travel line along which the agricultural machine 1 travels to perform a first agricultural work using the work implement 2, and a second travel line along which the agricultural machine 1 travels to perform a second agricultural work using the work implement 2 that is different from the first agricultural work. When the operator operates (selects) "OFF" with the work collaboration key B19, the control unit 51 does not collaborate the first travel line and the second travel line, and creates the first travel line and the second travel line separately, as shown in FIGS. 7 to 8D.

[0087] In the embodiment shown in FIGS. 9 to 12A, the first agricultural operation, the first travel line, the second agricultural operation, and the second travel line are exemplified as sowing (cropping), a travel line for sowing (travel line for cropping), hilling, and a travel line for hilling, respectively. For example, when potatoes are grown in a farm field, sowing is performed after hilling. Depending on the crop, sowing may be performed after hilling. The operator determines the order in which hilling and sowing should be performed depending on the crop being grown in the farm field, and selects either headland priority mode or center priority mode.

[0088] 10A and 10B are flowcharts showing the procedure for creating a driving line L1 by the agricultural work support device 50 when multiple agricultural works are coordinated. Each step in FIGS. 10A and 10B is executed by the control unit 51. In FIGS. 10A and 10B, the same steps as in FIG. 7 are assigned the same reference numerals.

[0089] As described above, when the operator turns the work collaboration key B19 "ON" on the route creation screen D7 of Fig. 9, inputs values ​​and selections for each setting item, and then operates the line creation key B13, the control unit 51 temporarily stores the values ​​and other information input for each setting item in its internal memory, and then reads the field information, equipment information for the work implement 2, and work conditions stored in its internal memory (S1 in Fig. 10A). Note that when the operator turns the work collaboration key B19 "OFF" on the route creation screen D7 of Fig. 9, inputs values ​​and selections for each setting item, and then operates the line creation key B13, the control unit 51 executes steps S2 to S10 subsequent to S1 in Fig. 7, as described above.

[0090] 10A, the control unit 51 identifies the field sides H1a-H1d, the working width and working direction of the working implement 2 (S2), and determines the central area C1 and headlands E1a, E1c on the field map MP2 (S3). Next, the control unit 51 searches the contents of the memory unit 53 to check whether the driving line L1 to be linked is stored.

[0091] If at least one of the first driving line (driving line for sowing work) L1a and the second driving line (driving line for soil cultivation work) L1b of the field map MP2 is stored in the memory unit 53 as the target for collaboration (S11: YES), the control unit 51 creates a driving line L1 in the central area C1 based on the first driving line L1a or the second driving line L1b of the target for collaboration, in addition to the field information, equipment information, and work conditions (S12).

[0092] In this example, assuming that the number of working rows (number of rows to be sown simultaneously) of the sowing device used as the working device 2 is the same as the number of working rows (number of ridges to be created simultaneously) of the soil-raising device used as the working device 2, in step S12 the control unit 51 creates a traveling line L1 in the field map MP2 that is the same in number and position as the first traveling line L1a or second traveling line L1b to be linked, and shifts the start point P1 and end point P2 of the created traveling line L1 to the offset sides H2a and H2c, respectively (for example, the state shown in FIG. 8B). At this time, because there is not just one first traveling line L1a or second traveling line L1b to be linked, but multiple first traveling line L1a or second traveling line L1b, multiple traveling lines L1 are created in the central region C1 in step S12.

[0093] If the number of work rows of the seeding device and the number of work rows of the hilling device differ, in step S12 the control unit 51 creates travel lines L1 on the field map MP2 so that agricultural work can be performed at the same positions as the work positions when the agricultural machine 1 and the work implement 2 perform agricultural work based on the multiple first travel lines L1a or second travel lines L1b to be linked, and shifts the start point P1 and end point P2 of the created travel lines L1 to the offset sides H2a and H2c, respectively. In other words, the control unit 51 creates a different number of travel lines L1 from the travel lines to be linked, at the same or different positions as any of the travel lines to be linked in the central area C1.

[0094] If the first driving line (driving line for sowing work) L1a and the second driving line (driving line for soil cultivation work) L1b of the field map MP2 are not stored in the memory unit 53 (S11: NO in Figure 10A), the control unit 51 creates multiple driving lines L1 in the central area C1 based on the field information, equipment information, and work conditions as described above (S4, for example, the state in Figure 8B).

[0095] After step S12 or step S4 in Figure 10A, if the adjustment of the driving line L1 is OFF (S5: NO), the control unit 51 confirms the multiple driving lines L1 set in the field map MP2 at this time and stores information indicating the driving line L1, the central area C1, and the headlands E1a and E1c in the memory unit 53 (S10 in Figure 10B).

[0096] Furthermore, if the adjustment of the traveling line L1 is ON (S5 in FIG. 10A: YES), the control unit 51 checks the priority mode selected from the working conditions. At this time, if the headland priority mode is selected (S7 in FIG. 10B: headland priority), the control unit 51 performs S4 or step S5 in FIG. 10A. The purpose (type of agricultural work) of the multiple driving lines L1 created in step S12 is confirmed.

[0097] If the multiple travel lines L1 are intended for sowing (S13a in FIG. 10B: sowing), the control unit 51 determines margins Y1 and Y2 (running distance Y1, coasting distance Y2) based on the work conditions (S6a) and shortens the multiple travel lines L1 created in the central region C1 by margins Y1 and Y2 (S8). The control unit 51 then determines the shortened multiple travel lines L1 as sowing travel lines L1a and stores information indicating the travel lines L1a, the central region C1, and headlands E1a and E1c in the storage unit 53 (S10). As a result, as shown in FIG. 11A, the multiple sowing travel lines L1a and margins Y1 and Y2 are secured in the central region C1, ensuring that the headlands E1a and E1c are not narrowed.

[0098] Furthermore, if the purpose of the multiple travel lines L1 is for hilling (S13a: hilling in FIG. 10B), the control unit 51 does not adjust the lengths of the multiple travel lines L1 created in the central region C1, but instead defines the multiple travel lines L1 as hilling travel lines L1b, and stores information indicating the travel lines L1b, the central region C1, and headlands E1a, E1c in the memory unit 53 (S10). As a result, as shown in FIG. 11B, multiple hilling travel lines L1b are created across the offset sides H2a, H2c of the central region C1 of the field map MP2, and the entire central region C1 is secured as a hilling work area for the work implement 2.

[0099] That is, when the operator selects (instructs) to link the travel lines for sowing work L1a and the travel lines for hilling work L1b and selects the headland priority mode, the control unit 51 creates multiple travel lines for sowing work L1a and multiple travel lines for hilling work L1b so that they correspond to each other, and makes each of the multiple travel lines for sowing work L1a shorter than the multiple travel lines for hilling work L1b, as shown in Figures 11A and 11B. In other words, the control unit 51 adjusts the travel lines for sowing work L1a in the shortening direction relative to the travel lines for hilling work L1b by margin distances Y1 and Y2.

[0100] On the other hand, when center priority mode is selected (S7: center priority in FIG. 10B), the control unit 51 checks the purpose of the multiple travel lines L1 created in step S4 or step S12 in FIG. 10A. Here, if the multiple travel lines L1 are intended for sowing (S13b: sowing in FIG. 10B), the control unit 51 does not adjust the lengths of the multiple travel lines L1 created in the central region C1. Instead, the control unit 51 defines the multiple travel lines L1 as sowing travel lines L1a. The control unit 51 then stores information indicating the travel lines L1a, the central region C1, and headlands E1a and E1c in the storage unit 53 (S10). As a result, as shown in FIG. 12A, the multiple sowing travel lines L1a are created across the offset edges H2a and H2c of the central region C1 of the field map MP2. This ensures that the entire central region C1 is reserved as a sowing area for the implement 2, without narrowing the headlands E1a and E1c.

[0101] Furthermore, if the multiple travel lines L1 are intended for burying (S13b: burying in FIG. 10B), the control unit 51 determines margin distances Y1 and Y2 (run-up distance Y1, coasting distance Y2) from the work conditions (S6b) and extends the multiple travel lines L1 created in the central region C1 by margin distances Y1 and Y2 (S9). The control unit 51 then determines the multiple travel lines L1 after adjustment as travel lines L1b for burying and stores information indicating the travel lines L1b, the central region C1, and headlands E1a and E1c in the memory unit 53 (S10). As a result, as shown in FIG. 12B, the margin distances Y1 and Y2 of the travel lines L1b for burying are secured in the headlands E1a and E1c, and the central region C1 is included in the work area where burying is performed.

[0102] That is, when the operator selects to link the seeding work traveling lines L1a and the soil-climbing work traveling lines L1b and selects the center priority mode, the control unit 51 controls the linking of the seeding work traveling lines L1a and the soil-climbing work traveling lines L1b as shown in FIGS. 12A and 12B. The travel lines for soil ripening L1b are created to correspond to the travel lines for seeding work L1a, and the travel lines for soil ripening L1b are made longer than the travel lines for seeding work L1a. In other words, the control unit 51 adjusts the travel lines for soil ripening L1b in the extension direction by margin distances Y1 and Y2 relative to the travel lines for seeding work L1a.

[0103] In the embodiment described above, the control unit 51 designated the travel line L1a for sowing work as the first travel line L1a and the travel line L1b for hilling work as the second travel line L1b, and adjusted the lengths of these travel lines L1a, L1b in coordination with each other. However, this is not limiting. The control unit 51 may also adjust the lengths of the travel lines for at least two of hilling work, sowing work, and other agricultural work in coordination with each other. Furthermore, when linking pest control work with other agricultural work, for example, the control unit 51 may designate the travel line for pest control work as the first travel line L1a and the travel line L1 for the other agricultural work (e.g., sowing) as the second travel line L1b, and adjust the length of the travel line L1a for pest control work in coordination with the travel line L1b for the other agricultural work.

[0104] In the above-described embodiment, an example was shown in which the operator inputs the run-up distance Y1 and the coasting distance Y2 as the margin distance, but this is not limited to this. Alternatively, the run-up distance Y1 and the coasting distance Y2 may not be distinguished, the operator may input a single margin distance, and the control unit 51 may adjust the length of the travel line L1 by shifting at least one of the start point and end point of the travel line L1 by the margin distance in the direction of shortening or extending the travel line L1.

[0105] In addition, the margin distance can be input using the display operation unit 52 as either a positive (+) number greater than "0" or a negative (-) number less than "0", and if the margin distance is a positive number, the control unit 51 may extend the driving line L1 by the margin distance, and if the margin distance is a negative number, the control unit 51 may shorten the driving line L1 by the margin distance.

[0106] The control unit 51 may also determine margin distances and the like (run-up distance, coasting distance) based on, for example, at least one of the type of agricultural work indicated in the work conditions and the type and specifications (characteristics) of the work implement 2 indicated in the equipment information. The operator or the control unit 51 may also input work conditions such as margin distances, field information, and equipment information about the work implement 2, etc., into the agricultural work support device 50 via the communication unit 54 from an external storage medium or server.

[0107] In addition, the operator may specify any one of the multiple driving lines L1, the starting point P1, and the ending point P2 of the specified driving line L1, and the control unit 51 may shift the starting point P1 and the ending point P2 of the specified driving line L1 by a margin distance to adjust the length of the specified driving line L1.

[0108] In the above-described embodiment, an example has been shown in which the control unit 51 creates multiple travel lines L1 on the field map MP2 that shows a rectangular field, adjusts the lengths of the multiple travel lines L1, and the agricultural machine 1 travels based on the adjusted travel lines L1, etc., and performs agricultural work with the implement 2. However, the present invention is not limited to this. Alternatively, for example, the control unit 51 may create multiple travel lines L1 on a field map that shows a field that has an irregular shape other than a rectangular shape, adjust the lengths of the multiple travel lines L1, and the agricultural machine 1 travels based on the adjusted travel lines L1, etc., and performs agricultural work with the implement 2. Furthermore, an operator may perform agricultural work in a field based on the travel lines L1 using not only the agricultural machine 1 and the implement 2 connected to the agricultural machine 1, but also another agricultural machine and an implement connected to the agricultural machine.

[0109] 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. However, other than this, for example, a smartphone, a terminal device fixed to the agricultural machine 1, a computer installed at a location remote from the agricultural machine 1, a server, and a cloud-based 7A and 7B may be stored on a server provided on the cloud, the driving line L1 may be created on a computer having the software program installed, the driving line L1 may be displayed on a display device connected to the computer, and driving data indicating the driving line L1 may be output from the computer to the agricultural machine 1, etc.

[0110] The present embodiment described above has the following configuration and provides the following effects.

[0111] The agricultural work support device 50 of this embodiment is equipped with input units 52, 54 (display / operation unit 52, communication unit 54) into which field information indicating the field, device information indicating the work device 2 connected to the agricultural machine 1, and the working conditions of the agricultural work to be performed by the work device 2 while the agricultural machine 1 is traveling in the field are respectively input, and a control unit 51 that creates a driving line L1 along which the agricultural machine 1 is to travel in a central area C1 of a field map MP2 indicating the field based on the field information, device information, and working conditions, in order to perform agricultural work with the work device 2.The control unit 51 identifies margin distances Y1, Y2 for starting or ending the travel of the agricultural machine 1 and the agricultural work by the work device 2 from the working conditions, and adjusts the length of the driving line L1 created in the central area C1 based on the margin distances Y1, Y2.

[0112] According to the above configuration, the control unit 51 of the agricultural work support device 50 adjusts the length of the driving line L1 that has been created in the central area C1 of the field map MP2 based on the margin distances Y1 and Y2 input by the input units 52 and 54, thereby improving the convenience of the driving line L1.

[0113] Furthermore, for example, immediately after the agricultural machine 1 travels in a field and agricultural work is started by the working device 2, the operation of the working device 2 may become unstable, and the agricultural work may not be performed properly. Furthermore, if the working device 2 is lifted off the ground immediately after agricultural work that was being performed while the working device 2 was on the ground is completed, there may be no space in the area where the agricultural work was performed, and the subsequent agricultural work may not be performed properly. Specifically, for example, immediately after soil ripening is started by the working device 2 consisting of a soil ripening device, there is no soil accumulated inside the working device 2, and the ridges are not formed in the desired shape. If the working device 2 is lifted off the ground immediately after the soil ripening is completed, there is no space at the end of the ridge. As a result, when crops planted in the ridges subsequently grow, the crops may fall off near the beginning and end of the ridges, and harvesting may not be performed properly.

[0114] However, by adjusting the length of the traveling line L1 based on the margin distances Y1 and Y2 as described above, the control unit 51 can create areas where agricultural work such as hilling cannot be performed appropriately and areas where there is room for the agricultural work, for example, in the headlands E1a and E1c. This allows the agricultural machine 1 to appropriately perform the agricultural work (e.g., hilling) and subsequent agricultural work (e.g., harvesting) in the central area C1 using the work implement 2. Furthermore, by adjusting the length of the traveling line L1 based on the margin distances Y1 and Y2, the control unit 51 can confine the areas where agricultural work cannot be performed appropriately and areas where there is room for the agricultural work to, for example, be within the central area C1. This allows the agricultural machine 1 to easily perform agricultural work in the headlands E1a and E1c using the work implement 2 after performing agricultural work in the central area C1.

[0115] In this embodiment, the control unit 51 creates multiple travel lines L1 at predetermined intervals in the central area C1 and extends or shortens each of the multiple travel lines L1 by margin distances Y1 and Y2. By extending the multiple travel lines L1 once created in the central area C1 by the margin distances Y1 and Y2, the control unit 51 can reliably create areas in the headlands E1a and E1c where agricultural work is not performed appropriately, such as immediately after the start of work, and areas where there is room for agricultural work. In addition, by shortening the multiple travel lines L1 once created in the central area C1 by the margin distances Y1 and Y2, the control unit 51 can reliably create areas in the headlands E1a and E1c where agricultural work is not performed appropriately, such as immediately after the start of work, as well as areas where there is room for agricultural work. Therefore, it is possible to improve the convenience of the plurality of traveling lines L1.

[0116] Furthermore, in this embodiment, the control unit 51 specifies the run-up distance Y1 of the agricultural machine 1 as the margin distance Y1 based on the work conditions, and shifts the start point P1 of the travel line L1 created in the central region C1 by the run-up distance Y1 in either the extension direction or shortening direction of the travel line L1. As a result, the control unit 51 can improve convenience by adjusting the run-up distance Y1 of the agricultural machine 1 relative to the travel line L1 created in the central region C1 to the headland E1a, E1c, or the central region C1. Furthermore, after traveling the run-up distance Y1, the agricultural machine 1 travels in the central region C1 based on the travel line L1, allowing the working implement 2 to perform agricultural work appropriately.

[0117] Furthermore, in this embodiment, the control unit 51 identifies the coasting distance Y2 of the agricultural machine 1 as the margin distance Y2 from the work conditions, and shifts the end point P2 of the travel line L1 created in the central area C1 by the coasting distance Y2 in either the extension direction or the shortening direction of the travel line L1. As a result, the control unit 51 adjusts the coasting distance Y2 of the agricultural machine 1 relative to the travel line L1 created in the central area C1, thereby improving convenience for the headland E1a, E1c, or the central area C1. Furthermore, the agricultural machine 1 travels in the central area C1 based on the travel line L1, performs agricultural work with the implement 2, and then continues traveling the coasting distance Y2, thereby creating a margin for agricultural work in the central area C1 or the headland E1a, E1c, and allowing the implement 2 to appropriately perform that agricultural work and subsequent agricultural work in the central area C1.

[0118] In addition, in this embodiment, either a headland priority mode in which margin distances Y1 and Y2 are set in the central area C1 to secure headlands E1a and E1c in the extension direction of the traveling line L1, or a center priority mode in which margin distances Y1 and Y2 are set in the headlands E1a and E1c to secure the central area C1 as a working area, is input by the input units 52 and 54 and included in the working conditions, and when the headland priority mode is selected, the control unit 51 shortens the traveling line L1 created in the central area C1 by the margin distances Y1 and Y2, and when the center priority mode is selected, it extends the traveling line L1 created in the central area C1 by the margin distances Y1 and Y2. As a result, depending on whether the operator selects the headland priority mode or the center priority mode, the control unit 51 shortens or extends the driving line L1 that was created in the center area C1 by a margin distance Y1, Y2, thereby creating areas in the center area C1 or the headlands E1a, E1c where agricultural work cannot be carried out properly, such as immediately after the start of work as mentioned above, and areas where agricultural work can be carried out with margin.

[0119] Furthermore, in this embodiment, the agricultural work support device 50 includes a memory unit 53 that stores the traveling line L1, and when creating one of the traveling lines L1, namely, the first traveling line L1a along which the agricultural machine 1 travels to perform a first agricultural task using the work implement 2, and the second traveling line L1b along which the agricultural machine 1 travels to perform a second agricultural task linked to the first agricultural task using the work implement 2, if the other traveling line L1 is stored in the memory unit 53, the control unit 51 creates the one traveling line L1 in the central area C1 based on the field information, device information, work conditions, and the other traveling line L1. This allows the first traveling line L1a for the first agricultural task and the second traveling line L1b for the second agricultural task to be created in the field map MP2 while being linked to each other, and the created line can be stored in the memory unit 53. In addition, the first agricultural work can be performed by the agricultural machine 1 and the work implement 2 based on the first traveling line L1a, and the second agricultural work can be performed by the agricultural machine 1 and the work implement 2 based on the second traveling line L1b, thereby linking the first agricultural work and the second agricultural work.

[0120] In addition, in this embodiment, when creating the first driving line L1a, the control unit 51 shortens the driving line L1 created in the central region C1 by margin distances Y1 and Y2 and determines the shortened driving line L1 as the first driving line L1a, and when creating the second driving line L1b, the control unit 51 determines the driving line L1 created in the central region C1 as the second driving line L1b. The control unit 51 can link the first driving line L1a of the first agricultural work and the second driving line L1b of the second agricultural work, and adjust the length of the first driving line L1a in the central region C1 to shorten it relative to the length of the second driving line L1b, thereby creating a field map MP2, thereby improving convenience.

[0121] Alternatively, when creating a first driving line L1a, the control unit 51 determines that the driving line L1 created in the central region C1 is the first driving line L1a, and when creating a second driving line L1b, the control unit 51 extends the driving line L1 created in the central region C1 by margin distances Y1 and Y2 and determines the extended driving line L1 as the second driving line L1b. This allows the control unit 51 to link the first driving line L1a of the first agricultural work and the second driving line L1b of the second agricultural work, while adjusting the length of the second driving line L1b in the extension direction at the headlands E1a and E1c relative to the length of the first driving line L1a, and create the field map MP2, thereby improving convenience.

[0122] In addition, in this embodiment, when the headland priority mode is selected, the control unit 51 shortens the driving line L1 created in the central region C1 by the margin distances Y1 and Y2 and determines the shortened driving line L1 as the first driving line L1a, and when the second driving line L1b is created, the control unit 51 determines the driving line L1 created in the central region C1 as the second driving line L1b. When the center priority mode is selected, when the first driving line L1a is created, the control unit 51 determines the driving line L1 created in the central region C1 as the first driving line L1a, and when the second driving line L1b is created, the control unit 51 extends the driving line L1 created in the central region C1 to the headlands E1a and E1c by the margin distances Y1 and Y2 and determines the extended driving line L1 as the second driving line L1b. This allows the control unit 51 to link the first driving line L1a and the second driving line L1b and adjust the lengths of the first driving line L1a and the second driving line L1b respectively, depending on whether the operator selects the headland priority mode or the center priority mode, and create the field map MP2, thereby improving convenience.

[0123] Furthermore, in this embodiment, the control unit 51 creates, as the first travel line L1a for performing the first agricultural work, a travel line L1a for hilling work along which the agricultural machine 1 travels in order to perform hilling work using the work implement 2, and creates, as the second travel line L1b for performing the second agricultural work, a travel line L1b for cropping work along which the agricultural machine 1 travels in order to perform cropping work (sowing work, planting work) to plant crops using the work implement 2. In this way, depending on the headland priority mode or center priority mode selected by the operator, the control unit 51 can create, in the field map MP2, the travel line L1a for hilling work and the travel line L1b for cropping work in coordination with each other. Furthermore, since the length of the travel line L1b for planting work is shorter than the length of the travel line L1a for soil cultivation work, when the agricultural machine 1 travels based on the travel line L1a for soil cultivation work and performs soil cultivation work using the work device 2, extra space is created near the front and rear ends of the formed ridges, and then when the agricultural machine 1 travels based on the travel line L1b for planting work and performs planting work using the work device 2, even if the planted crops grow, they can be prevented from falling off near the front and rear ends of the ridges, making it possible to properly carry out crop harvesting work.

[0124] The control unit 51 may also create a travel line L1a for pest control work along which the agricultural machine 1 travels to perform pest control work using the work implement 2 as the first travel line L1a for performing the first agricultural work. This allows the control unit 51 to create the travel line L1a for pest control work in the field map MP2 in conjunction with the travel line L1a for hilling work and the travel line L1b for cropping work. The control unit 51 may also create a travel line L1 in the central area C1 of the field map MP2 along which other agricultural work for open-field cultivation is performed using the work implement 2 while the agricultural machine 1 travels in the field. In this case as well, the control unit 51 adjusts the length of the travel line L1 for open-field cultivation that was once created in the central area C1 of the field map MP2 based on the margin distances Y1 and Y2. This can improve the convenience of the traveling line L1. Furthermore, the worker can appropriately perform agricultural work for open-field cultivation in the field using the work implement 2 while driving the agricultural machine 1 based on the traveling line L1.

[0125] The agricultural work support system 100 of this embodiment includes an agricultural work support device 50, an agricultural machine 1, and a display device (display operation unit) 52 that displays a field map MP2 on which a traveling line L1 has been created by the agricultural work support device 50. As a result, the field map MP2 on which the traveling line L1 has been appropriately created and adjusted by the agricultural work support device 50 is displayed on the display device 52, allowing the operator and worker to check the traveling line L1 and perform agricultural work appropriately in the field using the work device 2 while driving the agricultural machine 1 based on the traveling line L1.

[0126] In this embodiment, the agricultural work support system 100 includes an implement 2 connected to an agricultural machine 1, and the agricultural work support device 50 has an output unit (communication unit) 54 that outputs a travel line L1, the length of which has been adjusted based on margin distances Y1 and Y2, to the agricultural machine 1, and the agricultural machine 1 has a drivable body 3, a position detection device 40 that detects the position of the body 3, and a control device 60 that performs agricultural work in a field using the implement 2 while automatically steering or driving the body 3 along the travel line L1. As a result, an operator or worker can appropriately perform agricultural work in a field using the implement 2 while causing the agricultural machine 1 to travel using automatic driving or auto-steering based on the travel line L1 appropriately created and adjusted 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.

[0127] The agricultural machine 1 of this embodiment includes a 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, a display device 52 that displays a field map MP2 output after a travel line L1 has been created by the farm work support device 50, and a control device 60 that performs farm work in the field using the implement 2 while automatically steering or driving the vehicle body 3 along the travel line L1. As a result, a worker riding in the agricultural machine 1 can appropriately perform farm work in the field using the implement 2 while driving the agricultural machine 1 in automatic or auto-steer mode, based on the travel line L1 that has been appropriately created and adjusted by the farm work support device 50 and the position of the vehicle body 3 of the agricultural machine 1 detected by the position detection device 40.

[0128] The driving line creation method of this embodiment is a method for creating a driving line L1 on a field map MP2 that shows the field, along which the agricultural machine 1 will travel in order to perform agricultural work in the field using a work implement 2 connected to the agricultural machine 1, and includes the following steps: inputting field information that shows the field, equipment information for the work implement 2, and working conditions for the agricultural work using input units 52, 54 of the agricultural work support device 50, respectively; creating the driving line L1 in a central area C1 of the field map MP2 by the control unit 51 based on the field information, equipment information, and working conditions; specifying margin distances Y1, Y2 by the control unit 51 for starting or ending the driving of the agricultural machine 1 and agricultural work by the work implement 2 from the working conditions; and adjusting the length of the driving line L1 created in the central area C1 based on the margin distances Y1, Y2.

[0129] As described above, the control unit 51 adjusts the length of the driving line L1 that was created in the central region C1 of the field map MP2 based on the margin distances Y1 and Y2 input by the input units 52 and 54, thereby improving the convenience of the driving line L1 and also making it possible to appropriately create areas where agricultural work cannot be carried out appropriately and areas where there is margin for agricultural work in the headlands E1a, E1c or the central region C1.

[0130] The present invention has been described above, but the embodiments disclosed herein are merely examples 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]

[0131] 1. Agricultural machinery 2. Work equipment 3. Body 40 Position detection device 50 Farming support equipment 52 Display operation unit (input unit, display device) 53 Memory section 54 Communication unit (input unit, output unit) 60 Control device 100 Agricultural work support system C1 central area E1a, E1c headland L1 driving line L1a First travel line, travel line for sowing work, travel line for planting work L1b 2nd travel line, travel line for soiling work, MP2 Field Map P1 Starting point P2 End point Y1 margin distance, approach distance Y2 Margin distance, coasting distance

Claims

1. an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field; a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of ​​a field map that shows the field, based on the field information, the device information, and the work conditions, The control unit identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions; adjusting the length of the driving line created in the central region based on the margin distance; specifying a run-up distance of the agricultural machine as the margin distance from the work conditions; An agricultural work support device that shifts the starting point of the driving line created in the central area by the run-up distance in either the extension direction or the shortening direction of the driving line.

2. an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field; a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of ​​a field map that shows the field, based on the field information, the device information, and the work conditions, The control unit identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions; adjusting the length of the driving line created in the central region based on the margin distance; specifying a coasting distance of the agricultural machine as the margin distance from the work conditions; An agricultural work support device that shifts the end point of the travel line created in the central area by the coasting distance in either the extension direction or the shortening direction of the travel line.

3. Field information indicating a field, device information of a work device connected to an agricultural machine, and an input unit for inputting working conditions for agricultural work to be performed by the working device while the agricultural machine is traveling; a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of ​​a field map that shows the field, based on the field information, the device information, and the work conditions, The control unit identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions; adjusting the length of the driving line created in the central region based on the margin distance; either a headland priority mode in which the headland in the extension direction of the traveling line is secured by leaving the margin distance in the central region, or a center priority mode in which the headland is secured by leaving the margin distance in the headland and the central region is secured as a working region, the mode selection information being input by the input unit and included in the working conditions; The control unit shortens the driving line created in the central area by the margin distance when the headland priority mode is selected, and extends the driving line created in the central area by the margin distance when the center priority mode is selected.

4. an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field; a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of ​​a field map that shows the field, based on the field information, the device information, and the work conditions, The control unit identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions; adjusting the length of the driving line created in the central region based on the margin distance; when creating a first travel line along which the agricultural machine is to travel in order to perform a first agricultural work using the work device, shortening the travel line created in the central area by the margin distance and determining the shortened travel line as the first travel line; When creating a second driving line along which the agricultural machine travels to perform a second agricultural work linked to the first agricultural work using the work device, the agricultural work support device determines the driving line created in the central area as the second driving line.

5. an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field; a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of ​​a field map that shows the field, based on the field information, the device information, and the work conditions, The control unit identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions; adjusting the length of the driving line created in the central region based on the margin distance; when creating a first travel line along which the agricultural machine is to travel in order to perform a first agricultural work using the work implement, determining the travel line created in the central area as the first travel line; When creating a second travel line along which the agricultural machine travels in order to perform a second agricultural work linked to the first agricultural work by the work device, the travel line created in the central area is extended by the margin distance, and the extended travel line is determined as the second travel line. Business support equipment.

6. an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field; a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of ​​a field map that shows the field, based on the field information, the device information, and the work conditions, The control unit identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions; adjusting the length of the driving line created in the central region based on the margin distance; either a headland priority mode in which the headland in the extension direction of the traveling line is secured by leaving the margin distance in the central region, or a center priority mode in which the headland is secured by leaving the margin distance in the headland and the central region is secured as a working region, the mode selection information being input by the input unit and included in the working conditions; The control unit When the headland priority mode is selected, when creating a first travel line along which the agricultural machine is to travel in order to perform a first agricultural work using the work implement, the travel line created in the central area is shortened by the margin distance, and the shortened travel line is determined to be the first travel line; when creating a second travel line along which the agricultural machine is to travel in order to perform a second agricultural work linked to the first agricultural work using the work device, the travel line created in the central area is determined to be the second travel line; When the center priority mode is selected, When creating the first driving line, the driving line created in the central area is determined to be the first driving line; When creating the second driving line, the agricultural work support device extends the driving line created in the central area to the pillow area by the margin distance, and determines the driving line after the extension as the second driving line.

7. The control unit creating a plurality of the driving lines at predetermined intervals in the central region; The agricultural work support device according to claim 1 , wherein each of the plurality of travel lines is extended or shortened by the margin distance.

8. a storage unit that stores the driving line; 2. The agricultural work support device according to claim 1, wherein when creating one of a first driving line along which the agricultural machine travels to perform a first agricultural task using the work device and a second driving line along which the agricultural machine travels to perform a second agricultural task linked to the first agricultural task using the work device, if the other driving line is stored in the memory unit, the control unit creates one of the driving lines in the central area based on the field information, the device information, the work conditions, and the other driving line.

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

10. the work implement coupled to the agricultural machine; the agricultural work support device includes an output unit that outputs the traveling line, the length of which has been adjusted based on the margin distance, to the agricultural machine; The agricultural machine includes: A drivable vehicle body, a position detection device for detecting the position of the vehicle body; 10. The agricultural work support system according to claim 9, further comprising: a control device that automatically steers or drives the vehicle body along the travel line while performing the agricultural work in the field using the work device.

11. The agricultural work support device according to any one of claims 1 to 8, 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 output after the driving line is created by the agricultural work support device; and a control device that automatically steers or drives the vehicle body along the travel line while performing the agricultural work on the field using the work device.

12. 1. A travel line creation method for creating, on a field map showing a field, a travel line along which an agricultural machine travels in order to perform agricultural work in a field using a work implement connected 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 creates the driving line in a central area of ​​the field map based on the field information, the device information, and the work conditions; a step in which the control unit specifies a margin distance for starting or ending the traveling of the agricultural machine and the agricultural work by the work implement based on the work conditions; and a step by the control unit adjusting the length of the driving line created in the central area based on the margin distance, In the specifying step, the control unit specifies a run-up distance of the agricultural machine as the margin distance from the work conditions, In the adjusting step, the control unit shifts the start point of the running line by the run-up distance in either the extending direction or the shortening direction of the running line.

13. 1. A travel line creation method for creating, on a field map showing a field, a travel line along which an agricultural machine travels in order to perform agricultural work in a field using a work implement connected 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 creates the driving line in a central area of ​​the field map based on the field information, the device information, and the work conditions; a step in which the control unit specifies a margin distance for starting or ending the traveling of the agricultural machine and the agricultural work by the work implement based on the work conditions; and a step by the control unit adjusting the length of the driving line created in the central area based on the margin distance, In the specifying step, the control unit specifies a coasting distance of the agricultural machine as the margin distance from the work conditions, In the adjusting step, the control unit shifts the end point of the travel line by the coasting distance in either the extending direction or the shortening direction of the travel line.

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