Work support method, work support system, and program

Abstract

To provide a technology to suppress deterioration in work efficiency by causing an operator to appropriately recognize a timing to stop a work vehicle for replenishment, etc.SOLUTION: An exemplary work support method is a work support method for supporting automated travelling work which a work vehicle executes along a target route set in a farm field beforehand, and includes: setting either one side of the farm field or two sides of the farm field opposed to each other as a stop position of the work vehicle; specifying the quantity of on-vehicle articles of the work vehicle and the variation quantity when the work vehicle travels in a unit route that changes according to the setting of the stop position; and displaying an executable quantity of the automated travelling work in a remaining route of the target route on the basis of the specified quantity of on-vehicle articles and variation quantity.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a work assistance method, a work assistance system, and a program. [Background technology]

[0002] For example, riding rice transplanters have a limit to the number of seedlings that can be loaded onto the vehicle. For this reason, when the remaining number of seedlings loaded onto the vehicle becomes low, the vehicle must stop at the edge of a ridge and resupply seedlings from the ridge to the vehicle. Patent Document 1 discloses a method for calculating the position on the ridge at which seedlings need to be resupplied to the vehicle if the vehicle continues to move forward based on the seedling consumption rate per unit travel distance, positioning data, and the detection value of a seedling remaining quantity detection unit, and displaying the calculated position on a monitor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-7196 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because on-board items such as seedlings are not necessarily consumed in proportion to the route length due to factors such as the characteristics of the field and the settings of the work vehicle, during actual work, there may be a shortage of on-board items at a location earlier than the expected replenishment location. If there is a shortage of on-board items during work such as planting seedlings, an unexpected journey will be required to replenish the items, reducing work efficiency.

[0005] In view of the above, an object of the present invention is to provide a technique that can prevent a decrease in work efficiency by allowing an operator to properly recognize the timing of stopping for refueling or the like. [Means for solving the problem]

[0006] An exemplary work assistance method of the present invention is a work assistance method that assists a work vehicle in performing automatic driving work along a target route that has been set in advance within a field, and includes the steps of setting one side of the field or one of two opposing sides of the field as a stopping position for the work vehicle, identifying the amount and amount of variation of the on-board cargo of the work vehicle when the work vehicle travels along a unit route that changes depending on the setting of the stopping position, and displaying the possible amount of automatic driving work for the remaining route of the target route based on the identified amount and amount of variation of the on-board cargo.

[0007] An exemplary work assistance system of the present invention is a work assistance system that assists a work vehicle in performing automatic driving work along a target route set in advance within a field, and includes: a stopping position setting unit that is configured to be able to set one side of the field or either one of two opposing sides of the field as the stopping position of the work vehicle; an identification unit that identifies the amount and variation of cargo on board the work vehicle when the work vehicle travels along a unit route that changes depending on the setting of the stopping position; and a display control unit that is able to display on a display unit the possible amount of automatic driving work on the remaining route of the target route based on the identified amount and variation of the cargo on board.

[0008] An exemplary program of the present invention is a program that causes a computer to execute a work support method for supporting automatic driving work performed by a work vehicle along a target route that has been set in advance within a field, and causes the computer to function as a means for setting one side of the field or either of two opposing sides of the field as a stopping position for the work vehicle, identifying the amount and variation of the cargo on board the work vehicle when the work vehicle travels along a unit route that changes depending on the setting of the stopping position, and displaying the possible amount of automatic driving work on the remaining route of the target route based on the identified amount and variation of the cargo on board. [Effects of the Invention]

[0009] According to the exemplary embodiment of the present invention, it is possible to prevent a decrease in work efficiency by allowing the worker to properly recognize the timing of stopping for refueling or the like. [Brief explanation of the drawings]

[0010] [Figure 1] Diagram showing the configuration of the work support system [Figure 2] Schematic plan view of rice transplanter [Figure 3] Block diagram showing the configuration of the rice transplanter [Figure 4] Block diagram showing the configuration of a mobile communication terminal [Figure 5] A diagram showing a farm field and an automatic driving route. [Figure 6] A schematic diagram of a different field from that shown in Figure 5. [Figure 7] Flowchart illustrating the flow of a work support method [Figure 8] Schematic diagram showing an example of the amount of automated driving work that can be performed [Figure 9] Schematic diagram showing an example of the amount of automated driving work that can be performed [Figure 10] 10 is a flowchart illustrating the flow of a work support method according to a first modified example. [Figure 11] 10 is a flowchart illustrating the flow of a work support method according to a second modified example. [Figure 12] FIG. 10 is a diagram illustrating a farm field to which a work support method according to a third modified example is applied. [Figure 13] FIG. 10 is a diagram showing a modified example of a screen display for work support; DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described with reference to the drawings. Note that in the drawings, the same or corresponding parts are assigned the same reference numerals and description will not be repeated. In this specification, the direction perpendicular to the traveling plane S on which the work vehicle 1 shown in FIG. 1 travels is defined as the up-down direction, and up and down are defined as the work vehicle 1 side being up relative to the traveling plane S. Furthermore, the direction in which the work vehicle 1 travels straight ahead is defined as the front-rear direction, and front and rear are defined as the steering wheel 26 being forward relative to the driver's seat 25. Furthermore, the direction perpendicular to the up-down direction and the front-rear direction is defined as the left-right direction, and the right side as viewed from rear to front is defined as the right side, and the left side as viewed from rear to front is defined as the left side. Note that these directions are names used merely for explanation and are not intended to limit the actual positional relationships and directions.

[0012] Furthermore, in this specification, a worker may be a person who rides the work vehicle 1, or a person who does not ride the work vehicle 1. A worker may also include a person who monitors the work vehicle 1.

[0013] <1. Work support system configuration> FIG. 1 is a diagram showing the configuration of a work assistance system 100 according to an embodiment of the present invention. The work assistance system 100 is a system that assists a work vehicle in autonomous driving work along a predetermined target route in a field. Autonomous driving work refers to work performed while the work vehicle is driving automatically. The work may be performed automatically or manually. Furthermore, autonomous driving refers to the autonomous steering of at least the vehicle along a predetermined route, with a control unit provided in the work vehicle 1 controlling devices related to driving. Autonomous driving may also be configured such that, in addition to steering, at least one of the vehicle speed and the work performed by the work device is performed autonomously. Furthermore, autonomous driving may include both cases where a person is on board the work vehicle 1 and cases where no person is on board the work vehicle 1.

[0014] In this embodiment, the work vehicle 1 is a rice transplanter. However, the work vehicle 1 may be something other than a rice transplanter. The work vehicle 1 may be, for example, a combine harvester or a tractor. The work vehicle 1 may also be, for example, a vehicle that travels while consuming agricultural materials. In addition to rice transplanters, examples of such work vehicles 1 include a seed sower that travels while sowing seeds in a field, a fertilizer applicator that travels while applying fertilizer to a field, and an agricultural chemical applicator that travels while spraying chemicals on a field.

[0015] In this embodiment, the work support system 100 includes a rice transplanter 1 and a mobile communication terminal 8. In the work support system 100, for example, an operator can use the mobile communication terminal 8 to give instructions to the rice transplanter 1, causing the rice transplanter 1 to perform work such as planting seedlings while automatically traveling. The mobile communication terminal 8 may be used by, for example, an operator who brings it to the rice transplanter 1. The mobile communication terminal 8 may also be used by a person who closely monitors the operation of the rice transplanter 1 without riding the rice transplanter 1.

[0016] Note that instructions for automatic driving may be given by operating an operating member provided on the rice transplanter 1, rather than by using the mobile communication terminal 8. Furthermore, the work assistance system for assisting automatic driving work in the present invention may be composed of only one of the work vehicle 1 and the mobile communication terminal 8, or only the components included in either one of the devices.

[0017] [1-1. Rice transplanter] Fig. 2 is a schematic plan view of the rice transplanter 1 according to the embodiment of the present invention. Fig. 3 is a block diagram showing the configuration of the rice transplanter 1 according to the embodiment of the present invention. An overview of the rice transplanter 1 will be described with reference to Figs. 1, 2, and 3. Fig. 1 shows a left side view of the rice transplanter 1.

[0018] As shown in Figures 1 and 2, the rice transplanter 1 includes a vehicle body 11, front wheels 12, rear wheels 13, and a planting unit 14. The front wheels 12 are provided as a pair on the left and right of the vehicle body 11. Similarly, the rear wheels 13 are also provided as a pair on the left and right of the vehicle body 11. The planting unit 14 is an example of a work device. For example, when the work vehicle is other than a rice transplanter, the work device may be a seed sowing device, a fertilizer applicator, a chemical sprayer, a tiller, a harvester, or the like.

[0019] The vehicle body 11 includes a hood 21. The hood 21 is provided at the front of the vehicle body 11. An engine 22 is provided inside the hood 21. The power generated by the engine 22 is transmitted to the front wheels 12 and rear wheels 13 via a transmission case 23. The power generated by the engine 22 is also transmitted to the planting section 14 via the transmission case 23 and a power take-off shaft (hereinafter referred to as "PTO shaft 24") located at the rear of the vehicle body 11.

[0020] The vehicle body 11 further includes a driver's seat 25 and a plurality of operating members. An operator can sit in the driver's seat 25. The driver's seat 25 is disposed between the front wheels 12 and the rear wheels 13 in the longitudinal direction of the vehicle body 11. The plurality of operating members include a steering handle 26, a speed change operation pedal 27, a main speed change lever 28, and a planting clutch lever 29.

[0021] The steering handle 26 is a handle used by the operator to steer the rice transplanter 1. The speed change pedal 27 is a pedal used by the operator to adjust the traveling speed of the rice transplanter 1. The main speed change lever 28 is a lever configured to allow the operator to select, for example, "forward," "reverse," or "stop." When the main speed change lever 28 is operated to the "forward" position, power is transmitted to rotate the rear wheels 13 in a direction that moves the rice transplanter 1 forward. On the other hand, when the main speed change lever 28 is operated to the "reverse" position, power is transmitted to rotate the rear wheels 13 in a direction that moves the rice transplanter 1 backward. When the main speed change lever 28 is operated to the "stop" position, power transmission to the front wheels 12 and the rear wheels 13 is cut off. Note that "forward" may be divided into a "low speed" for traveling within a field and a "high speed" for traveling outside the field. The planting clutch lever 29 is a lever that allows the operator to switch between a transmission state in which the planting clutch transmits power to the PTO shaft 24 (i.e., the planting unit 14) and a disconnection state in which the planting clutch does not transmit power to the PTO shaft 24 (i.e., the planting unit 14).

[0022] The planting unit 14 is located behind the vehicle body 11. The planting unit 14 is connected to the vehicle body 11 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link including a top link 31a and a lower link 31b. In the lifting link mechanism 31, a lifting cylinder 32 of a lifting device is connected to the top link 31a. The lifting device can raise and lower the planting unit 14 up and down relative to the vehicle body 11 by extending and retracting the lifting cylinder 32.

[0023] The planting section 14 includes a planting input case section 33, a plurality of planting units 34, a seedling carrier 35, a plurality of floats 36, and a spare seedling carrier 37. The planting section 14 sequentially supplies seedlings from the seedling carrier 35 to each planting unit 34, continuously planting the seedlings.

[0024] Each planting unit 34 has a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via the PTO shaft 24 and the planting input case 33. The rotating case 42 is rotatably attached to the planting transmission case 41. The rotating case 42 is arranged on both left and right sides of the planting transmission case 41. Two planting claws 43 are attached to one left and right side of each rotating case 42. The two planting claws 43 are aligned in the front-to-rear direction of the rice transplanter 1. The two planting claws 43 are displaced as the rotating case 42 rotates. One row of seedlings is planted as the two planting claws 43 are displaced.

[0025] The seedling carrier 35 is positioned above and in front of the multiple planting units 34. Seedling mats can be placed on the seedling carrier 35. The seedling carrier 35 is designed to supply seedlings from the seedling mats placed on the seedling carrier 35 to each set of planting claws 43 (the two planting claws 43 described above form one set of planting claws). The seedling carrier 35 is capable of placing a predetermined number of seedling mats for each set of planting claws 43 (i.e., for each row). The seedling carrier 35 in this embodiment is, as an example, a seedling carrier for six-row planting. The seedling carrier 35 is capable of placing a predetermined number of seedling mats (e.g., two) for each set of six planting claws 43.

[0026] Specifically, the seedling carrier 35 is configured to be able to move laterally back and forth in the left and right direction (i.e., able to slide laterally). In other words, the planting section 14 is provided with a seedling carrier lateral feed mechanism that moves the seedling carrier 35 laterally. The seedling carrier 35 is also configured to be able to intermittently transport the seedling mat vertically downward at the end of the reciprocating movement of the seedling carrier 35. In other words, the planting section 14 is provided with a seedling vertical feed mechanism that transports the seedling mat on the seedling carrier 35 vertically. The seedling carrier lateral feed mechanism and the seedling vertical feed mechanism may be of known configurations.

[0027] The float 36 is provided swingably below the planting unit 14. When the bottom surface of the float 36 comes into contact with the surface of the field, the planting posture of the planting unit 14 is stabilized relative to the surface of the field.

[0028] During seedling planting, the seedling carrier 35 is moved laterally left and right by the seedling carrier lateral feed mechanism, and one seedling per stalk from the seedling mat near the seedling removal opening (located at the bottom of the seedling carrier 35) is picked up by the planting claws 43. The picked seedling is then planted in the paddy field (field) leveled by the float 36. When the seedling carrier 35, moved laterally by the seedling carrier lateral feed mechanism, reaches the left-right end of its travel, the seedling vertical feed mechanism activates the seedling vertical feed belt 38 (see Figure 2), and the seedling mat on the seedling carrier 35 is transported in the seedling removal direction (diagonally downward and rearward). When the seedling vertical feed operation by the seedling vertical feed belt 38 is completed and the seedling vertical feed belt 38 stops, the seedling carrier 35 is again moved laterally by the seedling carrier lateral feed mechanism toward the opposite left-right end of its travel. This operation is repeated during seedling planting.

[0029] A pair of spare seedling carriers 37 are provided on the left and right sides of the vehicle body 11 in front of the vehicle body 11. The spare seedling carriers 37 are positioned on the left and right outer sides of the hood 21. The spare seedling carriers 37 can carry seedling boxes containing spare seedling mats. When the seedling mats on the seedling carrier 35 run out, the worker transfers the seedling mats from the spare seedling carriers 37 to the seedling carrier 35.

[0030] The upper parts of the pair of left and right spare seedling carriers 37 are connected by a connecting frame 15 that extends in the vertical and horizontal directions. A housing 16 is provided in the center of the connecting frame 15 in the horizontal direction. Inside the housing 16, a positioning antenna 61, an inertial measurement unit 62, and a communication antenna 63 are arranged.

[0031] The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that make up the Global Navigation Satellite System (GNSS). The inertial measurement unit 62 includes a three-axis angular velocity sensor and a three-directional acceleration sensor. The communication antenna 63 is an antenna for wireless communication with the mobile communication terminal 8. Wireless communication may use a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) or short-range wireless communication such as Bluetooth (registered trademark). The rice transplanter 1 may also be provided with a mobile communication antenna (not shown) for communication using a mobile phone line and the Internet.

[0032] As shown in FIG. 3, the rice transplanter 1 includes a control unit 50. The control unit 50 is, for example, a computer including an arithmetic unit, an input / output unit, and a memory unit 55. The arithmetic unit is a processor or a microprocessor. The memory unit 55 is a main memory device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The memory unit 55 may further include an auxiliary memory device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The memory unit 55 stores various programs, data, etc. The arithmetic unit reads out and executes the various programs from the memory unit 55.

[0033] The above hardware and software work together to allow the control unit 50 to operate as an automatic driving control unit 51, a work device control unit 52, an identification unit 53, and a notification control unit 54. The control unit 50 may be a single piece of hardware, or multiple pieces of hardware that can communicate with each other.

[0034] As described above, the functional units 51 to 54 included in the control unit 50 may be realized by causing a computing device to execute a program, i.e., by software, but may also be realized by other methods. The functional units 51 to 54 may be realized, for example, by using an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). That is, the functional units 51 to 54 may be realized by hardware using a dedicated IC or the like. The functional units 51 to 54 may also be realized by a combination of software and hardware. The functional units 51 to 54 are conceptual components. The function performed by one component may be distributed among multiple components. The functions of multiple components may also be integrated into one component.

[0035] In addition to the inertial measurement device 62, the control unit 50 is connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a planting clutch sensor 68, a remaining amount sensor 69, a seedling lateral feed amount sensor 70, a seedling vertical pick-up amount sensor 71, and an alarm unit 72.

[0036] The position acquisition unit 64 acquires the position of the rice transplanter 1 as, for example, latitude and longitude information using a positioning signal received by the positioning antenna 61 from a positioning satellite. The position acquisition unit 64 may, for example, receive a positioning signal from a reference station (not shown) using an appropriate method and then perform positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. The reference station is installed at a known position around the field. Alternatively, for example, the position acquisition unit 64 may perform positioning using a DGNSS (Differential GNSS) method. Alternatively, for example, the position acquisition unit 64 may perform position acquisition based on the radio wave intensity of a wireless LAN or the like, or by inertial navigation using the measurement results of the inertial measurement unit 62.

[0037] The communication processing unit 65 transmits and receives data to and from the mobile communication terminal 8 via the communication antenna 63 .

[0038] The vehicle speed sensor 66 detects the vehicle speed of the rice transplanter 1. The vehicle speed sensor 66 is provided on the axle of the front wheels 12, etc. When the vehicle speed sensor 66 is provided on the axle of the front wheels 12, the vehicle speed sensor 66 generates pulses according to the rotation of the axle of the front wheels 12. The data of the detection results obtained by the vehicle speed sensor 66 is output to the control unit 50.

[0039] The steering angle sensor 67 detects the steering angle of the front wheels 12. The steering angle sensor 67 is provided, for example, on the kingpin of the front wheels 12. However, the steering angle sensor 67 may also be provided on the steering wheel 26 or the like. Data on the detection results obtained by the steering angle sensor 67 is output to the control unit 50.

[0040] The planting clutch sensor 68 detects the position of the planting clutch lever 29. The detection result data obtained by the planting clutch sensor 68 is output to the control unit 50. The control unit 50 can determine whether the planting unit 14 is performing planting work based on the detection result of the planting clutch sensor 68. Note that the control unit 50 may also determine whether planting work is being performed based on the state of another component (for example, whether the PTO shaft 24 downstream of the planting clutch is rotating) rather than the planting clutch lever 29.

[0041] The remaining quantity sensor 69 detects the remaining quantity of seedlings placed on at least the seedling tray 35, out of the seedling tray 35 and the spare seedling tray 37. The remaining quantity sensor 69 may be a sensor that directly or indirectly measures the remaining quantity. The detection result data obtained by the remaining quantity sensor 69 is output to the control unit 50. The remaining quantity of seedlings may be, for example, the weight of the seedlings, in which case the remaining quantity sensor 69 may be a weight sensor. However, in this embodiment, the remaining quantity of seedlings is the number of seedling mats remaining on the seedling tray 35 or the like. The remaining quantity sensor 69 may be composed of, for example, a detection piece that moves in and out through an opening formed in the seedling tray 35 or the like, which is the target of remaining quantity detection, and a sensor body whose contacts are switched based on the movement of the detection piece. Multiple remaining quantity sensors 69 may be installed on the seedling tray 35 or the like. Note that in this embodiment, the seedling tray 35 is a seedling tray for planting multiple rows, and it is preferable that the remaining quantity of seedlings can be detected for each row.

[0042] The seedling lateral feed amount sensor 70 is provided to measure the amount of seedling lateral feed caused by the reciprocating movement of the seedling carrier 35 by the seedling carrier lateral feed mechanism described above. The seedling lateral feed amount sensor 70 may be, for example, a contact sensor that detects whether the seedling carrier 35 has reached either the left or right end of its movement. The seedling lateral feed amount sensor 70 outputs a detection signal to the control unit 50. Note that the seedling lateral feed amount sensor 70 may also be configured to detect whether the seedling carrier 35 has reached both the left and right end of its movement.

[0043] The vertical seedling removal amount sensor 71 is provided to measure the vertical seedling removal amount. The vertical seedling removal amount is the amount of seedlings removed in the vertical direction per planting claw 43 (per plant). In this embodiment, the vertical seedling removal amount varies depending on the position of the seedling removal plate (not shown) where the seedling removal opening is provided. The vertical seedling removal amount sensor 71 detects the position of the seedling removal plate and outputs the detected value to the control unit 50. The vertical seedling removal amount can be calculated using a function or table that shows the relationship between the detected value and the vertical seedling removal amount, which is stored in advance in the memory unit 55. Note that the vertical seedling removal amount sensor 71 does not need to be provided if it is known that the vertical seedling removal amount will be a constant value, for example, by setting.

[0044] The notification unit 72 is a means for notifying an operator of matters that should be notified, such as warnings, under the control of the control unit 50. The notification unit 72 may be, for example, a sound generation means such as a buzzer, a voice generation means such as a speaker, a display means such as a monitor, a light-emitting means such as a warning light, or a communication means for distributing emails, etc. The notification unit may not be provided in the rice transplanter 1, but may be provided in the mobile communication terminal 8. The notification unit may also be provided in the mobile communication terminal 8 in addition to the rice transplanter 1. The notification unit is not an essential component of the work support system 100.

[0045] The automatic driving control unit 51 controls the driving of the rice transplanter 1, for example, by controlling the vehicle speed and steering. Under the control of the automatic driving control unit 51, the rice transplanter 1 can autonomously move forward, backward, turn, etc. The automatic driving control unit 51 can also control the driving of the rice transplanter 1 in response to remote operation by an operator using a mobile communication terminal 8. The automatic driving control unit 51 can also autonomously perform steering, for example, and can also control the vehicle speed to change in response to operation by the operator.

[0046] When autonomously changing the vehicle speed, the automatic driving control unit 51 controls the current vehicle speed detected by the vehicle speed sensor 66 to approach the target vehicle speed. The vehicle speed control is achieved by changing at least one of the gear ratio of the transmission in the transmission case 23 or the rotation speed of the engine 22. Note that the vehicle speed control also includes control to set the vehicle speed to zero so that the rice transplanter 1 stops.

[0047] When steering autonomously, the automatic driving control unit 51 controls the current steering angle detected by the steering angle sensor 67 to approach a target steering angle. The steering angle control is realized, for example, by driving a steering actuator provided on the rotation shaft of the steering wheel 26. Note that the automatic driving control unit 51 may directly adjust the steering angle of the front wheels 12 instead of driving the steering actuator.

[0048] The work device control unit 52 controls the operation of the planting unit 14, which is an example of a work device, based on predetermined conditions. Specifically, the work device control unit 52 controls the lifting and lowering operation of the planting unit 14 and the planting work.

[0049] Identification unit 53 identifies the amount and fluctuation of on-board items in work vehicle 1. The type of on-board items may differ depending on the type of work vehicle 1. For example, if work vehicle 1 is a rice transplanter, tractor, seed sower, fertilizer applicator, or chemical sprayer, the on-board items may be consumable items consumed by work. The consumable items may be seedlings, fertilizer, or chemicals, for example. Furthermore, if work vehicle 1 is a combine harvester, the on-board items may be accumulated items that accumulate in the vehicle as a result of work. The accumulated items may be agricultural products such as grains. Identification unit 53 may be a function provided in control unit 80 (see FIG. 4) of mobile communication terminal 8, which will be described later.

[0050] In this embodiment, the work vehicle 1 is a rice transplanter, and the on-board objects are seedlings. In this embodiment, the amount of on-board objects is the remaining amount of on-board objects, and the fluctuation amount of on-board objects is the amount of on-board objects consumed. Note that, for example, if the work vehicle is a combine harvester, the amount of on-board objects may be the accumulated amount of on-board objects, and the fluctuation amount of on-board objects may be the increased amount of on-board objects.

[0051] In this embodiment, the specifying unit 53 specifies the remaining amount of seedlings in the rice transplanter 1 based on information obtained from the remaining amount sensor 69. The remaining amount of seedlings specified by the specifying unit 53 is, for example, the remaining weight of the seedlings or the number of remaining mats (sheets). Note that the remaining amount of seedlings specified by the specifying unit 53 may be, for example, the remaining amount of all seedlings loaded on the rice transplanter 1 or the remaining amount of seedlings per row.

[0052] In this embodiment, the identification unit 53 identifies the amount of seedlings consumed over a predetermined period of time. The predetermined period is the period during which the work vehicle 1 travels along a unit route. The unit route will be described later. For example, if the remaining amount sensor 69 is configured to measure weight, the amount of seedlings consumed may be the amount of decrease in seedling weight over the predetermined period of time.

[0053] In this embodiment, the identification unit 53 identifies the seedling consumption amount using the lateral seedling feed amount sensor 70 and the vertical seedling removal amount sensor 71. The lateral seedling feed amount can be expressed as the number of rows of seedling mats used using information obtained from the lateral seedling feed amount sensor 70. Here, the number of rows of seedling mats used is defined as the number of rows of seedlings scraped off the seedling mat when the seedling carrier 35 moves from one end to the other. The number of rows of seedling mats used is two rows per one reciprocation of the seedling carrier 35. Since the lateral seedling feed amount sensor 70 can detect one reciprocation of the seedling carrier 35 in the left-right direction, this is detected every time two rows of seedling mats are used.

[0054] For example, assume that the vertical seedling removal amount calculated from the information obtained by the vertical seedling removal amount sensor 71 is 10 mm. Since two rows of seedling mats are used per reciprocation of the seedling carrier 35, this is detected every time 20 mm (= 10 mm × 2) of seedling mats are used vertically. The vertical dimension of each seedling mat is fixed. For example, if the vertical dimension is 580 mm per mat, 0.036 seedling mats (= 10 mm × 2 ÷ 580 mm / mat) per row will be used during one reciprocation of the seedling carrier 35. The identification unit 53 detects and accumulates the amount of seedling mats used per row over a predetermined period. This allows the identification unit 53 to determine the amount of seedling mats consumed per row over a predetermined period. In other words, if the vertical seedling removal amount of seedling mats, the number of times the seedlings are fed vertically, and the vertical dimension of the seedling mats are known, the number of seedling mats consumed per row can be determined.

[0055] In this embodiment, since the seedling carrier 35 is designed for six-row planting, 0.021 seedling mats (= 10 mm × 2 ÷ 580 mm / piece × 6) are used by the entire rice transplanter 1 during one round trip of the seedling carrier 35. By using (accumulating) this value, the identification unit 53 can identify the consumption amount of seedling mats by the entire rice transplanter 1 during a specified period.

[0056] Furthermore, if the amount of seedlings initially placed on the seedling tray 35 or the like is known, it is possible to determine the remaining amount of seedlings from the amount of seedlings consumed. For this reason, the remaining amount sensor 69 is not an essential component. For example, if the system is configured so that the worker inputs the number of seedling mats placed on the seedling tray 35 or the like before starting work, the amount of seedlings initially placed on the seedling tray 35 or the like can be determined.

[0057] The notification control unit 54 controls the notification unit 72. The notification control unit 54 causes the notification unit 72 to perform a notification operation when a predetermined condition is met. The predetermined condition is met, for example, when it is determined that a situation has occurred in the rice transplanter 1 that requires a warning to be given to an operator. Detailed examples of the predetermined condition will be described later. As described above, the notification unit may be provided in the mobile communication terminal 8, and therefore the notification control unit may be a function provided in the control unit 80 of the mobile communication terminal 8, which will be described later.

[0058] [1-2. Mobile communication terminals] FIG. 4 is a block diagram showing the configuration of a mobile communication terminal 8 according to an embodiment of the present invention. As shown in FIG. 4, the mobile communication terminal 8 includes a communication antenna 81, a communication processing unit 82, a display unit 83, an operation unit 84, and a control unit 80. The mobile communication terminal 8 is a tablet terminal, a smartphone, a laptop computer, or the like. The mobile communication terminal 8 performs various processes related to the automatic driving of the rice transplanter 1, but at least some of these processes can also be performed by the control unit 50 of the rice transplanter 1. Conversely, at least some of the various processes related to the automatic driving performed by the control unit 50 of the rice transplanter 1 can also be performed by the mobile communication terminal 8. Furthermore, at least some of the functions of the mobile communication terminal 8 may be executed by a server that can communicate with at least one of the rice transplanter 1 and the mobile communication terminal 8 via a network such as the Internet.

[0059] The communication antenna 81 is an antenna for wireless communication with the rice transplanter 1. The communication processing unit 82 transmits and receives data to and from the rice transplanter 1 via the communication antenna 81.

[0060] As described above, the rice transplanter 1 can be connected to a mobile phone line, and therefore the mobile communication terminal 8 can be connected to the mobile phone line via the rice transplanter 1, which is connected by wireless communication such as Wi-Fi (registered trademark). Therefore, for example, part of the information stored in the memory unit 55 of the control unit 50 of the rice transplanter 1 or the memory unit 801 of the control unit 80 can be stored in an external server. Note that an antenna for mobile communication (not shown) may be provided in the mobile communication terminal 8 instead of in the rice transplanter 1.

[0061] The display unit 83 is a liquid crystal display, an organic EL (Electroluminescence) display, etc. The display unit 83 can display, for example, information about the farm field, information about automatic driving, information about the settings of the rice transplanter 1, detection results of various sensors, warning information, etc. The display unit 83 may also be used as the above-mentioned notification unit.

[0062] The operation unit 84 includes at least one of a touch panel and hardware keys. The touch panel may be arranged on top of the display unit 83 and configured to detect operations by the worker's fingers or the like. The hardware keys may be arranged on the side of the housing of the mobile communication terminal 8 or around the display unit 83 and configured to detect pressing by the worker's fingers or the like. The operation unit 84 may be configured to enable voice operation using a voice input unit (microphone) provided in the mobile communication terminal 8.

[0063] The control unit 80 is, for example, a computer including an arithmetic unit, an input / output unit, and a storage unit 801. The arithmetic unit is a processor or a microprocessor, etc. The storage unit 801 is a main storage device such as a ROM and a RAM. The storage unit 801 may further include an auxiliary storage device such as an HDD or an SSD. The storage unit 801 stores various programs, data, etc. The arithmetic unit reads out and executes the various programs from the storage unit 801.

[0064] The above hardware and software work together to allow the control unit 80 to operate as a route creation unit 802, a stop position setting unit 803, and a display control unit 804. The control unit 80 may be a single piece of hardware, or may be multiple pieces of hardware that can communicate with each other.

[0065] As described above, the functional units 802 to 804 of the control unit 80 may be realized by causing a computing device to execute a program, i.e., by software, but may also be realized by other methods. The functional units 802 to 804 may be realized, for example, by using an ASIC, an FPGA, or the like. That is, the functional units 802 to 804 may be realized by hardware using a dedicated IC, or the like. Furthermore, the functional units 802 to 804 may be realized by using both software and hardware. The functional units 802 to 804 may also be functions that the rice transplanter 1 has.

[0066] The route creation unit 802 creates a travel route along which the rice transplanter 1 automatically travels within the field. Here, an example of an automatic travel route generated within the field will be described. The automatic travel route is a route along which the rice transplanter 1 automatically travels, and includes a target route (work route) along which the rice transplanter 1 performs the work of planting seedlings.

[0067] FIG. 5 is a diagram schematically showing a field 90 and an automatic driving route 91. The field 90 includes a work area R1 and a headland area R2. The work area R1 is located in the center of the field 90 and is an area for carrying out work. The headland area R2 is located outside the work area R1 and is an area used for carrying out work appropriately in the work area R1. For example, the headland area R2 is used as an area for moving the rice transplanter 1 that has entered the field 90 to a start position for planting work, an area for turning the rice transplanter 1, and an area for moving the rice transplanter 1 to a seedling supply point. Note that seedlings may also eventually be planted in the headland area R2.

[0068] As a path for automatically driving the rice transplanter 1, for example, an automatic driving path 91 shown by a two-dot chain line in Fig. 5 is generated by the path generation unit 802. The automatic driving path 91 is made up of a plurality of straight paths 91a that travel straight through the work area R1 of the field 90 and turning paths 91b that connect adjacent straight paths 91a. In this embodiment, the straight paths 91a form the target path (work path). The target path may be made up of the straight paths 91a and the turning paths 91b.

[0069] 5, the arrows shown on the automatic travel route 91 indicate the traveling direction of the rice transplanter 1. Also, in FIG. 5, "S" indicates the start position of the target route, and "G" indicates the end position of the target route.

[0070] The straight path 91a is a linear path and is parallel to, for example, one side (e.g., a short side) of the contour of the field 90 or the work area R1. The placement interval of the straight path 91a is determined based on the working width, turning radius, working interval, etc. The working interval is a length indicating the distance between adjacent work areas in the vehicle width direction (left-right direction). Information required by the path creation unit 802 when creating a path, such as the contours of the field 90 and the work area R1 and the working width, may be stored in, for example, the memory unit 801. Alternatively, the information required by the path creation unit 802 when creating a path may be stored in the memory unit 55. In this case, the path creation unit 802 may be configured to send a transmission request command for that information to the control unit 50.

[0071] The route creation unit 802 sets the straight route 91a of the automatic travel route 91 as a work route along which the planting unit 14 will plant seedlings. That is, the rice transplanter 1 performs automatic travel work on the straight route 91a. On the other hand, the route creation unit 802 sets the turning route 91b as a route along which the planting unit 14 will not plant seedlings. In addition, the route creation unit 802 sets the travel direction, target vehicle speed, target steering angle, etc. of the rice transplanter 1 for each position on the automatic travel route 91. The route creation unit 802 stores the generated automatic travel route 91 in the memory unit 801. The automatic travel route 91 stored in the memory unit 801 can be displayed on the display unit 83.

[0072] Although the field 90 shown in Fig. 5 is rectangular, it may have other shapes. The automatic travel route 91 shown in Fig. 5 is one example. The route creation unit 802 can generate an automatic travel route 91 suitable for the field 90 based on the turning radius and working width, which vary depending on the model of the rice transplanter 1 and the planting unit 14, and the contour and size, which vary depending on the field 90. Furthermore, the turning route 91b may not be included in the automatic travel route, and may be manually navigated by an operator.

[0073] The control unit 80 of the mobile communication terminal 8 transmits information about the automatic driving route 91 stored in the storage unit 801 to the control unit 50 in response to a transmission request command from the control unit 50 of the rice transplanter 1, for example. The control unit 50 stores the received information about the automatic driving route 91 in the storage unit 55. Regarding the transmission of information about the automatic driving route 91, for example, the control unit 80 may transmit all information about the automatic driving route 91 from the storage unit 801 to the control unit 50 at once before the rice transplanter 1 starts automatic driving. Alternatively, the control unit 80 may divide the automatic driving route 91 into a plurality of divided route information pieces each having a predetermined distance, and sequentially transmit a predetermined number of divided route information pieces corresponding to the route of the rice transplanter 1 from the storage unit 801 to the control unit 50 each time the traveling distance of the rice transplanter 1 reaches a predetermined distance from the stage before the rice transplanter 1 starts automatic driving.

[0074] The stopping position setting unit 803 is provided so that it can set one side of the field 90 or one of two opposing sides of the field 90 as the stopping position for the work vehicle 1. In other words, one side of the field 90 or one of two opposing sides including the one side is set as the stopping position. In detail, the one side of the field 90 and the two opposing sides of the field are both sides of the field 90 that intersect with the linear path 91a of the field 90 along which the autonomous traveling operation is performed. In the example shown in FIG. 5, the first side 90a or the second side 90b of the field 90 and the first side 90a and the second side 90b of the field 90 are targets for setting the stopping position.

[0075] In this embodiment, the work vehicle 1 is a rice transplanter, and as an example, the stopping position is a supply position where on-board items consumed as the vehicle travels are replenished. Therefore, in this embodiment, the stopping position setting unit 803 is a supply position setting unit. Also, as an example, the on-board items are seedlings. The on-board items may be, for example, chemicals, fertilizer, or fuel. The supply position is set, for example, on a side where a replenishment path 92 exists, such as a bank.

[0076] In the example shown in Fig. 5, the replenishment path 92 exists only on the first side 90a side of the field 90, and therefore the first side 90a is selected as the replenishment position. That is, in the example shown in Fig. 5, one side of the field 90 is set as the replenishment position.

[0077] FIG. 6 is a diagram schematically illustrating a field 90A different from that illustrated in FIG. 5. In the example illustrated in FIG. 6, the replenishment path 92 exists on the first side 90a and the second side 90b of the field 90A, and therefore, replenishment positions can be set on the first side 90a and the second side 90b. As an example, the first side 90a and the second side 90b are selected as replenishment positions. That is, two opposing sides of the field 90A are set as replenishment positions. As another example, only the first side 90a or the second side 90b of the field 90A may be set as a replenishment position. That is, even in the example illustrated in FIG. 6, one side of the field 90A may be set as a replenishment position.

[0078] If the work vehicle is a combine harvester, the stopping position may be a discharge position where agricultural products such as grains are discharged. The discharge position is set on a side where a discharge path such as a bank exists.

[0079] Which side of the field to select as the supply position may be determined, for example, by instructions from the worker. The instructions from the worker can be input to the mobile communication terminal 8 using the operation unit 84. As another example, which side of the field to select as the supply position may be automatically determined by the stopping position setting unit 803 using field information pre-stored in the storage unit 801. The supply position set by the stopping position setting unit 803 is transmitted to the control unit 50 together with information on the automatic travel route 91 in response to, for example, a transmission request command from the control unit 50 of the rice transplanter 1.

[0080] The display control unit 804 determines the amount of automated driving work possible for the remaining part of the target route based on the amount and variation of the on-board items identified by the above-mentioned identification unit 53. In detail, the identification unit 53 identifies the amount and variation of the on-board items of the work vehicle 1 when the work vehicle 1 travels along a unit route. More specifically, the identification unit 53 identifies the remaining or accumulated amount of on-board items and the consumption or increase of the on-board items per unit route each time the work vehicle 1 travels along a unit route. In this embodiment, the identification unit 53 identifies the remaining amount of seedlings and the consumption amount of seedlings per unit route each time the rice transplanter 1 travels along a unit route. The information identified by the identification unit 53 is transmitted from the rice transplanter 1 to the mobile communication terminal 8.

[0081] As shown in Figures 5 and 6, the target path is made up of multiple straight-line paths 91a. For example, the target path includes multiple reciprocating work paths 93 that travel back and forth in a direction that intersects with two opposing sides (first side 90a and second side 90b) of the fields 90, 90A. The outgoing path 93a of the reciprocating work path 93 is a straight-line path 91a that assumes that the rice transplanter 1 will travel from the first side 90a side to the second side 90b side. The returning path 93b of the reciprocating work path 93 is a straight-line path 91a that assumes that the rice transplanter 1 will travel from the second side 90b side to the first side 90a side.

[0082] The unit route changes depending on the setting of the stop position. In this embodiment, the unit route changes depending on the setting of the replenishment position.

[0083] For example, in the example shown in Fig. 5, one side (first side 90a) of the field 90 is set as the stopping position (supply position) as described above. When one side (first side 90a) is set as the stopping position, the unit path is the round trip work path 93. Setting the unit path in this manner makes it easier to provide guidance to the worker that takes into account stopping positions such as supply positions.

[0084] 5, the amount of change in the on-board items identified when the work vehicle 1 travels along a unit route is the amount of change from the work start position on the outbound route 93a of the reciprocating work route 93 to the work end position on the return route 93b of the reciprocating work route 93. In detail, the amount of seedlings consumed identified for each unit route is the amount of consumption from the work start position (e.g., position P1) on the outbound route 93a of the reciprocating work route 93 to the work end position (e.g., position P2) on the return route 93b of the reciprocating work route 93.

[0085] 6, for example, two sides (first side 90a and second side 90b) of the field 90 are set as stopping positions (supply positions) as described above. When two sides (first side 90a and second side 90b) are set as stopping positions, the unit paths are the outbound path 93a and the inbound path 93b of the reciprocating work path 93, respectively. In other words, each straight path 91a is a unit path. Setting unit paths in this manner makes it easier to provide guidance to the worker that takes into account stopping positions such as supply positions.

[0086] In the example shown in Figure 6, the amount of change in the on-board items identified when the work vehicle 1 travels along a unit route is the amount of change from the work start position to the work end position on the outbound route 93a when the work vehicle 1 travels along the outbound route 93a, and is the amount of change from the work start position to the work end position on the inbound route 93b when the work vehicle 1 travels along the inbound route 93b. In detail, the seedling consumption amount identified for each unit route is the consumption amount from the work start position (e.g., position P1 in Figure 6) to the work end position (e.g., P1a in Figure 6) on the outbound route 93a when the rice transplanter 1 travels along the outbound route 93a. In addition, the seedling consumption amount identified for each unit route is the consumption amount from the work start position (e.g., position P2a in Figure 6) to the work end position (e.g., P2 in Figure 6) on the inbound route 93b when the rice transplanter 1 travels along the inbound route 93b.

[0087] The possible amount of automated driving work may be an amount that allows the operator to recognize how much automated driving work can be performed on the remaining part of the target route. For example, the possible amount of automated driving work may include at least one of the number of possible work steps, the possible work time, and the possible work distance. The number of possible work steps indicates how many steps of automated driving work can be performed in the future, with the work on a unit route being considered as one step of work. The possible work time indicates the time (remaining time) for the automated driving work that can be performed in the future. The possible work distance indicates the distance (remaining distance) of the automated driving work that can be performed in the future. The possible amount of automated driving work that is calculated is an estimated amount using the performance of the most recent unit route.

[0088] For example, the number of possible work steps can be obtained by dividing the remaining amount of seedling mats (e.g., the remaining amount per row) identified by the identification unit 53 by the consumption amount of seedling mats in the unit path (e.g., the consumption amount per row) identified by the identification unit 53. The possible work time can be obtained by multiplying the number of possible work steps by the time required for the rice transplanter 1 to travel the unit path. The possible work distance can be obtained by multiplying the number of possible work steps by the distance of the unit path. Note that these examples assume that the path length of the next and subsequent unit paths will be the same as the current (most recent) unit path.

[0089] As another example, the possible amount of automated driving work may be calculated based on the amount and variation of on-board cargo, as well as the path length of at least the next unit path among the next and subsequent unit paths. This allows for a more accurate estimation of the possible amount of automated driving work. For example, the length of each straight path 91a that constitutes the unit path may be known at the stage when the path creation unit 802 creates the automated driving path 91. In such a case, the path length of each unit path from the next time onwards can be calculated, and the possible amount of automated driving work can be estimated using the calculated path length.

[0090] When the path length of the next unit path is used, the above-mentioned number of possible work steps, etc. can be calculated, for example, by using the ratio between the path length of the next unit path and the path length of the current unit path. Furthermore, for example, the possible work distance can be calculated from the actual results of the automatic driving work of the current unit path using the following formula (1). Note that in the following formula (1), the unit path is the current unit path. Furthermore, the distance of the unit path can be calculated, for example, from the amount of change in the position of the rice transplanter 1 obtained from the position acquisition unit 64. The remaining mat amount and the consumed mat amount may be, for example, the amount per row or the amount per all rows. Workable distance = remaining mat amount / mat amount consumed per unit path × distance of unit path (1) By determining the workable distance, the number of workable steps can be determined using the route length of each unit route from the next time onwards.

[0091] The display control unit 804 can display the calculated possible amount of autonomous driving work on the display unit 83. That is, the display control unit 804 can display the possible amount of autonomous driving work for the remaining part of the target route on the display unit 83 based on the amount and variation of on-board items identified by the identification unit 53. This allows the worker to appropriately be informed of the possible amount of autonomous driving work for the remaining part of the target route, taking into account stopping positions for replenishment, discharge, etc. Each time the work vehicle 1 travels along a unit route, the future possible amount of work can be displayed based on the results of the most recent autonomous driving work, allowing the worker to be notified of appropriate information. Depending on the possible amount of work displayed on the display unit 83, the worker can intentionally interrupt work by the work vehicle 1 and move the work vehicle 1 to a stopping position where replenishment, etc. can be performed. Note that the work vehicle 1 may be moved to the stopping position manually by the worker, or may be automatically driven to the nearest stopping position.

[0092] The possible amount of automatic driving work displayed on the display unit 83 may be a numerical value, or may be a graph or diagram obtained by processing the numerical value.

[0093] <2. Work support method> Next, a work assistance method using the work assistance system 100 configured as described above will be described. The work assistance method is a method of assisting an automatic driving operation performed by a work vehicle 1 along a target route set in advance in a farm field. In detail, the work assistance method is executed by the work assistance system 100. In even more detail, the work assistance method is executed by the control units 50, 80 provided in the work assistance system 100. Note that if the above-mentioned stopping position setting unit 803 and display control unit 804 are provided in the control unit 50 of the rice transplanter 1, the work assistance method may be executed by the rice transplanter 1 (control unit 50). Furthermore, if the above-mentioned identification unit 53 is provided in the control unit 80 of the mobile communication terminal 8, the work assistance method may be executed by the mobile communication terminal 8 (control unit 80).

[0094] 7 is a flowchart illustrating the flow of a work assistance method according to an embodiment of the present invention. In FIG. 7, it is assumed that a target route for performing an automatic driving work has already been generated.

[0095] In step S1, the stopping position setting unit 803 sets a stopping position. That is, the work support method comprises setting one of one side of the field 90 (first side 90a or second side 90b: see FIG. 5 etc.) or two opposing sides of the field 90 (first side 90a and second side 90b) as the stopping position of the work vehicle 1. In this embodiment, the stopping position is a supply position, and the supply position may be set in response to a command from the worker or automatically by the control unit 80. In this embodiment, the set supply position is transmitted to the control unit 50 of the rice transplanter 1. Once the setting of the supply position is complete, processing proceeds to the next step S2.

[0096] In step S2, the automatic travel control unit 51 and the implement control unit 52 cause the rice transplanter 1 to start automatic travel. The automatic travel operation is initiated, for example, by operating a switch provided on the mobile communication terminal 8 or the rice transplanter 1. When the automatic travel operation is initiated, the automatic travel control unit 51 controls the vehicle speed and steering angle based on various detection results from the position acquisition unit 64, etc. Furthermore, while the rice transplanter 1 is automatically traveling along the straight path 91a (see FIG. 5, etc.), the implement control unit 52 lowers the planting unit 14 and switches the planting clutch from a disengaged state to a transmitted state, causing the planting unit 14 to plant seedlings. Furthermore, while the rice transplanter 1 is turning along the turning path 91b, the implement control unit 52 switches the planting clutch from a transmitted state to a disengaged state, suspending the planting of seedlings. Once the automatic travel operation is initiated, processing proceeds to the next step S3.

[0097] In step S3, the identification unit 53 monitors whether the rice transplanter 1 has completed traveling along the unit path determined according to the setting of the supply position. As described above, in the example of FIG. 5 where the supply position is set to one side (first side 90a), the unit path is the reciprocating work path 93. In the example of FIG. 6 where the supply position is set to two sides (first side 90a and second side 90b), the unit path is one straight path 91a. Whether the rice transplanter 1 has completed traveling along the unit path can be determined from information obtained from the position acquisition unit 64. When it is determined that the rice transplanter 1 has completed traveling along the unit path (Yes in step S3), the process proceeds to the next step S4.

[0098] In step S4, the identification unit 53 identifies the remaining number of seedlings in the rice transplanter 1. As described above, the remaining number of seedlings is, for example, the remaining number of seedling mats per row. The identified remaining number of seedlings is sent to the mobile communication terminal 8. Once the remaining number of seedlings has been identified, processing proceeds to the next step S5.

[0099] In step S5, the identification unit 53 identifies the seedling consumption amount in the unit path. As described above, the seedling consumption amount is, for example, the number of seedling mats consumed per row. The identified seedling consumption amount is sent to the mobile communication terminal 8. Once the seedling consumption amount has been identified, the process proceeds to the next step S6. Note that the order of the processing of step S4 and the processing of step S5 may be reversed.

[0100] In step S6, the display control unit 804 calculates the possible amount of autonomous driving work for the remaining route of the target route. As described above, the possible amount of autonomous driving work is the possible number of work steps, the possible work distance, etc. Once the possible amount of autonomous driving work has been calculated, processing proceeds to the next step S7.

[0101] In step S7, the display control unit 804 performs display processing to display the determined possible amount of autonomous driving work on the display unit 83. Figures 8 and 9 are schematic diagrams showing display examples of the possible amount of autonomous driving work.

[0102] FIG. 8 is a detailed example of the main screen during automatic navigation work. The center of the main screen shows the field 90 and the work area R1 of the field 90. The current position of the rice transplanter 1 is shown by a rice transplanter icon 94. "S" on the main screen indicates the start position of the target route for automatic navigation work, and "G" indicates the end position of the target route. The shaded rectangular area in FIG. 8 is the area that can be touched. The layout of the area that can be touched may be changed as appropriate.

[0103] In the example shown in Fig. 8, the display control unit 804 calculates the workable distance as the possible amount of work for automatic driving and displays it on the screen. In detail, above the field 90 on the screen, a "workable route" display, meaning that the route is workable, is displayed, along with the workable distance ("150 m"). Additionally, above the field 90 on the screen, a "resupply required route" display, meaning that the route is one on which work cannot be carried out without resupply, is also displayed, along with the distance of the resupply required route ("150 m"). Displaying the resupply required route makes it easier for the operator to recognize the timing for resupply on the remaining part of the target route.

[0104] Furthermore, in the work area R1 on the screen, possible work routes and supply-requiring routes are displayed in different display modes for the remaining routes of the target route. Specifically, possible work routes are indicated by solid black arrows, and possible requested routes are indicated by hollow arrows. The difference in display mode is not limited to this, and may be, for example, a difference in color. The arrows indicating possible work routes and supply-requiring routes are displayed in accordance with the magnitude (length) of each distance. That is, in the example shown in FIG. 8, the possible work distance is shown not only numerically but also using an image. Note that in the example shown in FIG. 8, the number of arrows of a certain length changes depending on the distance. This is an example, and the length of the arrow may change depending on the distance, for example. Also, in FIG. 8, dashed arrows indicate work-completed routes, which are routes of the target route where work has already been completed.

[0105] The screen shown in Fig. 8 shows a touch-type virtual button (details button) 95 with the word "details" displayed next to the numerical value indicating the workable distance. When the details button 95 is touched, the screen transitions to the screen shown in Fig. 9. After transitioning to the screen shown in Fig. 9, when a back button (virtual button) 95A shown on the screen of Fig. 9 is touched, the screen display returns to the screen shown in Fig. 8.

[0106] On the screen shown in FIG. 9, part of the display shown in FIG. 8 is erased, and the number of possible work steps, the possible work distance, and the unit route distance are displayed. In the example shown in FIG. 9, the number of possible work steps is 1.5, the possible work distance is 150 m, and the unit route distance is 100 m. The unit route distance is the distance of a unit route, and in the example shown in FIG. 9, it is the distance of a round trip work route. Since the number of possible work steps is 1.5, the worker can recognize that the next step (unit route) can be completed without replenishment, but that automatic driving work will not be possible halfway through the step after that (unit route) unless replenishment is made. In addition, by comparing the unit route distance with the possible work distance, the worker can easily understand whether or not the next step (unit route) can be completed.

[0107] In the example shown in Figure 9, next to the number of possible work steps, the maximum number of possible work steps, which is the number of possible work steps when the maximum number of seedling mats (full mat number) are placed on the seedling carrier 35, is shown. Also, next to the possible work distance, the maximum possible work distance, which is the distance that can be worked when the maximum number of seedling mats are placed on the seedling carrier 35, is shown. By displaying the maximum possible work step and maximum possible work distance, it is easier to intuitively recognize how many seedling mats are remaining. In addition, the screen shown in Figure 9 shows the number of seedling mats consumed by traveling the current (most recent) unit route, the number of full mats (number of mats), and the number of remaining mats (number of mats).

[0108] In the examples shown in Figures 8 and 9, the possible amount of automated driving work is displayed using two screens, but this is merely an example. For example, the possible amount of automated driving work may be displayed using only one screen. Also, for example, the possible amount of automated driving work may be displayed using three or more screens. Also, the possible amount of automated driving work displayed on one screen may be one or multiple.

[0109] 7, when the display control unit 804 completes the display process of the possible amount of automatic traveling work, the process proceeds to the next step S8. In this embodiment, when the display control unit 804 completes the display process, the control unit 50 of the rice transplanter 1 is notified of this.

[0110] In step S8, the identification unit 53 checks whether the automatic driving work has been completed for all of the target routes. Whether the automatic driving work for all routes has been completed can be determined from the driving history of the rice transplanter 1 using the position acquisition unit 64. If it is determined that the automatic driving work for all routes has been completed (Yes in step S8), the work support method shown in FIG. 7 ends. If it is determined that the automatic driving work for all routes has not been completed (No in step S8), the process returns to step S3 and the processing from step S3 onwards is repeated.

[0111] As can be seen from the above, the work assistance method of this embodiment includes: identifying the amount and variation of on-board items on the work vehicle 1 when the work vehicle 1 travels a unit route that changes depending on the setting of stop locations; and displaying the possible amount of automated driving work along the remaining target route based on the identified amount and variation of on-board items. This configuration allows the worker to appropriately be informed of the possible work amount along the remaining target route, taking into account stop locations for replenishment, discharge, etc. Each time the work vehicle 1 travels a unit route, the possible future work amount can be displayed based on the results of the most recent automated driving work, thereby providing the worker with appropriate information. This configuration does not simply display locations (predicted locations) where stops are required for replenishment, etc., but can also display the possible number of work steps, possible work time, etc. each time the work vehicle 1 travels a unit route. This allows the worker to easily recognize the timing of replenishment, etc., and prevents situations such as a shortage of on-board items along the work route. As a result, a decrease in work efficiency can be prevented.

[0112] Furthermore, the work assistance method of this embodiment may be realized by causing a computer provided in at least one of the rice transplanter 1 and the mobile communication terminal 8 to execute a program. The program may be configured to cause the computer to function as a means for setting one side of the field or one of two opposing sides of the field as a stopping position for the work vehicle 1, specifying the amount and amount of change in the load of the work vehicle 1 when the work vehicle 1 travels a unit route that changes depending on the setting of the stopping position, and displaying the amount of automated driving work possible for the remaining route of the target route based on the specified amount and amount of change in the load. The program for causing the computer to execute the work assistance method may be configured as a single program or multiple programs.

[0113] In the above work support method, the amount and variation of on-board cargo of the work vehicle 1 are identified each time the work vehicle 1 travels along a unit route, and the amount of autonomous driving work possible for the remaining part of the target route is determined and displayed based on the identified amount and variation of on-board cargo. However, this is an example, and the identification of the amount and variation of on-board cargo and the display of the amount of autonomous driving possible may be performed each time the work vehicle 1 travels along the unit route a predetermined number of times (more than once), rather than each time the work vehicle 1 travels along the unit route.

[0114] <3. Modifications> [3-1. First Modification] Fig. 10 is a flowchart illustrating the flow of a work support method according to the first modified example. The flowchart shown in Fig. 10 is generally the same as the flowchart shown in Fig. 7, but there are some differences. Below, a description of the same parts will be omitted, and the description will focus on the differences. The first modified example (Fig. 10) differs from the configuration shown in Fig. 7 in that step S10 is provided between step S5 and step S6 of the flowchart shown in Fig. 7. Furthermore, it differs from the configuration shown in Fig. 7 in that step S11 is provided in response to the addition of step S10.

[0115] In step S10, which follows step S5, the automatic driving control unit 51 determines whether there will be a shortage of seedlings on the next unit route. For example, if the remaining amount of seedlings identified in step S4 is less than the amount of seedlings consumed per unit route this time (most recent) identified in step S5, it is determined that there will be a shortage of seedlings on the next unit route. Note that the ratio between the route length of the next unit route and the route length of the current unit route may also be taken into consideration to determine whether there will be a shortage of seedlings. If it is determined that there will be no shortage of seedlings (No in step S10), processing proceeds to step S6 described above, and processing from step S6 onwards is performed. On the other hand, if it is determined that there will be a shortage of seedlings (Yes in step S10), processing proceeds to step S11.

[0116] In step S11, the automatic travel control unit 51 and the work device control unit 52 perform processing to stop the automatic travel operation of the rice transplanter 1. The processing to stop the automatic travel operation is, for example, stopping the automatic travel. The work device control unit 52 appropriately performs processing to stop work in response to the stopping of the automatic travel. Furthermore, the processing to stop the automatic travel operation may be, for example, processing to switch from a mode in which the automatic travel operation is performed to a mode in which the rice transplanter is automatically traveled toward the location where replenishment is to be performed. When the processing to stop the automatic travel operation is performed, the work support method shown in FIG. 10 is temporarily terminated.

[0117] The process of step S10 may be performed between steps S7 and S8 in FIG.

[0118] In the first modified example, if it is determined that the remaining amount of on-board items will be insufficient on the next unit route after traveling along the unit route, the automatic traveling operation is stopped. The configuration of the first modified example makes it possible to reduce the possibility that the next automatic traveling operation will be started even though replenishment, etc. is necessary.

[0119] [3-2. Second Modification] Fig. 11 is a flowchart illustrating the flow of a task support method according to a second modified example. The flowchart shown in Fig. 11 is generally the same as the flowcharts shown in Figs. 7 and 10, but there are some differences. Below, a description of the same parts will be omitted, and the description will focus on the differences. In the second modified example (Fig. 11), step S12 is performed instead of step S11 performed in the flowchart shown in Fig. 10. In addition, the flow after processing step S12 differs from that in the flowchart shown in Fig. 10.

[0120] In the second modified example, the process of step S10 may be performed by the notification control unit 54. Furthermore, if it is determined that there will be a shortage of seedlings (Yes in step S10), the process proceeds to step S12.

[0121] In step S12, the notification control unit 54 controls the notification unit 72 to issue a notification. For example, a voice or buzzer may be emitted to notify that the remaining number of seedlings is insufficient. Alternatively, for example, the mobile communication terminal 8 may be notified of the shortage of seedlings via communication, and this may be displayed on the display unit 83 of the mobile communication terminal 8. When the notification process is completed, the process proceeds to step S6 described above, and the processes from step S6 onwards are carried out.

[0122] The processes of steps S10 and S12 may be configured to be performed between steps S7 and S8 in FIG.

[0123] In the second modified example, if it is determined that the remaining amount of on-board items will be insufficient on the next unit route after traveling along a unit route, a notification of the insufficient remaining amount of on-board items is made. The configuration of the second modified example makes it possible to reduce the possibility that the next automatic traveling operation will be started even though replenishment or the like is necessary.

[0124] [3-3. Third Modification] Fig. 12 is a diagram illustrating a field 90B to which the work support method of the third modified example is applied. In Fig. 12, the two-dot chain line indicates the automatic travel route 91. The arrow shown on the automatic travel route 91 indicates the traveling direction of the rice transplanter 1. In Fig. 12, "S" indicates the start position of the target route, and "G" indicates the end position of the target route.

[0125] The field 90B shown in FIG. 12 is a deformed field that is not rectangular. Specifically, the field 90B is trapezoidal. The work area R1 set in the field 90B is trapezoidal to match the shape of the field 90B. A straight path 91a set in the trapezoidal work area R1 extends in a direction parallel to two parallel sides 96a, 96b of the work area R1. Multiple straight paths 91a are set in the work area R1, and the path length of the straight path 91a becomes shorter from the first work area side 96a to the second work area side 96b. The start position of the target path is set to the straight path 91a closest to the first work area side 96a, and the end position is set to the straight path 91a closest to the second work area side 96b.

[0126] That is, in this modified example, the target route (work route) along which the automated driving work is performed is set so that the route length of the unit route becomes shorter as the driving order becomes later. With this configuration, the amount of seedlings consumed in the next unit route is usually less than the amount of seedlings consumed in the most recently driven unit route. Therefore, by determining whether there will be a shortage of seedlings based on the actual value of the amount of seedlings consumed in the most recently driven unit route, it is possible to determine whether there will be a shortage of seedlings in the next unit route with a margin of error. As a result, even if the amount of seedlings consumed in the actual automated driving work on the next unit route is slightly more than expected, it is possible to reduce the possibility of a shortage of seedlings occurring midway through the unit route.

[0127] [3-4. Fourth Modification] FIG. 13 is a diagram showing a modified example of a screen display for work support. As shown in FIG. 13, a configuration may be adopted in which predicted points 98 of locations where the work vehicle will need to stop for replenishment or the like are displayed in conjunction with the display of the amount of work that can be done automatically. In other words, each time the work vehicle 1 travels along a unit route, a predicted point of where the work vehicle should replenish or discharge the on-board items may be calculated based on the identified amount and variation of on-board items and the remaining route length of the work route along which the automatic driving work will be performed. The calculated predicted point may then be displayed on the display unit 83. The predicted point 98 is reviewed successively each time the unit route is traveled, and the appropriate predicted point 98 can be notified to the worker.

[0128] <4. Things to keep in mind> Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments and modifications shown in this specification can be combined to the extent possible.

[0129] For example, at least some of the functions performed by the control unit 50 of the work vehicle 1 described above may be functions performed by the control unit 80 of the mobile communication terminal 8. Conversely, at least some of the functions performed by the control unit 80 of the mobile communication terminal 8 described above may be functions performed by the control unit 50 of the work vehicle 1. Furthermore, at least some of the functions performed by the control unit 50 of the work vehicle 1 and the functions performed by the control unit 80 of the mobile communication terminal 8 described above may be functions performed by the two control units 50, 80 working together.

[0130] The present invention can also be applied to systems and methods that support the automatic driving of work vehicles that are driven by electric motors instead of engines, for example.

[0131] <5. Notes> An exemplary work assistance method of the present invention may be a work assistance method that assists a work vehicle in performing automatic driving work along a target route set in advance in a field, and may be configured (first configuration) to set one side of the field or either of two opposing sides of the field as a stopping position for the work vehicle, identify the amount and variation of cargo on board the work vehicle when the work vehicle travels a unit route that changes depending on the setting of the stopping position, and display the possible amount of automatic driving work on the remaining route of the target route based on the identified amount and variation of the cargo on board.

[0132] In the first configuration, the possible amount of autonomous driving work may include at least one of a possible number of work steps, a possible work time, and a possible work distance (second configuration).

[0133] In the second configuration, the possible amount of automatic driving work may be calculated based on the amount and fluctuation of the on-board items, as well as the route length of at least the next unit route among the unit routes from the next time onwards (third configuration).

[0134] In any of the above first to third configurations, the target route may include multiple round-trip work routes that travel back and forth in a direction that intersects with the two sides, and when one side is set as the stopping position, the unit route may be the round-trip work route (fourth configuration).

[0135] In the above fourth configuration, when the one side is set at the stopping position, the amount of movement of the vehicle-mounted object may be the amount of movement from the work start position on the outbound leg of the reciprocating work path to the work end position on the return leg of the reciprocating work path (fifth configuration).

[0136] In any of the above first to fifth configurations, the target route may include a plurality of reciprocating work routes that travel back and forth in a direction that intersects with the two sides, and when the two sides are set as the stopping positions, the unit routes may be each of the outbound and return routes of the reciprocating work routes (sixth configuration).

[0137] In the above sixth configuration, when the two sides are set at the stopping position, the amount of movement of the on-board object may be the amount of movement from the work start position to the work end position on the outbound journey when the work vehicle travels on the outbound journey, and may be the amount of movement from the work start position to the work end position on the return journey when the work vehicle travels on the return journey (seventh configuration).

[0138] In any of the above first to seventh configurations, the stopping position may be a supply position where the vehicle items consumed as the vehicle travels are replenished, the amount of the vehicle items is the remaining amount of the vehicle items, and the fluctuation amount of the vehicle items is the consumption amount of the vehicle items (eighth configuration).

[0139] In any of the above first to eighth configurations, the stopping position may be a supply position where the vehicle items consumed as the vehicle travels are replenished, the amount of the vehicle items is the remaining amount of the vehicle items, and the fluctuation amount of the vehicle items is the amount of the vehicle items consumed, and if it is determined that the remaining amount of the vehicle items will be insufficient on the next unit route after traveling the unit route, the automatic traveling operation may be stopped (ninth configuration).

[0140] In any of the above first to ninth configurations, the stopping position may be a supply position where the vehicle items consumed as the vehicle travels are replenished, the amount of the vehicle items is the remaining amount of the vehicle items, and the fluctuation amount of the vehicle items is the consumed amount of the vehicle items, and if it is determined that the remaining amount of the vehicle items will be insufficient on the next unit route after traveling along the unit route, a configuration may be adopted in which an alert is issued that the remaining amount of the vehicle items is insufficient (tenth configuration).

[0141] In any of the above configurations 1 to 10, the field may be a deformed field that is not rectangular, and the target route may be set so that the route length of the unit route becomes shorter as the travel order becomes later (configuration 11). [Explanation of symbols]

[0142] 1. Rice transplanter (work vehicle) 53...Specific section 90, 90A, 90B... Field 90a First side of the field 90b... Second side of the field 93 Round-trip work route 93a···Outbound 93b···Return journey 100 Work Support System 803...Stop position setting section 804 Display control unit

Claims

1. A work assistance method for assisting an automatic driving operation performed by a work vehicle along a predetermined target route in a farm field, comprising: setting one side of the field or one of two opposing sides of the field as a stopping position for the work vehicle; Identifying the amount and fluctuation of on-board items of the work vehicle when the work vehicle travels a unit route that changes depending on the setting of the stop position; Displaying the possible amount of the automated driving operation for the remaining route of the target route based on the identified amount and variation of the on-board items; A work assistance method comprising:

2. The work support method according to claim 1 , wherein the possible amount of the autonomous driving work includes at least one of a possible number of work steps, a possible work time, and a possible work distance.

3. 3. The work assistance method according to claim 2, wherein the possible amount of the automated driving work is calculated based on the amount and variation of the on-board items, as well as the route length of at least the next unit route among the unit routes from the next time onwards.

4. the target path includes a plurality of reciprocating work paths that reciprocate in directions intersecting the two sides, The work support method according to claim 1 , wherein when the one side is set to the stopping position, the unit path is the round-trip work path.

5. 5. The work support method according to claim 4, wherein, when the one side is set to the stopping position, the amount of movement of the vehicle object is the amount of movement from a work start position on the outbound leg of the reciprocating work path to a work end position on the return leg of the reciprocating work path.

6. the target path includes a plurality of reciprocating work paths that reciprocate in directions intersecting the two sides, The work support method according to claim 1 , wherein when the two sides are set as the stopping positions, the unit paths are each an outbound path and a return path of the reciprocating work path.

7. 7. The work support method according to claim 6, wherein, when the two sides are set to the stopping position, the amount of movement of the on-board object is the amount of movement from the work start position to the work end position on the outbound path when the work vehicle travels on the outbound path, and is the amount of movement from the work start position to the work end position on the return path when the work vehicle travels on the return path.

8. the stopping position is a supply position where the on-board items consumed during travel are replenished, the amount of the on-vehicle items is the remaining amount of the on-vehicle items, The work support method according to claim 1 , wherein the fluctuation amount of the on-board item is a consumption amount of the on-board item.

9. the stopping position is a supply position where the on-board items consumed during travel are replenished, the amount of the on-vehicle items is the remaining amount of the on-vehicle items, the fluctuation amount of the on-vehicle item is a consumption amount of the on-vehicle item, The work support method according to claim 1 , wherein the automatic driving operation is stopped if it is determined that the remaining amount of the on-board items will be insufficient on the next unit route after the unit route has been driven.

10. the stopping position is a supply position where the on-board items consumed during travel are replenished, the amount of the on-vehicle items is the remaining amount of the on-vehicle items, the fluctuation amount of the on-vehicle item is a consumption amount of the on-vehicle item, 2. The work support method according to claim 1, wherein, when it is determined that the remaining amount of the on-board item will be insufficient on the next unit route after the unit route has been traveled, the shortage of the remaining amount of the on-board item is notified.

11. The field is a deformed field other than a rectangle, The work support method according to claim 1 , wherein the target route is set so that the route length of the unit route becomes shorter as the unit route is placed later in the travel order.

12. A work assistance system that assists an automatic driving operation performed by a work vehicle along a predetermined target route in a farm field, a stop position setting unit that is provided so as to be able to set one side of the field or one of two opposing sides of the field as a stop position for the work vehicle; an identification unit that identifies the amount and fluctuation of on-board items of the work vehicle when the work vehicle travels a unit route that changes depending on the setting of the stop position; a display control unit that enables a possible amount of the automated driving operation for the remaining route of the target route to be displayed on a display unit based on the identified amount and variation of the on-board objects; A work support system comprising:

13. A program that causes a computer to execute a work assistance method that assists an automatic driving operation performed by a work vehicle along a predetermined target route in a farm field, The computer setting one side of the field or one of two opposing sides of the field as a stopping position for the work vehicle; Identifying the amount and fluctuation of on-board items of the work vehicle when the work vehicle travels a unit route that changes depending on the setting of the stop position; Displaying the possible amount of the automated driving operation for the remaining route of the target route based on the identified amount and variation of the on-board items; A program that serves as a means to

Images