Agricultural work support systems, agricultural machinery

Abstract

This invention is intended to prevent a user from being confused when operating a work device (2).　An agricultural work assistance system (100) comprises a coupling device (8) that couples the work device (2) to an agricultural machine (1), a control device (60) that performs agricultural work on a field by means of the work device (2) while automatically running and steering the agricultural machine (1), a first operation unit (62b) provided on the agricultural machine (1) and operated to activate the work device (2), a second operation unit (B28, B29) that can be operated to activate the work device (2) outside the agricultural machine (1), and a first detection unit (64a) that detects whether the user is riding or not riding the agricultural machine (1). When the first detection unit (64a) detects that the user is riding, the work device (2) can be activated in response to the operation of the first operation unit (62b) and operation of the second operation unit (B28, B29) is disabled. When the first detection unit (64a) detects that the user is not riding, the work device (2) can be activated in response to the operation of the second operation unit (B28, B29) and operation of the first operation unit (62b) is disabled.

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technology that supports agricultural work using a work implement connected to an agricultural machine (work vehicle) while the machine is driven autonomously in a field. The autonomous driving system disclosed in Patent Document 1 includes an autonomous driving unit that enables the agricultural machine to drive autonomously (autonomously) and a remote control device that enables remote control of the agricultural machine via wireless communication. The agricultural machine includes a working height setting device that sets the working height of the work implement, a height detector that detects the height position of the work implement, a lifting / lowering instruction device, and a lifting / lowering control unit. The lifting / lowering control unit sets the control target height of the work implement to the working height based on instructions from the lifting / lowering instruction device, and performs automatic lifting / lowering control to match the height position of the work implement to the working height. The remote control device includes a display device and a working height adjuster that enables manual adjustment of the working height when the agricultural machine is in autonomous driving mode. The display device includes a working height display unit that displays the working height set by the working height setting device, the working height after adjustment by the working height adjuster, and the height position of the work implement detected by the height detector. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-31565 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, if, during automatic operation of an agricultural machine, it is possible to operate the work equipment connected to the agricultural machine using both an operating unit provided on the agricultural machine and an operating unit provided separately from the agricultural machine, the operating state of the operating unit of the agricultural machine may no longer correspond to the operating state of the operating unit of the remote control device, or may no longer correspond to the actual operating state of the work equipment, which could cause confusion as the work equipment does not operate in the way the user operates either operating unit.

[0005] SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to prevent a user from becoming confused when operating a work device. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points. The agricultural work support system according to one aspect of the present invention is a system for connecting a work implement to an agricultural machine. and change the posture of the work device. A coupling device; The aforementioned a control device that automatically controls the traveling or steering of an agricultural machine while performing agricultural work on a field using the work device; Change the posture of a first operating unit operated for The device is provided in a terminal device capable of wireless communication with the And the working device Change the posture of a second operation unit operable to operate the agricultural machine; and a first detection unit that detects whether the user is riding or not riding the agricultural machine. a second detection unit that detects an actual posture of the working device; and a third detection unit that detects an operation position of the first operation unit. Equipped with The control device When the first detection unit detects the riding state, the working device is and changing the attitude of the And the operation of the second operation unit of Disable death When the first detection unit detects the non-riding state, the working device is It is possible to change the posture of and the operation of the first operation unit of Disable When the first operating unit is operated while the first detection unit is detecting the mounted state, the control device calculates a setting value indicating the attitude of the working apparatus corresponding to the operating position of the first operating unit detected by the third detection unit, and changes the attitude of the working apparatus so that the attitude of the working apparatus indicated by the setting value corresponds to the actual attitude of the working apparatus detected by the second detection unit; when the second operating unit is operated while the first detection unit is detecting the non-mounted state, the terminal device calculates an input value indicating the attitude of the working apparatus corresponding to the operation and stores the input value in a storage unit; when the first detection unit detects a transition from the mounted state to the non-mounted state, the control device transmits the setting value indicating the attitude of the working apparatus corresponding to the operating position of the first operating unit detected by the third detection unit to the terminal device; and when the terminal device receives the setting value, changes the input value stored in the storage unit so that the attitude of the working apparatus indicated by the input value corresponds to the attitude of the working apparatus indicated by the setting value. .

[0007] The agricultural machine according to one aspect of the present invention includes a traveling vehicle body capable of traveling, and a working device connected to the traveling vehicle body. and change the posture of the work device.a coupling device; a control device that automatically controls the traveling vehicle body to travel or steer while performing agricultural work on a field using the work device; and Change your posture For , by users riding agricultural machinery a first operation unit to be operated; a communication device that wirelessly communicates with the terminal device; a first detection unit that detects whether a user is riding on the traveling vehicle body or not; a second detection unit that detects an actual posture of the working device, a third detection unit that detects an operation position of the first operation unit, and a warning unit that outputs a warning; and when the first detection unit detects the riding state, the control unit controls the working device in response to an operation of the first operation unit. Change the posture of and can be carried by the user. The aforementioned The terminal device is provided with the operation device. Change your posture Disables the operation of the second control unit that is operated for this purpose. When the first detection unit detects the non-riding state, it is possible to change the attitude of the working device in response to operation of the second operating unit, and when the operation of the first operating unit is disabled and the first detection unit detects a transition from the non-riding state to the riding state, the control device calculates a set value that indicates the attitude of the working device in accordance with the operating position of the first operating unit detected by the third detection unit, and if the attitude of the working device indicated by the set value does not correspond to the actual attitude of the working device detected by the second detection unit, outputs a warning by the warning unit and changes the attitude of the working device by the coupling device so that the attitude of the working device indicated by the set value corresponds to the actual attitude. .

[0008] before The control device, during execution of automatic operation in which the agricultural machine travels and performs the agricultural work using the work device, The first detection unit determines whether or not a user is riding on the agricultural machine. In response to the operation of either the first operating unit or the second operating unit, the attitude of the working device is changed in response to one operation, and the attitude of the working device is not changed in response to the other operation.

[0009] In one aspect of the present invention, the agricultural work support system is provided in the agricultural machine and The aforementioned A communication device for wirelessly communicating with a terminal device is provided. ,before When the first detection unit detects the non-riding state, the terminal device transmits an operation signal in response to operation of the second operation unit, the control unit receives the operation signal by the communication device, and changes the posture of the working device by the coupling device based on the operation signal, and when the first detection unit detects the riding state, the terminal device does not change the posture in response to the operation even if the second operation unit is operated. The aforementioned The operation signal is not transmitted, or the control device does not accept the operation signal.

[0010] In one aspect of the present invention, the agricultural work support system is provided in the agricultural machine and The aforementioned A communication device for wirelessly communicating with a terminal device is provided. ,beforeWhen the first detection unit detects a transition from the non-riding state to the riding state, the control device transmits an invalidation notice indicating that operation of the second operation unit is to be invalidated by the communication device, and when the terminal device receives the invalidation notice, the control device invalidates the operation of the second operation unit. invalid To do so.

[0011] In one aspect of the present invention, the agricultural work support system ,before When the first detection unit detects the non-riding state, if the second operation unit is operated, the terminal device controls the operation of the working device in response to the operation. The aforementioned posture The above indicates Calculate the input value and return the value including the input value. The aforementioned The control device transmits an operation signal. Terminal outfit Place it When the operation signal is received, the input value included in the operation signal is The attitude of the working device indicated by and the working device detected by the second detection unit. The aforementioned The posture of the working device is changed so as to correspond to the actual posture.

[0014] Another aspect of the present invention provides an agricultural work support system comprising: a coupling device that couples a working implement to an agricultural machine and changes the attitude of the working implement; a control device that performs agricultural work in a field using the working implement while automatically driving or steering the agricultural machine; a first operation unit that is provided on the agricultural machine and is operated to change the attitude of the working implement; a second operation unit that is provided on a terminal device that can wirelessly communicate with the agricultural machine and is operable to change the attitude of the working implement; a first detection unit that detects whether a user is riding or not riding the agricultural machine; a second detection unit that detects the actual attitude of the working implement; and a third detection unit that detects the operating position of the first operation unit. a warning unit that outputs a warning, the control device, when the first detection unit detects the riding state, enables the posture of the working device to be changed in accordance with operation of the first operating unit and disables operation of the second operating unit, and, when the first detection unit detects the non-riding state, enables the posture of the working device to be changed in accordance with operation of the second operating unit and disables operation of the first operating unit; When the first detection unit detects a transition from the non-riding state to the riding state, the control device controls the operation of the working device according to the operation position of the first operation unit detected by the third detection unit. The aforementioned posture Show Calculate the set value and The attitude of the working device indicated by and the working device detected by the second detection unit. The aforementioned If the actual posture does not correspond to the set value, the warning unit outputs a warning, and The attitude of the working device indicated by and the actual posture The working device The actual Change posture do .

[0015] According to yet another aspect of the present invention, there is provided an agricultural work support system comprising: a coupling device that couples a working implement to an agricultural machine and changes the attitude of the working implement; a control device that performs agricultural work in a field using the working implement while automatically traveling or steering the agricultural machine; a first operation unit that is provided on the agricultural machine and is operated to change the attitude of the working implement; a second operation unit that is provided on a terminal device that can wirelessly communicate with the agricultural machine and is operable to change the attitude of the working implement; a first detection unit that detects whether a user is riding on the agricultural machine or not; a second detection unit that detects the actual attitude of the working implement; and a third detection unit that detects the operating position of the first operation unit; wherein, when the first detection unit detects the riding state, the control device enables the attitude of the working implement to be changed in accordance with the operation of the first operation unit and disables the operation of the second operation unit; and when the first detection unit detects the not-riding state, the control device enables the attitude of the working implement to be changed in accordance with the operation of the second operation unit and disables the operation of the first operation unit. When the first detection unit detects a transition from the non-riding state to the riding state, the control device detects a transition of the first operation unit detected by the third detection unit. The aforementionedThe attitude of the working device according to the operating position Show Calculate the set value, and The attitude of the working device indicated by and the actual posture of the working implement detected by the second detection unit do not correspond to each other, the agricultural machine The agricultural work is performed by the working device while the vehicle is traveling. Do not perform automatic driving.

[0016] In one aspect of the present invention, the control device is configured to The aforementioned Actual posture Attitude signal indicating The above Terminal Device Send to The terminal device transmits the The aforementioned Actual posture The attitude signal indicating and receiving the actual posture of the working device according to the operation of the second operating unit. The aforementioned Posture The aforementioned It has a display unit that displays the input value.

[0017] In one aspect of the present invention, the connecting device raises and lowers the working device, The aforementioned The first operating unit is configured to change the height of the working device. The aforementioned In order to change the lifting height, the lifting height is changed by the user who is riding on the agricultural machine. The aforementioned The second operating unit is configured with an operating member that maintains an operating position, and is carried by a user. The aforementioned The terminal device is provided with The aforementioned It consists of an operation key that is operated to change the lift height.

[0018] In one aspect of the present invention ,before the control device controls the working device in response to one of the operation of the first operation unit and the operation of the second operation unit in accordance with the detection result of the first detection unit during execution of automatic driving in which the working device performs the agricultural work while the traveling vehicle body is traveling. The aforementioned The posture of the working device is changed in response to the operation of the other device. The aforementioned Don't change your posture.

[0019] In addition, in one aspect of the present invention, ,beforeWhen the control device receives an operation signal transmitted from the terminal device in response to operation of the second operation unit through the communication device while the first detection unit detects the non-riding state, the control device changes the attitude of the working device using the coupling device so that an input value of the attitude of the working device in response to operation of the second operation unit, which is included in the operation signal, corresponds to the actual attitude of the working device detected by the second detection unit.

[0021] The agricultural machine may include a third detection unit that detects the operating position of the first operating unit and a warning unit that outputs a warning, and when the first detection unit detects a transition from the non-riding state to the riding state, the control device may calculate a set value for the attitude of the work device that corresponds to the operating position of the first operating unit detected by the third detection unit, and if the set value does not correspond to the actual attitude of the work device detected by the second detection unit, the control device may output a warning by the warning unit and change the attitude of the work device by the coupling device so that the set value corresponds to the actual lifting height. [Effects of the Invention]

[0022] According to the present invention, it is possible to prevent a user from becoming confused when changing the lifting height of a work device. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a configuration diagram of an agricultural work support system. [Figure 2] FIG. [Figure 3] FIG. 2 is a diagram showing an example of a travel route. [Figure 4] FIG. 10 is a diagram showing an example of a driving control screen. [Figure 5A] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 5B] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 5C] FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 5D]FIG. 1 is a diagram for explaining automatic driving of an agricultural machine. [Figure 6A] FIG. 10 is a diagram showing an example of a lift height operation screen. [Figure 6B] FIG. 10 is a diagram showing an example of a lift height operation screen. [Figure 6C] FIG. 10 is a diagram showing an example of a lift height operation screen. [Figure 6D] FIG. 10 is a diagram showing an example of a lift height operation screen. [Figure 7A] 4 is a flowchart showing an example of an operation of the agricultural machine. [Figure 7B] 7B is a flowchart showing a continuation of FIG. 7A. [Figure 8A] 10 is a flowchart illustrating an example of an operation of the terminal device. [Figure 8B] 8B is a flowchart illustrating a continuation of FIG. 8A. [Figure 8C] 8C is a flowchart showing a continuation of FIG. 8B. [Figure 9] 10 is a time chart showing an example of changes in the state of automatic driving, riding, and lifting / lowering of the working implement of the agricultural machine. [Figure 10A] FIG. 10 is a diagram showing an example of the lifting height of a tiller connected to an agricultural machine. [Figure 10B] FIG. 10 is a diagram showing an example of the lifting height of a tiller connected to an agricultural machine. [Figure 11] FIG. 1 is a side view of an agricultural machine. DETAILED DESCRIPTION OF THE INVENTION

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

[0025] First, the agricultural machine 1 of this embodiment will be described. Fig. 11 is a side view of an example of the agricultural machine 1. In this example, the agricultural machine 1 is configured as a tractor. Note that the agricultural machine 1 is not limited to a tractor, and may be configured as other agricultural machines such as a rice transplanter or a combine harvester, or a work vehicle other than a tractor that performs agricultural work.

[0026] The agricultural machine 1 includes a traveling body 3, a prime mover 4, a transmission 5, and a traveling device 7. The front wheels 7F of the traveling device 7 may be tire-type or crawler-type. The rear wheels 7R of the traveling device 7 may also be tire-type or crawler-type. The prime mover 4 is configured with a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is configured with a diesel engine. The transmission 5 is capable of switching the propulsion force of the traveling device 7 by changing gears, and can also switch the traveling device 7 between forward and reverse. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, causing the traveling body 3 to travel forward and backward. In FIG. 11 , the left side is the front of the traveling body 3, and the right side is the rear of the traveling body 3. Furthermore, as you face FIG. 11 , the back side is the right side of the traveling body 3, and the front side is the left side of the traveling body 3.

[0027] A cabin 9 is provided on the traveling body 3. A driver's seat 10 is provided inside the cabin 9. A coupling device 8 constituted by a three-point linkage or the like is provided at the rear of the traveling body 3. The coupling device 8 couples a working implement 2 for performing agricultural work to the traveling body 3 of the agricultural machine 1. More specifically, by coupling the working implement 2 to coupling parts 8g, 8h provided on the coupling device 8, the working implement 2 and the traveling body 3 are coupled together, making it possible for the agricultural machine 1 to tow the working implement 2.

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

[0029] Next, the agricultural work support system 100 of this embodiment will be described. Fig. 1 is a configuration diagram of the agricultural work support system 100. The agricultural work support system 100 includes an agricultural machine 1, a work implement 2, and a portable terminal device 50 (hereinafter simply referred to as "portable terminal 50"). The agricultural work support system 100 and the portable terminal 50 support agricultural work performed by the work implement 2 while the agricultural machine 1 is traveling in a field.

[0030] The agricultural machine 1 is equipped with a control device 60, an operating device 62, a prime mover 4, a transmission 5, a braking device 6, a steering device 29, a coupling device 8, a positioning device 40, an alarm device 63, a detection device 64, and a communication device 66. The agricultural machine 1 also has an in-vehicle network N1 such as a LAN or CAN. The control device 60, the operating device 62, the positioning device 40, the alarm device 63, the detection device 64, and the communication device 66 are connected to the in-vehicle network N1. These components of the agricultural machine 1 are included in the farm work support system 100. The communication device 66 is composed of a communication circuit that communicates wirelessly with the mobile terminal 50.

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

[0032] The operating device 62 includes a mode switch 62a and a lifting / lowering operation lever 62b. The mode switch 62a is an operating member for switching the mode of the agricultural machine 1. The lifting / lowering operation lever 62b is an operating member operated by the user to change the lifting height as the attitude of the working implement 2, and maintains an operating position corresponding to the operation. The lifting / lowering operation lever 62b is an example of a first operating part of the present invention.

[0033] The modes of the agricultural machine 1 that can be selected by the mode switch 62a include an automatic driving work mode and an automatic steering work mode. The automatic driving work mode is a mode in which the traveling body 3 of the agricultural machine 1 is driven automatically while agricultural work (ground work) is performed by the working device 2. Automatic driving of the agricultural machine 1 means automatically changing the traveling speed of the traveling body 3 and automatically steering the traveling body 3. The automatic steering work mode is a mode in which agricultural work (ground work) is performed by the working device 2 while automatically steering the traveling body 3. When the agricultural machine 1 is in the automatic steering work mode, the driver of the agricultural machine 1 operates an accelerator member or a brake member included in the operation device 62, and the traveling speed of the traveling body 3 is changed in accordance with that operation. In other words, in the automatic steering work mode, the traveling speed of the traveling body 3 is changed based on manual operation.

[0034] The agricultural machine 1 can also be driven manually, and while driving, ground work can be performed using the work implement 2. Manual driving of the agricultural machine 1 means that the driver operates the accelerator member or brake member of the operation device 62 to change the traveling speed of the traveling body 3, and operates the steering wheel 30 to steer the traveling body 3.

[0035] The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 is connected to a control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, an appropriate number of control valves 37 are provided according to the number of hydraulic devices, such as hydraulic clutches or hydraulic cylinders, provided in the transmission 5.

[0036] The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal transmitted from a control device 60. The control valve 38 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening degree of the control valve 38, thereby operating the braking device 6 and applying the brakes to the traveling vehicle body 3.

[0037] The control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the drive of the transmission 5. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the traveling vehicle body 3 to travel forward and backward. Furthermore, for example, when the working device 2 performs ground work, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

[0038] The control device 60 also communicates with the work apparatus 2 via the in-vehicle network N1. Specifically, the work apparatus 2 is equipped with a control unit and a communication unit (not shown). The control device 60 transmits a work command to the work apparatus 2 via the in-vehicle network N1. When the control unit of the work apparatus 2 receives the work command via the communication unit, it controls the operation of each unit of the work apparatus 2 based on the work command to perform agricultural work (ground work). The control unit of the work apparatus 2 also transmits information or data indicating the work status, etc. to the control device 60 via the in-vehicle network N1 using the communication unit. The control device 60 detects the work status, etc. of the work apparatus 2 based on the information or data received from the work apparatus 2 via the in-vehicle network N1.

[0039] Note that there are also working apparatuses 2 that do not have a control unit or a communication unit. When this type of working apparatus 2 is used, the control device 60 does not communicate with the working apparatus 2 via the in-vehicle network N1, but as will be described later, the control device 60 controls the operation of the working apparatus 2 by raising and lowering the working apparatus 2 using the coupling device 8 to change the position of the working apparatus 2, and detects the working state of the working apparatus 2, etc.

[0040] The steering device 29 has a handle (steering wheel) 30, a steering shaft (rotating shaft) 31, and an assist mechanism (power steering mechanism) 32. The handle 30 is provided inside the cabin 9 (FIG. 19). The steering shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists steering by the handle 30.

[0041] The assist mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal sent from the control device 60. More specifically, the control valve 34 is configured as a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening of the control valve 34 to adjust the hydraulic pressure supplied to the steering cylinder 35, thereby extending and retracting the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm 39 that changes the direction of the front wheels 7F.

[0042] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates in accordance with the operating state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 extends and contracts to the left or right of the traveling vehicle body 3 in accordance with the switching position and opening degree of the control valve 34. This extension and contraction movement of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0043] The traveling body 3 of the agricultural machine 1 can be manually steered by manually operating the steering wheel 30, or automatically steered by the control device 60. Furthermore, the traveling body 3 can travel and stop by operating the transmission 5 or the brake device 6 in response to manual operation of an accelerator member or a brake pedal (both not shown) provided on the operation device 62. Furthermore, the traveling body 3 can travel and stop automatically in response to control of the transmission 5 and the brake device 6 by the control device 60. That is, the agricultural machine 1 is capable of manual driving in which the user (driver) performs driving and steering operations, automatic driving in which the control device 60 automatically performs driving and steering, and auto-steer control (also called automatic steering control or semi-automatic driving) in which the control device 60 automatically performs steering and the user performs driving operations.

[0044] FIG. 2 is a perspective view of the coupling device 8. The coupling device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts up and down) when driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a control valve 36 (FIG. 1). The control valve 36 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0045] The front end of lower link 8b shown in Figure 2 is supported on the rear lower part of transmission 5 (Figures 1 and 11) so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a and lower link 8b. Connecting portions 8g and 8h to which working implement 2 can be connected are provided at the rear ends of lower link 8b and top link 8c.

[0046] The control valve 36 shown in FIG. 1 includes a control valve 36a and a control valve 36b shown in FIG. 2. The control device 60 (FIG. 1) electrically controls the switching position or opening of the control valve 36a to adjust the hydraulic pressure supplied to the lift cylinder 8e, thereby extending or retracting the lift cylinder 8e. The extension and retraction of the lift cylinder 8e raises and lowers the lift arm 8a, and also raises and lowers the lower link 8b connected to the lift arm 8a via the lift rod 8d. As a result, the working device 2 swings (lifts and lowers) upward or downward, with the front part of the lower link 8b (the side opposite the connecting parts 8g and 8h) as a fulcrum.

[0047] 10A and 10B, when the work implement 2 connected to the agricultural machine 1 comprises a tiller 2A, the control device 60 lowers the tiller 2A using the coupling device 8 to position the tiller 2A at a working position P1 where the tines 2g of the tiller 2A can come into contact with the soil K2 of the field and perform tilling work, as shown in FIG. 10B. The control device 60 also deepens the tillage depth of the field by further lowering the tiller 2A using the coupling device 8 or by having the tiller 2A dig the tines 2g deeper into the soil K2. The control device 60 also shallows the tillage depth of the field by raising the tiller 2A or the tines 2g using the coupling device 8 or the tiller 2A. 10A, the control device 60 raises the tiller 2A using the connecting device 8 to move the tiller tines 2g away from the soil K2 of the field and position it at a non-working position P2 where tilling work cannot be performed. In other words, the control device 60 changes the lift height of the working device 2 using the connecting device 8 or the working device 2.

[0048] Even with work implements 2 other than the tilling implement 2A, the control device 60 changes the lifting height of the work implement 2 using the coupling device 8 or the work implement 2 depending on the type of agricultural work being performed. In other words, the work implements 2 whose lifting height can be changed using the coupling device 8 are not limited to the tilling implement 2A, but include various other work implements such as puddling implements, rough tilling implements, and spraying implements.

[0049] As shown in FIG. 2, the coupling device 8 is provided with an angle changer 8T. The angle changer 8T changes the attitude of the working implement 2 attached to the traveling body 3. The angle changer 8T has a change cylinder 8s made up of a hydraulic cylinder and a control valve 36b. The change cylinder 8s is connected to a hydraulic pump via the control valve 36b. The control valve 36b is an electromagnetic valve or the like, and extends and retracts the change cylinder 8s. The change cylinder 8s connects the lift arm 8a on the right side of the traveling body 3 to the lower link 8b.

[0050] The control device 60 (FIG. 1) electrically controls the switching position or opening of the control valve 36b to adjust the hydraulic pressure supplied to the change cylinder 8s, causing the change cylinder 8s to extend or retract, varying the angles of the left and right lower links 8b and changing the widthwise angle of the working device 2 (the angle of the line connecting the lower links 8b, 8b relative to the horizontal plane). That is, the control device 60 varies the widthwise (left-right) angle of the working device 2 (the angle of the line connecting the lower links 8b, 8b relative to the horizontal plane, the so-called Monroe angle) using the angle change unit 8T. For example, the control device 60 changes the widthwise angle of the working device 2 to be horizontal, parallel to the ground, or at a predetermined inclination using the angle change unit 8T.

[0051] The operating device 62 includes an operating member (such as a switch or dial) (not shown) that is operated to change the widthwise angle of the working implement 2 by the angle changer 8T. The operating device 62 may also include an operating member (such as a switch or dial) that adjusts the tillage depth (the amount of penetration of the tillage tines 2g into the soil K2) of the working implement 2 (tillage implement 2A) in addition to the lifting / lowering operation lever 62b. As described above, the connecting device 8 varies the attitude of the working implement 2 (such as the lifting height, Monroe angle, or tillage depth).

[0052] The control device 60 controls the prime mover 4, the transmission 5, the braking device 6, the traveling device 7, the steering device 29, and the coupling device 8 to automatically travel or steer the agricultural machine 1 while performing agricultural work in the field with the working device 2. In more detail, the control device 60 performs automatic operation in which the agricultural machine 1 travels automatically while performing agricultural work with the working device 2. The control device 60 also performs automatic steering (auto-steer) in which the agricultural machine 1 is steered automatically, while leaving changes in the traveling speed of the agricultural machine 1 to manual operation, and the working device 2 performs agricultural work in the field.

[0053] The positioning device 40 shown in FIG. 1 includes a receiving device and an inertial measurement unit (IMU), both of which are not shown. The receiving device receives satellite signals (such as the position of the positioning satellite, the transmission time, and correction information) transmitted from a satellite positioning system (positioning satellite), such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. The positioning device 40 detects the current position (e.g., latitude and longitude) based on the satellite signals received by the receiving device. In other words, the positioning device 40 is a position detection unit that detects the position of the traveling body 3 of the agricultural machine 1. The inertial measurement unit includes an acceleration sensor and a gyro sensor, among other things. The inertial measurement unit detects the roll angle, pitch angle, yaw angle, and other aspects of the traveling body 3. The alarm device 63 is configured with a buzzer, speaker, warning light, or the like provided on the traveling body 3. The alarm device 63 outputs alarms and warnings to those around the traveling body 3 using sound or light.

[0054] The detection device 64 includes a seat switch 64a, a lifting height detector 64b, and a lifting operation detector 64c. The seat switch 64a is built into the seating portion of the driver's seat 10. When a user (such as a driver) is seated in the seating portion of the driver's seat 10, the seat switch 64a is turned on, and an ON signal is output from the seat switch 64a to the control device 60. When the user is not seated in the seating portion of the driver's seat 10, the seat switch 64a is turned off, and an OFF signal is output from the seat switch 64a to the control device 60. When an ON signal is input from the seat switch 64a, the control device 60 determines that the user is riding in the agricultural machine 1 (riding state). When an OFF signal is input from the seat switch 64a, the control device 60 determines that the user is not riding in the agricultural machine 1 (not riding state). The seat switch 64a is an example of a first detection unit of the present invention.

[0055] It should be noted that the first detection unit of the present invention is not limited to the seat switch 64a. As another example, the control device 60 may detect whether the user is riding in the agricultural machine 1 or not riding in the agricultural machine 1 from an image captured by a camera that captures the inside of the cabin 9. Furthermore, other sensors such as an optical sensor, an infrared sensor, a biosensor (such as a pulse sensor), or a piezoelectric element may be provided inside the cabin 9, and the control device 60 may detect whether the user is riding in the agricultural machine 1 or not riding in the agricultural machine 1 based on an output signal from the sensor.

[0056] The lifting height detector 64b includes a sensor such as a potentiometer that detects the swing angle of the lower link 8b shown in Fig. 2. The lifting height detector 64b calculates the actual lifting height of the working implement 2 from the swing angle of the lower link 8b detected by the sensor. The lifting height detector 64b is an example of a second detection unit of the present invention.

[0057] The second detection unit of the present invention is not limited to the lift height detector 64b. As another example, a second detection unit may be used that calculates the swing angle of the lower link 8b based on an output signal from another sensor such as a rotation sensor or an optical sensor, or a control signal or opening of the control valve 36 (FIG. 2), and then calculates the actual lift height of the working device 2 from the swing angle.

[0058] The lifting operation detector 64c includes a sensor such as a potentiometer that detects the swing angle of the swingable lifting operation lever 62b. The lifting operation detector 64c calculates the operation position of the lifting operation lever 62b from the swing angle of the lifting operation lever 62b detected by the sensor. The lifting operation detector 64c is an example of a third detection unit of the present invention.

[0059] The third detection device of the present invention is not limited to the lifting / lowering operation detector 64c. As another example, a third detection unit that calculates the swing angle and operation position of the lifting / lowering operation lever 62b based on an output signal from another sensor such as a rotation sensor or an optical sensor may be used. The control device 60 controls the coupling device 8 (or the working device 2) in accordance with the operation (operation position) of the lifting / lowering operation lever 62b to change the lifting height of the working device 2.

[0060] In addition to the above, the detection device 64 also includes sensors and cameras installed in various parts of the agricultural machine 1 and the working implement 2, as well as electrical circuits for processing output signals from the sensors or cameras. Based on output signals from these sensors, the detection device 64 detects the operating states (drive and stop states, operating positions, etc.) of various parts of the agricultural machine 1, such as the transmission 5, braking device 6, traveling device 7, coupling device 8, steering device 29, and operation device 62. Based on output signals from the sensors, the detection device 64 also detects the operating state of the working implement 2. The detection device 64 also includes object detection sensors such as LiDAR or ultrasonic sensors. The object detection sensors are installed at the front, rear, and left and right sides of the traveling body 3. The object detection sensors detect the presence or absence of objects around the agricultural machine 1, the distance to the objects, etc.

[0061] The mobile terminal 50 is configured from, for example, a tablet terminal device or a smartphone. The mobile terminal 50 is carried by the user and moved to the outside of the agricultural machine 1, or installed at a predetermined position inside the cabin 9 of the agricultural machine 1. In other words, the mobile terminal 50 can be operated outside the agricultural machine 1, and can also be operated inside the agricultural machine 1. Note that the outside of the agricultural machine 1 is not limited to the outside of the cabin 9, but means a position, device, or equipment other than the agricultural machine 1, and the position, device, or equipment other than the agricultural machine 1 may be close to or far from the agricultural machine 1.

[0062] The mobile terminal 50 is equipped with a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 is composed of a CPU (or a microcomputer), a volatile memory, and a non-volatile memory. The control unit 51 controls each unit of the mobile terminal 50. The control unit 51 is provided with an area setting unit 51b and a route creation unit 51c. In this example, the area setting unit 51b and the route creation unit 51c are composed of software programs, but as another example, they may be composed of hardware such as semiconductor elements such as ASICs or electrical circuits.

[0063] The display operation unit 52 is composed of a touch panel and displays various types of information on the screen. Various inputs can be made by performing predetermined operations on the display screen of the display operation unit 52. The display operation unit 52 is composed of a display unit, an operation unit, and an input unit. Instead of the display operation unit 52, an independent display unit and operation unit (input unit) may be provided in the mobile terminal 50. Information indicating a predetermined warning is output by being displayed on the display operation unit 52. Alternatively, a sound, voice, or light indicating a predetermined warning may be output from the alarm device 63. The display operation unit 52 and the alarm device 63 are examples of the warning unit of the present invention.

[0064] The memory unit 53 is composed of a non-volatile memory or the like. Information or data that supports the traveling of the agricultural machine 1 and agricultural work performed by the work implement 2 is stored in a readable and writable manner in the memory unit 53. The communication unit 54 is composed of an electric circuit or semiconductor element for communicating with the communication device 66 or the control device 60. In more detail, when the mobile terminal 50 is located outside the agricultural machine 1, the communication unit 54 and the communication device 66 communicate with each other wirelessly. Furthermore, when the mobile terminal 50 is installed inside the cabin 9 of the agricultural machine 1 (inside the agricultural machine 1) and electrically connected to the in-vehicle network N1 by a cable or the like, the communication unit 54 and the control device 60 can also communicate with each other via a wired connection.

[0065] After starting up the mobile terminal 50, the user performs a predetermined operation on the screen displayed on the display operation unit 52, thereby inputting information about the field, the agricultural machine 1, or the work device 2, work conditions for performing agricultural work in the field using the agricultural machine 1 and the work device 2, information for automatic operation of the agricultural machine 1, and the like into the mobile terminal 50. After that, when the user performs a predetermined operation on the display operation unit 52 and confirms the input contents, the area setting unit 51b sets a predetermined area on a map showing the field. In addition, the route creation unit 51c creates a travel route for the agricultural machine 1 to travel on the map.

[0066] FIG. 3 is a diagram showing an example of a travel route L1 created by the route creation unit 51c. The area setting unit 51b (FIG. 1) sets a central area C1 and a headland area E1 in the field map MP2 as shown in FIG. 3 based on, for example, position information of the field, dimensional information of the work implement 2, and working conditions. More specifically, for example, the area setting unit 51b calculates contours Hc, Hb, and Ha formed by offsetting the field contour H1 inward the same number of times as the number of headlands, using a width obtained by subtracting the headland overlap from the working width of the work implement 2. The area setting unit 51b then sets the area (central portion) surrounded by the innermost contour Ha as the central area C1. The area setting unit 51b also sets a frame-shaped area (outer frame portion) outside the central area C1 and inside the field contour H1 as the headland area E1. In addition, the area setting unit 51b sets the areas between adjacent contours Hc, Hb, Ha of the field contour H1 and the contours Hc, Hb, Ha offset from the contour H1 in the headland area E1 as headlands E2c, E2b, E2c.

[0067] The route creation unit 51c (FIG. 1) creates a travel route L1 on the field map MP2 based on information about the field's location, the areas C1 and E1, dimensional information about the agricultural machine 1 and the work implement 2, work conditions, automatic driving information, and the like. Specifically, the route creation unit 51c creates multiple unit work sections within the central area C1 by dividing the central area C1 from one end (the right end in FIG. 3) of the central area C1 parallel to the work direction (the up-down direction in FIG. 3) by a width calculated by subtracting the overlapping space at the center, which is included in the work conditions, from the work width of the work implement 2. Then, a straight route L1a along which the traveling vehicle body 3 travels straight is created on the center line of each unit work section in the width direction (the left-right direction in FIG. 3). Next, the route creation unit 51c creates a turning route L1b in the headland area E1 that connects adjacent straight routes L1a. The turning route L1b is a route that travels from one of the two adjacent straight routes L1a to the other. When creating the turning route L1b, the route creation unit 51c ensures a turning space in which the agricultural machine 1 and the work implement 2 can turn in the headland area E1.

[0068] 3 shows a simple semicircular turning route L1b as an example, but this shape is for convenience, such as making it easier to display on the display screen of the display operation unit 52 and making the traveling route L1 easier to view on the display screen. In reality, when the traveling body 3 and working implement 2 of the agricultural machine 1 travel based on one straight route L1a and then turn toward the other straight route L1a, the traveling body 3 and the like may not only move forward but also move backward or turn around, drawing a trajectory with a shape more complex than a semicircle. In other words, the turning route L1b is a route for display on the display operation unit 52, and the agricultural machine 1 may not always turn based on the turning route L1b.

[0069] The control device 60 (FIG. 1) of the agricultural machine 1, while the traveling body 3 is traveling based on the straight route L1a, uses the coupling device 8 (FIG. 2) to lower the working implement 2 to a working position P1, and performs ground work with the working implement 2. Furthermore, when turning the traveling body 3 at a location corresponding to the turning route L1b, that is, when turning the traveling body 3 from one straight route L1a to the other straight route L1a, the control device 60 uses the coupling device 8 to raise the working implement 2 to a non-working position P2, and stops ground work with the working implement 2. In other words, the straight route L1a is a work route along which ground work is performed with the working implement 2 while the traveling body 3 of the agricultural machine 1 is traveling in an automatic driving mode. Furthermore, the central area C1, for which a plurality of straight routes L1a have been created, is a work area where ground work is performed with the working implement 2 while the traveling body 3 is traveling back and forth in an automatic driving mode.

[0070] Furthermore, for example, if the input working conditions indicate that work will be performed in the central area C1 and the innermost headland E2a, the route creation unit 51c creates a circular route L1c in the headland area E1 that circles the outside of the central area C1, in addition to the straight route L1a and the turning route L1b. The circular route L1c is a work route on which ground work is performed by the work implement 2 while the traveling body 3 of the agricultural machine 1 is traveling in automatic driving mode. The circular route L1c includes a plurality of substantially straight straight routes L1s and turning routes L1r that curve at a predetermined radius of curvature or greater. A plurality of straight routes L1s are created on the center line in the width direction of the headland E2a so as to correspond to each straight portion of the contour H2a of the central area C1.

[0071] The turning route L1r is a route that runs from one straight route L1s to another straight route L1s that is adjacent to the one straight route L1s in the extension direction of the one straight route L1s. One straight route L1s and the other straight route L1s extend in different directions, but the end of one straight route L1s and the start of the other straight route L1s are connected by the turning route L1r. When creating the turning route L1r, the route creation unit 51c also ensures a turning space in the headland area E1 for turning the traveling body 3 and the work implement 2 of the agricultural machine 1.

[0072] For convenience, a simple arc-shaped turning route L1b is shown in Fig. 3. However, when the agricultural machine 1 or the like actually turns from one straight route L1s to the other straight route L1s, it may not only move forward but also move backward or turn around, tracing a trajectory with a shape more complex than an arc. In other words, the turning route L1r is a route for display on the display operation unit 52, and the agricultural machine 1 may not always turn based on the turning route L1r.

[0073] After creating the circuit route L1c, the route creation unit 51c sets a start position Ps at one end of the straight route L1a at either end (the left and right ends in FIG. 3) of the central area C1, which is not connected to the turning route L1b, and connects the circuit route L1c to the other end of the straight route L1a (the lower end of the straight route L1a at the left end in FIG. 8B). The route creation unit 51c also sets a goal position Pg at the end of the circuit route L1c that is not connected to the straight route L1a. The route creation unit 51c then stores information indicating the areas C1 and E1, the traveling route L1, the start position Ps, the goal position Pg, and the turning space in an internal memory as route information.

[0074] When the route creation unit 51c has completed creation of the travel route L1, the control unit 51 causes the display operation unit 52 to display route information such as the field map MP2, areas C1 and E1, the travel route L1, the start position Ps, and the goal position Pg. Thereafter, when the user performs a predetermined operation on the display operation unit 52, the control unit 51 causes the display operation unit 52 to display a travel control screen D8 shown in Fig. 4. The control unit 51 also generates automatic travel data based on the setting information stored in the internal memory, and transmits (outputs) the automatic travel data to the control device 60 of the agricultural machine 1 via the communication unit 54.

[0075] The automated driving data includes route information, setting information for the agricultural machine 1, setting information for the work implement 2, and automated driving information. Of these, the information on the driving route L1 included in the route information includes information indicating the positions of the work routes L1a and L1s, but does not necessarily include information indicating the positions of the turning routes L1b and L1r. Furthermore, the setting information for the agricultural machine 1 and the work implement 2 includes dimensional information for the agricultural machine 1 and the work implement 2, the type of agricultural work to be performed, and the like.

[0076] The travel control screen D8 shown in FIG. 4 displays the travel status of the agricultural machine 1 and the work status of the work implement 2 in the autonomous travel operation mode. In FIG. 4, the travel control screen D8 displays the travel status and work status of the agricultural machine 1 some time after the autonomous travel operation mode is initiated. The travel control screen D8 displays a field map MP2, a travel route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, the travel status of the agricultural machine 1, a setting change key B20, a status display key B21, a work trajectory key B15, and a trajectory clear key B16. The control unit 51 periodically acquires the actual position of the traveling body 3 detected by the positioning device 40 via the communication unit 54, and displays the agricultural machine mark X2 at the corresponding location on the field map MP2 corresponding to the position of the traveling body 3. In other words, the agricultural machine mark X2 on the travel control screen D8 indicates the actual position of the traveling body 3 of the agricultural machine 1.

[0077] For example, while viewing the travel control screen D8, the user manually drives the agricultural machine 1 to the start position Ps, and then performs a predetermined operation on the mode switch 62a (FIG. 1) to switch to the automatic travel work mode. As a result, the control device 60 switches to the automatic travel work mode, starts automatic driving of the agricultural machine 1 based on the automatic travel data received from the mobile terminal 50 and the position of the traveling body 3 detected by the positioning device 40, and performs ground work with the work device 2 while the traveling body 3 travels in automatic driving mode.

[0078] In more detail, the control device 60 first reads the route information included in the automatic traveling data and ascertains the areas C1, E1, traveling route L1 (work routes L1a, L1s), start position Ps, and goal position Pg. Then, the control device 60 performs ground work with the work implement 2 while automatically driving the traveling body 3 based on the straight route L1a of the traveling route L1 from the start position Ps. When the traveling body 3 (agricultural machine 1) reaches the end of one straight route L1a, the control device 60 temporarily stops the ground work with the work implement 2, raises the work implement 2, and turns the traveling body 3 toward the start of the other adjacent straight route L1a. That is, the control device 60 turns the agricultural machine 1 and the work implement 2 at a point corresponding to the turning route L1b. At this time, the control device 60 turns the agricultural machine 1 and the work implement 2 based on the position information of the areas C1 and E1, the position information of the straight route L1a, the dimensional information of the agricultural machine 1 and the work implement 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection results of the detection device 64.

[0079] Then, when the traveling body 3 reaches the start of the other straight route L1a, the control device 60 lowers the work implement 2, and when the traveling body 3 starts to travel in automatic driving based on the other straight route L1a, the control device 60 resumes ground work by the work implement 2. As a result, the traveling body 3 travels in an automatic driving manner back and forth in the central area C1, and the work implement 2 performs ground work in the central area C1.

[0080] Thereafter, the control device 60 performs ground work with the working device 2 while causing the traveling vehicle body 3 to travel in automatic driving mode based on the circular route L1c and the position of the traveling vehicle body 3. At this time, the control device 60 performs ground work with the working device 2 while causing the traveling vehicle body 3 to travel in automatic driving mode based on the straight route L1s, and when turning the traveling vehicle body 3 at a location corresponding to the turning route L1r, the control device 60 raises the working device 2 and stops the ground work by the working device 2. During this turning, the control device 60 turns the agricultural machine 1 and the working device 2 based on position information of the areas C1 and E1, position information of the straight route L1s, dimensional information of the agricultural machine 1 and the working device 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection results of the detection device 64, etc. As a result, the traveling vehicle body 3 travels in automatic driving mode around the outside of the central area C1, and the working device 2 performs ground work on the headland E2a ( FIG. 3 ) surrounding the central area C1.

[0081] 5A to 5D are diagrams for explaining automatic steering of the agricultural machine 1. In the automatic traveling work mode, the control device 60 calculates the deviation between the position of the traveling body 3 detected by the positioning device 40 and the traveling route L1 (work routes L1a, L1s) while automatically traveling the traveling body 3. If the deviation is less than a threshold (for example, FIG. 5A), the control device 60 maintains the rotation angle of the steering shaft 31 (FIG. 1). If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than the threshold and the traveling body 3 is located on the left side of the traveling route L1 (for example, FIG. 5B), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling body 3 is rightward. If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than the threshold and the traveling body 3 is located on the right side of the traveling route L1 (for example, FIG. 5C), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling body 3 is leftward. The above is an example of the automatic steering method for the agricultural machine 1, and the automatic steering method for the agricultural machine 1 is not limited to the above method.

[0082] Furthermore, when the traveling vehicle body 3 is automatically traveling based on the traveling route L1, the control device 60 calculates the actual vehicle speed of the traveling vehicle body 3 based on changes in the position of the traveling vehicle body 3. Then, the control device 60 controls the driving of the transmission 5, the braking device 6, and the prime mover 4 so that the actual vehicle speed matches (or approximately matches) the vehicle speed associated with the straight route L1a, the turning route L1b, or the circular route L1c.

[0083] As described above, in the automatic traveling work mode of the agricultural machine 1, the control device 60 automatically steers the traveling body 3 while automatically changing the traveling speed of the traveling body 3 based on the traveling route L1 and the position of the traveling body 3 (agricultural machine 1). The control device 60 also automatically starts and stops agricultural work (ground work) by the work device 2. During automatic operation of the agricultural machine 1, the control device 60 controls the coupling device 8 or the work device 2 based on the traveling route L1 to automatically change the lifting height of the work device 2. Furthermore, during automatic operation of the agricultural machine 1, when the user performs a predetermined operation using the display operation unit 52, the control device 60 controls the coupling device 8 or the work device 2 in accordance with the operation to change the lifting height of the work device 2.

[0084] More specifically, during automatic operation of the agricultural machine 1, the user selects the setting change key B20 on the travel control screen D8 shown in Fig. 4 and then performs a predetermined operation on the display operation unit 52, whereby a lift / lowering operation screen D14 such as that shown in Fig. 6A is displayed on the display operation unit 52. The lift / lowering operation screen D14 is a screen for operating the lift height of the work implement 2. As with the travel control screen D8 (Fig. 4), the left portion of the lift / lowering operation screen D14 displays the field map MP2, travel route L1, and the like, and the right portion of the lift / lowering operation screen D14 displays a schematic diagram 80 indicating the lift height of the work implement 2, a meter 81, a cursor 82, lift / lowering operation keys B28, B29, and a back key B8.

[0085] Schematic diagram 80 is a diagram showing the lift height of the working implement 2. In this example, the lift height of the working implement 2 is shown as a percentage (%). That is, the lower limit of the lift height of the working implement 2 that can be changed using the coupling device 8 or the like (FIG. 2) is 0%, and the upper limit of this lift height is 100%, and the lift height of the working implement 2 can be changed between 0 and 100%. Schematic diagram 80 also shows that the height of the lower ends of the rear wheels 7R of the agricultural machine 1 is considered to be the ground (the soil surface of the field), and this height corresponds to 40%. For example, if the working implement 2 is a tiller 2A (FIG. 10B), when the lift height of the tiller 2A is less than 40%, the tiller tines 2g will penetrate into the soil K2, allowing tilling work to be performed on the soil K2.

[0086] Meter 81 (FIG. 6A) indicates the changeable range (0 to 100%) of the lifting height of working implement 2. Meter 81 also indicates the actual lifting height of working implement 2 (hatched portion) and the height above the ground (horizontal line indicated by dashed dotted line; 40%). Control unit 51 acquires the actual lifting height of working implement 2 detected by lifting height detector 64b (FIG. 1) via communication unit 54 and communication device 66 of agricultural machine 1, stores the actual lifting height in memory unit 53, and displays it on meter 81.

[0087] The lifting / lowering operation keys B28 and B29 are operation keys that are operated to lift and lower the working device 2 and change the lift height of the working device 2. When the user operates the lifting operation key B28 (by performing a temporary tap operation or a touch operation for a predetermined period of time or longer), the control unit 51 moves the cursor 82 upward within the range (0 to 100%) of the meter 81 in response to the operation of the lifting operation key B28, as shown in FIG. 6B, and calculates the position on the meter 81 indicated by the cursor 82 as an input value for the lift height of the working device 2.

[0088] Furthermore, when the user operates the lowering operation key B29 (a temporary tap operation or a touch operation for a predetermined period of time or longer), the control unit 51 moves the cursor 82 downward within the range (0 to 100%) of the meter 81 in response to the operation of the lowering operation key B29 (not shown), and calculates the position on the meter 81 pointed to by the cursor 82 as the input value for the lift height of the working device 2. In other words, the cursor 82 indicates the input value for the lift height of the working device 2 input by operating the lift operation keys B28, B29. Immediately after the lift operation screen D14 is displayed, the cursor 82 indicates the input value (initial input value) for the lift height of the working device 2 that has been stored in advance in the storage unit 53.

[0089] As described above, when the user moves the cursor 82 using the lifting / lowering operation keys B28 and B29 to input an input value (changed value) for the lifting height of the work device 2 (for example, in the state of FIG. 6B : the input value is changed to 35%) and then operates the back key B8, the control unit 51 determines that the input value has been determined, stores the input value in the memory unit 53, and transmits the input value to the control device 60 via the communication unit 54 and the communication device 66 of the agricultural machine 1.

[0090] As another example, a confirmation key may be provided on the lift operation screen D14. In this case, when the user operates the confirmation key, the control unit 51 determines that the input value for the lift height of the working implement 2 pointed to by the cursor 82 has been confirmed, stores the input value in the memory unit 53, and transmits the input value to the control device 60 via the communication unit 54 and the communication device 66 of the agricultural machine 1. Furthermore, when the user operates the back key B8, the input value for the lift height of the working implement 2 pointed to by the cursor 82 is not confirmed (cancelled), and the control unit 51 displays the travel control screen D8 on the display operation unit 52 instead of the setting change screen D10.

[0091] As another example, when the user moves the cursor 82 using the lifting / lowering operation keys B28 and B29 to input an input value (change value) for the lifting height of the work device 2, the control unit 51 may store the input value in the memory unit 53 and transmit the input value to the control device 60 via the communication unit 54 and the communication device 66 of the agricultural machine 1.

[0092] When the control device 60 receives an input value for the lift height of the working apparatus 2 via the communication device 66, it controls the coupling device 8, etc. (the coupling device 8 or the working apparatus 2) to change the lift height of the working apparatus 2 in accordance with the input value. That is, the control device 60 controls the coupling device 8, etc. in accordance with the operation of the lift operation keys B28, B29 to change the lift height of the working apparatus 2. The control device 60 also transmits the actual lift height of the working apparatus 2 detected by the lift height detector 64b to the mobile terminal 50 via the communication device 66. Furthermore, the control device 60 calculates a setting value for the lift height of the working apparatus 2 in accordance with the operation position of the lift operation lever 62b detected by the lift operation detector 64c, and transmits the setting value to the mobile terminal 50 via the communication device 66.

[0093] In the mobile terminal 50, when the actual lift height of the working apparatus 2 transmitted from the control device 60 is received by the communication unit 54, the control unit 51 updates the actual lift height of the working apparatus 2 indicated by the meter 81 (hatched portion) as shown in FIG. 6C so that it corresponds to (matches) the input value pointed to by the cursor 82 (35% actual lift height indicated by the meter 81 = 35% input value). Alternatively, when the set value for the lift height of the working apparatus 2 transmitted from the control device 60 is received by the communication unit 54, the control unit 51 updates the actual lift height of the working apparatus 2 indicated by the meter 81 so that it corresponds to (matches) the set value. Furthermore, the control unit 51 may change (update) the display of the working apparatus 2 in the schematic diagram 80 by the display operation unit 52 so that it corresponds to the actual lift height of the working apparatus 2.

[0094] Figures 7A and 7B are flowcharts showing an example of the operation of the agricultural machine 1. Figures 8A to 8C are flowcharts showing an example of the operation of the mobile terminal (terminal device) 50. Figure 9 is a time chart showing an example of the automatic driving and riding of the agricultural machine 1 and the changes in the state of lifting and lowering of the work implement 2.

[0095] 9, when the lift operation lever 62b is operable and operation of the lever 62b is valid, the set value of the lift height of the working device 2 corresponding to the operating position of the lever 62b is indicated by a thick solid line, and when the lever 62b is operable and operation of the lever 62b is invalid, the set value is indicated by a dashed line. Furthermore, when the lift operation keys B28 and B29 are operable and operation of the keys B28 and B29 is valid, the input value of the lift height of the working device 2 corresponding to operation of the keys B28 and B29 is indicated by a thick solid line. When the keys B28 and B29 are operable and operation of the keys B28 and B29 is invalid, the input value is indicated by a dashed line. When the keys B28 and B29 are inoperable, the input value is not indicated by a line. The ON / OFF state of the seat switch 64a and the actual lift height of the working device 2 are indicated by a thick solid line.

[0096] Note that, "operation of the lifting / lowering control lever 62b is valid" means that the user can operate the lifting / lowering control lever 62b, and in response to the operation of the lifting / lowering control lever 62b, the control device 60 changes the lift height of the working device 2 using the connecting device 8 or the working device 2 (the operation of the lifting / lowering control lever 62b is reflected). Also, "operation of the lifting / lowering control lever 62b is invalid" means that the user can operate the lifting / lowering control lever 62b, but the control device 60 does not change the lift height of the working device 2 using the connecting device 8 or the working device 2 in response to the operation of the lifting / lowering control lever 62b (the operation of the lifting / lowering control lever 62b is not reflected).

[0097] Furthermore, "operation of the lifting / lowering operation keys B28, B29 is valid" means that the user can operate the lifting / lowering operation keys B28, B29, and the control device 60 changes the lift height of the working device 2 by the connecting device 8 or the like (or the working device 2) in response to the operation of the lifting / lowering operation keys B28, B29 (the operation of the lifting / lowering operation keys B28, B29 is reflected). Furthermore, "operation of the lifting / lowering operation keys B28, B29 is invalid" means that the user can operate the lifting / lowering operation keys B28, B29, but the control device 60 does not change the lift height of the working device 2 by the connecting device 8 or the like in response to the operation of the lifting / lowering operation keys B28, B29 (the operation of the lifting / lowering operation keys B28, B29 is not reflected).

[0098] For example, a predetermined storage area in the internal memory of the control device 60 may be provided with an invalid flag corresponding to the lift-up operation lever 62b and an invalid flag corresponding to the lift-up operation keys B28 and B29, and the control device 60 may turn on each of the invalid flags to store the invalid operation of the lift-up operation lever 62b and the lift-up operation keys B28 and B29 in the memory unit 53. Furthermore, by turning off each of the invalid flags, the valid operation of the lift-up operation lever 62b and the lift-up operation keys B28 and B29 is recorded. Thereafter, when the lift-up operation lever 62b or the lift-up operation keys B28 and B29 is operated, the control device 60 checks whether the operation of the lift-up operation lever 62b or the lift-up operation keys B28 and B29 is invalid or valid based on the ON / OFF state of the corresponding invalid flag.

[0099] In the agricultural machine 1, when the control device 60 starts automatic operation (automatic traveling operation mode) of the agricultural machine 1 (S1 in FIG. 7A, time point T1 in FIG. 9), it transmits an automatic operation start notification via the communication device 66 (S2 in FIG. 7A). Then, the control device 60 checks the ON / OFF state of the seat switch (SW) 64a, determines whether or not a user is riding in the agricultural machine 1 based on the check result, and stores the determination result in the internal memory (S3a). At this time, if the seat switch 64a is in the ON state, the control device 60 determines that a user is riding in the agricultural machine 1, and if the seat switch 64a is in the OFF state, it determines that a user is not riding in the agricultural machine 1. Next, when the control device 60 reads the contents stored in the internal memory and confirms that the user is riding on the agricultural machine 1 (S3b: YES), it enables operation of the lifting / lowering operation lever 62b provided on the agricultural machine 1, disables operation of the lifting / lowering operation keys B28, B29 displayed on the mobile terminal 50, and sends an invalidation notification indicating this invalidation to the mobile terminal 50 via the communication device 66 (S4).

[0100] Thereafter, for example, when a user riding on agricultural machine 1 operates lift operation lever 62b to change the lift height of working implement 2, control unit 51 detects the operation of lift operation lever 62b from the detection result of lift operation detector 64c (S5: YES), and further detects the operation position of lift operation lever 62b and calculates a set value for the lift height of working implement 2 corresponding to that operation position (S6). Then, control device 60 controls coupling device 8 and the like to change the lift height of working implement 2 so that the calculated set value (changed set value) corresponds to the actual lift height of working implement 2 detected by lift height detector 64b (S7).

[0101] Note that correspondence between the set value for the lifting height of the working device 2 and the actual lifting height does not only mean that the set value and the actual lifting height are perfectly equal (set value (%) = actual lifting height (%)), but also means that the set value and the actual lifting height are close enough that the difference between the set value and the actual lifting height is less than a predetermined value (set value (%) ≒ actual lifting height (%), i.e., approximately equal). The same applies to the relationship between the input value for the lifting height of the working device 2, which will be described later, and the set value or actual lifting height.

[0102] On the other hand, if the user is not riding on the agricultural machine 1 (S3b: NO), the control device 60 disables operation of the lift-lowering operation lever 62b, enables operation of the lift-lowering operation keys B28, B29, and sends a notification of enablement to the mobile terminal 50 via the communication device 66 (S8). The control device 60 then detects the operation position of the lift-lowering operation lever 62b using the lift-lowering operation detector 64c, calculates a set value for the lift height of the working device 2 that corresponds to the operation position (S9), and sends the set value to the mobile terminal 50 via the communication device 66 (S10). At this time, the set value for the lift height of the working device 2 set by the lift-lowering operation lever 62b corresponds to the actual lift height of the working device 2 (time point T1 in FIG. 9: set value 30% = actual lift height 30%).

[0103] In the mobile terminal 50, the display operation unit 52 displays the travel control screen D8 (FIG. 4) (S31 in FIG. 8A), and when an automatic driving start notification is received by the communication unit 54 from the control device 60 (S32), the control unit 51 determines that automatic driving of the agricultural machine 1 has started. Then, when an invalidation notification is received by the communication unit 54 from the control device 60 (S33: YES), the control unit 51 stores in the storage unit 53 that the operation of the lift-down operation keys B28, B29 is invalid (S34). Furthermore, when a validation notification is received by the communication unit 54 from the control device 60 (S33: YES), the control unit 51 stores in the storage unit 53 that the operation of the lift-down operation keys B28, B29 is valid (S34).

[0104] Furthermore, when the set value for the lifting height of the work device 2 is received by the communication unit 54 (S35: YES), the control unit 51 stores the set value in the memory unit 53 and updates (changes) the input value (initial input value) for the lifting height of the work device 2 previously stored in the memory unit 53 to correspond to the set value (S36, time T1 in Figure 9: set value 30% = input value 30%).

[0105] Then, when the lift / lower operation screen D14 (FIG. 6A, etc.) is not displayed on the display operation unit 52 (S37: NO in FIG. 8A), if the user performs a predetermined operation on the travel control screen D8 using the display operation unit 52 to input an instruction to transition to the lift / lower operation screen D14 (FIG. 6A, etc.) (S38a: YES), the control unit 51 causes the display operation unit 52 to display the lift / lower operation screen D14 (S39) and causes the lift / lower operation screen D14 to display the input value for the lift / lower height of the working device 2 and the actual lift / lower height of the working device 2 (S40). At this time, the control unit 51 regards the set value for the lift / lower height of the working device 2 stored in the memory unit 53 as the actual lift / lower height of the working device 2, displays the lift / lower height on the lift / lower operation screen D14 using the meter 81, and displays the input value (initial input value) for the lift / lower height of the working device 2 stored in the memory unit 53 according to the set value using the cursor 82 on the lift / lower operation screen D14 (FIG. 6A, etc.).

[0106] Furthermore, if the memory unit 53 stores information that the operation of the lift-lowering operation keys B28, B29 is invalid (S41: NO in FIG. 8B), the control device 60 displays the lift-lowering operation keys B28, B29 in an inoperable form on the lift-lowering operation screen D14, as shown in FIG. 6D (S42 in FIG. 8B). Then, for example, if a user viewing the lift-lowering operation screen D14 outside the agricultural machine 1 operates the back key B8 (S43: YES), the control unit 51 causes the display operation unit 52 to display the travel control screen D8 instead of the lift-lowering operation screen D14 (S55).

[0107] Furthermore, for example, before the user operates the back key B8 (S43: NO), if the communication unit 54 receives a notification of the autonomous driving suspension status from the control device 60 (S44: YES), the control unit 51 also displays the driving control screen D8 on the display operation unit 52 (S45).The control unit 51 then displays the received autonomous driving suspension status on the display operation unit 52 (S57 in FIG. 8C), and waits for an instruction to suspend or terminate autonomous driving to be transmitted from the control device 60.

[0108] 8B, if it is stored in the memory unit 53 that the operation of the lift operation keys B28 and B29 is valid (S41: YES), the control device 60 displays the lift operation keys B28 and B29 in an operable form on the lift operation screen D14 (S46 in FIG. 8B), as shown in FIG. 6A. Thereafter, for example, if the user operates the back key B8 without operating the lift operation keys B28 and B29 (S47: NO), the control unit 51 causes the display operation unit 52 to display the travel control screen D8 (S55).

[0109] Furthermore, for example, if a notification of the stoppage of automatic driving from the control device 60 is received by the communication unit 54 (S49: YES) before the user operates the lift operation keys B28, B29 or the back key B8 (S47: NO, S48: NO), the control unit 51 causes the display operation unit 52 to display the driving control screen D8 (S50). Then, the control unit 51 causes the display operation unit 52 to display the received notification of the stoppage of automatic driving (S57 in FIG. 8C), and waits for an instruction to suspend or terminate automatic driving to be transmitted from the control device 60. On the other hand, if a notification of the stoppage of automatic driving from the control device 60 is not received by the communication unit 54 (S49: NO in FIG. 8B), the process from S47 onwards is executed again.

[0110] When the lift operation keys B28, B29 are displayed in an operable form on the lift operation screen D14 (S46 in FIG. 8B), for example, the user operates the lift operation keys B28, B29 to change the lift height of the working device 2. In this case, the control unit 51 detects the operation of the lift operation keys B28, B29 (S47: YES, time point T2 in FIG. 9), calculates an input value for the lift height of the working device 2 corresponding to the operation, and displays the input value on the lift operation screen D14 using the meter 81 and cursor 82 (S51).

[0111] Then, when the user operates the back key B8 to confirm the input value for the lifting height of the working implement 2 displayed on the lifting operation screen D14 (S52: YES), the control unit 51 updates the input value stored in the memory unit 53 with the input value (S53, immediately after time point T2 in FIG. 9: input value changed from 30% to 20%), and transmits an operation signal including the input value to the control device 60 of the agricultural machine 1 via the communication unit 54 (S54 in FIG. 8B). Furthermore, the control unit 51 causes the display operation unit 52 to display the travel control screen D8 (FIG. 4) instead of the lifting operation screen D14 (S55).

[0112] In the agricultural machine 1, when the operation signal transmitted from the mobile terminal 50 is received by the communication device 66 (S11 in FIG. 7A: YES), the control device 60 controls the coupling device 8 and the like to change the lifting height of the work implement 2 so that the input value of the lifting height of the work implement 2 included in the operation signal corresponds to the actual lifting height of the work implement 2 detected by the lifting height detector 64b (S12, immediately after time T2 in FIG. 9: actual lifting height changed from 30% to 20%).

[0113] Then, while the automatic driving of the agricultural machine 1 (traveling body 3) does not stop (S13 in FIG. 7A: NO), the processing from S3b onwards is repeatedly executed. In the mobile terminal 50, an operation signal is transmitted based on the operation of the lift / lower operation keys B28, B29 (S54 in FIG. 8B) to display the travel control screen D8 (S55), and thereafter, while a stop status of the automatic driving is not received from the control device 60 (S56: NO in FIG. 8C), the processing from S38a in FIG. 8A onwards is repeatedly executed. Note that in process S38a, while a stop status is not received from the control device 60 (S38b: NO), the control unit 51 of the mobile terminal 50 waits for an input of an instruction to transition to the lift / lower operation screen D14 (S38a: YES).

[0114] Thereafter, for example, when a user riding on the agricultural machine 1 performs a stop operation using the operation device 62, the control device 60 stops the automatic operation of the agricultural machine 1 (YES in S13 of FIG. 7A) and notifies the mobile terminal 50 of the stop status via the communication device 66 (S14). When the communication unit 54 of the mobile terminal 50 receives the stop status from the control device 60 (YES in S56 of FIG. 8C), the control unit 51 displays the stop status on the display operation unit 52 (S57). At this time, for example, a message indicating that a stop operation for automatic operation has been performed on the agricultural machine 1 is displayed on the display operation unit 52 (not shown).

[0115] For example, when the user sees the message and performs a predetermined operation on the display operation unit 52, an instruction to suspend agricultural work performed by the automatic operation of the agricultural machine 1 is input to the mobile terminal 50 (YES in S58 of FIG. 8C ). In this case, the control unit 51 transmits an interruption instruction indicating that the automatic operation of the agricultural machine 1 has been interrupted to the control device 60 via the communication unit 54 (S59). Then, the control unit 51 creates interruption data including information indicating that the automatic operation of the agricultural machine 1 has been interrupted, the interruption position (stop position) of the agricultural machine 1 on the travel route L1, the implementation status of the agricultural work, etc., and stores (saves) the interruption data in the storage unit 53 (S60).

[0116] In the agricultural machine 1, when the communication device 66 receives an interruption instruction from the mobile terminal 50 (S15: YES in FIG. 7B), the automatic operation and agricultural work are interrupted (S16, time point T3 in FIG. 9). While the automatic operation of the agricultural machine 1 is interrupted, other agricultural work can be performed by the agricultural machine 1 and the work implement 2.

[0117] Thereafter, the user performs a predetermined operation on the display operation unit 52 of the mobile terminal 50, thereby inputting an instruction to resume the suspended automatic operation of the agricultural machine 1 and the agricultural work into the mobile terminal 50 (S61 in FIG. 8C). As a result, the control unit 51 creates resume data for resuming the suspended automatic operation and agricultural work based on the corresponding interruption data stored in the storage unit 53, and transmits an instruction to resume automatic operation including the resume data to the control device 60 via the communication unit 54 (S62). The resume data includes information to the effect that the agricultural machine 1 will be automatically operated to resume the agricultural work, the travel route L1 for performing the automatic operation, the interruption position (restart position) of the agricultural machine 1, the implementation status of the agricultural work, etc. Then, the processing from step S33 in FIG. 8A onwards is repeatedly executed.

[0118] In the agricultural machine 1, when a resume instruction from the mobile terminal 50 is received by the communication device 66 (S17: YES in FIG. 7B), the control device 60 resumes the automatic operation of the agricultural machine 1 and the work implement 2 and the agricultural work based on the resume data included in the resume instruction (S18, time point T5 in FIG. 9). Then, the control device 60 checks the ON / OFF state of the seat switch 64a, determines whether a user is riding in the agricultural machine 1 from the check result, and stores the determination result in the internal memory (S19a in FIG. 7B). Next, when the control device 60 reads the contents stored in the internal memory and confirms that a user is not riding in the agricultural machine 1 (S19b: NO), it disables operation of the lift operation lever 62b, enables operation of the lift operation keys B28 and B29, and sends a validation notification to the mobile terminal 50 (S8 in FIG. 7A). Thereafter, the process from S9 onwards is repeatedly executed.

[0119] Then, for example, when the user operates the lift operation keys B28 and B29 on the mobile terminal 50 (S47: YES in FIG. 8B, time T6 in FIG. 9), the lift height of the working device 2 is changed so that the input value of the lift height of the working device 2 according to the valid operation corresponds to the actual lift height of the working device 2 (S12 in FIG. 7A, immediately after time T6 in FIG. 9: actual lift height changed from 20% to 10%).

[0120] On the other hand, after the automatic operation is resumed, if the control device 60 reads the contents of the internal memory and confirms that the user is riding the agricultural machine 1 (S19b: YES in FIG. 7B ), it enables operation of the lift / lower control lever 62b, disables operation of the lift / lower control keys B28 and B29 displayed on the mobile terminal 50, and sends an invalidation notice indicating this invalidation to the mobile terminal 50 via the communication device 66 (S20). The control device 60 also detects the operation position of the lift / lower control lever 62b using the lift / lower control operation detector 64c, and calculates a set value for the lift / lower height of the working device 2 corresponding to this operation position (S21). The control device 60 also detects the actual lift / lower height of the working device 2 using the lift / lower height detector 64b (S22). The control device 60 then confirms whether the set value for the lift / lower height of the working device 2 corresponds to the actual lift / lower height.

[0121] If the user does not get into the agricultural machine 1 while automatic operation of the agricultural machine 1 is suspended, the lift-lowering operation lever 62b remains in an inactive state, but the lift-lowering operation lever 62b is operable. For this reason, for example, if the user operates the lift-lowering operation lever 62b without being seated in the driver's seat 10, the operation position of the lift-lowering operation lever 62b (and the set value corresponding to that operation position) is changed (time point T4 in FIG. 9: set value changed from 30% to 25%), but the actual lift height of the working device 2 is not changed, and the input value of the lift height using the lift-lowering operation keys B28 and B29 is not changed either.

[0122] Therefore, after the user gets into the agricultural machine 1 and the seat switch 64a transitions from the OFF state to the ON state, when the suspended automatic operation of the agricultural machine 1 is resumed (time point T9 in FIG. 9 ), the control device 60 confirms that the set value for the lift height of the working device 2 does not correspond to the actual lift height of the working device 2 (NO in S23 of FIG. 7B ; time point T9 in FIG. 9 : set value 25% ≠ actual lift height 10%). Then, the control device 60 outputs a warning indicating the mismatch between the set value for the lift height of the working device 2 and the actual lift height of the working device 2 by sound or voice from the alarm device 63, or by displaying a message or the like indicating the warning on the display operation unit 52 of the mobile terminal 50 (S24 in FIG. 7B ). As another example, a display indicating the warning may be output on the screen of another display device installed on the agricultural machine 1. In addition, the control device 60 controls the coupling device 8 etc. to change the lifting height of the working device 2 so that the set value corresponds to the actual lifting height (S25 in Figure 7B, immediately after time T9 in Figure 9: set value 25%, actual lifting height changed from 10% to 25%).

[0123] While the lift height of the working implement 2 is being changed as described above, the control device 60 does not resume (execute) automatic operation of the agricultural machine 1. After the control device 60 confirms that the actual lift height of the working implement 2 detected by the lift height detector 64b corresponds to the set value of the lift height of the working implement 2 set by the lift operation lever 62b, it resumes (executes) automatic operation of the agricultural machine 1 and farm work by the working implement 2. Then, process S3b and subsequent processes in FIG. 7A are repeatedly executed.

[0124] On the other hand, if the set value of the lifting height of the working device 2 corresponds to the actual lifting height of the working device 2 after automatic operation is resumed (S23: YES in Figure 7B), the lifting height of the working device 2 is not changed, and the processes from step S3b in Figure 7A onwards are repeatedly executed.

[0125] Thereafter, when the user gets on the agricultural machine 1 and thereby transitions from the non-riding state to the riding state (S3b: YES in FIG. 7A, time point T8 in FIG. 9), operation of the lift-lowering operation lever 62b is enabled and operation of the lift-lowering operation keys B28, B29 is disabled, and an invalidation notification is sent to the mobile terminal 50 (S4 in FIG. 7A, time points T8 to T15 in FIG. 9). In this situation, when the lift-lowering operation lever 62b is operated (S5: YES in FIG. 7A, time points T10, T13 in FIG. 9), the lift-lowering height of the working device 2 is changed so that the set value of the lift-lowering height of the working device 2 corresponding to the enabled operation corresponds to the actual lift-lowering height of the working device 2 (S7 in FIG. 7A, immediately after time point T10 in FIG. 9: actual lift-lowering height changed from 25% to 15%, immediately after time point T13: actual lift-lowering height changed from 15% to 20%).

[0126] Furthermore, thereafter, for example, if the user dismounts from the agricultural machine 1 and thereby transitions from the riding state to the non-riding state (S3b: NO in FIG. 7A, time point T15 in FIG. 9), when automatic driving is resumed, operation of the lift operation lever 62b becomes invalid and operation of the lift operation keys B28, B29 becomes valid, and a validity notification is sent to the mobile terminal 50 (S8 in FIG. 7A, time point T16 in FIG. 9). Then, the control device 60 calculates a setting value for the lift height of the working device 2 according to the operating position of the lift operation lever 62b, and sends this setting value to the mobile terminal 50 (S10 in FIG. 7A). Therefore, the mobile terminal 50 receives the set value for the lifting height of the working device 2 (S35 in FIG. 8A: YES), and the input values ​​entered by the lifting operation keys B28 and B29 stored in the memory unit 53 of the mobile terminal 50 are updated to correspond to the set value (S36 in FIG. 8A, immediately after time T16 in FIG. 9: set value 20% = input value 20%).

[0127] Then, when lift operation keys B28, B29 are operated on mobile terminal 50 (S47: YES in FIG. 8B, time point T17 in FIG. 9), an operation signal corresponding to the valid operation is transmitted to control device 60 (S54 in FIG. 8B). As a result, the operation signal is received by communication device 66 (S11: YES in FIG. 7A), and the lift height of working device 2 is changed so that the input value of the lift height of working device 2 included in the operation signal corresponds to the actual lift height of working device 2 (S12 in FIG. 7A, immediately after time point T17 in FIG. 9: actual lift height changed from 20% to 15%).

[0128] Thereafter, for example, when the agricultural machine 1 and the work implement 2 during automatic operation reach the goal position Pg ( FIG. 4 ), or when a user riding on the agricultural machine 1 performs a stop operation using the operation device 62, the control device 60 stops the automatic operation of the agricultural machine 1 (YES in S13 of FIG. 7A ), and notifies the mobile terminal 50 of the stop status via the communication device 66 (S14 of FIG. 7B ). When the communication unit 54 of the mobile terminal 50 receives the stop status of the automatic operation (YES in S56 of FIG. 8C ), the control unit 51 displays the stop status on the display operation unit 52 (S57). At this time, for example, a message indicating that the agricultural machine 1 and the work implement 2 have reached the goal position Pg, or a message indicating that a stop operation has been performed on the agricultural machine 1, is displayed on the display operation unit 52.

[0129] When the user sees any of the above messages and performs a predetermined operation on the display operation unit 52, an instruction to end agricultural work through automatic driving of the agricultural machine 1 is input to the mobile terminal 50 (S63: YES). In this case, the control unit 51 transmits an end instruction indicating that the automatic driving and agricultural work will be ended to the control device 60 via the communication unit 54 (S64), and ends the series of operations. When the agricultural machine 1 receives the end instruction from the mobile terminal 50 via the communication device 66 (S26: YES in FIG. 7B), the series of operations ends.

[0130] In the above-described embodiment, as shown in Fig. 9, when the seat switch 64a is switched between ON and OFF (i.e., the user is on or off the agricultural machine 1) while automatic operation of the agricultural machine 1 is suspended, an example is shown in which the operation of the lift-down operation lever 62b and the operation of the lift-down operation keys B28, B29 are switched between enabled and disabled when automatic operation of the agricultural machine 1 is subsequently started or resumed (time points T0, T8, T15 in Fig. 8). However, for example, when the seat switch 64a is switched between ON and OFF while automatic operation of the agricultural machine 1 is suspended, the control device 60 may immediately switch the operation of the lift-down operation lever 62b and the operation of the lift-down operation keys B28, B29 between enabled and disabled without waiting for automatic operation to be resumed (a resume instruction).

[0131] In addition, when the lifting / lowering operation lever 62b is operated while the automatic operation of the agricultural machine 1 is interrupted and the operation of the lifting / lowering operation lever 62b is valid, the control device 60 may immediately change the lifting height of the working device 2 using the coupling device 8 or the like in accordance with the operation of the lifting / lowering operation lever 62b, without waiting for the automatic operation to resume.

[0132] Figures 10A and 10B show an example of a working position P1 and a non-working position P2 of the work implement 2 (tillage implement 2A), but the working position and non-working position of the work implement 2 may be set appropriately depending on, for example, the type and specifications of the work implement 2, or the type of agricultural work.

[0133] In the above-described embodiment, the control device 60 transmits an invalidation notification or an validation notification of the lift-up operation keys B28, B29 to the mobile terminal 50 depending on the ON or OFF state of the sheet switch 64a. When the mobile terminal 50 receives the invalidation notification, the lift-up operation keys B28, B29 are made inoperable, and an operation signal corresponding to the operation of the lift-up operation keys B28, B29 is not transmitted to the control device 60. Alternatively, for example, the control device 60 may not transmit an invalidation notification or a validation notification to the mobile terminal 50, and when an operation signal corresponding to the operation of the lift-up operation keys B28, B29 is received by the communication device 66, if the sheet switch 64a is in the ON state, the control device 60 may not accept the operation signal. Alternatively, when an operation signal corresponding to the operation of the lift-up operation keys B28, B29 is received by the communication device 66, if the sheet switch 64a is in the OFF state, the control device 60 may accept the operation signal.

[0134] In the above-described embodiment, the operation of the lifting / lowering operation lever 62b or the lifting / lowering operation keys B28, B29 is enabled or disabled depending on whether the user is riding or not riding the agricultural machine 1, and the lift height of the working device 2 is changed by the coupling device 8 or the working device 2 depending on the enabled operation of the lifting / lowering operation lever 62b or the lifting / lowering operation keys B28, B29, but this is not limited to this. For example, operating units such as operating members or operating keys that are operated to change the attitude of the working device 2, such as the tillage depth or Monroe angle of the working device 2, may be provided on both the agricultural machine 1 and the mobile terminal 50, and the operation of these operating units may be enabled or disabled depending on whether the user is riding or not riding the agricultural machine 1. Then, the attitude of the working device 2, such as the tillage depth or Monroe angle, may be changed by the coupling device 8 or the working device 2 depending on the operation of the enabled operating unit. In addition to the posture of the working device 2, the driving state of the working device 2, such as driving and stopping the working device 2 or the rotation speed of a rotating device provided on the working device 2, may also be controlled according to the effective operation of the operating unit provided on each of the agricultural machine 1 and the mobile terminal 50.

[0135] Furthermore, the first operating unit provided in the agricultural machine 1 is not limited to the operating lever 62b, and may be configured as a switch, button, dial, key, or other operating member configured as hardware, or a switch, button, slider, lever, or other key configured as software. Furthermore, the first operating unit may be provided in a terminal device (display terminal, etc.) mounted on the agricultural machine 1, separate from the mobile terminal 50.

[0136] Furthermore, the second operation unit provided on the mobile terminal 50 is not limited to the operation keys B28 and B29, and may be configured with a switch, button, dial, or slide key configured by software, or a switch, button, dial, key, or other operation member configured by hardware. Furthermore, instead of the mobile terminal 50, a stationary terminal device may be used, and the second operation unit may be provided on the terminal device.

[0137] In the embodiment described above, the control device 60 that executes the automatic operation of the agricultural machine 1 controls the coupling device 8 or the working device 2 to change the lifting height, etc., of the working device 2, but other than this, for example, a control device separate from the control device that executes the automatic operation of the agricultural machine may operate the working device in response to operation of the operating unit. Furthermore, a drive device may be provided that causes the working device 2 to perform operations such as lifting and lowering, swinging, or horizontal movement, separate from the coupling device 8 that connects the agricultural machine 1 and the working device 2.

[0138] In the above-described embodiment, an example has been shown in which, when the agricultural machine 1 is driven automatically to perform agricultural work (autonomous traveling work mode), the operation of the operation units 62b, B28, and B29 is enabled or disabled depending on the riding state of the user in the agricultural machine 1, and the working device 2 is operated depending on the valid operation of the operation units 62b, B28, and B29. However, even when agricultural work is performed by automatically steering the agricultural machine 1 and leaving changes in traveling speed to manual operation (autonomous steering work mode), or when agricultural work is performed by manually driving the agricultural machine 1 (manual driving mode), the operation of the operation units 62b, B28, and B29 may be enabled or disabled depending on the riding state of the user in the agricultural machine 1, and the working device 2 may be operated depending on the valid operation of the operation units 62b, B28, and B29. In addition, the input values ​​via the second operation units B28 and B29 may be changed so as to correspond to the setting values ​​depending on the operating position of the first operation unit 62b.

[0139] The farm work support system 100 and the agricultural machine 1 of the present embodiment described above have the following configuration and provide the following effects.

[0140] The agricultural work support system 100 of this embodiment is equipped with a coupling device 8 that couples the working implement 2 to the agricultural machine 1, a control device 60 that performs agricultural work in a field using the working implement 2 while automatically driving or steering the agricultural machine 1, a first operation unit (lifting / lowering operation lever) 62b that is provided on the agricultural machine 1 and operated to operate the working implement 2, second operation units (lifting / lowering operation keys) B28, B29 that can be operated outside the agricultural machine 1 to operate the working implement 2, and a first detection unit (seat switch) 64a that detects whether the user is riding or not riding the agricultural machine 1, and when the first detection unit 64a detects the riding state, the working implement 2 can be operated in response to operation of the first operation unit 62b and operations of the second operation units B28, B29 are disabled, and when the first detection unit 64a detects the not-riding state, the working implement 2 can be operated in response to operation of the second operation units B28, B29 and operations of the first operation unit 62b are disabled.

[0141] The agricultural machine 1 of this embodiment is an agricultural machine 1 equipped with a travelling body 3 that can travel, a coupling device 8 that couples the working implement 2 to the travelling body 3, a control device 60 that performs agricultural work in a field using the working implement 2 while automatically driving or steering the travelling body 3, a first operation unit 62b that is operated to operate the working implement 2, and a first detection unit 64a that detects whether the user is riding on the travelling body 3 or not, and the control device 60 is capable of operating the working implement 2 in accordance with operation of the first operation unit 62b when the first detection unit 64a detects the riding state and disables operation of the second operation units B28, B29 for operating the working implement 2 outside the agricultural machine 1, and is capable of operating the working implement 2 in accordance with operation of the second operation units B28, B29 when the first detection unit 64a detects the not-riding state and disables operation of the first operation unit 62b.

[0142] According to the above configuration, depending on whether the user is riding or not riding the agricultural machine 1, the work device 2 is operated by either the first operation unit 62b provided on the agricultural machine 1 or the second operation units B28, B29 operable outside the agricultural machine 1, and the work device 2 is not operated by both at the same time. This makes it possible to prevent the operation state of the first operation unit 62b from becoming incompatible with the operation state of the second operation units B28, B29 or from becoming incompatible with the actual operating state of the work device 2, thereby preventing the user from becoming confused when operating the work device 2 using the operation units 62b, B28, B29. Furthermore, for example, when the user is riding in an autonomously driven agricultural machine 1, even if the second operation units B28, B29 external to the agricultural machine 1 are operated by someone else without the user's intention, the work device 2 will not operate in response to that operation, making it possible to prevent the user from becoming confused. Furthermore, the work implement 2 can be operated on the agricultural machine 1 using the first operating unit 62b, and the work implement 2 can be operated outside the agricultural machine 1 using the second operating units B28, B29, thereby improving convenience.

[0143] In this embodiment, the first operation unit 62b and the second operation units B28, B29 are operated to change the attitude of the working device 2, and the control device 60, during automatic operation in which agricultural work is performed by the working device 2 while the agricultural machine 1 is traveling, changes the attitude of the working device 2 in response to either the operation of the first operation unit 62b or the operation of the second operation units B28, B29 in accordance with the detection result of the first detection unit 64a, and does not change the attitude of the working device 2 in response to the operation of the other operation. As a result, during automatic operation of the agricultural machine 1, the attitude of the working device 2 is operated by one of the first operation unit 62b and the second operation units B28, B29 in accordance with whether the user is riding or not riding the agricultural machine 1, and the attitude of the working device 2 is not operated by both simultaneously. This prevents the user from becoming confused when operating the attitude of the working device 2 using the operation units 62b, B28, B29, and makes it possible to improve convenience.

[0144] In addition, in this embodiment, the agricultural work support system 100 includes a communication device 66 that is provided on the agricultural machine 1 and that communicates wirelessly with the terminal device 50, the second operation units B28, B29 are provided on the terminal device 50, the coupling device 8 changes the posture of the work implement 2, and when the first detection unit 64a detects a non-riding state, the terminal device 50 transmits an operation signal in accordance with the operation of the second operation units B28, B29, the control device 60 receives the operation signal via the communication device 66 and changes the posture of the work implement 2 using the coupling device 8 based on the operation signal, and when the first detection unit 64a detects a riding state, the terminal device 50 does not transmit an operation signal in accordance with the operation even if the second operation units B28, B29 are operated, or the control device 60 does not accept the operation signal. This allows the attitude of the working device 2 to be operated by either the first operating unit 62b or the second operating units B28, B29 depending on whether the user is riding or not on the agricultural machine 1, and reliably prevents the attitude of the working device 2 from being operated by both at the same time.

[0145] Furthermore, in this embodiment, when the first detection unit 64a detects a transition from the non-riding state to the riding state, the control device 60 transmits, via the communication device 66, an invalidation notification indicating that operation of the second operation units B28, B29 will be invalidated, and upon receiving the invalidation notification, the terminal device 50 disables operation of the second operation units B28, B29. As a result, when the user rides the agricultural machine 1, the user can operate the work device 2 using the first operation unit 62b of the agricultural machine 1, and it is possible to reliably prevent other users from operating the work device 2 using the second operation units B28, B29 of the terminal device 50.

[0146] Furthermore, in this embodiment, the agricultural work support system 100 is equipped with a second detection unit (lifting height detector) 64b that detects the actual attitude of the working device 2. When the second operation units B28, B29 are operated while the first detection unit 64a detects a non-riding state, the terminal device 50 calculates an input value for the attitude of the working device 2 corresponding to the operation and transmits an operation signal including the input value. When the control device 60 receives the operation signal via the communication device 66, it changes the attitude of the working device 2 so that the input value included in the operation signal corresponds to the actual attitude of the working device 2 detected by the second detection unit 64b. As a result, when the user is not riding the agricultural machine 1, the input value for the attitude of the working device 2 via the second operation units B28, B29 of the terminal device 50 corresponds to the actual attitude of the working device 2, and therefore the attitude of the working device 2 can be operated appropriately and reliably using the second operation units B28, B29.

[0147] Furthermore, in this embodiment, the agricultural work support system 100 is equipped with a third detection unit (lifting operation detector) 64c that detects the operation position of the first operation unit 62b, and when the first detection unit 64a detects the riding state and the first operation unit 62b is operated, the control device 60 calculates a set value for the attitude of the work device 2 that corresponds to the operation position of the first operation unit 62b detected by the third detection unit 64c, and changes the attitude of the work device 2 so that this set value corresponds to the actual attitude of the work device 2 detected by the second detection unit 64b. As a result, when the user is riding the agricultural machine 1, the set value for the attitude of the work device 2 that corresponds to the operation position of the first operation unit 62b of the agricultural machine 1 corresponds to the actual attitude of the work device 2, so that the attitude of the work device 2 can be operated appropriately and reliably by the first operation unit 62b.

[0148] Furthermore, in this embodiment, when the first detection unit 64a detects a non-riding state, and the second operation units B28, B29 are operated, the terminal device 50 calculates an input value of the attitude of the working apparatus 2 corresponding to the operation and stores the input value in the memory unit 53. When the first detection unit 64a detects a transition from a riding state to a non-riding state, the control device 60 calculates a setting value of the attitude of the working apparatus 2 corresponding to the operation position of the first operation unit 62b detected by the third detection unit 64c and transmits the setting value via the communication device 66. When the terminal device 50 receives the setting value of the attitude of the working apparatus 2, it changes the input value of the attitude of the working apparatus 2 stored in the memory unit 53 to correspond to the setting value.

[0149] As described above, even if the setting value of the attitude of the working apparatus 2 according to the operation position of the first operation unit 62b no longer corresponds to the input value of the attitude of the working apparatus 2 stored in the memory unit 53 of the terminal device 50, the input value can be updated to correspond to the setting value, and the updated input value can be set as the initial input value of the second operation units B28, B29. This makes it possible to prevent the user from becoming confused when operating the attitude of the working apparatus 2 using the operation units 62b, B28, B29, and also makes it possible to prevent the working apparatus 2 from assuming an attitude that the user does not intend.

[0150] In addition, in this embodiment, the agricultural work support system 100 is equipped with warning units 63, 52 (alarm device 63, display operation unit 52) ​​that output a warning, and when the first detection unit 64a detects a transition from a non-riding state to a riding state, the control device 60 calculates a setting value for the attitude of the work device 2 according to the operation position of the first operation unit 62b detected by the third detection unit 64c, and if the setting value does not correspond to the actual attitude of the work device 2 detected by the second detection unit 64b, the warning units 63, 52 output a warning and change the attitude of the work device 2 so that the setting value corresponds to the actual lifting height.

[0151] As described above, even if the set value of the attitude of the working apparatus 2 according to the operation position of the first operation unit 62b no longer corresponds to the actual attitude of the working apparatus 2, the attitude of the working apparatus 2 is automatically changed to correspond to the set value, so it is possible to prevent the user from becoming confused when operating the attitude of the working apparatus 2 with the first operation unit 62b. It is also possible to prevent the working apparatus 2 from assuming an attitude that is not intended by the user. Furthermore, by outputting a warning from the warning units 63, 52 when the attitude of the working apparatus 2 is automatically changed to correspond to the set value, the user is made aware that the working apparatus 2 will operate in an unintended attitude, and it is possible to prevent the user from becoming confused.

[0152] Furthermore, in this embodiment, when the first detection unit 64a detects a transition from the non-riding state to the riding state, the control device 60 calculates a set value for the attitude of the working device 2 corresponding to the operation position of the first operation unit 62b detected by the third detection unit 64c, and does not execute automatic operation of the agricultural machine 1 if the set value does not correspond to the actual attitude of the working device 2 detected by the second detection unit 64b. This prevents the working device 2 from assuming an unintended attitude when the user operates the attitude of the working device 2 using the operation units 62b, B28, and B29 during automatic operation of the agricultural machine 1, thereby preventing confusion for the user. Furthermore, agricultural work can be performed stably with the working device 2 in the attitude intended by the user.

[0153] Furthermore, in this embodiment, the control device 60 transmits the actual attitude of the working apparatus 2 detected by the second detection unit 64b via the communication device 66, and the terminal device 50 receives the actual attitude of the working apparatus 2 and has a display unit (display operation unit) 52 that displays the actual attitude and an input value for the attitude of the working apparatus 2 in response to operation of the second operation units B28, B29. This allows the user to easily and reliably operate the attitude of the working apparatus 2 using the second operation units B28, B29 while visually checking the actual attitude of the working apparatus 2 displayed on the display unit 52 and the input value for the attitude of the working apparatus 2 in response to operation of the second operation units B28, B29, making it possible to improve convenience.

[0154] In addition, in this embodiment, the connecting device 8 raises and lowers the working device 2, and changes the lifting height of the working device 2 as the attitude thereof, and the first operating unit 62b is composed of an operating member (lifting operation lever 62b) that is operated by a user riding on the agricultural machine 1 to change the lifting height of the working device 2 and maintains the operating position according to the operation, and the second operating units B28, B29 are provided on the terminal device 50 carried by the user and are composed of operating keys (lifting operation keys B28, B29) that are operated to change the lifting height of the working device 2.

[0155] As described above, when the user is riding the agricultural machine 1, the user can operate the lift height of the working device 2 using the operation member 62b of the agricultural machine 1, and when the user is not riding the agricultural machine 1, the user can operate the lift height of the working device 2 using the operation keys B28, B29 on the terminal device 50 which has been moved to any position, thereby improving convenience. Furthermore, when the user operates the lift height of the working device 2 using the operation member 62b or the operation keys B28, B29, it is possible to prevent the working device 2 from moving to a lift height that is not intended by the user, thereby preventing confusion for the user.

[0156] Furthermore, in this embodiment, the agricultural machine 1 is equipped with a communication device 66 that communicates wirelessly with the terminal device 50 and a second detection unit 64b that detects the actual attitude of the working device 2, the coupling device 8 varies the attitude of the working device 2, and when the first detection unit 64a detects a non-ridden state and the control device 60 receives an operation signal via the communication device 66 that is transmitted from the terminal device 50 in response to operation of the second operation units B28, B29, the control device 60 changes the attitude of the working device 2 via the coupling device 8 so that the input value of the attitude of the working device 2 in response to operation of the second operation units B28, B29, included in the operation signal, corresponds to the actual attitude of the working device 2 detected by the second detection unit 64b. As a result, when the user is not riding the agricultural machine 1, the input value of the attitude of the working device 2 via the second operation units B28, B29 of the terminal device 50 corresponds to the actual attitude of the working device 2, and the attitude of the working device 2 can be operated appropriately and reliably via the second operation units B28, B29.

[0157] Furthermore, in this embodiment, the agricultural machine 1 is equipped with a third detection unit 64c that detects the operating position of the first operating unit 62b, and when the first detection unit 64a detects a transition from a non-riding state to a riding state, the control device 60 calculates a setting value for the attitude of the work device 2 corresponding to the operating position of the first operating unit 62b detected by the third detection unit 64c, and if the setting value does not correspond to the actual attitude of the work device 2 detected by the second detection unit 64b, a warning is output by the warning units 63, 52, and the attitude of the work device 2 is changed by the coupling device 8 so that the setting value corresponds to the actual lifting height.

[0158] As described above, even if the set value of the attitude of the working apparatus 2 according to the operation position of the first operation unit 62b no longer corresponds to the actual attitude of the working apparatus 2, the attitude of the working apparatus 2 is automatically changed to correspond to the set value, and a warning is output by the warning units 63, 52. This makes it possible to prevent the user from becoming confused when operating the attitude of the working apparatus 2 with the first operation unit 62b, and to prevent the working apparatus 2 from assuming an attitude that the user does not intend.

[0159] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0160] 1. Agricultural machinery 2. Work equipment 2A Tillage equipment (work equipment) 3 Running vehicle 8 Coupling device 50 Portable terminal device (portable terminal) 52 Display operation section (warning section, display section) 53 Memory section 60 Control device 62b Lifting operation lever (first operation part) 63 Alarm device (warning section) 64a Sheet switch (first detection part) 64b Elevation height detector (second detection unit) 64c Lift operation detector (third detection unit) 66 Communication Equipment 100 Agricultural work support system B28, B29 Lift operation key (second operation part)

Claims

1. a coupling device that couples the working implement to the agricultural machine and changes the attitude of the working implement; a control device that automatically controls the traveling or steering of the agricultural machine while performing agricultural work on a field using the work device; a first operating unit that is provided on the agricultural machine and that is operated to change the attitude of the working device; a second operating unit that is provided on a terminal device that can wirelessly communicate with the agricultural machine and that is operable to change the attitude of the work implement; a first detection unit that detects whether a user is riding or not riding the agricultural machine; a second detection unit that detects an actual posture of the working device; a third detection unit that detects an operation position of the first operation unit, The control device When the first detection unit detects the riding state, the posture of the working device can be changed in response to an operation of the first operating unit, and the operation of the second operating unit is disabled; When the first detection unit detects the non-riding state, the posture of the working device can be changed in response to an operation of the second operating unit, and the operation of the first operating unit is disabled; when the first operating unit is operated while the first detection unit is detecting the riding state, the control device calculates a set value indicating the attitude of the working device corresponding to the operating position of the first operating unit detected by the third detection unit, and changes the attitude of the working device so that the attitude of the working device indicated by the set value corresponds to the actual attitude of the working device detected by the second detection unit; When the second operation unit is operated while the first detection unit detects the non-riding state, the terminal device calculates an input value indicating the attitude of the working device in response to the operation, and stores the input value in a storage unit; When the first detection unit detects a transition from the riding state to the non-riding state, the control device transmits to the terminal device the setting value indicating the attitude of the work device according to the operation position of the first operation unit detected by the third detection unit; When the terminal device receives the setting value, it changes the input value stored in the memory unit so that the posture of the work implement indicated by the input value corresponds to the posture of the work implement indicated by the setting value.

2. The agricultural work support system described in claim 1, wherein the control device changes the attitude of the work device in response to one of the operations of the first operating unit and the second operating unit, and does not change the attitude of the work device in response to the other operation, depending on the judgment of the first detection unit as to whether or not a user is riding on the agricultural machine during automatic driving in which the agricultural machine is driven while the work device is performing the agricultural work.

3. a communication device that is provided in the agricultural machine and that wirelessly communicates with the terminal device, When the first detection unit detects the non-riding state, the terminal device transmits an operation signal in response to an operation of the second operation unit; the control device receives the operation signal via the communication device, and changes the attitude of the working device using the coupling device based on the operation signal; When the first detection unit detects the riding state, The agricultural work support system according to claim 1, wherein even when the second operation unit is operated, the terminal device does not transmit the operation signal corresponding to the operation, or the control device does not accept the operation signal.

4. a communication device that is provided in the agricultural machine and that wirelessly communicates with the terminal device, When the first detection unit detects a transition from the non-riding state to the riding state, the control device transmits, via the communication device, an invalidation notification indicating that the operation of the second operation unit is invalid; The agricultural work support system according to claim 1 , wherein the terminal device invalidates the operation of the second operation unit when the invalidation notification is received.

5. When the first detection unit detects the non-riding state, When the second operation unit is operated, the terminal device calculates the input value indicating the attitude of the working device according to the operation, and transmits the operation signal including the input value; 4. The agricultural work support system according to claim 3, wherein, when the control device receives the operation signal from the terminal device, the control device changes the posture of the work device so that the posture of the work device indicated by the input value included in the operation signal corresponds to the actual posture of the work device detected by the second detection unit.

6. A coupling device that couples a working implement to an agricultural machine and changes the attitude of the working implement; a control device that automatically controls the traveling or steering of the agricultural machine while performing agricultural work on a field using the work device; a first operating unit that is provided on the agricultural machine and that is operated to change the attitude of the working device; a second operating unit that is provided on a terminal device that can wirelessly communicate with the agricultural machine and that is operable to change the attitude of the work implement; a first detection unit that detects whether a user is riding or not riding the agricultural machine; a second detection unit that detects an actual posture of the working device; a third detection unit that detects an operation position of the first operation unit; a warning unit that outputs a warning, The control device When the first detection unit detects the riding state, the posture of the working device can be changed in response to an operation of the first operating unit, and the operation of the second operating unit is disabled; When the first detection unit detects the non-riding state, the posture of the working device can be changed in response to an operation of the second operating unit, and the operation of the first operating unit is disabled; When the first detection unit detects a transition from the non-riding state to the riding state, The control device calculates a setting value indicating the posture of the work device according to the operating position of the first operating unit detected by the third detection unit, and if the posture of the work device indicated by the setting value does not correspond to the actual posture of the work device detected by the second detection unit, outputs a warning from the warning unit and changes the actual posture of the work device so that the posture of the work device indicated by the setting value corresponds to the actual posture. This is an agricultural work support system.

7. A coupling device that couples a working implement to an agricultural machine and changes the attitude of the working implement; a control device that automatically controls the traveling or steering of the agricultural machine while performing agricultural work on a field using the work device; a first operating unit that is provided on the agricultural machine and that is operated to change the attitude of the working device; a second operating unit that is provided on a terminal device that can wirelessly communicate with the agricultural machine and that is operable to change the attitude of the work implement; a first detection unit that detects whether a user is riding or not riding the agricultural machine; a second detection unit that detects an actual posture of the working device; a third detection unit that detects an operation position of the first operation unit, The control device When the first detection unit detects the riding state, the posture of the working device can be changed in response to an operation of the first operating unit, and the operation of the second operating unit is disabled; When the first detection unit detects the non-riding state, the posture of the working device can be changed in response to an operation of the second operating unit, and the operation of the first operating unit is disabled; When the first detection unit detects a transition from the non-riding state to the riding state, The control device calculates a setting value indicating the attitude of the work device according to the operating position of the first operating unit detected by the third detection unit, and if the attitude of the work device indicated by the setting value does not correspond to the actual attitude of the work device detected by the second detection unit, the agricultural work support system does not perform automatic driving to perform the agricultural work using the work device while the agricultural machine is traveling.

8. the control device transmits to the terminal device a posture signal indicating the actual posture of the working device detected by the second detection unit; The agricultural work support system according to claim 5, wherein the terminal device has a display unit that receives the attitude signal indicating the actual attitude of the work implement and displays the actual attitude and the input value of the attitude of the work implement in response to operation of the second operating unit.

9. The connecting device raises and lowers the working device to change the height at which the working device is raised and lowered as the attitude of the working device, the first operating unit is configured by an operating member that is operated by a user riding on the agricultural machine in order to change the lifting height of the work device, and that maintains the operating position according to the operation, The agricultural work support system according to claim 1, 6, or 7, wherein the second operation unit is provided on the terminal device carried by the user and is composed of operation keys that are operated to change the lifting height of the work implement.

10. A travelable vehicle body; a coupling device that couples a working device to the traveling vehicle body and changes the attitude of the working device; a control device that automatically controls the traveling vehicle body to travel or steer while performing agricultural work on a field using the work device; a first operating unit that is operated by a user riding on the agricultural machine in order to change the attitude of the working device; a communication device that wirelessly communicates with the terminal device; a first detection unit that detects whether a user is riding on the traveling vehicle body or not; a second detection unit that detects an actual posture of the working device; a third detection unit that detects an operation position of the first operation unit; a warning unit that outputs a warning, The control device When the first detection unit detects the riding state, the attitude of the working device can be changed in response to operation of the first operation unit, and the second operation unit is provided on the terminal device carried by the user and is operated to change the attitude of the working device, and the second operation unit is disabled; When the first detection unit detects the non-riding state, the posture of the working device can be changed in response to operation of the second operation unit, and operation of the first operation unit is disabled; When the first detection unit detects a transition from the non-riding state to the riding state, The control device calculates a setting value that indicates the attitude of the working device according to the operating position of the first operating unit detected by the third detection unit, and if the attitude of the working device indicated by the setting value does not correspond to the actual attitude of the working device detected by the second detection unit, outputs a warning from the warning unit, and changes the attitude of the working device by the coupling device so that the attitude of the working device indicated by the setting value corresponds to the actual attitude.

11. The agricultural machinery described in Claim 10, wherein, during execution of automatic driving in which the agricultural work is performed by the work device while the traveling vehicle body is traveling, the control device changes the attitude of the work device in response to one of the operations of the first operating unit and the second operating unit, and does not change the attitude of the work device in response to the other operation, depending on the detection result of the first detection unit.

12. The control device When the first detection unit detects the non-riding state, 12. The agricultural machine according to claim 11, wherein, when an operation signal transmitted from the terminal device in response to operation of the second operation unit is received by the communication device, the attitude of the working device is changed by the coupling device so that an input value of the attitude of the working device in response to operation of the second operation unit, which is included in the operation signal, corresponds to the actual attitude of the working device detected by the second detection unit.

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