Work path provision method, program, and information processing device

Abstract

To provide a worker with a plurality of efficient work routes derived from work conditions. [Solution] A work path providing method derives a first path for a first work area based on the work width of the work machine working in a field, which is perpendicular to the travel direction of the work machine, and the overlap width of adjacent work areas among the work areas determined by the travel direction and the work width, and derives a second path for a second work area located near the first work area based on the work width and information related to the length in the travel direction of the traveling body that tows the work machine.

Description

Technical Field

[0005]

[0001] The present invention relates to a method for providing a working path. In particular, it relates to a method for providing a working path for a working machine that performs work on a farm field.

Background Art

[0002] Currently, in order to reduce the labor time of agricultural work, the automation of working machines has been promoted, and various working machines have been developed. In particular, working machines (tillers and ridgers) that are attached to the rear of a traveling body such as a tractor and can be exchanged according to the type of work, such as tilling and ridging, can be exchanged like an attachment to the traveling body of a tractor or the like, and can thus handle various agricultural operations, greatly contributing to the reduction of the cost of agricultural work.

[0003] Moreover, conventional agricultural work relied on the experience and intuition of each farmer. Therefore, there were variations in the efficiency of agricultural work among farmers, resulting in variations in the yield and quality of agricultural products. Furthermore, when each farmer changed generations, it was difficult for the farmer taking on the new generation to inherit all of that experience and intuition, and the accumulation of agricultural work experience was not utilized.

[0004] When performing tilling or ridging work on a farm field using a tiller or a ridger, the working path depends on the operator. An experienced operator can work on a working path suitable for that farm field, but inexperienced operators often work on an inefficient working path. Also, even an experienced working vehicle tended to rely on past experience and thus tended to continue working on an inefficient working path. Therefore, for example, as shown in Cited Reference 1, technologies for guiding a working path for a working vehicle have been developed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] However, in the technology disclosed in Patent Document 1, the work machine can only work along a predetermined work path, and the determination of whether there is a more efficient work path than that path ultimately relies on the worker's experience and intuition. The present invention has been made in view of such problems, and aims to provide the worker with multiple efficient work paths derived from the work conditions. [Means for solving the problem]

[0007] A method for providing work paths according to one embodiment of the present invention derives a plurality of first work paths, each including a work start position and a work end position, based on the field size, the working width of the work implement perpendicular to the direction of travel of the work implement used to work in the field, and the overlap width in which adjacent work areas overlap, determined by the direction of travel and the working width, and displays the derived first work paths on a screen.

[0008] For each of the aforementioned plurality of first work routes, the estimated time or distance required for work in the field may be displayed on the screen.

[0009] The information relating to the working width may be automatically transmitted from the working machine to the traveling machine when the working machine is connected to the traveling machine, and the first working path may be derived based on the automatically transmitted information relating to the working width.

[0010] For each of the plurality of first work paths, the second work path may be recalculated using the overlap width as a variable, and the second work path may be displayed on the screen.

[0011] For each of the plurality of first work paths, a third work path shorter than the first work path may be recalculated using the work width and the overlap width as variables, and the third work path may be displayed on the screen.

[0012] For each of the plurality of second work paths, a third work path with a shorter path length than the second work path may be recalculated using the work width and the lap width as variables, and the third work path may be displayed on the screen.

[0013] In the first work path, the determination result of the field condition obtained by the work of the work machine may be displayed in the area through which the work machine passes while working in the field.

[0014] Based on the determination result, a fourth work route may be derived in which work is performed in the field after the work in the first work route, the second work route, or the third work route. [Effects of the Invention]

[0015] According to the present invention, it is possible to provide workers with multiple efficient work routes derived from working conditions. [Brief explanation of the drawing]

[0016] [Figure 1] This is a schematic diagram showing the overall configuration of the traveling machine and work machine according to one embodiment of the present invention. [Figure 2] This is a block diagram showing the functional configuration of a traveling machine and a work machine according to one embodiment of the present invention. [Figure 3] This is a top view showing the overall configuration of a work machine according to one embodiment of the present invention. [Figure 4] This figure shows the operation flow of the work path guidance according to one embodiment of the present invention. [Figure 5] This figure shows an example of an interface displayed on the work condition setting screen in a work path guidance system according to one embodiment of the present invention. [Figure 6] This diagram illustrates the setting values ​​for each work condition in a work path guidance according to one embodiment of the present invention. [Figure 7] This figure shows an example of an interface displayed on the field registration screen in a field condition determination method according to one embodiment of the present invention. [Figure 8] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of an interface displayed on a work path selection screen. [Figure 9] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of a work path pattern. [Figure 10] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of deriving a work path with the overlap width of adjacent work areas as a variable. [Figure 11] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of a work path pattern. [Figure 12] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of a work path pattern. [Figure 13] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of displaying the traveling direction to an operator. [Figure 14] In the work path pattern selection screen of the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of displaying the recalculation result of the work path. [Figure 15] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of a data table obtained by recalculating the work path. [Figure 16] In the work path guidance according to an embodiment of the present invention, it is a diagram showing an example of displaying a selected recommended work path candidate. [Figure 17] In the work path guidance according to an embodiment of the present invention, it is a diagram showing the influence of the traveling machine body length and the working machine width on the work path pattern. [Figure 18] In the work path guidance according to an embodiment of the present invention, it is a diagram showing the influence of the traveling machine body length and the working machine width on the work path pattern. [Figure 19] It is a side view showing the overall configuration of a leveling angle detection mechanism of a working machine according to an embodiment of the present invention. [Figure 20] It is a diagram showing a method for determining a field state according to an embodiment of the present invention. [Figure 21] This figure shows a method for determining field conditions according to an embodiment of the present invention. [Figure 22] This figure shows a method for determining field conditions according to an embodiment of the present invention. [Figure 23] This figure shows an interface related to a lookup table (LUT) used for determining field conditions according to an embodiment of the present invention. [Figure 24] This figure shows an example of data obtained by the field condition determination method according to an embodiment of the present invention. [Figure 25] This figure shows an example of displaying the field condition determination result on a monitor according to an embodiment of the present invention. [Figure 26] This figure shows an example of displaying an appropriate work route using the field condition determination result according to an embodiment of the present invention. [Figure 27] This figure shows an example of an interface displayed on the field registration screen in a field condition determination method according to one embodiment of the present invention. [Modes for carrying out the invention]

[0017] The method for providing a work path according to the present invention will be described below with reference to the drawings. However, the work machine of the present invention can be implemented in many different forms, and the description of the embodiments shown below is not intended to be limited to the present invention. In the drawings referenced in this embodiment, the same number is used for the same part or a part having a similar function, or an alphabet letter is added after the same number, and repeated explanations are omitted. Also, for the sake of explanation, the terms "upper" or "lower" will be used, where "upper" or "lower" refers to the vertical direction when the work machine is working on the field (see Figure 1). Similarly, when the terms "front" or "rear" are used, "front" refers to the direction of the towing vehicle relative to the work machine, and "rear" refers to the direction of the work machine relative to the vehicle (see Figure 1).

[0018] <First Embodiment> In this embodiment, a configuration in which a puddling machine is used as the implement for determining the field condition is illustrated, but the configuration is not limited to this. For example, in addition to a puddling machine, a tiller, a levee builder, a grass cutter, a leek harvester, a soil crusher, a plow, etc., may be used as the implement for determining the field condition.

[0019] [Overall structure] Figure 1 is a schematic diagram showing the overall configuration of a mobile body and implement according to one embodiment of the present invention. As shown in Figure 1, an implement 20 is mounted on the rear of a mobile body 10 that travels across a field. However, if the implement 20 is equipped with a self-propelled mechanism, the mobile body 10 can be omitted. In this case, the functions of the mobile body 10 for realizing the embodiments of the present invention described below are provided in the implement 20.

[0020] The mobile unit 10 comprises a vehicle body 100, a monitor 110, a three-point linkage mechanism 120, and a position detector 130. The monitor 110 is located in front of the vehicle body 100. The three-point linkage mechanism 120 is located behind the vehicle body 100. The position detector 130 is located above the vehicle body 100. As will be described later, the monitor 110 displays information such as a screen for setting various conditions, work route guidance that suggests a work route to the worker, and the results of the determination of field conditions. Preferably, the monitor 110 is a display with a touch sensor. In this embodiment, the monitor 110 is located on the mobile unit 10, but the monitor 110 can be replaced with a communication terminal held by the worker (for example, a smartphone, mobile phone, tablet PC, PDA, notebook PC, and PHS).

[0021] The position detector 130 is not limited to being above the vehicle body 100, but can be placed at any position relative to the vehicle body 100. The position detector 130 detects the current position of the mobile vehicle 10. For example, a Global Navigation Satellite System (GNSS) can be used as the position detector 130. As the GNSS, satellite positioning systems such as GPS, GLONASS, Galileo, and Quasi-Zenith Satellite System (QZSS) can be used. However, the position detector 130 is not limited to GNSS, and other devices that detect the position information of the mobile vehicle 10 can be used. In the following description, an example in which GPS is used as the GNSS will be explained.

[0022] The work implement 20 is connected to the three-point linkage mechanism 120. The traveling body 10 can change the height of the work implement 20 relative to the traveling body 10 by controlling the three-point linkage mechanism 120. The traveling body 10 may also be equipped with a height adjustment function for the work implement 20. This adjustment function may, for example, automatically adjust the height of the work implement 20 to maintain a constant angle between the apron 220 and the shield cover 210, which will be described later. The structure of the three-point linkage mechanism 120 is well known, so a detailed explanation is omitted.

[0023] In this embodiment, the implement 20 is a puddling machine. The implement 20 comprises a frame 200, a rotor 207, a shield cover 210, an apron 220, and a leveler 230. The rotor 207 is rotatably mounted to the frame 200. The rotor 207 has a plurality of working tines, and by rotating these working tines and applying them to the field, the field is tilled or agitated. The apron 220 is provided behind the rotor 207 so as to be rotatable relative to the frame 200 and the shield cover 210. Note that the positional relationship between the shield cover 210 and the frame 200 is fixed, so the shield cover 210 can also be considered as part of the frame 200, and the above configuration can also be described as the apron 220 being rotatably connected to the frame 200. The leveler 230 is rotatably mounted relative to the apron 220. The apron 220 and leveler 230 make contact with the field, leveling the field that has been roughened by the work of the rotor 207.

[0024] Figure 2 is a block diagram showing the functional configuration of a mobile body and a work machine according to one embodiment of the present invention. As shown in Figure 2, the mobile body 10 has a control unit 191, a display unit 193, and a position detection unit 195. The work machine 20 has a control unit 291 and a detection unit 293. The control unit 191 and the control unit 291 are connected by a communication unit 121. The control unit 291 transmits or receives various information to and from the control unit 191 via the communication unit 121. The communication unit 121 may be wired or wireless. As a communication method for the communication unit 121, for example, CAN (Controller Area Network), Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0025] When the work implement 20 is attached to the mobile body 10, at least one of the control unit 191 and the control unit 291 detects that they are connected via the communication unit 121. For example, the control unit 191 may then obtain information identifying the work implement 20 from the control unit 291 and automatically acquire the type of work implement 20 attached to the mobile body 10. In other words, the information regarding the work implement width 701 of the work implement 20, which will be described later, is automatically transmitted from the work implement 20 to the mobile body 10 when the work implement 20 is connected to the mobile body 10.

[0026] As will be described later, the control unit 291 can transmit information regarding changes in the vertical movement of the leveler 230 to the control unit 191. The control unit 291 can also receive information set by the height adjustment function described above from the control unit 191.

[0027] When the monitor 110 is replaced with a communication terminal held by the worker, at least the control unit 191 and the display unit 193 are implemented by the central processing unit (CPU) of the communication terminal. Of course, the position detection unit 195 may also be provided in the communication terminal.

[0028] The display unit 193 is controlled by the control unit 191 and displays an image on the monitor 110 so that the operator can see it. However, as described above, instead of displaying the image on the monitor 110 provided on the mobile machine 10, the display unit 193 may display the image on a communication terminal held by the operator. The position detection unit 195 corresponds to the position detector 130 and detects the current position information of the mobile machine 10. The position information detected by the position detection unit 195 is transmitted to the control unit 191. The position detection unit 195 may be provided on the work machine 20 instead of the mobile machine 10, or it may be provided on both the mobile machine 10 and the work machine 20. The control unit 191, the display unit 193, and the position detection unit 195 are connected by wire or wireless connection as described above.

[0029] The detection unit 293 detects the rotation angle of the leveler 230 relative to the apron 220. In other words, the detection unit 293 detects changes in the vertical movement of the leveler 230 relative to the field. The changes in the vertical movement of the leveler 230 detected by the detection unit 293 are transmitted to the control unit 291. As for the detection unit 293, although details will be described later, for example, a potentiometer can be used. However, the detection unit 293 is not limited to a potentiometer, and other devices that detect changes in the vertical movement of the leveler 230 can be used. The control unit 291 and the detection unit 293 are connected by wire or wireless, as described above.

[0030] Information regarding the change in the vertical movement of the leveler 230, transmitted to the control unit 291, is transmitted to the control unit 191 via the communication unit 121. The control unit 191 then analyzes the information regarding the change in the vertical movement of the leveler 230 to determine the field condition. Details of the method for determining the field condition will be described later. However, the control unit 291 may analyze the information regarding the change in the vertical movement of the leveler 230 and determine the field condition. The control unit 191 and the control unit 291 may communicate with a server via a network. In other words, information regarding the change in the vertical movement of the leveler 230 detected by the detection unit 293 may be transmitted from the control unit 191 or the control unit 291 to the server, and the server may analyze that information to determine the field condition.

[0031] As will be explained in more detail later, the position information detected by the position detection unit 195 is used not only to display the current position of the mobile unit 10, but is also displayed on the monitor 110 together with the field condition determination result obtained based on the change in the vertical movement of the leveler 230 detected by the detection unit 293.

[0032] [Configuration of the work machine 20] Figure 3 is a top view showing the overall configuration of a work machine according to one embodiment of the present invention. As shown in Figure 3, the work machine 20 has a frame 200, a central work section 300, an extension work section 400, a leveler extension section 490, a leveler angle detection mechanism 500, and a leveler control unit 600. The work machine 20 is mounted on the rear of the traveling machine body 10. As shown in Figure 1, a rotor 207 having multiple working claws is provided below the central work section 300 and the extension work section 400, respectively.

[0033] The frame 200 comprises a main frame 201, a transmission frame (the frame on which the chain case 203 is provided), and side frames 205. The main frame 201 extends in the longitudinal direction of the work implement 20 (a direction perpendicular to or simply intersecting with the direction of travel of the traveling machine). The chain case 203 and side frames 205 are positioned at both the left and right ends of the main frame 201. The rotor 207 is rotatably supported between the chain case 203 and the side frames 205 relative to the frame 200. Specifically, the rotor 207 is mounted below the central shield cover 310 and the extension shield cover 410, which will be described later. In other words, the multiple working claws provided on the rotor 207 are arranged in the longitudinal direction of the work implement 20.

[0034] The central work section 300 includes a central shield cover 310, a central apron 320, and a central leveler 330. The central shield cover 310 and the central apron 320 are connected by a first connecting section (not shown) which serves as a pivot axis. The central apron 320 and the central leveler 330 are connected by a second connecting section 332 which serves as a pivot axis. The first connecting section and the second connecting section 332 have hinge-like mechanisms. That is, each of the first connecting section and the second connecting section 332 has a cylindrical section and a columnar section. Here, the cylindrical section of the connecting section is fixed to one of the two members connected by the connecting section, and the columnar section penetrates the interior of the cylindrical section, with both ends of the columnar section fixed to the other of these members.

[0035] The central shield cover 310 and the central apron 320 prevent debris scattered by the operation of the rotor 207 from being released to the outside. In other words, the central shield cover 310 and the central apron 320 can be called cover members. The central leveler 330 levels the field by coming into contact with the field that has been tilled or agitated by the operation of the rotor 207. In other words, the central leveler 330 can be called a leveling member or a grounding member.

[0036] The extension work sections 400 are provided at both the left and right ends of the central work section 300 and are connected to the central work section 300 in a way that allows switching between a stored state (not shown) where the extension is folded above the central work section 300 and a working state where it is extended as shown in Figure 3.

[0037] The extension work section 400, like the central work section 300, has an extension shield cover 410, an extension apron 420, and an extension leveler 430. The extension shield cover 410 and the extension apron 420 are connected using a connecting section 422 as a pivot axis. The extension apron 420 and the extension leveler 430 are also connected using a connecting section 432 as a pivot axis. The connecting sections 422 and 432 have the same structure as the first connecting section and the second connecting section 332 described above.

[0038] The extension shield cover 410 and extension apron 420, like the central shield cover 310 and central apron 320, suppress the release of debris scattered by the operation of the rotor 207 located on the extension work section 400 to the outside. In other words, the extension shield cover 410 and extension apron 420 can be called cover members. The extension leveler 430, like the central apron 320, levels the field by coming into contact with the field tilled or agitated by the operation of the rotor 207 located on the extension work section 400. In other words, the extension leveler 430 can be called a leveling member or grounding member. Although not shown in the figures, an apron pressurizing mechanism is provided between the extension shield cover 410 and the extension apron 420. This apron pressurizing mechanism pressurizes the extension apron 420 so that it rotates downward relative to the extension shield cover 410.

[0039] When the central shield cover 310 and the extension shield cover 410 are not specifically distinguished, they are simply referred to as the shield cover 210. When the central apron 320 and the extension apron 420 are not specifically distinguished, they are simply referred to as the apron 220. When the central leveler 330 and the extension leveler 430 are not specifically distinguished, they are simply referred to as the leveler 230.

[0040] The end of the extension leveler 430 is provided with a leveler extension section 490 that can further widen the width of the leveling surface. The leveler extension section 490 is rotatably connected to the extension leveler 430. The leveler extension section 490 also has a guide surface 491 that is inclined toward the traveling machine body side with respect to the longitudinal direction of the work machine 20.

[0041] The leveler angle detection mechanism 500 is connected to the control box 501. The control box 501 is located above the central shield cover 310. The control box 501 has the functions of the control unit 291 shown in Figure 2 and transmits the rotation angle of the central leveler 330 relative to the central apron 320, as detected by the leveler angle detection mechanism 500, to the control unit 191 located on the traveling machine 10.

[0042] The leveling control unit 600 controls the angle of the central leveler 330 relative to the central apron 320. The extension leveler 430 is controlled in conjunction with the central leveler 330 to the same angle as the central leveler 330. For example, in the working state, the leveling control unit 600 pushes the central leveler 330 downward, thereby achieving a state in which the central leveler 330 and the extension leveler 430 are rotated downward relative to the central apron 320 and the extension apron 420 (earth-piling state).

[0043] [Work Path Guidance Method] A work path guidance method using the work machine 20 of this embodiment will be explained using Figures 4 to 15. Figure 4 is a diagram showing the operation flow of work path guidance according to one embodiment of the present invention. The program operation starts when the operator operates the monitor 110 and starts the work path guidance program.

[0044] When the program starts, a menu screen is displayed on the monitor 110 (S601). When the operator selects "Setting Working Conditions" from the menu screen (S603), an interface for setting working conditions is displayed, such as shown in Figure 5.

[0045] Figure 5 shows an example of an interface displayed on the work condition setting screen in a work route guidance according to one embodiment of the present invention. As shown in Figure 5, the work condition setting screen 700 is displayed on the monitor 110. The work condition setting screen 700 displays the work machine width 701, lap width 703, scale value 705, distance from the GPS position to the front end of the traveling machine (forward length of the traveling machine 707), front end width of the traveling machine 709, deviation amount display 711, GPS reception status 713, and touch panel correction 715. Input fields are provided for each of the items: work machine width 701, lap width 703, forward length of the traveling machine 707, and front end width of the traveling machine 709, to accept numerical input from the operator. However, as described above, when the work machine 20 is attached to the traveling machine 10, the control unit 191 obtains information to identify the work machine 20 from the control unit 291, and numerical values ​​may be automatically entered into the input fields other than the lap width 703. The lap width of 703 is a value that the operator can decide arbitrarily, but if a recommended lap width is set for each work machine 20, that recommended value may be automatically entered into the input field for the lap width of 703.

[0046] The workpiece width 701 is the longitudinal width of the workpiece 20. The workpiece width 701 is the distance between the rotors 207 located at both ends in the longitudinal direction of the workpiece 20 (in other words, the distance between the left end of the left extension shield cover 410 and the right end of the right extension shield cover 410 in Figure 3). The overlap width 703 is the width by which adjacent work areas, determined by the travel direction of the workpiece 20 and the workpiece width 701, overlap when viewed from above. In other words, the overlap width 703 is the amount of overlap between the work trace and the workpiece width 701. The scale value 705 is an item that sets the size of the minimum grid of the display grid. Figure 5 illustrates a configuration in which one value is selected from multiple values, but it is also possible to input an arbitrary number for the scale value 705.

[0047] The front length 707 of the mobile unit is the distance from the position detector 130 in Figure 1 to the front end of the mobile unit 10. As will be explained in detail later, when the implement 20 is towed by the mobile unit 10 to work in the field, work can only be performed up to the point where the front end of the mobile unit 10 reaches the edge of the field (e.g., the ridge). In other words, the part of the field between the implement 20 and the front end of the mobile unit 10 is not worked. This unworked area at the edge of the field (peripheral work area) is worked on all at once later, and the front length 707 of the mobile unit is used to derive the size of this peripheral work area. Specifically, the size of the peripheral work area is derived using the "effective length of the mobile unit," which is the mobile unit front length 707 plus the distance from the GPS of the mobile unit 10 to the implement 20.

[0048] The above-mentioned implement width 701, lap width 703, vehicle body front length 707, and vehicle body front end width 709 will be explained with reference to Figure 6. Figure 6 is a diagram illustrating the set values ​​for each work condition in the work path guidance according to one embodiment of the present invention. In Figure 6, the implement width 701 is defined as the distance between the rotors 207 arranged at both ends in the longitudinal direction of the implement. As shown in Figure 6, when the implement 20 is towed by the vehicle body 10 while working in the field, a work track 702 is formed in the worked area of ​​the field. The work track 702 is a work area determined by the direction of travel of the vehicle body 10 and the implement width 701. The lap width 703 is the width at which adjacent work tracks 702 overlap each other (the width in the same direction as the implement width 701). Note that the work track 702 corresponds to the tilling width of the implement 20.

[0049] The front length 707 of the mobile body is the length from the position detector 130 to the tip of the mobile body 10. The front end width 709 of the mobile body is the width of the front end (e.g., bumper) of the mobile body 10. As shown in Figure 6, the front length 707 of the mobile body does not represent the total length of the mobile body 10, and can therefore be said to be information regarding the length of the mobile body 10 in the direction of travel.

[0050] The deviation amount display 711 in Figure 5 is an item that selects how to display the deviation between the current position of the mobile machine 10 estimated from the position detector 130 and the planned work path. If "Direction of deviation" is selected in the deviation amount display 711, it will show in which direction and by how much the current mobile machine 10 is deviating from the planned work path. On the other hand, if "Direction to return to line" is selected in the deviation amount display 711, it will show in which direction and by how much the mobile machine 10 needs to be moved to return its current position to the planned work path.

[0051] The GPS reception status 713 is an item that displays the GPS information reception status of the position detector 130. For example, if the position detector 130 is unable to receive position information of the mobile vehicle 10 from the GPS, it can display "No Data" as shown in Figure 5. The GPS reception status 713 may also display the signal strength from the GPS and the positional accuracy of the position information detected by the GPS. The touch panel calibration 715 is an item that allows you to configure settings related to the functions of the touch panel. For example, by adjusting the touch panel calibration 715, you can adjust settings such as the sensitivity of the touch sensor.

[0052] In step S603 of Figure 4, once the settings for the various items described on the work condition setting screen 700 in Figure 5 are completed, the location and size of the field are then registered (S605). When "Field Registration" is selected, the field registration screen shown in Figure 7 is displayed on the monitor 110. Figure 7 is a diagram showing an example of the interface displayed on the field registration screen in a field condition determination method according to one embodiment of the present invention. As shown in Figure 7, the monitor 110 displays an input area 611 and a location selection area 613.

[0053] The input area 611 is provided with input boxes 615 on which the field name, long side size, and short side size can be entered. The field name, long side size, and short side size are stored in association with each other, and for example, by selecting the field name in a pull-down menu, the long side size and short side size may be automatically entered based on the previously registered information.

[0054] The location selection area 613 displays a schematic diagram of a rectangular field and an icon of the mobile machine 10. The operator moves the mobile machine 10 to a corner of the field and selects an image corresponding to the positional relationship between the mobile machine 10 and the field. Once an image is selected, the mobile machine 10's GPS detects its position, and the position information of the field's outer edge is registered based on this position information and the field size entered in the input frame 615. The field's position information may be stored in the mobile machine 10's memory, or it may be registered in the external storage of a server associated with this program via the internet. In this way, the field's position information is registered.

[0055] In S605 of Figure 4, once the field registration settings in Figure 7 are completed, multiple work routes, including the start and end positions of the work, are derived based on the implement width 701 and lap width 703 set by the work condition setting screen 700 in Figure 5, and the field size set by the field registration in Figure 7 (S607). Note that the work routes may be derived not only based on the implement width 701, lap width 703, and field size, but also on the machine body front length 707 and machine body front end width 709. Subsequently, the multiple work routes derived in S607 are displayed on the monitor 110 as shown in Figure 8 (S609). The operator selects one work route from the multiple work routes displayed on the monitor 110 (S611), and route guidance begins (S613).

[0056] [Regarding the selection of the work path] Figure 8 shows an example of an interface displayed on the work route selection screen in a work route guidance system according to one embodiment of the present invention. As shown in Figure 8, the work route selection screen 720 is displayed on the monitor 110. The work route selection screen 720 displays a plurality of work route patterns 730, 740, 750, 760 and a work start position selection unit 770.

[0057] Multiple work path patterns 730, 740, 750, and 760 each display different work path patterns. Each of the multiple work path patterns 730, 740, 750, and 760 displays the work path pattern name 731, 741, 751, and 761, the estimated work time 733, 743, 753, and 763, the work distance 735, 745, 755, and 765, the first path end 737, 747, 757, and 767, the work path 738, 748, 758, and 768, and the second path end 739, 749, 759, and 769. Work paths 738, 748, 758, and 768 are paths derived by applying the implement width 701, the lap width 703, and the field size to their respective basic patterns. As shown below, the work start position selection unit 770 sets one of the first and second path ends as the work start position, and the other of the first and second path ends as the work end position.

[0058] In Figure 8, basic patterns called adjacent patterns, skip patterns, and last paths are displayed as work path patterns, but the system is not limited to these basic patterns. Only some of the basic patterns listed above may be displayed, or other basic patterns may be displayed. Alternatively, basic patterns prepared by the worker may be displayed as work path patterns. Here, a basic pattern is a fundamental path (template) for deriving a work path, and work paths are derived based on each basic pattern as explained below.

[0059] Furthermore, while Figure 8 illustrates an interface where multiple work path patterns are arranged side-by-side on the same screen, the interface is not limited to this. For example, if one work path pattern is displayed on one screen and there are multiple work path patterns, left-right arrows or the like may be displayed on the left and right sides of the monitor 110, allowing the worker to display other work path patterns by swiping the monitor 110 left or right, or by tapping the left-right arrows or the like.

[0060] [Regarding the derivation of the first work path] The characteristics of each basic pattern will be described later, but by applying the implement width 701, the lap width 703, and the field size to each basic pattern, and adjusting the number of round trips in the straight work area and the number of laps in the surrounding work area, which will be described later, the work path is derived. Once the work path is derived, the estimated work time and work distance are derived based on that work path. When deriving the estimated work time, the estimated work time is derived based on the standard travel speed of the pre-set mobile machine 10.

[0061] Here, the work path derived based on the work machine width 701 and overlap width 703 set in Figure 5 is called the "first work path." On the other hand, as will be explained in detail later, the work path derived by adjusting the overlap width 703 relative to the first work path is called the "second work path." When there is no need to clearly distinguish between the first and second work paths, they are collectively referred to simply as the work path.

[0062] The work start position selection unit 770 allows you to select either "far" or "near". If you select "far" in the work start position selection unit 770, the work route is determined with the end of the route furthest from the position of the mobile machine 10 when the field was registered in Figure 7 as the work start position. On the other hand, if you select "near" in the work start position selection unit 770, the work route is determined with the end of the route closest to the position of the mobile machine 10 as the work start position, the opposite of the above.

[0063] [Regarding work path patterns] Figure 9 will be used to explain the characteristics of each of the multiple work path patterns shown in Figure 8. Figure 9(A) shows the "adjacent pattern" displayed in work path pattern 730 in Figure 8. Figure 9(B) shows the "skip pattern" displayed in work path pattern 740 in Figure 8. Figure 9(C) shows the "last pass" displayed in work path pattern 750 in Figure 8.

[0064] The work path pattern 730 shown in Figure 9(A) is divided into a straight work area 7301 and a peripheral work area 7303. In the straight work area 7301, work is repeated in a straight line along the long side of the field. When work is completed in the straight work area 7301 from the first path end 737 (work start position) to the end of the first straight work section 7305, the work turns back at that end and work begins in the second straight work section 7307 adjacent to the first straight work section 7305. This work is repeated until the entire area of ​​the straight work area 7301 is worked. The work path of the straight work area 7301 is derived based on the work machine width 701 and the lap width 703. Once work is completed in the entire area of ​​the straight work area 7301, work is performed in the peripheral work area 7303. In the peripheral work area 7303, the work circles around the perimeter of the straight work area 7301. Then, the final position of the work path in the surrounding work area 7303 coincides with the second path end 739 (work completion position). Note that the second path end 739 corresponds to the entrance and exit of the field.

[0065] In Figure 9(A), the peripheral work area 7303 is circled twice, and the outer end of the peripheral work area 7303 is the second path end 739. The work path of the peripheral work area 7303 is derived starting from the second path end 739, based on the work machine width 701 and the lap width 703. Once the peripheral work area 7303 is derived, the area inside the peripheral work area 7303 is defined as the linear work area 7301, and the linear lengths of the linear work sections of the linear work area 7301 (for example, the first linear work section 7305 and the second linear work section 7307) and the number of turns in the linear work sections are determined. The work path of the linear work area 7301 is derived starting from the inner end of the peripheral work area 7303. In other words, the work path pattern 730 is derived sequentially from the second path end 739 toward the first path end 737, based on the work machine width 701 and the lap width 703.

[0066] The work path pattern 740 shown in Figure 9(B) is similar to the work path pattern 730, but the work path in the straight work area 7401 is different from the work path in the straight work area 7301. In all other respects, the work path pattern 740 is the same as the work path pattern 730, so the explanation is omitted. In the straight work area 7401, the work is repeated along the long side of the field, similar to the straight work area 7301. However, once the work is completed from the first path end 747 (work start position) to the end of the first straight work section 7405, the work turns back at that end and proceeds to the third straight work section 7407, passing over the second straight work section 7406 adjacent to the first straight work section 7405. In other words, once the work in the first straight work section 7405 is completed, the work in the third straight work section 7407 is performed, skipping the second straight work section 7406. As described above, once work is completed up to the fourth straight work section 7408 on the opposite side of the first straight work section 7405 in the straight work area 7401, work is performed on the unworked areas, skipping the already worked areas. Similarly, the work path pattern 740 is derived sequentially from the second path end 749 toward the first path end 747, based on the work machine width 701 and the lap width 703.

[0067] The work path pattern 750 shown in Figure 9(C) differs from the work path patterns 730 and 740 described above in that it is a path pattern that circles around the completed work area, moving from the first path end 757 (work start position) to the second path end 759 (work end position). Similar to the above, the work path pattern 750 is derived sequentially from the second path end 759 to the first path end 757 based on the work machine width 701 and the lap width 703.

[0068] [Regarding the derivation of the second work path] When deriving a work path by applying the field size, implement width 701, and lap width 703 to the standard work path pattern shown in Figure 9, the width of the surrounding work areas 7303 and 7403 can be adjusted by adjusting the turning point in the straight work direction of the straight work areas 7301 and 7401. On the other hand, in the direction perpendicular to the above straight work direction, the width of the surrounding work areas 7303 and 7403 is determined by the implement width 701 and lap width 703, and therefore the width of the surrounding work areas 7303 and 7403 cannot be adjusted. As a result, in the direction perpendicular to the above straight work direction, a small gap may occur between the straight work areas 7301 and 7401 and the surrounding work areas 7303 and 7403, or the overlap width between the straight work areas 7301 and 7401 and the surrounding work areas 7303 and 7403 may become excessively large compared to the lap width 703.

[0069] Figure 10 shows an example of deriving a work path using the overlap width of adjacent work areas as a variable in a work path guidance according to one embodiment of the present invention. Figure 10(A) shows an example in which a small gap 7302 occurs between the straight work area 7301 and the surrounding work area 7303 when the work path is derived based on the work conditions set in Figure 5. In Figure 10, the overlap width 703 between adjacent work traces 702 is indicated by a diagonal line. If a gap 7302 occurs as in Figure 10(A), the work path is derived such that no gap 7302 occurs by reducing the overlap width 703, as shown in Figure 10(B). Conversely to the example in Figure 10, if the overlap width between the straight work area 7301 and the surrounding work area 7303 is excessively large compared to the overlap width 703, the work path is derived such that the overlap width between the straight work area 7301 and the surrounding work area 7303 is reduced by increasing the overlap width 703.

[0070] In other words, if a gap 7302 occurs between the linear work area 7301 and the surrounding work area 7303 in the first work path, or if the overlap width between the linear work area 7301 and the surrounding work area 7303 is excessively large compared to the overlap width 703, a second work path can be derived by recalculating with the overlap width 703 as a variable. The second work path derived by the recalculation is displayed on the monitor 110 in place of the first work path.

[0071] [Regarding the derivation of the work path for adjusting the tilling width of implement 20] Furthermore, if the overlap width between the straight working area 7301 and the surrounding working area 7303 is excessively large compared to the lap width 703, a work path including an operation to adjust the tilling width of the implement 20 may be derived in addition to the method shown in Figure 10. As explained in Figure 3, the implement 20 of this embodiment can fold one or both of its extension working sections 400. Therefore, in areas where the overlap width is excessively large compared to the lap width 703, a work path with a reduced tilling width of the implement 20 may be derived by folding the extension working section 400.

[0072] Figure 11 is a diagram showing an example of a work path pattern in work path guidance according to one embodiment of the present invention. As described above, if the overlap width between the straight work area 7301 and the surrounding work area 7303 is excessively large compared to the overlap width 703, a work path including a third straight work area 7309 (shaded area) with a smaller tilling width than the first straight work area 7305 and the second straight work area 7307 may be derived in the straight work area 7301, as shown in Figure 11. The third straight work area 7309 is an area where work is performed with a smaller tilling width of the implement 20 by folding the extension work area 400. Note that the third straight work area 7309 operates the implement 20 under different conditions than the other areas, so it may be displayed in a way that makes it distinguishable from the other areas. For example, the third straight work area 7309 may be represented by a different pattern or color than the other areas. Also, immediately before starting work in the third straight work area 7309, the operator may be notified that the working conditions of the implement 20 have changed by a method such as displaying a ticker.

[0073] As described above, another example of a work path including the operation of adjusting the tilling width of the implement 20 will be explained with reference to Figure 12. Figure 12 is a diagram showing an example of a work path pattern in work path guidance according to one embodiment of the present invention. Figure 12 explains a work path for a field that is not rectangular in shape. In particular, a work path for a field that is a combination of a rectangular area and a non-rectangular area having sides that are inclined relative to each side of the rectangular area will be explained.

[0074] As shown in Figure 12, the work path pattern 780 is divided into a straight work area 7801, a peripheral work area 7803, and a non-rectangular work area 7811. For example, in a work path where the work starts at the first path end 787, the straight work area 7801 is worked on, then the peripheral work area 7803 is worked on, and finally the non-rectangular work area 7811 is worked on, a work path that includes the operation of adjusting the tilling width of the implement 20 will be described. In the non-rectangular work area 7811, in the area that overlaps with the straight work area 7801 (overlap area 7813), if work continues without changing the tilling width of the implement 20, areas that are partially worked on excessively will occur. In order to minimize such areas, a tilling width reduction area 7815 is provided in the overlap area 7813.

[0075] In this tilling width reduction area 7815, the operator is notified to work with the extension work section 400 of the implement 20 folded. For example, in the tilling width reduction area 7815, the operator may work with only the extension work section 400 on the left or right side in the direction of travel of the traveling machine 10 folded, or with both the left and right extension work sections 400 folded. As described above, when working in the non-rectangular work area 7811 from the outside of the field, a remaining area 7817 remains between the straight work area 7801 and the worked area of ​​the non-rectangular work area 7811. Since the width of this remaining area 7817 varies depending on the location, the operator is notified to adjust the tilling width of the implement 20 to match the width. For example, in the narrow remaining areas 7817-1 and 7817-3, the operator is notified to work with the extension work section 400 folded, and in the wide remaining area 7817-2, the operator is notified to work with the extension work section 400 extended. Then, the work is completed with the second path end 789 as the work completion position.

[0076] [Guidance on work routes during the work] The guidance of the work path during work will be explained in detail using Figure 13. Figure 13 is a diagram showing an example of displaying the direction of travel to the worker in the work path guidance according to an embodiment of the present invention. For example, in the skip-a-line pattern shown in Figure 9(B), when the worker finishes work up to the end of the first straight work section 7405, turns back at that end, and starts work on the third straight work section 7407, it may be difficult for the worker to recognize the position of the third straight work section 7407. Also, the worker may not know which way to turn next. In such cases, the work path is displayed on the monitor 110 to the worker during work.

[0077] As shown in Figure 13, the monitor 110 displays a field map 650, an information display unit 670, and work route guidance 690. The field map 650 is divided into work sections based on the location information of the fields registered by "Field Registration" shown in Figure 7, and the work conditions set in Figure 5. The field map 650 displays a vehicle icon 657, allowing the current position of the vehicle 10 in the field where work is being performed to be recognized. As shown in Figure 13, when the vehicle icon 657 approaches the edge of the field (the edge of the straight work section), the work route guidance 690 is displayed above the field map 650. The work route guidance 690 can be displayed, for example, when the vehicle icon 657 enters the work section closest to the edge of the field.

[0078] The work path guidance 690 may be highlighted (e.g., flashing or moving) to draw the worker's attention. In Figure 13, the work path guidance 690 displays a turning direction guidance 691 that guides the worker on whether to turn left or right after the work on the current straight work section is completed, and a next work position guidance 693 that guides the worker on the position of the next straight work section to be worked on. However, the work path guidance 690 is not limited to the two guidances described above. Also, Figure 13 illustrates a configuration in which the work path guidance 690 is displayed in the case of the skip-a-line pattern shown in Figure 9(B), but the system is not limited to this configuration. For example, the work path guidance described above may be displayed in the case of the work path patterns shown in Figure 9(A) or (C).

[0079] As described above, according to this embodiment, by setting work conditions, multiple work routes based on multiple work route patterns can be provided to the worker, so the worker can be provided with multiple efficient work routes derived from the work conditions. In addition, since the estimated time or distance required for each of the multiple work routes is displayed, the worker can be provided with criteria for making a decision on which work route to select. Furthermore, by recalculating the first work route with the lap width 703 as a variable to derive the second work route, a work route can be derived with a lap width 703 that is more suitable than the lap width 703 set by the worker, thereby providing the worker with a more efficient work route.

[0080] <Second Embodiment> In this embodiment, in addition to the work path derived based on the set work machine width 701 and lap width 703 as in the first embodiment, a configuration is described in which a work path with better work efficiency than the set work path is derived and presented to the worker. As mentioned in the first embodiment, as shown in Figure 5, it is possible to adjust the lap width 703 for each set value set by the worker, but the work machine width 701 is determined by the model of the work machine 20 and cannot be changed unless the model of the work machine 20 is changed. Similarly, the front length 707 of the traveling body is also determined by the model of the traveling body 10 and cannot be changed unless the model of the traveling body 10 is changed.

[0081] However, work efficiency can be improved by changing at least one of the models of the work implement 20 and the traveling body 10. Conventionally, workers often only have a vague understanding that a larger work implement width 701 leads to better work efficiency, and therefore often cannot recognize the benefits or necessity of replacing the work implement 20 in advance. However, as shown in this embodiment, by clarifying how much work efficiency can be improved by changing the work implement width 701 and the forward length 707 of the traveling body, the benefits of changing at least one of the models of the work implement 20 and the traveling body 10 can be clearly communicated to the worker. This embodiment will be described below with reference to Figures 14 to 16.

[0082] Figure 14 shows an example of displaying the recalculation results of a work route in the work route pattern selection screen of a work route guidance system according to one embodiment of the present invention. The work route selection screen 720A shown in Figure 14 is similar to the work route selection screen 720 shown in Figure 8, but differs from the work route selection screen 720 in that, for example, work route pattern 730A displays a candidate work route different from work route 738A (hereinafter referred to as recommended work route candidate 793A). Similarly, recommended work route candidates 794A, 795A, and 796A are displayed in work route patterns 740A, 750A, and 760A, respectively.

[0083] Each of the recommended work path candidates 793A, 794A, 795A, and 796A (referred to as "recommended work path candidate 790A" unless otherwise specified) displays multiple candidates, and the estimated work time is displayed for each candidate. The above recommended work path candidate 790A is a work path derived by recalculating work paths 738A, 748A, 758A, and 768A with at least the work machine width 701A and the overlap width 703A as variables. The number of work paths displayed as recommended work path candidate 790A may be one. There may be three or more. Work paths 738A, 748A, 758A, and 768A may be a first work path derived based on the work machine width 701A and the overlap width 703A (a work path derived based on the set work machine width 701A and overlap width 703A), or a second work path derived by adjusting the overlap width 703A with respect to the first work path. In this way, a work path derived with respect to the first or second work path using at least the work machine width 701A and the overlap width 703A as variables is called a "third work path". Note that the third work path is a work path that is shorter than the first or second work path.

[0084] Figure 15 is a diagram showing an example of a data table obtained by recalculating the work path in a work path guidance according to one embodiment of the present invention. Referring to Figure 15, the method for deriving the third work path described above will be explained. In the calculation for deriving the third work path, the work machine width 701A treated as a variable is the work machine width of a machine that replaces the work machine 20A. For example, if the work machine 20 used to derive the first work path or the second work path (work paths 738A, 748A, 758A, 768A) is "TXA (work machine width is 3.0m (current work machine))", then the work machine width 701A will be a different machine from TXA, such as "TXB (work machine width is 3.5m (candidate 1 work machine))" or "TXC (work machine width is 4.0m (candidate 2 work machine))", and the work machine width 701A will be a variable of work machine width 701A. In other words, for example, in the above example, when the value of the workpiece width 701A is 3.5m or 4.0m, the third work path is derived using the lap width 703A as a variable. The number of workpiece widths used as variables is not limited to two as shown in Figure 15, but may be more than that. Also, the other candidate workpieces listed in Figure 15 may be workpieces with a workpiece width smaller than that of the current workpiece.

[0085] The working machine width and its number, used as variables, may be stored in a storage device connected to the control unit 191A of the traveling machine 10A, in a storage device connected to the control unit 291A of the working machine 20A, or in a storage device of a server connected to the communication unit of the traveling machine 10A or the working machine 20A via a network, or in a storage device connected to the server via a network (for example, external storage located outside the server). For example, if the working machine width and its number, used as variables, are stored in the storage device of the traveling machine 10A or the working machine 20A, the information in the storage device will be updated when the product lineup of the traveling machine 10A and the working machine 20A is updated. Alternatively, if the working machine width and its number are stored in a storage device such as a server, the working machine width and its number may be determined by obtaining product lineup information after the work path guidance program is started.

[0086] The information regarding the multiple third work routes derived as described above is stored in data table 800A shown in Figure 15. Figure 15 lists the field area, work machine type, work machine width, lap width, machine type, machine length, total distance traveled, estimated work time, number of straight runs, and number of peripheral runs as item values. Data table 800A stores the item values ​​for each of the current work machines, as well as the item values ​​for each of the work machines in the recommended work route candidate 790A. The "current" value in data table 800A is the information regarding machine 10A and work machine 20A used to derive work routes 738A, 748A, 758A, and 768A, as well as the conditions related to the above work routes.

[0087] The work routes listed as recommended work route candidate 790A are those with a total travel distance shorter than the "current" condition in data table 800A, and with an estimated work time shorter than the "current" condition. In other words, a third work route may be derived for all conditions in the product lineup of the mobile unit 10A and the work implement 20A, and only the conditions with a total travel distance shorter than the "current" condition may be displayed as recommended work route candidate 790A. However, for work implement 20A only, a third work route may be derived for all conditions in the product lineup, or a work route may be derived only for work implements in the product lineup of work implement 20A that have a work implement width greater than the "current" condition.

[0088] Figure 16 shows an example of displaying selected recommended work route candidates in work route guidance according to one embodiment of the present invention. In Figure 14, when the worker selects "Candidate 1" from the recommended work route candidates 790A, a pop-up window 810A as shown in Figure 16 is displayed, and the item values ​​for each condition of "Candidate 1" in Figure 15 are displayed in the window. The pop-up window 810A displays the work machine type and its work machine width, the type of traveling machine and its machine length, the travel distance and the distance shortened from the current conditions, and the estimated work time and the time shortened from the current conditions. However, the items displayed in the pop-up window 810A are not limited to the above contents. In addition, information related to "Candidate 1" may be notified to the worker by means other than the pop-up window.

[0089] In data table 800A in Figure 15, the number of peripheral travels is 2 under the conditions of "Current" and "Candidate 1," while the number of peripheral travels is 1 under the condition of "Candidate 2." The conditions necessary to make the number of peripheral travels (for example, the number of laps around the peripheral work area 7303A) 1 are explained below.

[0090] Depending on the relationship between the distance from the front end of the traveling body 10A to the rotor 207A of the work implement 20A (hereinafter referred to as "effective length of the traveling body 719") and the width of the work implement 701A, it may be possible to change the number of peripheral travel cycles to one. Figures 17 and 18 will be used to explain the effect of the work implement width 701A and the effective length of the traveling body 719A on the number of peripheral travel cycles in the peripheral work area 7303A.

[0091] Figures 17 and 18 show the influence of the machine length and implement width on the work path pattern in a work path guidance according to one embodiment of the present invention. Figure 17 shows a configuration in which the implement width 701A is greater than the effective length 719A of the machine. Figure 18 shows the opposite configuration in which the effective length 719B of the machine is greater than the implement width 701B. In each figure, the case of working on the ends 31A and 31B of fields 30A and 30B is shown. In Figures 17 and 18, a configuration is shown in which the machine 10A and 10B and implements 20A and 20B travel through fields 30A and 30B inside the ridges 40A and 40B.

[0092] As shown in Figure 17, when the width of the implement 701A is greater than the effective length of the traveling machine 719A, when the traveling machine 10A-1 reaches the edge 31A of the field 30A, work cannot be performed in the area from the implement 20A-1 to the ridge 40A. In other words, the area of ​​field 30A within a distance D1 from the ridge 40A cannot be worked on with the traveling machine 10A-1 in this orientation. Note that distance D1 corresponds to the effective length of the traveling machine 719A. That is, for example, even if one tries to work as close to the ridge 40A as possible in the straight working direction of the straight working area 7301A shown in Figure 14, work cannot be performed on the area of ​​field 30A within a distance D1 from the ridge 40A. Therefore, the area of ​​field 30A within a distance D1 from the ridge 40A must be treated as a surrounding working area 7303A, and work must be performed with the traveling machine 10A-2 and implement 20A-2 in that orientation.

[0093] In the configuration shown in Figure 17, since the working machine width 701A is greater than the effective length 719A of the traveling machine, the field 30A in the area where work cannot be performed with the traveling machine 10A-1 and working machine 20A-1 (the area within a distance D1 from the ridge 40A) can be worked on at once with the traveling machine 10A-2 and working machine 20A-2. In other words, under these conditions, for example, the number of perimeter runs in the peripheral work area 7303A shown in Figure 14 can be reduced to one.

[0094] On the other hand, as shown in Figure 18, if the effective length of the traveling machine 719B is greater than the width of the implement 701B, the field 30B in the area where work cannot be performed in the orientation of the traveling machine 10B-1 and implement 20B-1 (the range from the ridge 40B to a distance D2) is larger than the width of the implement 701B, so work cannot be performed at once in the orientation of the traveling machine 10B-2 and implement 20B-2 (the range to a distance D3 will not be worked in a single operation). In other words, under such conditions, for example, the number of perimeter runs in the peripheral work area 7303A shown in Figure 14 must be at least two.

[0095] As described above, when the work machine width 701A is greater than the effective length of the traveling machine 719A, the number of perimeter runs around the surrounding work area 7303A shown in Figure 14 can be reduced to one. In the data table 800A in Figure 15, under the condition of "Candidate 2," the work machine width (4.0m) is greater than the effective length of the traveling machine (3.0m), so the number of perimeter runs can be reduced to one. In this way, the work path can be derived based on the relative size relationship between the work machine width 701A and the effective length of the traveling machine 719A. In particular, the number of perimeter runs around the surrounding work area 7303A can be determined based on the relative size relationship between the work machine width 701A and the effective length of the traveling machine 719A.

[0096] As described above, according to this embodiment, it is possible to propose a work path when using a work implement with a work implement width 701A and a travel body effective length 719A different from those set by the worker. Furthermore, since the benefits obtained by changing the work implement can be clearly communicated to the worker as described above, it is possible to increase the worker's motivation to purchase the work implement.

[0097] <Third Embodiment> In this embodiment, as in the first embodiment, a configuration is described in which the state of the field after work by the implement (i.e., the area that the implement passed through while working) is determined and displayed while guiding the work path. In this embodiment, a configuration in which a puddling machine is used as the implement for determining the state of the field is given as an example, but the configuration is not limited to this. For example, in addition to a puddling machine, an implement equipped with a ground contact member that can come into contact with the field during operation can be used as the implement for determining the state of the field. For example, a cultivator, soil crusher, plow, etc. may be used as such an implement. In this embodiment, since a puddling machine is used as the implement, the ground contact member corresponds to a leveling member (leveler).

[0098] The detailed configuration of the leveler angle detection mechanism 500C (see Figure 3) will be explained using Figure 19. Figure 19 is a side view showing the overall configuration of the leveler angle detection mechanism of a work machine according to one embodiment of the present invention. As shown in Figure 19, the detection member (leveler angle detection mechanism 500C) has an angle detector (potentiometer 510C), a first arm portion 520C, a second arm portion 530C, a first elastic portion 540C, and a second elastic portion 550C. The first arm portion 520C, the second arm portion 530C, the first elastic portion 540C, and the second elastic portion 550C are sometimes collectively referred to as the telescopic rod 590C. The potentiometer 510C is fixed to a base 314C provided on the central shield cover 310C. The potentiometer 510C and the first arm portion 520C are rotatably connected. The second arm portion 530C is fixed to a base 334C provided on the central leveler 330C. The second arm section 530C and the base 334C are rotatably connected. In other words, the telescopic rod 590C connects the potentiometer 510C and the central leveler 330C.

[0099] The first arm section 520C and the second arm section 530C are connected so as to be slidable relative to each other. The first elastic section 540C applies elastic force to the first arm section 520C and the second arm section 530C in the direction in which the telescopic rod 590C is retracted. On the other hand, the second elastic section 550C applies elastic force to the first arm section 520C and the second arm section 530C in the direction in which the telescopic rod 590C is extended.

[0100] Furthermore, if the potentiometer 510C is equipped with an elastic section for returning to its origin, the elastic moduli of the first elastic section 540C and the second elastic section 550C are greater than the elastic moduli of the elastic section for returning to its origin. Therefore, when the central leveler 330C rotates relative to the central apron 320C due to the influence of unevenness in the field, the potentiometer 510C operates via the first arm section 520C and the second arm section 530C in conjunction with the rotation of the central leveler 330C. In this way, the rotation angle of the central leveler 330C relative to the central apron 320C can be detected by the potentiometer 510C.

[0101] The extension leveler 430C is connected to the central leveler 330C and rotates together with the central leveler 330C, so the rotation angle of the central leveler 330C and the extension leveler 430C (leveler 230C) can be detected by the potentiometer 510C. In other words, the change in the vertical movement of leveler 230C can be detected using the leveler angle detection mechanism 500C.

[0102] In Figure 19, the central leveler 330C rotates relative to the central apron 320C, and the central apron 320C rotates relative to the central shield cover 310C. Therefore, the potentiometer 510C will detect the rotation of both the central apron 320C and the central leveler 330C. However, by performing calculations on the data obtained by the potentiometer 510C to eliminate the influence of the rotation of the central apron 320C, it is possible to detect only the rotation of the central leveler 330C.

[0103] In this embodiment, the leveler angle detection mechanism 500C is shown as an example in which it detects the rotation angle of the leveler 230C (central leveler 330C) relative to the apron 220C (central apron 320C), but the system is not limited to this configuration. For example, in a configuration in which a grounding member in contact with the field is rotatably connected to the frame 200C or shield cover 210C (for example, central shield cover 310C), the rotation angle of the grounding member may be detected. The grounding member does not have to rotate relative to the frame 200C or shield cover 210C. However, in that case, a detector capable of detecting changes in the vertical movement of the grounding member is provided instead of the potentiometer 510C.

[0104] Here, using Figures 20 to 25, a method for determining field conditions based on changes in the vertical movement of the leveler 230C will be described in detail. Figures 20 to 22 are diagrams illustrating a method for determining field conditions according to an embodiment of the present invention. Figure 23 is a diagram illustrating an interface related to a lookup table (LUT) used for determining field conditions according to an embodiment of the present invention. First, as shown in Figure 20, the change in the vertical movement of the leveler 230C relative to the position of the traveling machine 10C is plotted based on the position information detected by the position detector 130C provided on the traveling machine 10C and the change in the vertical movement of the leveler 230C detected by the leveler angle detection mechanism 500C provided on the implement 20C. In Figure 20, the field is divided into working sections L1, L2, and L3. The plotted data shown in Figure 20 is analyzed for each working section L1, L2, and L3 of the field, and a determination result is derived for each section. The example shown in Figure 20 illustrates an example in which plotted data is analyzed for each fixed working section. However, the intervals between the work sections being analyzed do not need to be constant.

[0105] Using Figure 21, we will explain how to analyze plot data in which vertical movement of the Leveler 230C has been detected. The determination of the field condition is based on the magnitude of the change in unevenness. Specifically, the determination of the field condition is based on the difference between adjacent peaks and valleys detected in the plot data. This difference between adjacent peaks and valleys is called the adjacent PV (Peak to Valley) value. Each adjacent PV value in one work section is calculated, and the field condition is determined based on the statistical values ​​of these adjacent PV values. Specifically, the difference between the first peak p1 and the first valley v1 (the magnitude of the change in vertical movement of the Leveler 230C) is PV1, the difference between the first valley v1 and the second peak p2 is PV2, and the difference between the second peak p2 and the second valley v2 is PV3. Then, for example, the determination is made based on the average value of PV1 to PV3. Details of this determination method based on adjacent PV values ​​will be described later.

[0106] In the above analysis, when detecting peaks and troughs, filtering is performed to ignore, for example, micro-vibration regions r1 and r2. For this filtering, a low-pass filter may be used. Alternatively, as another filtering method, if adjacent PV values ​​are smaller than a predetermined value, the peaks and troughs associated with those adjacent PV values ​​may be ignored.

[0107] A method for detecting work stoppage will be explained using Figure 22. While the implement 20C is working in the field, the leveler 230C moves up and down within a certain range. However, when work stops and the implement 20C is lifted upward, the leveler 230C rotates downward to the limit of its range of motion and hardly moves up and down anymore. For example, as shown in Figure 22, when the implement 20C is lifted upward, the plotted data drops to near the lower limit and hardly moves up and down anymore (symbol z1 in Figure 22). When the plotted data shows such unusual behavior, it may be determined that work has stopped. When work stoppage is determined, the acquisition of plotted data may be interrupted. Alternatively, only information prior to the point where the work stoppage was determined to have started (symbol z2 in Figure 22) may be included in the analysis.

[0108] Using Figure 23, we will explain a method for determining the field condition based on the adjacent PV value statistics shown in Figure 21 (hereinafter referred to as adjacent PV statistics). As shown in Figure 23, the interface related to the lookup table (interface based on LUT630C) has the items of determination result 631C, selection 633C, and adjacent PV statistics determination range 635C.

[0109] Judgment Result 631C includes three categories: "Insufficient," "Optimal," and "Excessive," as well as "Good 1" and "Good 2." "Insufficient" refers to a state where the surface soil clods are still large, resulting in poor soil pulverization or unevenness of the field surface. Specifically, a state where the mean and standard deviation of adjacent PV statistics are relatively large is judged as "Insufficient." "Excessive" refers to a state where the surface soil clods are small, resulting in good soil pulverization or unevenness of the field surface, but specifically, a state where the soil clods are smaller or the unevenness is better than necessary. Reaching this "Excessive" state requires longer working time on the field and is inefficient. Therefore, the "Excessive" category is included to indicate that it is not necessary to work until the field reaches the "Excessive" state. Specifically, a state where the mean and standard deviation of adjacent PV statistics are relatively small is judged as "Excessive." "Optimal" is the range between "Insufficient" and "Excessive."

[0110] Here, "Good 1" may refer to a state between "Optimal" and "Excessive" (a state where the range of "Good 1" does not overlap with the range of "Excessive"), or it may refer to a state close to "Optimal" within the range of "Excessive" (a state where the range of "Good 1" overlaps with the range of "Excessive"). Similarly, "Good 2" may refer to a state between "Optimal" and "Insufficient" (a state where the range of "Good 2" does not overlap with the range of "Insufficient"), or it may refer to a state close to "Optimal" within the range of "Insufficient" (a state where the range of "Good 2" overlaps with the range of "Insufficient"). Note that the "Good 1" and "Good 2" items refer to states where the field condition can be made "Optimal" by slightly changing the working conditions, for example, by slowing down or speeding up the speed of the mobile machine 10C. If the judgment result is "Good 1" or "Good 2", work guidance such as "Increase vehicle speed" or "Slow down vehicle speed" may be displayed to the operator via the monitor 110C. Alternatively, if the judgment result is "Good 1" or "Good 2", work guidance such as "Please lower the rotor rotation speed" or "Please increase the rotor rotation speed" may be displayed to the operator via monitor 110C.

[0111] Selection 633C enables or disables the judgment results for each item in judgment result 631C. For example, in the interface based on LUT630C shown in Figure 23, since the items "excess," "insufficient," and "optimal" are checked, only these three judgment results are enabled, and the judgment results will never be "Good 1" or "Good 2."

[0112] The adjacent PV statistics judgment range 635C defines the range of adjacent PV statistics for each judgment result. In other words, the adjacent PV statistics judgment range 635C is the judgment criterion. For the items "Optimal," "Good 1," and "Good 2," both an upper and lower limit are set in the adjacent PV statistics judgment range 635C. For the item "Excessive," at least an upper limit is set in the adjacent PV statistics judgment range 635C. For the item "Insufficient," at least a lower limit is set in the adjacent PV statistics judgment range 635C. The adjacent PV statistics judgment range 635C may be changed by numerical input, or its value may be changed by the + and - buttons. Note that when the + or - button is selected, both the upper and lower limits of the adjacent PV statistics judgment range 635C change. In other words, when the + or - button is selected, both the upper and lower limits change so that the difference between the upper and lower limits (i.e., the width of the range) does not change. However, when the + or - button is selected, the width of the range may change while the upper and lower limits change, or only the upper or lower limit may change.

[0113] For example, when adjacent PV statistics are calculated from plot data as shown in Figure 21, a judgment result is derived based on those adjacent PV statistics and the criteria displayed on the interface based on LUT630C in Figure 23. In this way, judgment results are derived for each of the work sections L1, L2, and L3 shown in Figure 20. The derived judgment results are then displayed on the monitor 110C provided on the mobile unit 10C. Details on how the judgment results are displayed on the monitor 110C will be described later.

[0114] [Judgment results and related data] The judgment results derived for each work section as described above are stored in the storage device as data table 640C, associated with the plot data (measurement data) in Figure 21 and the adjacent PV statistics calculated from the plot data (see Figure 24). Figure 24 is a diagram showing an example of data obtained by the field condition determination method according to an embodiment of the present invention. The above-mentioned plot data and adjacent PV statistics together can be said to be "information regarding changes in vertical movement" of the leveler 230C in relation to the field. In other words, the judgment results for the field condition for each work section are stored in association with information regarding changes in vertical movement of the leveler for each work section.

[0115] As shown in Figure 24, data table 640C has the following items: section 641C, plot data 643C, adjacent PV statistics 645C, and judgment result 647C. Section 641C corresponds to work sections L1, L2, and L3 shown in Figure 20. The information in section 641C includes information that identifies the field. In other words, based on section 641C, it is possible to recognize which field and which location it represents. Plot data 643C is measurement data showing the vertical movement of leveler 230C in relation to the travel distance of the mobile machine 10C. Adjacent PV statistics 645C are statistics calculated based on plot data 643C. In Figure 24, the mean and standard deviation are shown as statistics, but other statistics may be used. Judgment result 647C is derived based on LUT 630C in Figure 23.

[0116] Figure 24 illustrates a configuration in which the data table 640C stores information for the four items mentioned above, but the configuration is not limited to this. For example, additional information other than these items may be stored. Or, only some of the information for these items may be stored. The storage device may be a storage device connected to the control unit 191C of the traveling body 10C, a storage device connected to the control unit 291C of the work machine 20C, a storage device of a server connected to the communication unit of the traveling body 10C or work machine 20C via a network, or a storage device connected to the server via a network (for example, external storage provided outside the server).

[0117] [How to display the judgment results] The method for displaying the field condition determination results derived as described above will be explained using Figure 25.

[0118] Figure 25 shows an example of displaying the field condition determination results on a monitor according to an embodiment of the present invention. As shown in Figure 25, the monitor 110C displays a field map 650C, real-time determination results 660C, various information display unit 670C, and work route 677C. The field map 650C is divided into work section units based on the field location information registered by "Field Registration" shown in Figure 7, and separately set information such as the width of the implement. The field map 650C displays a mobile machine icon 657C, allowing the operator to recognize the current position of the mobile machine 10C in the field where work is being performed. Furthermore, the field map 650C displays a work route 677C that proposes a route for the operator to take. In other words, the work route 677C is the route that the implement 20C will travel. Furthermore, the field map 650C displays the results of the assessment of the field condition as determined by the work performed by the implement 20C, along with the work route 677C mentioned above.

[0119] In this embodiment, block determination is performed to determine the field condition for each work section. As shown in Figure 25, the field map 650C displays the field condition determination results along the work route 677C. For each work section where work and field condition determination have been completed, the determination result is displayed with a pattern or color that can be visually identified. The pattern or color assigned to each work section reflects the determination result shown in Figure 25. For example, block 651C is a work section with a determination result of "excess." Block 653C is a work section with a determination result of "insufficient." Block 655C is a work section with a determination result of "optimal." Since these determination results are derived for each block, they can be called block determination results. Note that the determination results displayed in the field map 650C in Figure 25 are the determination results 631C checked in selection 633C in Figure 23. In other words, in selection 633C in Figure 23, the three items "excess," "insufficient," and "optimal" are checked, so these three judgment results are displayed in Figure 25.

[0120] In the upper left corner of field map 650C, the real-time judgment result 660C is displayed. The real-time judgment result 660C is the result of real-time judgment for a field section shorter than the work section where block judgment is performed. In the real-time judgment result 660C, the judgment result is displayed in a gradient. In other words, while field map 650C only displays three types of judgment results: "optimal," "excessive," and "insufficient," the real-time judgment result 660C displays judgment results of more levels than that. For example, in the example in Figure 25, the real-time judgment result 660C displays judgment results of "excessive" 661C, "good 1" 663C, "optimal" 665C, ​​"good 2" 667C, and "insufficient" 669C according to the condition of the field. "Optimal" 665C is defined as a result indicating a relatively good field condition. "Insufficient" 669C is defined as a result indicating a relatively unfavorable field condition. "Good 2" 667C is defined as a result indicating the field condition between these judgment results. Below the real-time judgment result 660C, a cursor 666C is displayed. Cursor 666C points to the position corresponding to the real-time judgment result.

[0121] In this embodiment, the real-time judgment result 660C is displayed based on the adjacent PV values ​​(PV1, PV2, PV3) described in Figure 21. For example, for each of the values ​​of PV1, PV2, and PV3 in Figure 21, the judgment result is derived based on the criteria shown in Figure 23, and the derived judgment result is displayed as the real-time judgment result 660C. However, the real-time judgment result 660C may also display the judgment result based on the adjacent PV statistics of an interval shorter than each block (651C, 653C, 655C). In other words, the real-time judgment result 660C may display the judgment result based on the statistics of multiple adjacent PV values ​​(PV1, PV2, PV3) of an interval shorter than each block. Here, since the block judgment result displayed on the field map 650C is the judgment result based on the adjacent PV statistics 645C of each block, it can be said that the block judgment result is the judgment result based on statistically processed information (adjacent PV statistics 645C) of the information used for real-time judgment (plot data 643C).

[0122] In the example above, cursor 666C points to one of the five levels: "Excessive" 661C, "Good 1" 663C, "Optimal" 665C, ​​"Good 2" 667C, and "Insufficient" 669C. However, cursor 666C may point to more than the above five levels depending on the adjacent PV value. In other words, cursor 666C may display the adjacent PV value in analog form. In this case, the above five-level gauge may be displayed with a width corresponding to the width of each range of the adjacent PV statistical value judgment range 635C shown in Figure 23. The above configuration will be explained in detail later.

[0123] In the upper right corner of the field map 650C, the information display unit 670C is displayed. In Figure 25, the work area is displayed on the information display unit 670C. The work area corresponds to the area worked on by the implement 20C, and is determined by the width of the implement 20C, the amount of overlap with the work trace, and the distance traveled. The information display unit 670C is provided with a pull-down button 671C. When the pull-down button 671C is selected, a pull-down menu is displayed, showing "work progress rate" and "work completion time" in addition to the currently displayed "work area". When "work progress rate" is selected, the ratio of the work area to the planned work area is displayed. When "work completion time" is selected, the estimated work completion time is displayed, calculated based on the remaining work area (planned work area minus the work area) and the current vehicle speed of the traveling machine 10.

[0124] Figure 26 shows an example of displaying an appropriate work route using the field condition determination result according to an embodiment of the present invention. The example shown in Figure 26 is one in which, after working in the field once, the second work route 679C (fourth work route) is determined based on the determination result of that work. In particular, this example shows a work route 679C that preferentially passes through blocks that were determined to be "insufficient" in the first work. In the example in Figure 26, the work route 679C does not pass through rows where there are no blocks determined to be "insufficient" (blocks arranged north-south), but only through rows where there are blocks determined to be "insufficient". Here, for the sake of explanation, we will use the terms "first work route" and "second work route," but this only refers to the order of work. In other words, the "first work route" is not limited to the route through which the field is first worked.

[0125] In Figure 26, the second work path 679C is a straight path in the row direction (north-south direction) for the mobile machine 10C, similar to the first work path 677C (see Figure 25). However, the second work path 679C may also be a straight path in the row direction (east-west direction) for the mobile machine 10C. Also, in Figure 26, the straight path in the row direction for the second work path 679C passes through all the blocks arranged in the row direction, but it may turn or reverse in the middle of the blocks arranged in the row direction. Although not shown in the figure, when displaying the field condition judgment result from the second operation, it is possible to display it in a way that overwrites the field condition judgment result from the first operation. However, in order to distinguish between the judgment results from the first and second operations, for example, the judgment result from the first operation may be displayed faintly or semi-transparently. Alternatively, the judgment results from the first and second operations may be displayed in separate windows.

[0126] Furthermore, when determining the first work path 677C and the second work path 679C, the work path can be determined including the deployment or folding of the extension work section 400C of the work machine 20C. For example, the first work path 677C may be the work path with the extension work section 400C deployed, and the second work path 679C may be the work path with the extension work section 400C folded. Of course, conversely, the first work path 677C may be the work path with the extension work section 400C folded, and the second work path 679C may be the work path with the extension work section 400C deployed.

[0127] Additionally, if there are multiple judgment results from past operations, the results of the two most recent operations will be displayed. However, the operator can also choose to retrieve judgment results from any past operation.

[0128] As described above, according to this embodiment, workers can evaluate the field conditions obtained as a result of their work while working in the field. Furthermore, since the judgment results are displayed on the field map 650C, workers can easily see at a glance areas where work is insufficient and areas where no further work is needed. In addition, since the work route for subsequent runs is determined based on the field map 650C including the judgment results, it is possible to display a work route that prioritizes areas where additional work is needed, thereby suggesting an efficient work route to the worker.

[0129] In this embodiment, a configuration is provided as an example in which the quality of the field condition is determined based on the change in the vertical movement of the leveler 230C, but the system is not limited to this configuration. For example, the system may determine whether the field condition falls under a specific set of conditions based on the change in the vertical movement of the leveler 230C. Also, in this embodiment, a configuration is provided as an example in which the field condition is determined based on the change in the vertical movement of a grounding member such as the leveler 230C, that is, based on the magnitude of the unevenness of the field surface, but the system is not limited to this configuration. For example, the field condition may be determined by evaluating the difference in the field condition before and after work by the implement 20C using a non-contact method and determining the evaluation result. As a non-contact method, for example, image analysis of images captured by a camera, distance measuring devices using ultrasound or infrared, and distance measuring devices using light (LiDAR; Light imaging Detection and Ranging) can be used. Another method is that if the soil mass is large, the resistance to the work of the implement 20 is large, so the torque of the PTO shaft becomes large. Therefore, the field condition can be determined based on the fluctuation of the torque of the PTO shaft. Alternatively, the field conditions may be determined by measuring the vibration of a rake (or hand-held rake) attached to the lower part of the apron 220.

[0130] <Fourth Embodiment> This embodiment describes a field registration method different from that of the first embodiment. Figure 7 of the first embodiment shows a field registration method in which the size of the long and short sides of the field is input, and an image corresponding to the positional relationship between the mobile vehicle 10 and the field is selected to register the field's location information. In this embodiment, a method for registering the field's location information based on the direction of movement of the mobile vehicle 10D that has entered the field, by inputting the sizes of the two sides, will be explained using Figure 27.

[0131] Figure 27 shows an example of an interface displayed on a screen in a field condition determination method according to one embodiment of the present invention. Figure 27(A) shows the interface displayed on the monitor 110D. Figure 27(B) shows a method for determining the field location information based on the direction of movement of the traveling machine 10D.

[0132] The interface in Figure 27(A) is similar to the interface in Figure 7, but the monitor 110D displays the input area 611D and the entry start button 720D, and does not display the position selection area 613 as in Figure 7. The input area 611D is provided with input fields for the field name 617D, the first side size 618D, and the second side size 619D. An arbitrary name is entered in the field name 617D input field. The first side size 618D input field is used to input the size of the field's side (first side) in the direction of travel of the vehicle 10D when it enters the field. The second side size 619D input field is used to input the size of the side (second side) that intersects with the first side. The entry start button 720D is pressed before the vehicle 10D enters the field.

[0133] In this embodiment, the field location information is determined based on the direction of movement of the mobile unit 10D after the entry start button 720D is pressed. First, based on the relative sizes of the first side size 618D and the second side size 619D, one of the four states shown in Figure 27(B) is selected that corresponds to the current positional relationship between the mobile unit 10D and the field. For example, if the first side size 618D is larger than the second side size 619D, state A or B is selected. On the other hand, if the first side size 618D is smaller than the second side size 619D, state C or D is selected. If state A or B is selected and the mobile unit 10D moves to the right after entering the field, state B is selected and the field location information is determined. On the other hand, if state A or B is selected and the mobile unit 10D moves to the left after entering the field, state A is selected and the field location information is determined. In this way, the operator can determine the field's location simply by inputting the dimensions of the two sides of the field and then moving the mobile machine 10D into the field. In other words, the operator's operational burden can be reduced. Alternatively, the monitor 110D may display icons A to D shown in Figure 27(B), and the operator can determine the field's location by inputting the first side size 618D and the second side size 619D and then selecting one of the icons A to D.

[0134] Although the present invention has been described above with reference to the drawings, the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0135] 10: Traveling machine body, 20: Implement, 30A: Field, 31A: End section, 40A: Ridge, 100: Vehicle body, 110: Monitor, 120: Three-point linkage mechanism, 121: Communication unit, 130: Position detector, 191: Control unit, 193: Display unit, 195: Position detection unit, 200: Frame, 201: Main frame, 203: Chain case, 205: Side frame, 207: Rotor, 210: Shield cover, 220: Apron, 230: Leveler, 291: Control unit, 293: Detection unit, 300: Central working unit, 310: Central shield cover, 314C: Base, 320: Central apron, 330: Central leveler, 332: Second connection unit, 334C: Base, 400: Extension work section, 410: Extension shield cover, 420: Extension apron, 422: Connection section, 430: Extension leveler, 432: Connection section, 490: Leveler extension section, 491: Guiding surface, 500: Leveler angle detection mechanism, 501: Control box, 510C: Potentiometer, 520C: First arm section, 530C: Second arm section, 540C: First elastic section, 550C: Second elastic section, 590C: Telescopic rod, 600: Leveler control section, 611: Input area, 613: Position selection area, 615: Input frame, 617D: Field name, 618D: First side size, 619D: Second side size, 631C: Judgment result 633C: Selection, 635C: Adjacent PV statistics judgment range, 640C: Data table, 641C: Interval, 643C: Plot data, 645C: Adjacent PV statistics, 647C: Judgment result, 650: Field map, 651C, 653C, 655C: Block, 657: Machine icon, 660C: Real-time judgment result, 666C: Cursor, 670: Various information display section, 671C: Pull-down button, 677C: Work path, 679C: Work path, 690: Work path guidance, 691: Turning direction guidance, 693: Next work position guidance, 700: Work condition setting screen, 701: Machine width, 702: Work trace, 703: Lap width, 705: Scale value, 707: Machine length 709: Front width of the mobile unit, 711: Deviation amount display, 713: Reception status, 715: Touch panel calibration, 719A: Effective length of the mobile unit, 720: Work path selection screen,720D: Entry Start Button, 730, 740, 750, 760, 780: Work Path Pattern, 731, 741, 751, 761: Work Path Pattern Name, 733, 743, 753, 763: Estimated Work Time, 735, 745, 755, 765: Work Distance, 737, 747, 757, 767, 787: First Path End, 738, 748, 758, 768: Work Path, 739, 749, 759, 769, 789: Second Path End, 770: Work Start Position Selection Section, 790A, 793A, 794A, 795A, 796A: Recommended Work Path Candidates, 800A: Data Table, 810A: Pop-up Window 7301, 7401, 7801: Straight working area, 7302: Gap, 7303, 7403, 7803: Peripheral working area, 7305: First straight working section, 7307: Second straight working section, 7309: Third straight working section, 7405: First straight working section, 7406: Second straight working section, 7407: Third straight working section, 7408: Fourth straight working section, 7811: Non-rectangular working area, 7813: Overlap area, 7815: Tilling width reduction area, 7817: Remaining area

Claims

1. Based on the working width of the implement that operates in the field, which is perpendicular to the direction of travel of the implement, and the overlap width of the work area determined by the direction of travel and the working width, in which adjacent work areas overlap, a first path of the first work area is derived. A method for providing a work path, which derives a second path of a second work area that circles around the perimeter of a first work area, based on the distance from the front end of the traveling machine to the rotor of the work machine corresponding to an area where work cannot be performed due to the length from the front end of the traveling machine to the rotor of the work machine, and the work width, when the traveling machine that tows the work machine reaches the edge of the field, The second path is derived based on the relationship between the distance and the work width, and when the distance is greater than the work width, the number of laps of the derived second path is at least two. A method for providing a work path, wherein if a gap occurs between the first work area and the second work area, the overlap width is reduced by recalculating the first path with the overlap width as a variable, and if the overlap width between the first work area and the second work area exceeds a predetermined width set in advance with respect to the overlap width, the overlap width is increased by recalculating the first path with the overlap width as a variable.

2. A first path of a first work area is derived based on the working width of the work machine perpendicular to the direction of travel of the work machine that works in a field, and the overlap width of the work area determined by the direction of travel and the working width, in which adjacent work areas overlap. A method for providing a work path, which derives a second path of a second work area that circles around the perimeter of a first work area, based on the distance from the front end of the traveling machine to the rotor of the work machine corresponding to an area where work cannot be performed due to the length from the front end of the traveling machine to the rotor of the work machine, and the work width, when the traveling machine that tows the work machine reaches the edge of the field, The second path is derived based on the relationship between the distance and the work width, and when the distance is greater than the work width, the number of laps of the derived second path is at least two. A method for providing a work path, wherein, in deriving the first path, the overlap width is used as a variable to derive a path in which the work width of one area is smaller than the work width of another area.

3. The method for providing a work route according to claim 1, wherein the derived first route and the second route are displayed on a screen.

4. Based on the working width of the implement that operates in the field, which is perpendicular to the direction of travel of the implement, and the overlap width of the work area determined by the direction of travel and the working width, in which adjacent work areas overlap, a first path of the first work area is derived. A program for causing a computer to derive a second path of a second work area that circles around the perimeter of a first work area, based on the distance from the front end of the traveling machine to the rotor of the work area corresponding to an area where work cannot be performed due to the length from the front end of the traveling machine to the rotor of the work area, and the work width, when the traveling machine that tows the work area reaches the edge of the field, The second path is derived based on the relationship between the distance and the work width, and when the distance is greater than the work width, the number of laps of the derived second path is at least two. A program that, when a gap occurs between the first work area and the second work area, reduces the overlap width by recalculating the first path with the overlap width as a variable, and increases the overlap width by recalculating the first path with the overlap width as a variable if the overlap width of the first work area and the second work area exceeds a predetermined width set in advance with respect to the overlap width.

5. Based on the working width of the implement that operates in the field, which is perpendicular to the direction of travel of the implement, and the overlap width of the work area determined by the direction of travel and the working width, in which adjacent work areas overlap, a first path of the first work area is derived. When the vehicle towing the implement reaches the edge of the field, a second path of the second work area that circles around the first work area is derived based on the distance from the front end of the vehicle to the rotor of the implement corresponding to the area where work cannot be performed due to the length from the front end of the vehicle to the rotor of the implement, and the work width. The second path is derived based on the relationship between the distance and the work width, and when the distance is greater than the work width, the number of laps of the derived second path is at least two. An information processing device that, when a gap occurs between the first work area and the second work area, reduces the overlap width by recalculating the first path with the overlap width as a variable, and increases the overlap width by recalculating the first path with the overlap width as a variable when the overlap width of the first work area and the second work area exceeds a predetermined width set in advance with respect to the overlap width.

Images