Driving assistance methods, work vehicles, and driving assistance systems

Abstract

To provide a method for supporting operation, a work vehicle, and an operation support system that enable traveling and working by effectively using an existing track and an existing ridge where a travel device has traveled.SOLUTION: A transplanter 1 is a work vehicle that includes a travel device 13 on both right and left sides of a machine body and performs work while traveling a farm field. The transplanter 1 includes: a control device 40; a portable terminal 5; and a positioning unit 24 as a positional information acquisition part for acquiring positional information of the transplanter 1 in a farm field. The portable terminal 5 includes a control device 50. The control device 50 functions as a track acquisition part 57 for acquiring right and left existing tracks 73 where the right and left travel devices 13 have passed, on the basis of the positional information, and also functions as a display control part 60 for displaying the right and left existing tracks 73 in a farm field on a predetermined screen such as a work screen 90.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a driving support method for a working vehicle that performs work while traveling in a field, the working vehicle, and a driving support system. [Background Art]

[0002] A working vehicle such as a transplanter that performs work in a field is configured to travel by traveling devices provided on both left and right sides of a machine body.

[0003] For example, the crop harvester disclosed in Patent Document 1 includes left and right drive wheels that travel in grooves between ridges (furrows). [Prior Art Literature] [Patent Literature]

[0004] [Patent Document 1] Japanese Patent No. 6971351 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] Work vehicles may travel back and forth along multiple straight work paths in a field. When a work vehicle equipped with left and right travel devices travels in a field, two previously traveled paths (tracks) are created for each work path by the left and right travel devices. When the left and right travel devices travel along a furrow in a work path, the furrow that the left and right travel devices have passed over is called a previously traveled furrow. When a work vehicle travels on an adjacent work path after traveling on one work path, it may travel along one of the previously traveled paths on the previously traveled side of the work path, while the other travel device travels on the untouched path. Because the height of the previously traveled path and the untouched path are different, when the left and right travel devices travel on both the previously traveled and untouched paths, the machine may tilt towards the previously traveled path, which may affect travel and work. However, conventional work vehicles cannot take into account or utilize previously traveled paths and furrows that each vehicle has traversed, and it is difficult for workers to check previously traveled paths and furrows in the field while working. Furthermore, conventional work vehicles cannot acquire and record information on previously traveled paths and furrows that each vehicle has traversed, nor can they reflect this information in their driving.

[0006] The present invention aims to provide a driving support method, a work vehicle, and a driving support system that can effectively utilize previously traveled roads and furrows that have been traversed by the traveling device for driving and work. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides a driving support method for a work vehicle equipped with traveling devices on both the left and right sides of the machine body and performing work while traveling in a field, characterized by comprising: a position information acquisition step of acquiring position information of the work vehicle in the field; a travel path acquisition step of acquiring a set of previously traveled paths on the left and right sides that the left and right traveling devices have passed through, based on the position information; and a display step of displaying the set of previously traveled paths on the left and right sides in the field on a predetermined screen.

[0008] Alternatively, the present invention relates to a driving assistance method for a work vehicle equipped with traveling devices on both the left and right sides of the machine body, which performs work while traveling in a field, and is characterized by comprising: a position information acquisition step of acquiring position information of the work vehicle in the field; a travel path acquisition step of acquiring a set of previously traveled paths on the left and right sides that the left and right traveling devices have passed through, or a set of previously traveled ridges that the left and right traveling devices have straddled and passed through, based on the position information; and a setting step of setting a set of recommended paths on the left and right sides that the left and right traveling devices recommend for their next travel, or recommended ridges, based on the position information.

[0009] Furthermore, in order to solve the above problems, the present invention provides a work vehicle equipped with running devices on both the left and right sides of the machine body, which performs work while traveling in a field, and is characterized by comprising: a position information acquisition unit that acquires position information of the work vehicle in the field; a running path acquisition unit that acquires the left and right previously traveled paths that the left and right running devices have passed through based on the position information; and a display control unit that displays the left and right previously traveled paths in the field on a predetermined screen.

[0010] Alternatively, the work vehicle of the present invention is a work vehicle equipped with running devices on both the left and right sides of the machine body, which performs work while traveling in a field, and is characterized by comprising: a position information acquisition unit that acquires position information of the work vehicle in the field; a running path acquisition unit that acquires a set of previously traveled paths on the left and right sides that the left and right running devices have traveled, or a set of previously traveled ridges that the left and right running devices have crossed and traveled, based on the position information; and a setting unit that sets a set of recommended paths on the left and right sides that the left and right running devices recommend for their next travel, or recommended ridges, based on the position information.

[0011] Furthermore, in order to solve the above problems, the present invention provides a driving support system for a work vehicle equipped with traveling devices on both the left and right sides of the machine body, which performs work while traveling in a field, and is characterized by comprising: a position information acquisition unit that acquires position information of the work vehicle in the field; a travel path acquisition unit that acquires the left and right previously traveled paths that the left and right traveling devices have passed through based on the position information; and a display control unit that displays the left and right previously traveled paths in the field on a predetermined screen.

[0012] Alternatively, the driving support system of the present invention is a driving support system for a work vehicle that is equipped with traveling devices on both the left and right sides of the machine body and performs work while traveling in a field, and is characterized by comprising: a position information acquisition unit that acquires position information of the work vehicle in the field; a travel path acquisition unit that acquires a set of previously traveled paths on the left and right sides that the left and right traveling devices have passed through, or a set of previously traveled ridges that the left and right traveling devices have crossed and passed over, based on the position information; and a setting unit that sets a set of recommended paths on the left and right sides that the left and right traveling devices recommend for their next travel, or recommended ridges, based on the position information. [Effects of the Invention]

[0013] The present invention provides a driving support method, a work vehicle, and a driving support system that enable a vehicle to travel and perform work by effectively utilizing previously traveled roads and furrows that have been traversed by the vehicle. [Brief explanation of the drawing]

[0014] [Figure 1] This is a perspective view of a transplanting machine according to an embodiment of the present invention. [Figure 2] This is a block diagram of a transplanting machine according to an embodiment of the present invention. [Figure 3] This is a plan view showing examples of previously traveled and untraveled paths when a transplanting machine according to an embodiment of the present invention is operating in a field. [Figure 4] This is a plan view showing examples of already-traveled and untraveled furrows in a field where a transplanter according to an embodiment of the present invention is operating. [Figure 5] This is a plan view showing an example of a recommended path set up in a field where a transplanting machine according to an embodiment of the present invention operates. [Figure 6] This is a plan view showing another example of a recommended path set up in a field where a transplanter according to an embodiment of the present invention operates. [Figure 7] This is a plan view showing an example of recommended ridges set in a field where a transplanter according to an embodiment of the present invention operates. [Figure 8]It is a plan view showing another example of recommended ridges set in a field where a transplanter according to an embodiment of the present invention travels for work. [Figure 9] It is a plan view showing an example of an automatic straight traveling route created in a field where a transplanter according to an embodiment of the present invention travels for work. [Figure 10] It is a plan view showing an example of a target travel route created in a field where a transplanter according to an embodiment of the present invention travels for work. [Figure 11] It is a plan view showing an example of a target travel route created in a field where a transplanter according to an embodiment of the present invention travels for work. [Figure 12] It is a plan view showing an example of a work screen displayed on a mobile terminal in the transplanter according to an embodiment of the present invention. [Figure 13] It is a plan view showing another example of a work screen displayed on a mobile terminal in the transplanter according to an embodiment of the present invention. MODE FOR CARRYING OUT THE INVENTION

[0015] The work vehicle of the present invention performs work such as transplanting while traveling through a target field by automatic driving or manual operation, that is, it performs work traveling. A transplanter 1, which is an embodiment of the work vehicle of the present invention, will be described with reference to the drawings. In the present embodiment, an example of the transplanter 1 that transplants seedlings such as vegetables into a field will be described. As shown in FIG. 1, the transplanter 1 includes a vehicle body portion 2 and a transplanting work portion 3, and the transplanting work portion 3 is provided at a rear portion of the vehicle body portion 2. The transplanter 1 is configured to perform seedling transplanting work by the transplanting work portion 3 while traveling by the vehicle body portion 2. The transplanter 1 includes a control device 40, and is configured to be able to communicate with a mobile terminal 5 owned by an operator.

[0016] In the transplanter 1, any one of a manual travel mode, an automatic straight travel mode and an automatic travel mode is set. When the manual travel mode is set, the transplanter 1 travels manually in accordance with the operation of a driving operation tool (a steering handle 20, a shift operation pedal 21, a main shift lever, etc.) by an operator. When the automatic straight travel mode is set, regardless of the steering operation of the steering handle 20 by the operator, the transplanter 1 performs automatic travel along an automatic straight travel path formed by a work path parallel to a linear reference line, in accordance with the operation of the shift operation pedal 21 and the main shift lever. When the automatic travel mode is set, the transplanter 1 is controlled by the control device 40 to automatically travel along a target travel path formed by a plurality of work paths created by the mobile terminal 5.

[0017] The vehicle body portion 2 includes a body frame 10, an engine 11, a transmission 12, and a pair of left and right traveling devices 13, and the engine 11 and the transmission 12 are attached to the body frame 10. The engine 11 generates rotational power for driving each part, and is arranged at a front portion near the center in the left-right direction of the vehicle body portion 2. The transmission 12 shifts the power of the engine 11, and is connected to a lower portion of the engine 11. Further, the transmission 12 is connected to a power take-off shaft (PTO shaft, not shown) provided at a rear portion of the vehicle body portion 2, and transmits the power of the engine 11 to the transplanting work portion 3 via the PTO shaft.

[0018] The pair of left and right traveling devices 13 includes a pair of front wheels 13a rotatably attached to a front portion at both ends in the left-right direction, and a pair of rear wheels 13b rotatably attached to a rear portion at both ends in the left-right direction. The pair of left and right front wheels 13a is supported at both left and right ends of a front axle case 14 provided at a front portion of the body frame 10, and the pair of left and right rear wheels 13b is supported at both left and right ends of a rear axle case 15 provided at a rear portion of the body frame 10. Power from the engine 11 and the transmission 12 is transmitted to the pair of left and right front wheels 13a and the pair of left and right rear wheels 13b via the front axle case 14 and the rear axle case 15, whereby the pair of left and right front wheels 13a and the pair of left and right rear wheels 13b are driven.

[0019] A pair of front wheels 13a and a pair of rear wheels 13b rotate in response to power transmitted from the engine 11 and transmission 12, causing the vehicle body 2 to move forward or backward. In manual driving mode or automatic straight-line driving mode, power from the engine 11 and transmission 12 is transmitted to the pair of front wheels 13a and the pair of rear wheels 13b in response to the operation of the gear shift pedal 21 and the main gear shift lever, etc., or in automatic driving mode, in response to a control signal from the control device 40.

[0020] Furthermore, the pair of front wheels 13a are connected to a steering actuator (not shown), and in manual driving mode, the steering actuator is driven in response to the operation of the steering handle 20, thereby rotating the pair of front wheels 13a and performing manual steering of the vehicle body 2. On the other hand, in automatic straight-line driving mode and automatic driving mode, the steering actuator is driven in response to a control signal from the control device 40, thereby rotating the pair of front wheels 13a and performing automatic steering of the vehicle body 2.

[0021] Furthermore, the vehicle body 2 is equipped with a driver's seat 16 near the upper center of the machine frame 10. The upper part of the machine frame 10 is equipped with steps 17 on the floor around the driver's seat 16, which the operator can move on, and in front of the steps 17 are equipped with a number of spare seedling trays 18 for placing seedling mats to be replenished in the transplanting work unit 3. The vehicle body 2 is equipped with driving controls such as a steering wheel 20, a gear shift pedal 21 and a gear shift lever (not shown) around the driver's seat 16, and is also equipped with a work operation unit 22 and a display device 23 (see Figure 2). The vehicle body 2 is equipped with a positioning unit 24 (position information acquisition unit).

[0022] The steering handle 20 is an operating device used by the operator to steer the transplanting machine 1, and the steering transmitted to the pair of front wheels 13a is adjusted according to the operator's rotational operation of the steering handle 20. The gear shift pedal 21 is an operating device used by the operator to adjust the travel speed of the transplanting machine 1, and the rotational power transmitted to the pair of travel devices 13 is adjusted according to the operator's pressing operation of the gear shift pedal 21. The main gear shift lever transmits the operator's gear shift operation to the transmission 12, switching between forward travel, reverse travel, and stopping of the transplanting machine 1, and also switching between the forward set speed and the reverse set speed.

[0023] The operation unit 22 controls the transplanting operation performed by the transplanting operation unit 3, for example, by receiving commands to raise and lower the transplanting operation unit 3 and to start / stop the transplanting. The display device 23 displays various information related to the movement and operation of the transplanting machine 1, and is composed of, for example, a liquid crystal display or an organic EL display.

[0024] The positioning unit 24 is configured to acquire position information (positioning point) of the transplanter 1 using a satellite positioning system such as GNSS. It receives positioning signals from positioning satellites via a positioning antenna and acquires position information of the positioning unit 24, i.e., position information of the transplanter 1, based on the positioning signals.

[0025] The transplanting unit 3 performs the transplanting work of transplanting vegetable seedlings, etc., into rows of multiple (for example, two) plants in the furrows of the field. The transplanting unit 3 is located at the rear of the vehicle body 2 and is connected to the vehicle body 2 via a lifting mechanism 26, which allows the transplanting unit 3 to be raised and lowered relative to the vehicle body 2.

[0026] The transplanting unit 3 comprises a seedling supply unit 27 that supplies seedlings and a plurality of transplanting units 28. Each transplanting unit 28 includes, for example, a seedling removal unit (not shown) that removes seedlings from the seedling supply unit 27 and a planting unit (not shown) that receives the seedlings removed by the seedling removal unit and plants them in the field. The seedling supply unit 27 includes a seedling tray 31 on which seedling mats are placed and a vertical feeding mechanism (not shown) that vertically feeds the seedlings placed on the seedling tray 31 downwards. The plurality of transplanting units 28 are provided corresponding to each of the plurality of rows.

[0027] The transplanting unit 3 is equipped with, for example, a transmission shaft (not shown) extending in the left-right direction as the input shaft of the transplanting unit 3. The transmission shaft is connected to a power intake unit (not shown) that takes in power from the transmission 12 of the vehicle body 2 via the PTO shaft, an output unit (not shown) that outputs the taken-in power to the transplanting unit 28, and a transplanting clutch unit (not shown) that switches the connection and disconnection of the taken-in power to the seedling supply unit 27 and the seedling extraction unit. The transplanting unit 3 is configured to transmit power from the transmission 12 to the transmission shaft via the PTO shaft, and further transmit power from the transmission shaft to each transplanting unit via the power intake unit and the output unit.

[0028] For example, the seedling extraction unit includes a seedling extraction claw (not shown) and a seedling extraction operating mechanism (not shown) that operates the seedling extraction claw. The seedling extraction operating mechanism is configured to rotate the seedling extraction claw between a seedling extraction position where seedlings are extracted from the seedling supply unit 27 and a seedling extraction claw side receiving position where seedlings are released downward, in response to power transmitted via the output unit. The planting unit includes a planting claw (not shown) and a planting operating mechanism (not shown) that operates the planting claw. The planting operating mechanism is configured to rotate the planting claw between a planting claw side receiving position where seedlings are received from the seedling extraction unit and a planting position where seedlings are released into the field soil, in response to power transmitted via the output unit. The transplanting unit 3 transplants seedlings into the field by operating each of the above-mentioned units in conjunction.

[0029] Next, the control device 40 provided in the transplanter 1 will be described. As shown in Figure 2, the control device 40 is composed of a computer such as a CPU and is connected to a storage unit 41 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 42 that communicates with external devices.

[0030] The memory unit 41 stores programs and data for controlling various components and functions of the transplantation machine 1, and the control device 40 controls the various components and functions of the transplantation machine 1 by executing calculations based on the programs and data stored in the memory unit 41. For example, the control device 40 acquires the position information of the transplantation machine 1 from the positioning unit 24.

[0031] The memory unit 41 stores, for example, field information of the field that the transplanter 1 is working on. The field information includes, for example, the shape, size, and location information (coordinates, etc.) of the field edges that constitute the outer perimeter of the field. The field information also includes information such as the shape, size, and location information (coordinates, etc.) of unworked areas where work has not yet been performed and completed areas where work has already been performed. If multiple furrows are pre-set for the field, the field information may also include furrow information such as the shape, size, and location information (coordinates, etc.) of unworked furrows where work has not yet been performed and completed furrows where work has already been performed. Furthermore, the memory unit 41 stores the reference line and automatic straight-line path set when the transplanter 1 is automatically traveling in automatic straight-line mode, and the target travel path set when the transplanter 1 is automatically traveling in automatic travel mode.

[0032] The communication unit 42 can communicate wirelessly with external devices such as the mobile terminal 5 held by the worker via a wireless communication antenna. The control device 40 controls the communication unit 42 to communicate wirelessly with the mobile terminal 5 and transmits and receives various information between the two devices. For example, the control device 40 transmits the location information of the transplanter 1 acquired from the positioning unit 24 to the mobile terminal 5 via the communication unit 42.

[0033] Furthermore, the control device 40 receives position information of a pair of previously traveled paths 73 (see Figures 3, 5, and 6) and previously traveled furrows 76 (see Figures 4, 7, and 8) between the left and right traveling devices 13 of the transplanting machine 1 from the mobile terminal 5 via the communication unit 42 and stores it in the storage unit 41. In addition, the control device 40 receives position information of a pair of recommended paths 78 (see Figures 3, 5, and 6) and recommended furrows 79 (see Figures 4, 7, and 8) recommended for the next travel of the left and right traveling devices 13 via the communication unit 42 and stores it in the storage unit 41.

[0034] Furthermore, the control device 40 operates as a driving control unit 45 and a work control unit 46 by executing a program stored in the memory unit 41. The driving control unit 45 realizes the automatic driving process of the driving assistance method according to the present invention. The positioning unit 24 realizes the location information acquisition process of the driving assistance method according to the present invention.

[0035] The driving control unit 45 controls the engine 11 and transmission 12 to control the movement of the transplanting machine 1. For example, when manual driving mode is set, the driving control unit 45 controls the vehicle speed and steering of the transplanting machine 1 in response to the operation of driving controls such as the steering wheel 20, the gear shift pedal 21 and the main gear shift lever.

[0036] When the automatic straight-line mode is set, the travel control unit 45 controls the steering of the transplanter 1 to automatically travel in a straight line forward along the automatic straight-line path 80 (see Figure 9), which is parallel to the reference line set in the field. The travel control unit 45 also controls the engine 11 and transmission 12 to maintain a travel speed corresponding to the operation state of the gear shift pedal 21 and the main gear shift lever. If the automatic straight-line path 80 is set to the recommended road 78 or recommended furrow 79, the travel control unit 45 controls the transplanter 1 to automatically travel along the recommended road 78 or recommended furrow 79. Furthermore, if a travel path 81 leading to the recommended road 78 or recommended furrow 79 is set, the travel control unit 45 controls the transplanter 1 to automatically travel along the travel path 81 in response to the operation of driving controls such as travel switches (not shown) located around the driver's seat 16, or in response to the detection of the end point of the work path during automatic straight-line travel, thereby causing the transplanter 1 to automatically travel towards the recommended road 78 or recommended furrow 79.

[0037] When automatic driving mode is set, the driving control unit 45 acquires the target driving route set for the field from the mobile terminal 5, acquires the position information of the transplanter 1 from the positioning unit 24, and controls the steering of the transplanter 1 so that it automatically drives along the target driving route based on the position information and the target driving route. The driving control unit 45 may also control the engine 11 and transmission 12 to achieve a preset target driving speed, or it may control the engine 11 and transmission 12 according to the operation state of the gear shift pedal 21 and the main gear shift lever.

[0038] When manual driving mode is set, the work control unit 46 controls the transplanting unit 3 in accordance with the operation of the work operation unit 22, thereby performing transplanting work on the field using the transplanting unit 3. Also, when automatic straight-line mode or automatic driving mode is set, the work control unit 46 controls the transplanting unit 3 in accordance with the pre-set work settings, thereby performing transplanting work on the field using the transplanting unit 3.

[0039] Next, the mobile terminal 5 will be described. The mobile terminal 5 is one of the components of the transplantation machine 1 and is a terminal that can remotely control the transplantation machine 1. For example, it can be a tablet terminal equipped with a touch panel or a notebook-type personal computer. Note that an operating device similar to the mobile terminal 5 may be provided around the driver's seat 16. In this invention, the transplantation machine 1 and the mobile terminal 5 constitute a driving support system.

[0040] As shown in Figure 2, the mobile terminal 5 includes a control device 50, which is composed of a computer such as a CPU. The control device 50 is connected to a terminal-side storage unit 51, which includes ROM, RAM, a hard disk drive, and flash memory, and a terminal-side communication unit 52, which communicates with external devices. The mobile terminal 5 also includes a display unit 53, which is composed of a liquid crystal display or an organic EL display, for displaying and outputting various information to the worker, and an input unit 54, which is composed of multiple operation keys, etc., for receiving input operations of various information from the worker. The display unit 53 and the input unit 54 may be composed of separate components, or they may be composed of an integrated unit such as a touch panel.

[0041] The terminal-side storage unit 51 stores programs and data for controlling various components and functions of the mobile terminal 5, and the control device 50 controls the various components and functions of the mobile terminal 5 by executing calculations based on the programs and data stored in the terminal-side storage unit 51.

[0042] For example, the terminal-side storage unit 51 stores field information of the field that the transplanter 1 is working on, the reference line and automatic straight-line path for the automatic straight-line mode, and the target travel path for the automatic travel mode. The terminal-side storage unit 51 pre-stores the distance between the left and right travel devices 13, that is, the distance between the wheels (tread), and the transplanter 1 uses this distance between the left and right travel devices 13 as the width of one work path in which it performs work travel, that is, the path width. In addition, as the transplanter 1 travels while working on the ridges of the field with the left and right travel devices 13 straddling the ridges, the terminal-side storage unit 51 pre-stores the width of the ridges.

[0043] The terminal-side communication unit 52 is connected to the communication unit 42 of the transplanting machine 1 via a wireless communication antenna, enabling communication between them. The control device 50 controls the terminal-side communication unit 52 to communicate wirelessly with the transplanting machine 1 and to send and receive various information between them.

[0044] The control device 50 of the mobile terminal 5 operates as a field selection unit 55, a reference line setting unit 56, a travel path acquisition unit 57, a recommended route setting unit 58 (setting unit), a route creation unit 59, and a display control unit 60 by executing a program stored in the terminal-side storage unit 51. The travel path acquisition unit 57, the recommended route setting unit 58, the route creation unit 59, and the display control unit 60 realize the travel path acquisition process, the recommended route 78 and recommended furrow 79 setting process, the route creation process, and the display process of the driving support method according to the present invention.

[0045] The field selection unit 55 manually or automatically selects a field to be worked on and acquires field information for the selected field. For example, the field selection unit 55 displays a field selection screen (not shown) on the display unit 53 for selecting a field to be worked on. The field selection screen allows the user to select a field that corresponds to field information already stored in the terminal-side storage unit 51. When any field is selected on the field selection screen in response to a manual operation, the field selection unit 55 selects the selected field as the work target, reads the field information corresponding to the selected field from the terminal-side storage unit 51, and transmits it to the transplanter 1 via the terminal-side communication unit 52.

[0046] Furthermore, the field selection screen allows for the creation of new fields. When the creation of a new field is selected on the field selection screen, the field selection unit 55 selects the new field at the transplanter 1's current position as the work target. Then, when the transplanter 1 makes a circumnavigation along the outer perimeter of the new field, the field selection unit 55 receives the transplanter 1's current position, which has been determined by the transplanter 1's positioning unit 24, and records the position information of the new field's outer perimeter and the position information of the circumnavigation route. Based on the position information acquired during the circumnavigation, the field selection unit 55 creates the outline of the new field, creates field information including the outline, stores it in the terminal-side storage unit 51, and transmits it to the transplanter 1 via the terminal-side communication unit 52.

[0047] The reference line setting unit 56 sets the reference line for the automatic straight-line mode. For example, the reference line setting unit 56 displays a reference line setting screen (not shown) for setting the reference line on the display unit 53. The reference line setting screen allows the operator to set the position of the transplanting machine 1 as the start point (point A) or end point (point B) of the reference line. When the start and end points are set according to the operator's arbitrary operation, the reference line setting unit 56 sets the straight line connecting the start point and the end point as the reference line and stores it in the terminal-side storage unit 51.

[0048] Furthermore, the reference line setting screen may allow the user to select one of the sides constituting the outer perimeter of the field as the reference line. The reference line setting unit 56 sets the selected side of the outer perimeter of the field as the reference line and stores it in the terminal-side storage unit 51. In addition, the reference line setting unit 56 may update the reference line to the work path where the transplanter 1 has completed automatic straight-line travel along the reference line, according to the operator's arbitrary operation.

[0049] The track acquisition unit 57 acquires position information of a pair of previously traveled paths 73 (see Figures 3, 5, and 6) that the left and right travel devices 13 have passed through while the transplanter 1 is working in the field, and stores this information in the terminal-side storage unit 51. For example, while the transplanter 1 is working in one of the following modes, manual travel mode, automatic straight-line mode, or automatic travel mode, the track acquisition unit 57 receives position information of the transplanter 1 acquired by the positioning unit 24 from the transplanter 1 via the terminal-side communication unit 52. Then, based on the position information of the transplanter 1 acquired during travel and the positional relationship between the left and right travel devices 13, the track acquisition unit 57 calculates the respective travel trajectories of the left and right travel devices 13 and acquires them as a pair of previously traveled paths 73.

[0050] Figures 3, 5, and 6 show examples of the transplanter 1 performing work travel along multiple work paths 70 arranged in parallel in a field. In Figures 3, 5, and 6, among the multiple work paths 70, the work paths 71 that have already been used for work travel are shown with thin solid lines, and the unused work paths 72 that have not yet been used for work travel are shown with thin dashed lines. Also in Figures 3, 5, and 6, the previously used paths 73 that the left and right travel devices 13 have already traveled are shown with thick solid lines, and the unused paths 74 that have not yet been used are shown with thick dotted lines.

[0051] Furthermore, when there are multiple ridges 75 set in the field (see Figures 4, 7, and 8), the travel path acquisition unit 57 acquires the position information of previously traveled ridges 76 that the transplanter 1 has passed over when the transplanter 1 is traveling while working on the ridges 75 with the left and right travel devices 13 straddling the ridges 75 in the field, and stores it in the terminal-side storage unit 51. For example, the travel path acquisition unit 57 calculates and acquires the position information of previously traveled ridges 76 based on the position relationship between the position information of the transplanter 1 acquired during operation and the width of the ridges 75. Alternatively, the travel path acquisition unit 57 may calculate the position information of previously traveled ridges 76 based on the position information of a pair of previously traveled paths 73 on the left and right.

[0052] Figures 4, 7, and 8 show examples of transplanters 1 operating on multiple work routes 70 set for each of multiple furrows 75 arranged in parallel in a field. In Figures 4, 7, and 8, previously operated work routes 71 are shown with thin solid lines, and unoperated routes 72 that have not yet been operated on are shown with thin dashed lines. Also in Figures 4, 7, and 8, among the multiple furrows 75, previously operated furrows 76 that have already been traveled on by the left and right operating devices 13 are shown with thick solid lines, and unoperated furrows 77 that have not yet been traveled on are shown with thick dotted lines.

[0053] The transplanter 1 performs work travel along each of the straight work paths 70, and after completing work travel along one work path 70, it turns and travels towards another work path 70. The travel path acquisition unit 57 may acquire a pair of previously traveled paths 73 and previously traveled ridges 76 for each work path 70 and store them in the terminal-side storage unit 51. Alternatively, the travel path acquisition unit 57 may acquire a pair of previously traveled paths 73 and previously traveled ridges 76 based on the travel trajectory of the transplanter 1 in order to set a reference line.

[0054] The recommended path setting unit 58 sets a pair of recommended paths 78 for the left and right travel devices 13 as the next work route 70 for the transplanting machine 1 to travel, and stores them in the terminal-side storage unit 51 (see Figures 5 and 6). Preferably, the recommended path setting unit 58 sets a pair of recommended paths 78 for the left and right travel devices 13 so that both travel devices 13 travel through untraveled paths 74 other than the already traveled paths 73, or sets a pair of recommended paths 78 for the left and right travel devices 13 so that both travel devices 13 travel through the already traveled paths 73.

[0055] For example, as shown in Figure 5, when the transplanter 1 performs work on multiple work paths 70 arranged in parallel in a field, the recommended path setting unit 58 sets a pair of recommended paths 78 parallel to the pair of previously traveled paths 73a of the transplanter 1's most recent work run, if there is an unworked path 72a with a path width (one work path 70) between it and the pair of previously traveled paths 73a of the transplanter 1's most recent work run. In Figure 5, the recommended paths 78 are shown by thick dashed lines.

[0056] By setting a pair of recommended paths 78 to the left and right, leaving a gap of one path width from the most recent work path 70, when the transplanting machine 1 works along the pair of recommended paths 78, two sets of previously traveled paths 73 are generated, arranged with a gap of one path width between them. Furthermore, by repeating the setting of a pair of recommended paths 78 and the work process, multiple sets of previously traveled paths 73 corresponding to multiple work paths 70 are generated, each arranged with a gap of one path width between them.

[0057] Furthermore, as shown in Figure 6, by performing work runs while leaving a path width of one lane between each other across the entire field, multiple sets of previously traveled paths 73 are generated with a path width of one lane between each of them. Since the area between two adjacent sets of previously traveled paths 73b and 73c is untouched (untouched path 72b), the recommended path setting unit 58 sets a pair of recommended paths 78 that span across the two adjacent sets of previously traveled paths 73b and 73c.

[0058] Furthermore, if there are multiple furrows 75 set in the field, the recommended path setting unit 58 sets the recommended furrows 79 that are recommended for the next run of the left and right running devices 13 as the next work route 70 for the transplanter 1, and stores them in the terminal-side storage unit 51 (see Figures 7 and 8). In this case as well, the recommended path setting unit 58 sets the recommended furrows 79 so that both the left and right running devices 13 take an unrunned path 74 other than the already runned path 73, or sets the recommended furrows 79 so that both the left and right running devices 13 take an already runned path 73.

[0059] For example, as shown in Figure 7, when the transplanter 1 is working on multiple furrows 75 arranged in parallel in a field, the recommended path setting unit 58 sets a recommended furrow 79 parallel to the previously worked furrow 76a as the unworked furrow 72a if there is an unworked furrow 72a with a path width of one furrow width (one work path 70) remaining from the previously worked furrow 76a of the transplanter 1's most recent work run. In Figure 7, the recommended furrow 79 is shown by a thick dashed line.

[0060] Furthermore, as shown in Figure 8, by performing work runs while leaving a path width of one lane across the entire field, multiple previously traveled ridges 76 are generated with a path width of one lane between them. Since the area between two adjacent previously traveled ridges 76b and 76c is untouched land (untouched path 72b), the recommended path setting unit 58 sets the recommended ridge 79 in the untouched ridge 77a between the previously traveled ridges 76b and 76c.

[0061] In this embodiment, the recommended path setting unit 58 describes an example in which it sets a pair of recommended paths 78 and recommended furrows 79 on the left and right, leaving a gap of one work path 70 from the nearest pair of previously traveled paths 73 and previously traveled furrows 76. However, in other examples, it may set a pair of recommended paths 78 and recommended furrows 79 on the left and right, leaving a gap of two or more work paths 70. Alternatively, the recommended path setting unit 58 may set multiple pairs of recommended paths 78 and multiple recommended furrows 79 with respect to the nearest pair of previously traveled paths 73 and previously traveled furrows 76, leaving a gap of one or more work paths 70, and allow the worker to select one pair of recommended paths 78 or one recommended furrow 79 from the multiple pairs of recommended paths 78 or multiple recommended furrows 79.

[0062] The recommended path setting unit 58 may set a pair of recommended paths 78 and recommended ridges 79 for the next work path 70 at a predetermined timing while the transplanter 1 is performing work on a predetermined work path 70, or after it has finished performing work on the predetermined work path 70. Alternatively, the recommended path setting unit 58 may set a pair of recommended paths 78 and recommended ridges 79 for the next work path 70 in response to any operation by the operator.

[0063] The route creation unit 59 creates an automatic straight-line route 80 (see Figure 9) for the transplanter 1 to travel automatically in automatic straight-line mode, and a target travel route 82 (see Figure 10) for automatic travel in automatic travel mode. The automatic straight-line route 80 and the target travel route 82 include travel information and work information. The travel information includes the travel position in the field, as well as the direction of travel and set vehicle speed at each travel position. The work information includes information related to work, such as whether work is started or stopped at each travel position and the work speed.

[0064] In automatic straight-line mode, the route creation unit 59 creates an automatic straight-line route 80 based on the reference line set by the reference line setting unit 56, stores it in the terminal-side storage unit 51 in association with the field and the reference line, and transmits it to the transplanter 1 via the terminal-side communication unit 52. For example, the route creation unit 59 creates an automatic straight-line route 80 over the entire field consisting of a plurality of work paths 70 that are parallel to the reference line and arranged at intervals of the path width from the reference line. Alternatively, the route creation unit 59 creates an automatic straight-line route 80 over the entire field consisting of a work path 70 that is parallel to the reference line and passes through the transplanter 1's own position, and a plurality of work paths 70 arranged at intervals of the path width from the work path 70.

[0065] Alternatively, in automatic straight-line mode, if a pair of recommended paths 78 and recommended ridges 79 are set by the recommended path setting unit 58, the route creation unit 59 creates a work path 70 that is parallel to the reference line and passes through the pair of recommended paths 78 and recommended ridges 79 as the automatic straight-line route 80. The route creation unit 59 may also create an automatic straight-line route 80 that covers the entire field, consisting of a work path 70 that passes through the pair of recommended paths 78 and recommended ridges 79 and multiple work paths 70 arranged at intervals of the path width from the work path 70. Furthermore, the route creation unit 59 creates a travel path 81 that travels from the end point of the work path 70 on which the transplanter 1 is working or the position of the transplanter 1 to the starting point of the automatic straight-line route 80, and stores it in the terminal-side storage unit 51 in association with the automatic straight-line route 80.

[0066] For example, as shown in Figure 5, if the recommended route setting unit 58 sets a set of recommended routes 78 with a path width of one route width remaining from a set of previously traveled routes 73a of the most recent work run, the route creation unit 59 sets an automatic straight route 80 on the work route 70 that passes through the set of recommended routes 78, as shown in Figure 9, and sets a travel route 81 from the work route 70 of the set of previously traveled routes 73a to the starting point of the automatic straight route 80. In Figure 9, the automatic straight route 80 and the travel route 81 are shown as dashed lines.

[0067] In automatic driving mode, the route creation unit 59 creates a target driving route 82 for automatically working in the field selected by the field selection unit 55, stores it in the terminal-side storage unit 51, and transmits it to the transplanter 1 via the terminal-side communication unit 52. The route creation unit 59 sets up multiple straight paths 83 for working in the inner area of ​​the field, and combines the multiple straight paths 83 and multiple movement paths 84 connecting each straight path 83 to create a target driving route 82 that travels back and forth along the multiple straight paths 83. Preferably, the route creation unit 59 sets the straight paths 83 so that both the left and right driving devices 13 pass through untraveled paths 74, or sets the straight paths 83 so that both the left and right driving devices 13 pass through already traveled paths 73.

[0068] For example, as shown in Figure 10, the route creation unit 59 sets up multiple straight paths 83 across the entire field at intervals of the path width, and in this case, each straight path 83 is an untraveled path 74 that the left and right traveling devices 13 have not yet traveled on. The route creation unit 59 then sets the order of each straight path 83 so that the odd-numbered straight paths 83a are traveled back and forth in order, and then the even-numbered straight paths 83b are traveled back and forth in the reverse order, and connects each straight path 83 with a travel path 84 to create a target travel path 82. As a result, in the odd-numbered straight paths 83a, both the left and right traveling devices 13 travel on the untraveled path 74, making each straight path 83 a traveled path 73, and in the even-numbered straight paths 83b, the left and right traveling devices 13 travel across adjacent odd-numbered straight paths 83a, that is, two adjacent sets of traveled paths 73.

[0069] Alternatively, as shown in Figure 11, the route creation unit 59 sets up multiple straight paths 83 at path width intervals across the entire field, leaving them as untraveled paths 74. The route creation unit 59 then sets the order of each straight path 83 such that after one straight path 83, it moves to another straight path 83, skipping one predetermined untraveled path 74, and after that other straight path 83, it returns to the predetermined untraveled path 74. The target travel path 82 is then created by connecting each straight path 83 with a travel path 84. For example, with a travel pattern like the target travel path 82 shown in Figure 11, work can be gradually carried out from one end of the field to the other. Therefore, in the case of a large field where it takes time (several days) to complete the work, it is advisable to recommend such a travel pattern using the transplanter 1 or the portable terminal 5. The transplanter 1 or the portable terminal 5 may also be able to select a travel pattern from the travel patterns in Figure 10 and Figure 11 according to the operator's arbitrary operation.

[0070] Specifically, the path creation unit 59 creates a target path 82 such that, at the starting position of the field (the end perpendicular to the straight path 83), it travels along the first straight path 83c, then skips the untraveled second straight path 83d (a road 74) and moves to the third straight path 83e, travels along the third straight path 83e, returns to the second straight path 83d, and travels along the second straight path 83d. At this time, at the end of the field, when the transplanter 1 moves by skipping one untraveled road 74, it also skips one second straight path 83d. As a result, in the first straight path 83c and the third straight path 83e, both the left and right traveling devices 13 travel along the untraveled road 74, making each straight path 83 a traveled road 73, and in the second straight path 83d, the left and right traveling devices 13 travel across the adjacent first straight path 83c and the third straight path 83e, that is, two adjacent sets of traveled roads 73.

[0071] Subsequently, the route creation unit 59 creates a target route 82 such that, except at the starting position of the field, it travels along the second straight route 83d, then skips the untraveled fourth straight route 83f (a track 74) and moves to the fifth straight route 83g, travels along the fifth straight route 83g, returns to the fourth straight route 83f, and travels along the fourth straight route 83f. At this time, except at the edges of the field, when the transplanter 1 moves while skipping one untraveled track 74, it skips the third straight route 83e and the fourth straight route 83f. As a result, in the fifth straight route 83g, both the left and right traveling devices 13 travel along the untraveled track 74, making each straight route 83 a traveled route 73, and in the fourth straight route 83f, the left and right traveling devices 13 travel across the adjacent third straight route 83e and the fifth straight route 83g, that is, two adjacent sets of traveled routes 73.

[0072] Furthermore, if a pair of recommended paths 78 and recommended furrows 79 are set by the recommended path setting unit 58, the path creation unit 59 should create a target travel path 82 that includes a work path 70 that passes through the pair of recommended paths 78 and recommended furrows 79.

[0073] Furthermore, the driving patterns shown by the target driving paths 82 in Figures 10 and 11 may be applied not only to the automatic driving mode, but also to the manual driving mode and the automatic straight-line driving mode. For example, in the manual driving mode and the automatic straight-line driving mode, the recommended path setting unit 58 may set a pair of recommended paths 78 and recommended furrows 79 on the left and right so that the driving patterns in Figures 10 and 11 are as shown.

[0074] The display control unit 60 controls the display unit 53 to display a work screen 90 for performing automatic driving in the field to be worked on, when in automatic straight-line mode or automatic driving mode. Below, an example of the display control unit 60 displaying the work screen 90 in automatic straight-line mode will be described. As shown in Figures 12 and 13, the display control unit 60 displays at least the map section 91 and makes the work start button 92 operable on the work screen 90.

[0075] The display control unit 60 displays the field outline 95 on the map in the map section 91 based on the field information of the field selected by the field selection unit 55, and further displays the transplanter 1's vehicle marking 96 at the transplanter 1's vehicle position determined by the transplanter 1's positioning unit 24. The display control unit 60 may distinguish between unworked and worked areas within the field outline 95 by changing the display method, such as line type, line color, and background color. In addition, if multiple furrows 75 are set in the field, the display control unit 60 may distinguish between unworked and worked furrows within the field outline 95 by changing the display method, such as line type, line color, and background color. The display control unit 60 updates the position of the vehicle marking 96, the range of unworked and worked areas, and the range of unworked and worked furrows according to the progress of the transplanter 1's harvesting run.

[0076] In automatic straight-line mode, as shown in Figure 12, the display control unit 60 displays the reference line 97 set by the reference line setting unit 56 in the map section 91, and displays the automatic straight-line route 80 and travel route 81 created by the route creation unit 59 based on the reference line 97. If the reference line 97 is updated by the reference line setting unit 56, the display control unit 60 will display the updated reference line 97 in the map section 91 instead of the reference line 97 that was previously displayed. On the other hand, in automatic driving mode, the display control unit 60 displays the target driving route 82 created by the route creation unit 59.

[0077] Furthermore, the display control unit 60 displays, in the map section 91, a pair of previously traveled paths 73 of the left and right travel devices 13 of the transplanter 1 acquired by the travel path acquisition unit 57, as shown in Figure 12, or displays, in the map section 91, previously traveled furrows 76 of the transplanter 1 acquired by the travel path acquisition unit 57, as shown in Figure 13. The display control unit 60 may update and display the pair of previously traveled paths 73 and previously traveled furrows 76 in the map section 91 according to the progress of the transplanter 1's work. In addition, the display control unit 60 displays, in the map section 91, a pair of recommended paths 78 set as the next work route 70 by the recommended path setting unit 58, as shown in Figure 12, or displays, in the map section 91, recommended furrows 79 set as the next work route 70 by the recommended path setting unit 58, as shown in Figure 13.

[0078] Furthermore, when the left and right traveling devices 13 of the transplanter 1 perform work along a pair of recommended paths 78 and recommended furrows 79 as the next work path 70, the display control unit 60 may update the map section 91 to display the pair of recommended paths 78 and recommended furrows 79 as a pair of previously traveled paths 73 and previously traveled furrows 76, depending on the progress of the transplanter 1's work. On the other hand, when the left and right traveling devices 13 of the transplanter 1 perform work along a work path 70 different from the pair of recommended paths 78 and recommended furrows 79 as the next work path 70, the display control unit 60 may remove the display of the pair of recommended paths 78 and recommended furrows 79 in the map section 91.

[0079] Furthermore, if the recommended route setting unit 58 has set multiple sets of recommended routes 78 or multiple recommended furrows 79, the display control unit 60 may display in the map section 91 that any one set of recommended routes 78 or any one recommended furrow 79 can be selected from the multiple sets of recommended routes 78. In this case, if any one set of recommended routes 78 or any one recommended furrow 79 is selected, or if work on any one set of recommended routes 78 or any one recommended furrow 79 is started, the display control unit 60 may remove the display of the other sets of recommended routes 78 or other recommended furrows 79 in the map section 91.

[0080] Furthermore, if the transplanting machine 1 is positioned at the starting point of a work path 70 that spans both the previously traveled path 73 and the untraveled path 74, and is facing the direction of travel of the work path 70, the display control unit 60 may issue a warning to that effect via display or sound.

[0081] As described above, according to this embodiment, the transplanter 1 is a work vehicle that is equipped with traveling devices 13 on both the left and right sides of the machine body and performs work while traveling in a field, and is equipped with a control device 40 and a portable terminal 5. The transplanter 1 is equipped with a positioning unit 24 as a position information acquisition unit that acquires the position information of the transplanter 1 in the field. The portable terminal 5 is equipped with a control device 50, which functions as a travel path acquisition unit 57 that acquires the left and right previously traveled paths 73 that the left and right traveling devices 13 have passed through based on the position information, and also functions as a display control unit 60 that displays the left and right previously traveled paths 73 in the field on a predetermined screen such as a work screen 90.

[0082] In other words, a method for assisting the operation of a work vehicle such as a transplanter 1, which is equipped with traveling devices 13 on both the left and right sides of the machine and performs work while traveling in a field, comprises a position information acquisition step of acquiring position information of the transplanter 1 in the field, a travel path acquisition step of acquiring a pair of previously traveled paths 73 on the left and right that have been passed by the left and right traveling devices 13 based on the position information, and a display step of displaying the pair of previously traveled paths 73 on the left and right in the field on a predetermined screen.

[0083] As a result, the operator of the transplanting machine 1 can drive and perform transplanting work while checking the previously traveled path 73 that the left and right traveling devices 13 have passed through, making it easier to determine whether or not to pass through the previously traveled path 73, and thus improving work efficiency.

[0084] Furthermore, according to this embodiment, in the transplanting machine 1, the control device 50 functions as a recommended path setting unit 58 that sets a pair of recommended paths 78 for the left and right travel devices 13 to recommend for the next travel based on position information.

[0085] As a result, a set of recommended paths 78 is set in accordance with the position information of the transplanting machine 1, making it easier for the worker to determine the next work path 70 and improving work efficiency.

[0086] Furthermore, according to this embodiment, the recommended route setting unit 58 sets a pair of recommended routes 78 on the left and right so that both the left and right traveling devices 13 pass through untraveled routes 74 other than the already traveled route 73, or sets a pair of recommended routes 78 on the left and right so that both the left and right traveling devices 13 pass through the already traveled route 73.

[0087] If one of the left or right traveling devices 13 travels on the already traveled path 73 while the other travels on the untraveled path 74, the transplanting machine 1 will tilt towards the already traveled path 73, which may reduce work accuracy. In contrast, in this embodiment, since it is suppressed that only one of the left or right traveling devices 13 travels on the already traveled path 73, it is possible to suppress the transplanting machine 1 from tilting towards the already traveled path 73. This improves work accuracy.

[0088] Furthermore, according to this embodiment, the display control unit 60 displays a pair of recommended paths 78 on a predetermined screen such as the work screen 90.

[0089] This allows the operator to operate the transplanting machine 1 and perform tasks while checking the next recommended path 78 on the screen, thereby improving work efficiency.

[0090] Furthermore, according to this embodiment, the control device 40 functions as a travel control unit 45 that causes the transplanting machine 1 to automatically travel toward the recommended path 78.

[0091] This allows the transplanting machine 1 to automatically travel to the next recommended path 78, enabling smooth movement within the work path 70 without burdening the worker, thereby improving work efficiency.

[0092] Furthermore, according to this embodiment, the travel control unit 45 and the work control unit 46 cause the transplanting machine 1 to automatically travel along the recommended path 78 while performing the transplanting work.

[0093] This allows transplanting work to be performed automatically along the recommended path 78 without burdening the worker, and enables transplanting work on multiple work paths 70 in succession, thereby improving work efficiency.

[0094] Furthermore, according to this embodiment, the transplanter 1 is configured to perform work while traveling with its left and right traveling devices 13 straddling the ridges 75 in the field. The travel path acquisition unit 57 acquires the previously traveled ridges 76 that the left and right traveling devices 13 have straddled and passed over, based on position information. The display control unit 60 displays the previously traveled ridges 76 in the field on a predetermined screen such as the work screen 90.

[0095] As a result, if ridges 75 are formed in the field, the work path 70 can be set based on the ridges 75, and the operator of the transplanter 1 can drive and transplant while checking the previously traveled ridges 76 that the left and right traveling devices 13 have passed over, making it easier to determine whether or not to pass over the previously traveled ridges 76, thereby improving work efficiency.

[0096] Furthermore, according to this embodiment, the recommended path setting unit 58 sets recommended furrows 79 that are recommended for the next travel of the left and right traveling devices 13, based on the position information.

[0097] As a result, the next recommended furrow 79 is set in accordance with the position information of the transplanting machine 1, making it easier for the worker to determine the next work path 70 and improving work efficiency.

[0098] In the above-described embodiment, an example was explained in which the display control unit 60 of the mobile terminal 5 displays the previously traveled paths 73 and previously traveled furrows 76 on the work screen 90 of the display unit 53 of the mobile terminal 5. However, the present invention is not limited to this example. For example, in other examples, the display control unit 60 may display the previously traveled paths 73 and previously traveled furrows 76 on another screen of the display unit 53, or it may display the previously traveled paths 73 and previously traveled furrows 76 on a predetermined screen of the display device 23 of the transplanting machine 1.

[0099] In another embodiment, the transplanter 1 may acquire the previously traveled paths 73 and previously traveled furrows 76 on the left and right by the travel path acquisition unit 57, while simultaneously setting a recommended path setting unit 58 to set a pair of recommended paths 78 and recommended furrows 79 on the left and right sides that are recommended for the next travel of the left and right travel devices 13, without displaying the previously traveled paths 73 and previously traveled furrows 76.

[0100] In other words, a method for assisting the operation of a work vehicle such as a transplanter 1, which is equipped with traveling devices 13 on both the left and right sides of the machine body and performs work while traveling in a field, includes a position information acquisition step of acquiring position information of the transplanter 1 in the field, a travel path acquisition step of acquiring a pair of previously traveled paths 73 or previously traveled ridges 76 that the left and right traveling devices 13 have passed through based on the position information, and a setting step of setting a pair of recommended paths 78 or recommended ridges 79 that the left and right traveling devices 13 are recommended to travel on next based on the position information.

[0101] In this case, in manual driving mode or automatic straight-line driving mode, the route creation unit 59 creates a travel route 81 that travels to the starting point of the work route 70 that passes through the recommended road 78 and recommended furrow 79. The travel control unit 45 controls the transplanter 1 to automatically travel along the travel route 81 in response to the operation of driving controls such as travel switches (not shown) provided around the driver's seat 16, or in response to the detection of the end point of the work route being traveled, thereby causing the transplanter 1 to automatically travel toward the recommended road 78 and recommended furrow 79. This allows the transplanter 1 to move smoothly toward the set recommended road 78 and recommended furrow 79, and enables the transplanting work on the recommended road 78 and recommended furrow 79 to start smoothly.

[0102] Furthermore, in automatic driving mode, the route creation unit 59 should create a target driving route 82 that includes a work route 70 that passes through a pair of left and right recommended roads 78 and recommended furrows 79 set by the recommended road setting unit 58. This allows the transplanter 1 to drive fully automatically along the target driving route 82, enabling smooth transplanting work on the set recommended roads 78 and recommended furrows 79.

[0103] Furthermore, although the above-described embodiment described an example in which the work vehicle is composed of a transplanter 1 for transplanting vegetable seedlings into a field, the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural machinery such as rice transplanters, combine harvesters, and tractors, or it may be composed of other work vehicles other than agricultural machinery.

[0104] Furthermore, in the above-described embodiment, an example was explained in which the control device 50 of the mobile terminal 5 operates as a field selection unit 55, a reference line setting unit 56, a travel path acquisition unit 57, a recommended route setting unit 58, a route creation unit 59, and a display control unit 60. However, in other examples, the field selection unit 55, reference line setting unit 56, travel path acquisition unit 57, recommended route setting unit 58, route creation unit 59, and display control unit 60 may operate on a server that can be connected to a work vehicle such as the transplanter 1 or the mobile terminal 5 via a network. In this case, the route information generated by the server may be configured to be transmitted to the work vehicle such as the transplanter 1 or the mobile terminal 5.

[0105] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Driving assistance methods, work vehicles, and driving assistance systems that involve such modifications are also included in the technical concept of the present invention.

[0106] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0107] <Note 1> A method for assisting the operation of a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field, A location information acquisition step for acquiring location information of the work vehicle in the field, Based on the position information, a path acquisition step is performed to acquire a set of previously traveled paths on the left and right sides that the left and right travel devices have passed through. A display step of displaying a pair of previously traveled roads in the field on a predetermined screen, A driving assistance method characterized by having the following features.

[0108] <Note 2> The driving assistance method according to Appendix 1, further comprising a setting step of setting a set of left and right recommended paths for the next travel of the left and right travel devices based on the position information.

[0109] <Note 3> The driving assistance method according to Appendix 2, characterized in that the setting step involves setting a pair of recommended roads on the left and right so that both the left and right running gears travel on untraveled roads other than the previously traveled roads, or setting a pair of recommended roads on the left and right so that both the left and right running gears travel on the previously traveled roads.

[0110] <Note 4> The driving assistance method according to Appendix 2 or 3, characterized in that the display step displays a pair of recommended roads on the predetermined screen.

[0111] <Note 5> The driving assistance method according to any one of the appendices 2 to 4, further comprising an automatic driving step of automatically driving toward the aforementioned recommended road.

[0112] <Note 6> The driving assistance method according to any one of the appendices 2 to 5, further comprising an automated driving process in which work is performed while the vehicle automatically drives along the aforementioned recommended road.

[0113] <Note 7> The aforementioned work vehicle is configured to perform work while its left and right running devices straddle the ridges in the field. The aforementioned path acquisition step acquires the previously traveled furrows that the left and right travel devices have crossed and passed over, based on the position information. The driving support method according to any one of Appendix 1 to 6, characterized in that the display step displays the previously traveled furrows in the field on the predetermined screen.

[0114] <Note 8> The driving assistance method according to Appendix 7, further comprising a setting step of setting recommended furrows to be recommended for the next travel of the left and right traveling devices based on the position information.

[0115] <Note 9> A method for assisting the operation of a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field, A location information acquisition step for acquiring location information of the work vehicle in the field, Based on the position information, a path acquisition step is performed to acquire a set of previously traveled paths on the left and right sides that the left and right travel devices have passed through, or previously traveled furrows that the left and right travel devices have crossed and passed through. A setting step of setting a set of left and right recommended paths or recommended furrows for the next travel of the left and right traveling devices based on the position information, A driving assistance method characterized by having the following features.

[0116] <Note 10> The driving assistance method according to Appendix 9, characterized in that the setting step involves setting a pair of recommended roads on the left and right so that both the left and right running devices travel on untraveled roads other than the previously traveled roads, or setting a pair of recommended roads on the left and right so that both the left and right running devices travel on the previously traveled roads.

[0117] <Note 11> The driving assistance method according to Appendix 9 or 10, further comprising an automatic driving step of automatically driving toward the recommended road.

[0118] <Note 12> The driving assistance method according to any one of the appendices 9 to 11, further comprising an automated driving process in which work is performed while automatically driving along the aforementioned recommended road.

[0119] <Note 13> It is a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while moving around in the field. A location information acquisition unit that acquires location information of the work vehicle in the field, A track acquisition unit acquires the previously traveled paths on the left and right sides that the left and right travel devices have passed through, based on the position information. A display control unit that displays the left and right previously traveled roads in the field on a predetermined screen, A work vehicle characterized by being equipped with the following features.

[0120] <Note 14> The work vehicle according to Appendix 13, further comprising a recommended path setting unit that sets a set of recommended paths for the next travel of the left and right travel devices based on the position information.

[0121] <Note 15> The work vehicle according to Appendix 14, characterized in that the recommended route setting unit sets a pair of recommended routes for the left and right so that both the left and right running devices pass through untraveled routes other than the previously traveled routes, or sets a pair of recommended routes for the left and right so that both the left and right running devices pass through the previously traveled routes.

[0122] <Note 16> The work vehicle according to Appendix 14 or 15, characterized in that the display control unit displays a pair of recommended routes on the predetermined screen.

[0123] <Note 17> A work vehicle according to any one of appendices 14 to 16, further comprising a driving control unit that automatically drives toward the recommended road.

[0124] <Note 18> A work vehicle according to any one of the appendices 14 to 17, further comprising a driving control unit and a work control unit that perform work while automatically driving along the aforementioned recommended route.

[0125] <Note 19> The aforementioned work vehicle is configured to perform work while its left and right running devices straddle the ridges in the field. The aforementioned track acquisition unit acquires previously traveled furrows that the left and right travel devices have crossed and passed over, based on the position information. The work vehicle according to any one of appendices 13 to 18, characterized in that the display control unit displays the previously traveled furrows in the field on the predetermined screen.

[0126] <Note 20> The work vehicle according to Appendix 19, further comprising a recommended path setting unit that sets recommended furrows for the next travel of the left and right traveling devices based on the position information.

[0127] <Note 21> It is a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while moving around in the field. A location information acquisition unit that acquires location information of the work vehicle in the field, Based on the position information, the track acquisition unit acquires a set of previously traveled paths on the left and right sides that the left and right travel devices have passed through, or previously traveled furrows that the left and right travel devices have straddled and passed through. A setting unit that sets a set of left and right recommended paths or recommended furrows for the next travel of the left and right traveling devices based on the position information, A work vehicle characterized by being equipped with the following features.

[0128] <Note 22> The work vehicle according to Appendix 21, characterized in that the setting unit sets a pair of recommended routes for the left and right so that both the left and right running devices travel on untraveled routes other than the previously traveled routes, or sets a pair of recommended routes for the left and right so that both the left and right running devices travel on the previously traveled routes.

[0129] <Note 23> The work vehicle according to Appendix 21 or 22, further comprising a driving control unit that automatically drives toward the recommended path.

[0130] <Note 24> A work vehicle according to any one of the appendices 21 to 23, further comprising a driving control unit and a work control unit that perform work while automatically driving along the aforementioned recommended route.

[0131] <Note 25> This is a driving support system for a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field. A location information acquisition unit that acquires location information of the work vehicle in the field, A track acquisition unit acquires the previously traveled paths on the left and right sides that the left and right travel devices have passed through, based on the position information. A display control unit that displays the left and right previously traveled roads in the field on a predetermined screen, A driver assistance system characterized by being equipped with the following features.

[0132] <Note 26> The driving assistance system according to Appendix 25, further comprising a recommended path setting unit that sets a set of recommended left and right paths recommended for the next travel of the left and right travel devices based on the position information.

[0133] <Note 27> The driving assistance system according to Appendix 26, characterized in that the recommended route setting unit sets a pair of recommended routes for the left and right so that both the left and right running gears travel on untraveled routes other than the previously traveled routes, or sets a pair of recommended routes for the left and right so that both the left and right running gears travel on the previously traveled routes.

[0134] <Note 28> The driving assistance system according to Appendix 26 or 27, characterized in that the display control unit displays a pair of recommended routes on the predetermined screen.

[0135] <Note 29> A driving assistance system according to any one of the appendices 26 to 28, further comprising a driving control unit that automatically drives toward the recommended road.

[0136] <Note 30> The driving assistance system according to any one of the appendices 26 to 29, further comprising a driving control unit and a work control unit that perform work while automatically driving along the aforementioned recommended route.

[0137] <Note 31> The aforementioned work vehicle is configured to perform work while its left and right running devices straddle the ridges in the field. The aforementioned track acquisition unit acquires previously traveled furrows that the left and right travel devices have crossed and passed over, based on the position information. The driving support system according to any one of appendices 25 to 30, characterized in that the display control unit displays the previously traveled furrows in the field on the predetermined screen.

[0138] <Note 32> The driving support system according to Appendix 31, further comprising a recommended path setting unit that sets recommended furrows for the next travel of the left and right traveling devices based on the position information.

[0139] <Note 33> This is a driving support system for a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field. A location information acquisition unit that acquires location information of the work vehicle in the field, Based on the position information, the track acquisition unit acquires a set of previously traveled paths on the left and right sides that the left and right travel devices have passed through, or previously traveled furrows that the left and right travel devices have straddled and passed through. A setting unit that sets a set of left and right recommended paths or recommended furrows for the next travel of the left and right traveling devices based on the position information, A driver assistance system characterized by being equipped with the following features.

[0140] <Note 34> The driving assistance system according to Appendix 33, characterized in that the setting unit sets a pair of recommended routes for the left and right so that both the left and right driving devices travel on untraveled routes other than the previously traveled routes, or sets a pair of recommended routes for the left and right so that both the left and right driving devices travel on the previously traveled routes.

[0141] <Note 35> The driving assistance system according to appendix 33 or 34, further comprising a driving control unit that automatically drives toward the recommended road.

[0142] <Note 36> The driving assistance system according to any one of the appendices 33 to 35, further comprising a driving control unit and a work control unit that perform work while automatically driving along the aforementioned recommended route. [Explanation of symbols]

[0143] 1. Rice transplanter (work vehicle) 5 Mobile devices 13. Running gear 24 Positioning Unit (Location Information Acquisition Unit) 40 Control device 41 Storage section 45. Driving control unit 46. ​​Operation Control Unit 50 Control device 51 Terminal-side storage unit 53 Display section 57 Track acquisition section 58 Recommended Route Setting Section (Setting Section) 59 Route Creation Section 60 Display Control Unit 73 Existing route 74 Unused roads 76 Already traveled ridge 77 Untraveled ridge 78 Recommended Routes 79 Recommended furrows 80 Automatic straight-line route 81 Travel Path 82 Target Driving Route 83 Straight path 84 Travel Paths 90 Workscreen

Claims

1. A method for assisting the operation of a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field, A target driving path setting step, which sets a target path for the aforementioned work vehicle to drive automatically and sets a plurality of parallel work paths, A location information acquisition step for acquiring location information of the work vehicle in the field, A journey path acquisition step is performed to acquire a set of previously traveled paths, left and right, that the left and right travel devices have passed through when the work path is automatically traveled, based on the aforementioned position information. A display step of displaying a pair of previously traveled roads in the field on a predetermined screen, A setting step of setting a set of left and right recommended paths for the next travel of the left and right travel devices based on the position information, It has, The setting step is characterized by setting a pair of recommended paths for the left and right so that each of the left and right traveling devices automatically travels along different work paths and follows a previously traveled path.

2. The driving assistance method according to claim 1, characterized in that the display step displays a pair of recommended roads on the predetermined screen.

3. The driving assistance method according to claim 1, further comprising an automatic driving step of automatically driving toward the recommended road.

4. The driving assistance method according to claim 1, further comprising an automated driving step of performing work while automatically driving along the recommended road.

5. A method for assisting the operation of a work vehicle equipped with running gear on both the left and right sides of the machine, which operates while moving across ridges in a field, A location information acquisition step for acquiring location information of the work vehicle in the field, A process of acquiring a travel path, which acquires the previously traveled furrows that the left and right travel devices have crossed and passed over based on the position information, A display step of displaying the previously traveled furrows in the field on a predetermined screen, A driving assistance method characterized by having the following features.

6. The driving assistance method according to claim 5, further comprising a setting step of setting recommended furrows to be recommended for the next travel of the left and right traveling devices based on the position information.

7. A method for assisting the operation of a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field, A location information acquisition step for acquiring location information of the work vehicle in the field, Based on the aforementioned position information, a process of acquiring previously traveled furrows that the left and right travel devices have crossed and passed over is performed. A setting step of setting recommended furrows for the next travel of the left and right traveling devices based on the position information, A driving assistance method characterized by having the following features.

8. This is a work vehicle equipped with running gear on both the left and right sides of the machine, which operates while moving across the ridges in the field. A location information acquisition unit that acquires location information of the work vehicle in the field, A travel path acquisition unit acquires previously traveled furrows that the left and right travel devices have crossed and passed over, based on the aforementioned position information. A display control unit that displays the previously traveled furrows in the field on a predetermined screen, A work vehicle characterized by being equipped with the following features.

9. It is a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while moving around in the field. A location information acquisition unit that acquires location information of the work vehicle in the field, Based on the aforementioned position information, the travel path acquisition unit acquires previously traveled furrows that the left and right travel devices have crossed and passed over, A setting unit that sets recommended furrows for the next travel of the left and right traveling devices based on the position information, A work vehicle characterized by being equipped with the following features.

10. This is a driving support system for a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling across furrows in a field. A location information acquisition unit that acquires location information of the work vehicle in the field, A travel path acquisition unit acquires previously traveled furrows that the left and right travel devices have crossed and passed over, based on the aforementioned position information. A display control unit that displays the previously traveled furrows in the field on a predetermined screen, A driver assistance system characterized by being equipped with the following features.

11. This is a driving support system for a work vehicle equipped with running gear on both the left and right sides of the machine, which performs work while traveling in a field. A location information acquisition unit that acquires location information of the work vehicle in the field, Based on the aforementioned position information, the travel path acquisition unit acquires previously traveled furrows that the left and right travel devices have crossed and passed over, A setting unit that sets recommended furrows for the next travel of the left and right traveling devices based on the position information, A driver assistance system characterized by being equipped with the following features.

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