Work support device, work machine, and work support method

Abstract

When work is to be performed by automatic travel after prior work, the present invention appropriately connects the prior work and the present work.　This work support device (30) comprises: a first control device (31) which, on the basis of a work machine vehicle position (VP) detected by a detection device (25) provided to the work machine (1) having a work device (2), defines a first travel route (R1) for the work machine to automatically travel in a field (H); and an output device (34) which outputs the first travel route defined by the first control device to the work machine. The first control device defines the first travel route which passes through the vehicle position on the basis of the vehicle position when the work machine has moved to a reference position (BP) for which traces of prior work performed in the field serve as a reference.

Description

Work support device, work machine, and work support method

[0001] The present invention relates to a work assistance device, a work machine, and a work assistance method for assisting work by a work machine such as a tractor.

[0002] The driving assistance device disclosed in Patent Document 1 is a driving assistance device that creates a planned driving route for a driving vehicle to which a work device is connected, and is equipped with a route creation unit that corrects the planned driving route before the driving is automated based on the actual position of the driving vehicle when the driving vehicle is automated and the planned driving route during the automated driving.

[0003] Japanese Patent Publication No. 2020-106973

[0004] The driving assistance device of Patent Document 1 can prevent the occurrence of unworked portions (unworked areas) caused by automatic driving deviating from the planned driving route.

[0005] However, while the driving assistance device of Patent Document 1 can correct the planned driving route in accordance with deviations from the planned driving route, if previous work has already been carried out in the field, it is preferable to appropriately define the planned driving route in accordance with the condition of the field after the previous work in order to more appropriately carry out work in conjunction with the previous work.

[0006] The present invention has been made to solve these problems with the conventional technology, and aims to provide a work support device, work machine, and work support method that can appropriately coordinate the previous work and the current work when work is performed by automatic driving after the previous work.

[0007] A work assistance device according to one aspect of the present invention comprises a first control device that defines a first driving route for a work machine to automatically drive through a field based on the vehicle body position of the work machine detected by a detection device provided on the work machine having the work device, and an output device that outputs the first driving route defined by the first control device to the work machine, wherein the first control device defines the first driving route that passes through the vehicle body position based on the vehicle body position when the work machine moves to a reference position based on evidence of previous work performed in the field.

[0008] The work support device may include a storage device that stores a second driving route that is defined separately from the first driving route and that is used by the work machine to automatically drive through the field, and the first control device may define the first driving route by correcting the second driving route based on a deviation of the vehicle body position from the second driving route when the work machine moves to the reference position.

[0009] The first control device may define the first travel route to include a plurality of paths that each extend in a predetermined working direction in the field and are spaced apart by a predetermined separation width.

[0010] The previous work is work performed by the work machine traveling in the work direction and using the work device, the reference position is a position at which the work range of the work device is aligned based on evidence of the previous work, and the first control device may define multiple paths spaced apart by the separation width based on the vehicle body position at the reference position.

[0011] A work machine according to one aspect of the present invention includes the work assistance device, a work machine, and a second control device that controls automatic traveling based on the first traveling route output from the output device.

[0012] The work machine may include a vehicle body to which the work device is connected, and the work device may have a work implement that is attached to the vehicle body so as to be able to swing freely around an axis in the fore-and-aft direction and that is placed in contact with the field to perform work.

[0013] The work machine may be provided with a lifting device that connects the work device to the vehicle body so that it can be raised and lowered, and the second control device may control the lifting device to maintain the work device at a predetermined height during the automatic driving.

[0014] The working device may be a reversible plow having a first frame connected to the lifting device, a second frame supported so as to be freely rotatable relative to the first frame, and a plurality of bottoms which are the working tools supported symmetrically above and below on the second frame and which perform tilling work.

[0015] The work machine is equipped with a traveling device including a plurality of wheels, the first control device defines the first traveling route along which the work machine performs furrow digging using the reversible plow, the previous work is opening plowing in which the reversible plow forms a furrow in the field extending in the working direction, and the reference position may be a position at which the wheels of the work machine are aligned over a range extending in the working direction of the furrow, which is a trace of the opening plowing.

[0016] The work machine is equipped with a traveling device including a plurality of wheels, the first control device defines the first traveling route along which the work machine performs furrow digging using the reversible plow, the previous work is plowing work in which the reversible plow travels in the field in the working direction, and the reference position may be a position at which the wheels of the work machine are aligned within a range extending in the working direction of a furrow portion, which is a trace of the plowing work.

[0017] The first control device defines the first travel route along which the work machine performs hill towing using the reversible plow, and the previous work is open-field plowing in which the reversible plow forms a furrow extending in the working direction in the field, and the reference position may be a position where the extension of the furrow, which is evidence of the open-field plowing, in the working direction is adjacent to the working range of the reversible plow.

[0018] The first control device defines the first travel route along which the work machine performs hill towing using the reversible plow, the previous work being the plowing work in which the reversible plow travels in the field in the working direction, and the reference position may be a position where the range of the furrow portion, which is a trace of the plowing work, extended in the working direction is adjacent to the working range of the reversible plow.

[0019] The work assistance device may include an input device that accepts setting input of information, the input device accepting setting input of work information related to a work device possessed by the work machine, the previous work being work performed by a work device other than the work device possessed by the work machine, and the first control device may define the separation width based on the work information, and define the first driving route based on the separation width and the vehicle body position at the reference position.

[0020] The pre-work may be a ridge-forming work in which a ridge is formed in the field using a ridge-forming device, and the reference position may be a position where the running device of the work machine is aligned with the ridge, which is a trace of the pre-work.

[0021] The input device may accept setting input of the working width of the work device and the ridge width of the ridge as the work information, and the first control device may define the first travel route including multiple paths separated by the separation width based on the working width and the ridge width.

[0022] A work machine according to one aspect of the present invention includes the work assistance device, the work machine, and a second control device that controls automatic driving based on the first driving route output from the output device.

[0023] A work assistance method according to one aspect of the present invention is a work assistance method for a work machine comprising a work machine, a detection device that detects a vehicle body position, a first control device that defines a first driving route for automatic driving in a field based on the vehicle body position, and a second control device that controls automatic driving based on the first driving route defined by the first control device, and comprises the steps of: moving the work machine to a reference position based on evidence of previous work performed in the field; and defining the first driving route that passes through the vehicle body position based on the vehicle body position of the work machine at the reference position detected by the detection device.

[0024] According to the above-described work assistance device, work machine, and work assistance method, when work is performed by automatic travel after a previous work, the previous work and the current work can be appropriately linked.

[0025] 1 is a configuration diagram of a work machine support system in the first embodiment. FIG. 2 is a side view showing an example of a work machine in the first embodiment. FIG. 3 is a plan view showing an example of a work machine in the first embodiment. FIG. 4 is a diagram illustrating automatic travel of the work machine in the first embodiment. FIG. 5 is a flowchart showing an example of a process for defining a second travel route in the first embodiment. FIG. 6 is a diagram showing an example of a second travel route defined in a field map in the first embodiment. FIG. 7 is a diagram illustrating the definition of a headland route in the first embodiment. FIG. 8 is a diagram illustrating the definition of an inner route in the first embodiment. FIG. 9 is a diagram illustrating plowing work (furrow drawing) in the first embodiment. FIG. 10 is a diagram illustrating plowing work (hill drawing) in the first embodiment. FIG. 11 is a diagram illustrating an example of a second travel route for plowing work in the first embodiment. FIG. 12 is a diagram illustrating fluctuations in the actual working width of the work machine in plowing work (hill drawing) in the first embodiment. FIG. 13 is a flowchart showing an example of a process for defining a first travel route in the first embodiment. FIG. 14 is a diagram illustrating a reference position in plowing work (furrow drawing) in the first embodiment. 1 is a diagram illustrating another example of the reference position in plowing work (furrow drawing) of the first embodiment. FIG. 2 is a diagram illustrating another example of the reference position in plowing work (furrow drawing) of the first embodiment. FIG. 3 is a diagram illustrating another example of the reference position in plowing work (hill drawing) of the first embodiment. FIG. 4 is a diagram illustrating another example of the reference position in plowing work (hill drawing) of the first embodiment. FIG. 5 is a diagram illustrating the definition of a first travel route in the first embodiment. FIG. 6 is a diagram illustrating the definition of a first travel route in a modified example of the first embodiment. FIG. 7 is a plan view showing an example of a work machine in the second embodiment. FIG. 8 is a diagram illustrating an example of a second travel route for pest control work in the second embodiment. FIG. 9 is a flowchart showing an example of a process for defining a first travel route in the second embodiment. FIG. 10 is a diagram illustrating the reference position in pest control work of the second embodiment. FIG. 11 is a diagram illustrating another example of the reference position in pest control work of the second embodiment. FIG. 12 is a diagram illustrating the definition of a first travel route in the second embodiment.

[0026] First Embodiment Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

[0027] 1 is a configuration diagram of an assistance system 200 for a work implement 1 in a first embodiment. The assistance system 200 for a work implement 1 includes the work implement 1 and a work assistance device 30. The work implement 1 is an autonomously traveling work machine equipped with a work device 2 that performs work, and the work assistance device 30 assists the work implement 1 in traveling and performing work. The work implement 1 will be described below.

[0028] 2 and 3 are diagrams showing an example of a work machine 1 in the first embodiment. In the example shown in FIGS. 2 and 3 , the work machine 1 is a tractor (work vehicle) equipped with a work device 2 (implement). The work machine 1 is not limited to a tractor, but may be any work machine equipped with the work device 2 that performs work in a field H or the like and capable of automatic travel, such as a rice transplanter or a combine harvester. For convenience of explanation, the following description will be given using an example in which the work machine 1 is a tractor equipped with the work device 2, and descriptions of other work machines will be omitted. In addition, in the following description, the front side (the direction of arrow AR1 in FIGS. 2 and 3 ) of the worker (operator) seated in the driver's seat 10 of the work machine 1 will be referred to as the front, the rear side (the direction of arrow AR2 in FIGS. 2 and 3 ) of the operator will be referred to as the rear, the left side of the operator will be referred to as the left side (the near side in FIG. 2 , the direction of arrow AR3 in FIG. 3 ), and the right side of the operator will be referred to as the right side (the far side in FIG. 2 , the direction of arrow AR4 in FIG. 3 ). In addition, the horizontal direction, which is a direction perpendicular to the front-rear direction of the work machine 1, will be described as the width direction.

[0029] As shown in Figures 1 to 3, the work machine 1 includes a vehicle body 3 (machine body), a prime mover 4, a transmission 5, and a traveling device 7. The vehicle body 3 supports various devices (on-board devices) provided on the work machine 1. For example, the vehicle body 3 is provided with a driver's seat 10 and a protection mechanism (e.g., a cabin, canopy, ropes, etc.) for protecting the driver's seat 10. In addition, a work device 2 that performs work in a field H is connected to the vehicle body 3. Specifically, a lifting device 3a that connects the work device 2 so that it can be raised and lowered is provided at the front and / or rear of the vehicle body 3.

[0030] 2 and 3 , the lifting device 3a is provided at the rear of the vehicle body 3, and connects the working device 2 to the rear of the vehicle body 3. The lifting device 3a is configured, for example, with a three-point linkage mechanism or the like, and is capable of raising and lowering the connected working device 2. The lifting device 3a is operated by a hydraulic cylinder, which is a hydraulic actuator, and raises and lowers the connected working device 2. Therefore, by connecting the working device 2 to the lifting device 3a, the working device 2 is equipped to the work machine 1.

[0031] The working implements 2 include a tilling implement for tilling, a tilling implement for plowing, a ridge forming implement for forming ridges, a fertilizer spreading implement for spreading fertilizer, a pesticide spreading implement 2B for spraying pesticides for pest control, a seed spreading implement for sowing seeds, a transplanter for planting crops (seedlings), a harvesting implement for harvesting crops, a reaping implement for reaping grass and the like, a spreading implement for spreading grass and the like, a grass collecting implement for collecting grass and the like, and a shaping implement for shaping grass and the like. In other words, the operator can select from various types of working implements 2 as described above and connect the selected working implement 2 to the lifting device 3a. Note that FIGS. 2 and 3 show, as an example, a tractor equipped with a tilling implement (reversible plow 2A) as the working implement 2.

[0032] The working device 2 may be operated by power transmitted from a PTO shaft 5a (described later), or may have a hydraulic device driven by hydraulic oil discharged from a hydraulic pump and be operated by the hydraulic device.The working device 2 may also have an electric actuator driven by supplied electric power and be operated by the electric actuator.

[0033] The prime mover 4 is a power source that outputs power, and is an engine (e.g., a diesel engine) or an electric actuator.

[0034] The transmission 5 is capable of switching the propulsive force of the traveling device 7 by changing gears, and is also capable of switching between forward and reverse travel of the traveling device 7. The transmission 5 has a plurality of gears that transmit power, a shifter that changes the connection of the gears, a clutch that switches between transmitting and disconnecting power, and the gears, shifters, clutches, etc. are used to switch the propulsive force of the traveling device 7 and switch between forward and reverse travel. As a result, the power generated by the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, causing the vehicle body 3 to travel forward and backward (forward AR1, backward AR2).

[0035] 2, the transmission 5 is provided with a PTO shaft 5a for transmitting (outputting) the power output by the prime mover 4 to the outside. The transmission 5 can switch between driving and stopping the PTO shaft 5a using, for example, a clutch, and the working device 2 connected to the PTO shaft 5a is driven by the power transmitted from the PTO shaft 5a.

[0036] The traveling devices 7 are provided in pairs in the width direction and support the vehicle body 3 so that it can travel. The traveling devices 7 are provided with tire-type wheels (front wheels 7F and rear wheels 7R). In the example shown in FIG. 2, the front wheels 7F and rear wheels 7R are tire-type, but they may also be crawler-type. The work machine 1 also includes a braking device 8 that applies the brakes to the traveling devices 7. The braking device 8 is a disc-type brake mechanism that can be switched between a braking state in which braking is applied and a release state in which braking is released.

[0037] As shown in FIG. 1 , the work machine 1 includes a second control device 20 , a second storage device 21 , an operation device 22 , a steering device 23 , a second communication device 24 , a detection device 25 , and a sensing device 26 .

[0038] The second control device 20 is a processing circuit including one or more processors. The second control device 20 is a controller for the work machine 1 and performs various controls related to the work machine 1. The second control device 20 is communicably connected to various devices mounted on the work machine 1 via an on-board network N such as CAN, ISOBUS, LIN, or FlexRay. For example, the second control device 20 performs control processing (operation) of the prime mover 4, the transmission 5, etc. based on a signal (operation signal) input from the operation device 22. For example, the second control device 20 controls the drive, stop, and rotation speed of the prime mover 4. The second control device 20 controls the transmission 5 to switch the operating speed and operating direction of the travel device 7, thereby changing the vehicle speed of the work machine 1 (body 3), and switching between forward and reverse travel of the work machine 1.

[0039] When the working device 2 connected to the lifting device 3a receives power from the PTO shaft 5a, the second control device 20 controls the transmission 5 to change the drive of the PTO shaft 5a, thereby controlling the working device 2. Furthermore, the working machine 1 is equipped with a control valve connected to a hydraulic pump and a hydraulic oil tank, and when the working device 2 connected to the lifting device 3a has hydraulic equipment, the second control device 20 controls the control valve to switch the flow of hydraulic oil discharged from the hydraulic pump, thereby operating the hydraulic equipment and controlling the working device 2. Furthermore, when the working device 2 connected to the lifting device 3a has an electric actuator, the second control device 20 controls the working device 2 by controlling the power supplied to the electric actuator of the working device 2.

[0040] In addition, if an electronic control unit is provided on the work device 2 connected to the lifting device 3a, the electronic control unit will be able to communicate with the second control device 20, and the electronic control unit will control the operation of each part of the work device 2 based on work commands received from the second control device 20 to perform agricultural work.

[0041] The second control device 20 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by one or more processors. The second control device 20 can read software programs from one or more memories using one or more processors and execute various processes based on the software programs. Note that the second control device 20 may also be able to execute various processes based on predetermined logic circuits using one or more processors.

[0042] The processor is, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), and an application specific integrated circuit (ASIC).

[0043] The second control device 20 may execute various processes by having multiple physically separated processors cooperate with each other, and the configuration is not limited to the above-described configuration. In such a case, the multiple processors are mounted on one or multiple computers that are physically separated from the work machine 1, and these processors are connected to each other so as to be able to communicate with each other via a network such as an in-vehicle network N, a LAN, a WAN, or the Internet.

[0044] In addition, the software program may be stored on a recording medium (non-volatile memory such as HDD, SSD, CD-ROM, DVD-ROM, etc.) communicatively connected to the second control device 20, or on an external server device 100 connected via the above-mentioned network, and may be configured to be installed into the above-mentioned memory from there.

[0045] The second storage device 21 stores various pieces of information and data related to the work machine 1 in a readable and writable manner. The second storage device 21 includes a non-volatile memory, etc. The second storage device 21 is connected to the second control device 20 so as to be able to communicate with the second control device 20, and the second control device 20 can acquire the various pieces of information and data stored in the second storage device 21.

[0046] The operating device 22 includes switches, levers, pedals, other keys, etc. that can be operated by an operator seated in the driver's seat 10 or an operator in the vicinity of the work machine 1 .

[0047] The steering device 23 includes a steering shaft and a power steering mechanism, and uses the steering shaft and power steering mechanism to change the direction of the front wheels 7F of the traveling device 7 to steer the vehicle body 3. The work machine 1 is capable of manual steering, in which the steering device 23 steers the vehicle body 3 in response to operation of the steering wheel 23a, and automatic steering, in which the second control device 20 controls the steering device 23 to steer the vehicle body 3.

[0048] Furthermore, in response to manual operation of the accelerator member or brake pedal provided on the operation device 22, the prime mover 4, the transmission 5, or the brake device 8 is actuated, thereby operating the traveling device 7, and the work machine 1 can travel and stop. Furthermore, the second control device 20 controls the prime mover 4, the transmission 5, and the brake device 8, and actuates the traveling device 7, thereby enabling the work machine 1 to travel and stop automatically.

[0049] That is, the work machine 1 is capable of manual operation in which the operator performs driving and steering operations, and automatic driving (also referred to as automatic driving or autonomous driving) in which the second control device 20 automatically performs driving and steering. In the following description, a mode in which the work machine 1 is manually driven and steered by the operator is referred to as manual mode, and a mode in which driving and steering are automatically performed by the second control device 20 is referred to as automatic mode. The work machine 1 (second control device 20) can be switched between manual mode and automatic mode by, for example, a mode selector switch provided in the operation device 22. The second control device 20 may also be capable of automatically switching between manual mode and automatic mode based on predetermined conditions.

[0050] The second communication device 24 is a communication interface of the work machine 1 and includes a communication circuit. The second control device 20 communicates wirelessly or wired with at least the work assistance device 30, and inputs and outputs (transmits and receives) various information, data, signals, etc. Note that the second communication device 24 only needs to be able to communicate with the work assistance device 30, and may be able to communicate wirelessly with the server device 100 via a public communication network such as the Internet, or may be able to communicate with the work assistance device 30 via the server device 100.

[0051] The detection device 25 detects the body position VP of the work implement 1. The body position VP detected by the detection device 25 is the current body position VP of the work implement 1. The body position VP is positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The body position VP is, for example, the own position of the detection device 25 or a position obtained by correcting the own position of the detection device 25 to a predetermined position (reference point) of the work implement 1. The detection device 25 receives satellite signals from a satellite positioning system using a GPS antenna, and detects the body position VP of the work implement 1 using the satellite signals.

[0052] Furthermore, the detection device 25 may have an inertial measurement unit (IMU) including an acceleration sensor, a gyro sensor, etc. The detection device 25 uses the inertial measurement unit to detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3. If the detection device 25 has an inertial measurement unit, it may correct a deviation of the vehicle body position VP relative to the working device 2 caused by the vehicle body 3 tilting based on tilt information (roll angle, pitch angle, and yaw angle) of the vehicle body 3 detected by the inertial measurement unit (tilt correction function).

[0053] Specifically, based on the tilt information, the detection device 25 corrects the deviation of the vehicle body position VP relative to the working range 2a of the working device 2. The detection device 25 corrects the vehicle body position VP based on, for example, the position of the GPS antenna in the terrestrial coordinate system detected by a satellite positioning system, the position of the GPS antenna in the aircraft coordinate system, the position of the reference point in the aircraft coordinate system, and tilt information detected by an inertial measurement unit.

[0054] The second control device 20 controls automatic traveling based on the vehicle body position VP detected by the detection device 25 and a predefined route along which the work machine 1 will travel (travel route R), and causes the work machine 1 in automatic mode to travel along the travel route R. The travel route R is a route along which the work machine 1 will travel when working in the field H, and is data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis), etc. The travel route R is stored in the second storage device 21. The second control device 20 changes the traveling speed of the travel route R between a straight section where the work machine 1 travels straight and a turning section where the work machine 1 turns.

[0055] The second control device 20 may also control the lifting device 3a to change the height of the work device 2 between straight sections and rotating sections of the travel route R. For example, when the vehicle body position VP is located in a straight section, the second control device 20 controls the lifting device 3a to maintain the work device 2 at a predetermined height and switch it to a height at which the work device 2 can perform work (working height). On the other hand, when the vehicle body position VP is located in a rotating section, the second control device 20 controls the lifting device 3a to maintain the work device 2 at a predetermined height and switch it to a height at which the work device 2 will not perform work (non-working height).

[0056] Specifically, for example, when the work implement 2 is a tillage implement or a plowing implement, the second control device 20 controls the lifting device 3a to maintain the height of the work implement 2 at a height (working height) based on a predefined tilling depth when the vehicle body position VP is located in a straight section, and maintains the height of the work implement 2 at a height (non-working height) that does not touch the field H when the vehicle body position VP is located in a turning section.

[0057] Fig. 4 is a diagram illustrating the automatic traveling of the work machine 1 in the first embodiment. As shown in the upper diagram of Fig. 4, the second control device 20 maintains the steering angle of the steering device 23 when the vehicle body position VP is located on the traveling route R. However, as shown in the middle diagram of Fig. 4, when the vehicle body position VP deviates from the traveling route R (when the positional deviation between the traveling route R and the vehicle body position VP is equal to or greater than a predetermined value), the second control device 20 changes the steering angle of the steering device 23 so that the vehicle body position VP approaches the traveling route R (so that the positional deviation approaches zero). In other words, when the vehicle body position VP deviates to the left of the traveling route R, the second control device 20 controls the steering device 23 to change the steering direction to the right, and when the vehicle body position VP deviates to the right of the traveling route R, the second control device 20 controls the steering device 23 to change the steering direction to the left.

[0058] If the detection device 25 can detect the vehicle body orientation VD of the work machine 1 in addition to or instead of the vehicle body position VP, for example by using a satellite positioning system, the second control device 20 may automatically perform traveling and steering based on the vehicle body orientation VD detected by the detection device 25 and the traveling route R, as shown in the lower diagram of Fig. 4. In such a case, the second control device 20 maintains the steering angle of the steering device 23 when the orientation deviation between the traveling route R and the vehicle body orientation VD is less than a predetermined value, and changes the steering angle of the steering device 23 so that the orientation deviation approaches zero when the orientation deviation is equal to or greater than the predetermined value.

[0059] Furthermore, in the present embodiment, an example will be described in which the second control device 20 controls automatic driving based on the driving route R, but the second control device 20 only needs to automatically perform at least steering based on the driving route R. In other words, the second control device 20 may automatically perform steering in the automatic mode, and leave driving to the operator (the driving is operated by manual driving by the operator), and perform automatic steering based on the driving route R.

[0060] Furthermore, in the example described above, the detection device 25 detects the vehicle body position VP of the work implement 1 using a satellite positioning system, but the vehicle body position VP of the work implement 1 may be detected by other methods without using a satellite positioning system. For example, the detection device 25 may be configured to detect the current vehicle body position VP based on the results of sensing by each sensing device 26 described below and a field map M indicating the field H (a map showing the position information of the field H, such as data shown in latitude and longitude or data shown in coordinates (X axis, Y axis)).

[0061] Furthermore, in the above example, the case where the work machine 1 is equipped with the detection device 25 has been described as an example, but the detection device 25 need only be able to detect the vehicle body position VP of the work machine 1, and does not have to be provided on the work machine 1. For example, the detection device 25 may be provided on another terminal (e.g., the work support device 30 or a mobile terminal carried by the operator) that can communicate with the second control device 20, and a configuration may be adopted in which the vehicle body position VP is transmitted from the other terminal to the second control device 20.

[0062] The sensing devices 26 include devices such as laser sensors such as LiDAR, ultrasonic sensors, and cameras. Each sensing device 26 is installed at the front, rear, and left and right sides of the vehicle body 3. Each sensing device 26 detects the presence or absence of an object around the work machine 1 and the distance to the object. The second control device 20 controls the transmission 5, braking device 8, steering device 23, and the like based on output signals from each sensing device 26. For example, when an object is present in the traveling direction of the work machine 1 and the distance from the work machine 1 to the object is less than a predetermined value, the second control device 20 controls the transmission 5 and braking device 8 to slow down or stop the traveling device 7.

[0063] The work support device 30 is a portable information processing device (computer), such as a tablet-type terminal device. The work support device 30 is mounted, for example, around the driver's seat 10 of the work machine 1, and is detachable from the work machine 1. In other words, the work machine 1 is equipped with a detachable work support device 30. When the operator boards the work machine 1 in manual mode and manually operates the work machine 1, the operator attaches the work support device 30 to the work machine 1. On the other hand, when the work machine 1 is in automatic mode and performing automatic travel, and the operator is not boarding the work machine 1, it is preferable that the operator detach the work support device 30 from the work machine 1 and carry it with him.

[0064] As shown in FIG. 1 , the work assistance device 30 includes a first control device 31, an input device 32, a first storage device (storage device) 33, and a first communication device 34. The first control device 31 is a processing circuit including one or more processors. The first control device 31 is a controller for the work assistance device 30 and performs various controls related to the work assistance device 30. The first control device 31 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by the one or more processors. The first control device 31 can read software programs from one or more memories using one or more processors and perform various processes based on the software programs.

[0065] The first control device 31 may be capable of executing various processes based on predetermined logic circuits using one or more processors, as described in the second control device 20. Furthermore, the first control device 31 may be capable of executing various processes using multiple physically separated processors working together, as described in the second control device 20, and the configuration is not limited to the above-described configuration.

[0066] The input device 32 is an input interface that accepts information input operations (input of information settings). The input device 32 is, for example, a display / operation device that displays various types of information on a screen and accepts operations on the information displayed on the screen. The input device 32 is a touch panel display that accepts input of various information settings or instructions when an operator performs predetermined operations on the input device 32. In other words, the input device 32 is a user interface and also serves as a display device for the work support device 30. The information input by the input device 32 is acquired by the first control device 31, which then uses the information for various processes or stores it in the first storage device 33. The screen of the input device 32 is controlled by the first control device 31.

[0067] Although the input device 32 has been described as an example of a display operation device that is a touch panel display, the input device 32 is not limited to a display operation device as long as it can at least accept input of information settings, and may be configured independently of a display device that displays various types of information.

[0068] The first storage device 33 stores various types of information and data in a readable and writable manner. The first storage device 33 includes a non-volatile memory, etc. The first storage device 33 is connected to the first control device 31 so as to be able to communicate with the first control device 31, and the first control device 31 can acquire the various types of information and data stored in the first storage device 33.

[0069] The first communication device 34 is a communication interface of the work assistance device 30 and includes a communication circuit. The first communication device 34 is capable of wireless or wired communication with the second communication device 24 of the work machine 1. The first communication device 34 is, for example, capable of wireless communication with the second communication device 24, and is a communication device that performs wireless communication using Bluetooth® Low Energy in the Bluetooth® specifications of the IEEE 802.15.1 series of communication standards, or Wi-Fi® in the IEEE 802.11.n series of communication standards. As a result, the first control device 31 communicates with the second control device 20 of the work machine 1 via the first communication device 34 and the second communication device 24. The first communication device 34 may also be capable of wireless communication with the server device 100 via a public communication network such as the Internet. As a result, the first communication device 34 can input / output (transmit / receive) information, data, signals, etc. to / from the work machine 1 and the server device 100. In other words, the first communication device 34 also serves as an output device for the work support device 30. The first communication device 34 may be able to communicate with the work machine 1 via the server device 100.

[0070] The first control device 31 acquires information that has been input by the input device 32. Specifically, for example, an operator operates the input device 32, causing the input device 32 to accept input of various information, and the first control device 31 acquires the information. Furthermore, if various pieces of information for which settings have been input by another information processing device are stored in the server device 100, the first control device 31 may acquire this information from the server device 100 via the first communication device 34. The first control device 31 stores this various pieces of information in the first storage device 33 or in the memory of the first control device 31. For example, the first control device 31 acquires information about the field H in which the work implement 1 will be working (field information), work information about the agricultural work in the field H, machine information about the work implement 1, and device information about the work implement 2.

[0071] The field information includes information indicating the identification information, position, area, and field map M of the field H. The field information is information defined in association with each field H. The field map M indicates the outline OL of the field H and position information such as various areas set in the field H. The position, area, and field map M of the field H are defined by the first control device 31 or an information processing device other than the first control device 31 based on map information acquired from an external device such as the server device 100, or based on a plurality of vehicle positions VP detected periodically by the detection device 25 while the work implement 1 is traveling along the edge of the field H.

[0072] The work information includes information related to agricultural work scheduled to be performed in the field H. The work information is information defined in association with each field H. The work information includes, for example, work conditions, planned use of the work implement 1 and the work device 2, and a work plan. The work information may also include, as work conditions, the number of headlands (headland number n: n = 0, 1, 2, 3, ...) in an area A2 (headland area, second area) that includes the headlands of the field H, a predetermined work direction (the direction in which the work implement 1 performs work, extending from one side of the field H to the other) to be performed in an area A1 (inner area, first area) inside the second area A2, the overlap width WR1 (lap width) of the work devices 2 or the work ranges 2a of the work devices 2 in adjacent work tasks, and the ridge width WU (the distance between the ridges U, for example, the length between the center of one ridge U and the center of another adjacent ridge U). The headland is, for example, an area in which the work implement 1 turns, and is defined as the outer edge of the field H (such as around the ridges). It is up to the farmer whether or not to cultivate crops in the headland. The working direction may also be specified by the farmer in a predetermined direction, may be defined based on the outline OL of the field H, or may be specified by the farmer's discretion.

[0073] The machine information includes information indicating the identification information, type, dimensional information, specifications, etc. of the work machine 1. In more detail, the machine information includes information related to the work machine 1, excluding information related to the work device 2. The machine information may also be stored in the memory of the second control device 20 of the work machine 1.

[0074] The device information includes information indicating the identification information, type, dimensional information, specifications, and first working width W1 (the width of the working range 2a, see FIG. 3) of the working device 2. In addition to the above, the device information may also include a first offset amount WO1 (see FIG. 3) of the center in the width direction of the working device 2 relative to the center in the width direction of the vehicle body 3. Note that the working device 2 may be provided with a memory, and the device information may also be stored in this memory.

[0075] Furthermore, the information acquired by the first control device 31 is not limited to the information described above, and other information may be acquired. For example, the first control device 31 can acquire the vehicle body position VP detected by the detection device 25 via the first communication device 34 and the second communication device 24. The first control device 31 stores the acquired vehicle body position VP as an actual result in the first storage device 33. Specifically, the first control device 31 acquires the vehicle body position VP during automatic driving, and stores the vehicle body position VP in the first storage device 33 in association with the driving route R.

[0076] The first control device 31 (work support device 30) executes support processing to support the travel and work of the work machine 1 based on the acquired information. Specifically, the first control device 31 defines a travel route R. As shown in FIG. 1 , the first control device 31 has a route definition unit 31a, which is, for example, a software program implemented in the first control device 31. As another example, the route definition unit 31a may be configured with hardware such as semiconductor elements and electric circuits and provided in the work support device 30.

[0077] The route definition unit 31a defines, as the travel route R, a path that the work implement 1 will take inside the field H. The route definition unit 31a defines the travel route R while simulating work by the work implement 2 and automatic travel by the work implement 1. The travel route R defined by the route definition unit 31a is output to the work implement 1 (second communication device 24) by the first communication device 34 (output device). This allows the second control device 20 of the work implement 1 to control the automatic travel based on the travel route R output from the output device 34.

[0078] Figure 5 is a flowchart showing an example of the process for defining a travel route R executed by the work support device 30 in the first embodiment. The steps in Figure 5 are executed by the first control device 31 in accordance with a software program stored in memory or the first storage device 33. Before the work machine 1 performs automatic travel, the route definition unit 31a performs the process shown in Figure 5 to switch to the second definition mode and defines the travel route R in the second definition mode. For convenience of explanation, the travel route R defined by the route definition unit 31a in the second definition mode will be referred to as the second travel route R2 below.

[0079] For example, before the work machine 1 begins autonomous traveling, the operator operates the input device 32, causing the input device 32 to display a predetermined first setting screen. The operator then specifies (inputs) the field H, the agricultural work, the work machine 1 to be used, and the work device 2 on the first setting screen to define a travel route R (second travel route R2) (S1). The route definition unit 31a switches to a second definition mode that defines the second travel route R2 (S2), and acquires field information, work information, machine information for the work machine 1, and device information for the work device 2 corresponding to the specified field H from at least one of the memory and the storage device 33, or from the server device 100 via the first communication device 34 (S3). That is, the first control device 31 acquires the field information, work information, machine information, and device information from at least one of the memory of the work support device 30 and the memory of the server device 100.

[0080] Next, the route definition unit 31a identifies the first working width W1, first offset amount WO1, and overlap amount WR1 of the working device 2 from the device information of the working device 2 (S4). The route definition unit 31a defines a second travel route R2 based on the acquired information (S5). At this time, the route definition unit 31a defines the second travel route R2 with the following goals in mind: (P1) the working machine 1 should not travel through worked areas as much as possible, (P2) the setting of turning sections that require the working machine 1 to turn around should be avoided as much as possible, and (P3) the non-working distance, which is the distance that the working machine 1 travels without performing work using the working device 2, should be made as short as possible.

[0081] Note that these goals are merely examples, and at least one of them is emphasized. Also, goals other than (P1) to (P3) may be emphasized. After defining the second travel route R2, the route definition unit 31a associates the defined second travel route R2 with identification information for the field H and stores it in the first storage device 33. At this time, the route definition unit 31a may also associate work information, machine information, and device information with the second travel route R2 and store them in the first storage device 33, in addition to the identification information for the field H.

[0082] The second travel route R2 includes a plurality of paths LS that each extend in the working direction of the field H and are spaced apart by a predetermined second separation width WS2. Fig. 6 is a diagram showing an example of the second travel route R2 defined on the field map M in the first embodiment. As shown in Fig. 6, the route definition unit 31a defines, for example, as the second travel route R2, a headland route LO for working in the second area A2 and an inner route LU for working in the first area A1.

[0083] In the example shown in FIG. 6 , the second area A2 is defined to extend from the outline OL of the field H into the inside of the field H, and the headland route LO includes one or more travel lines LOn (circumnavigation lines) along which the work implement 1 travels in the second area A2. The number of circulation lines LOn of the headland route LO corresponds to the number of headlands n. The route definition unit 31a defines the headland route LO on the field map M included in the field information based on the number of headlands n included in the acquired work information, the first working width W1 included in the device information, and other information. Specifically, the route definition unit 31a defines the second travel route R2 so that a second separation width WS2 between one route included in the second travel route R2 and another adjacent route becomes a predetermined width (for example, a width calculated from the difference between the first working width W1 and the overlapping width WR1).

[0084] For example, the route definition unit 31a shifts the outline OL (outer periphery) of the field H inward to define one or more circuit lines LOn within the second area A2. Furthermore, when the number of headlands n is multiple and multiple circuit lines LOn are defined, the route definition unit 31a defines the multiple circuit lines LOn so that the multiple circuit lines LOn are spaced apart by a second separation width WS2.

[0085] 7A is a diagram illustrating the definition of the headland route LO in the first embodiment. As shown in FIG. 7A , the route definition unit 31a divides the second area A2 based on the first working width W1 to define outer working sections E2 (areas worked by the work implement 2 when the work implement 1 travels along one circumferential line LOn) in the second area A2. The route definition unit 31a then defines multiple outer working sections E2 in the second area A2. In this case, the route definition unit 31a overlaps the first working width W1 of each outer working section E2 with the previously created outer working section E2 by an overlapping margin WR1. The route definition unit 31a defines a circumferential line LOn for each outer working section E2. For example, the route definition unit 31a defines the circumferential line LOn to pass along a line offset by a first offset amount WO1 from the center line of the outer working section E2 in the width direction.

[0086] The route definition unit 31a then defines a first area A1 and a second area A2 based on the innermost circular line LOn and the first work width W1. After defining the first area A1 and the second area A2, the route definition unit 31a defines an inner route LU. Specifically, the route definition unit 31a defines, as the inner route LU, multiple routes LS that extend in the work direction of the field H and are spaced apart by a second separation width WS2. The multiple routes are multiple work lines LS that connect both ends of the field H in the work direction and are spaced apart by the second separation width WS2.

[0087] FIG. 7B is a diagram illustrating the definition of the inner route LU in the first embodiment. As shown in FIG. 7B , the route definition unit 31a divides the first area A1 based on the first work width W1 to create inner work sections E1 (areas worked by the work implement 2 when the work implement 1 travels along one work line LS) in the first area A1. The route definition unit 31a then defines multiple inner work sections E1 extending in the work direction within the first area A1. In this case, the route definition unit 31a overlaps the first work width W1 of the first inner work section E1 defined first with the second area A2 by an overlapping margin WR1. Furthermore, for the second or subsequent inner work sections E1 defined, the route definition unit 31a overlaps the first work width W1 of the previously defined inner work section E1 by an overlapping margin WR1. The route definition unit 31a defines a work line LS for each inner work section E1. The work line LS is a substantially linear path. The route definition unit 31a defines a work line LS that passes along a line offset by a first offset amount WO1 from the center line in the width direction of the inner work section E1, for example.

[0088] The route definition unit 31a also defines a connection line LC that connects adjacent work lines LS in the second area A2. The connection line LC is a substantially curved path. That is, in the example shown in Figure 6, the headland route LO is the route that the work implement 1 takes to travel around the second area A2 of the field H, and the inner route LU is the route that the work implement 1 takes to travel back and forth within the first area A1.

[0089] The above-described method of defining the second travel route R2 (hereinafter referred to as the general-purpose route) by the route definition unit 31a is merely an example, and the second travel route R2 and its definition method are not limited to the above-described example, as long as the second travel route R2 includes multiple paths LS that each extend in the working direction of the field H and are spaced apart by the predetermined second separation width WS2. For example, if work is not performed on a headland, the route definition unit 31a generates a second travel route R2 that does not involve work on a headland and that includes only an inner route LU without a headland route LO. Furthermore, although the route definition unit 31a defines the first area A1 and the second area A2 based on the innermost circuit line LO1 and the second separation width WS2, the field information may previously include position information for the first area A1 and the second area A2. Also, for example, the connection line LC is not limited to a curve, but may be a path of multiple consecutive straight lines, and if the work machine 1 can automatically travel from one work line LS to another work line LS, the route definition unit 31a does not need to define the connection line LC.

[0090] In particular, as described above, there are various types of work implements 2 depending on the type of work, and it is preferable that the route definition unit 31a define an appropriate travel route R depending on the type of work implement 2 and / or the type of work performed by the work implement 2. For example, if the work implement 2 is a reversible plow 2A, the route definition unit 31a may define a second travel route R2 (plowing route) that includes a hole opening line LG for performing hole opening plowing, which will be described later, instead of the general-purpose route. The reversible plow 2A will be described in detail below.

[0091] 2 and 3, the reversible plow 2A has a first frame 51, a second frame 52, and a plurality of bottoms 53. The first frame 51 is a frame member connected to the lifting device 3a. The first frame 51 is connected to the rear of the lower link and the rear of the top link of the lifting device 3a, and is raised and lowered by the lifting device 3a.

[0092] The second frame 52 is a frame member rotatably supported relative to the first frame 51. As shown in Fig. 3, the second frame 52 has a rotating frame 52a connected to the first frame 51 and a support frame 52b. The front portion of the rotating frame 52a is connected to the first frame 51 via a rotating shaft 52c extending in the front-to-rear direction. The rear portion of the rotating frame 52a is connected to the support frame 52b. Therefore, the rotating frame 52a rotates around the rotation shaft (roll direction) relative to the first frame 51, and as the rotating frame 52a rotates, the support frame 52b also rotates in the roll direction.

[0093] The support frame 52b is supported by the rotating frame 52a and supports the plurality of bottoms 53. As shown in Fig. 3, the support frame 52b is a long frame member in a plan view, and is supported at an angle with respect to the direction in which the axis line SL of the rotating shaft 52c extends (the front-rear direction).

[0094] The multiple bottoms 53 are implements used for plowing. When the reversible plow 2A is towed by the vehicle body 3, the multiple bottoms 53 scrape the portions of the bottoms 53 that come into contact with the soil of the field H (plow bottoms), thereby forming furrows G. As shown in FIG. 3 , the multiple bottoms 53 flip the scraped soil upside down and dump it from one side of the width to the other. In the following description, the working range 2a of the reversible plow 2A will be described as the range in which the soil of the field H is scraped. In other words, the working range 2a of the reversible plow 2A will be described as a range that does not include the area into which soil is dumped. In FIG. 3 and other figures, the furrows G formed by the bottoms 53 are indicated by hatching, and the furrows G into which the soil has been dumped by the bottoms 53 (in other words, the area where plowing has been completed) are indicated by dots.

[0095] The plurality of bottoms 53 are arranged at predetermined intervals from one end to the other end in the longitudinal direction of the second frame 52 (support frame 52b). As shown in Fig. 3, in a plan view, the support frame 52b is inclined with respect to the direction in which the axial line SL of the pivot shaft 52c extends, and therefore, of the plurality of bottoms 53, the bottoms 53 on one side in the width direction are arranged offset in the front-to-rear direction compared to the bottoms 53 on the other side. In other words, the direction in which the plurality of bottoms 53 are arranged is inclined with respect to the direction in which the axial line SL of the pivot shaft 52c extends.

[0096] For this reason, of the multiple bottoms 53, the frontmost bottom 53 turns the scraped soil upside down and throws it from one side to the other in the width direction, while the other bottoms 53 turn the scraped soil upside down and throw it from one side to the other in the width direction toward the furrow G formed by the previous bottom 53. As a result, soil is thrown by the next bottom 53 to throw it into the furrow G formed by the bottoms 53 other than the rearmost bottom 53, but soil is not thrown into the furrow G formed by the rearmost bottom 53. Therefore, the furrow G formed by the rearmost bottom 53 remains in the field H as evidence of plowing work until the soil is thrown by the frontmost bottom 53 during the next furrow pulling.

[0097] 2, the multiple bottoms 53 are supported symmetrically on the support frame 52b. The bottoms 53 supported on the lower side of the support frame 52b are arranged so as to be plane-symmetrical with the bottoms 53 supported on the upper side of the support frame 52b. Therefore, when the second frame 52 rotates with respect to the first frame 51, one of the upper and lower multiple bottoms 53 switches to a working position facing the field H (lower side), and the other switches to a non-working position facing the opposite side (upper side) of the field H. Hereinafter, the working position and non-working position of the multiple bottoms 53 will be described, with the lower bottom 53 in FIG. 2 referred to as the first bottom 53a and the upper bottom 53 in FIG. 2 referred to as the second bottom 53b.

[0098] When the first bottom 53a is in the working posture (hereinafter referred to as the first working posture), the first bottom 53a cuts the bottom of the plow in the field H to form a furrow G, turns the cut soil upside down, and throws it to the right. At this time, the multiple first bottoms 53a are lined up from the front right to the rear left, with the left first bottom 53a positioned further back than the right first bottom 53a.

[0099] On the other hand, when the second bottom 53b is in the working position (hereinafter referred to as the second working position), the second bottom 53b scrapes the bottom of the field H to form a furrow G, turns the scraped soil upside down, and throws it to the left. At this time, the multiple second bottoms 53b are lined up from the front left to the rear right, and the right second bottom 53b is positioned further back than the left second bottom 53b. Therefore, when the reversible plow 2A is in the first working position and the second working position, the direction and inclination of the thrown soil are opposite.

[0100] The reversible plow 2A also has a rotation drive mechanism 54 that rotates the second frame 52 about the rotation axis. The rotation drive mechanism 54 includes, for example, a hydraulic device that is driven by hydraulic oil supplied via a control valve to rotate the second frame 52 about the rotation axis. Specifically, the hydraulic device is a hydraulic cylinder that expands and contracts by switching the flow of hydraulic oil discharged from a hydraulic pump using a control valve. The hydraulic cylinder, for example, contracts to rotate the second frame 52 about the rotation axis from one of the first and second working positions to a predetermined position. The second frame 52, rotated by the hydraulic cylinder, further rotates from the predetermined position under its own weight and switches to the other working position.

[0101] As a result, the second frame 52 is freely rotatable (swingable) around the rotation axis relative to the first frame 51, while the reversible plow 2A switches its position using the rotation drive mechanism 54, with either the first bottom 53a or the second bottom 53b switching to a working position and the other switching to a non-working position.

[0102] Although the example has been given in which the rotation drive mechanism 54 has a hydraulic device, the rotation drive mechanism 54 may have an electric actuator instead of a hydraulic device, and the electric motor may be driven to rotate the second frame 52 around the rotation axis, and the configuration is not limited to the above-mentioned configuration.

[0103] Here, the reversible plow 2A includes a reversible plow 2A1 (hereinafter referred to as a first-class reversible plow) for furrow plowing (hereinafter simply referred to as furrow plowing), a reversible plow 2A2 (hereinafter referred to as a second-class reversible plow) for hill plowing (hereinafter simply referred to as hill plowing), and a reversible plow 2A that can be used for both furrow plowing and hill plowing (hereinafter referred to as a third-class reversible plow).Furrow plowing and hill plowing will be explained below.

[0104] Figure 8 is a diagram illustrating plowing work (furrow drawing) in the first embodiment. As shown in Figure 8, in furrow drawing, the wheels 7F, 7R on one side of the traveling device 7 are dropped into a furrow G formed in the field H, and the vehicle body 3 is tilted toward the furrow G while traveling along the furrow G to perform plowing work. In the first-class reversible plow 2A1, the working range 2a1 of the frontmost bottom 53 of the multiple bottoms 53 is located widthwise inward of the wheels 7F, 7R on the dropping side.

[0105] The work machine 1 performing furrow drawing first performs open-hole plowing as a preparatory operation for plowing (left diagram in FIG. 8 ). In open-hole plowing, the work machine 1 rotates the second frame 52 using the rotation drive mechanism 54 to bring only one bottom 53 (hereinafter sometimes referred to as the open-hole bottom 53G) out of the multiple bottoms 53 into contact with the ground, switching to an open-hole plowing operating posture in which the furrow G is formed using only that open-hole bottom 53G. The open-hole bottom 53G is, for example, the rearmost bottom 53.

[0106] The work implement 1 tows the first-class reversible plow 2A1 with the opening bottom 53G on the ground, forming a furrow G in the field H from one side to the other in the working direction of the field H. At this time, the bottoms 53 other than the opening bottom 53G are in a non-working position, so the furrow G formed by the opening bottom 53G is not dumped with soil by the other bottoms 53, and remains in the field H as evidence of plowing work until the soil is dumped by the first furrow pulling. Note that in the working position for open-hole plowing, only one bottom 53 forms a furrow G, and the other bottoms 53 only need to form furrows G, and the opening bottom 53G is not limited to being the rearmost bottom 53.

[0107] When the work machine 1 performs open-hole plowing, it turns to align the wheels 7F, 7R on the furrow G side with the range G' extending in the working direction of the furrow G formed by open-hole plowing (a furrow where soil has not been dumped and plowing has not been completed). At this time, the work machine 1 switches to a working position (first working position or second working position) in which the bottoms 53 on the same side of the open-hole bottom 53G are all on the ground by the rotation drive mechanism 54, and with the wheels 7F, 7R lowered into the furrow G, it travels in the direction opposite to open-hole plowing (from one side of the working direction of the field H to the other side) to perform the first furrow pulling (middle diagram in Figure 8).

[0108] When the work machine 1 is used for the second or subsequent furrow pulling, it switches its working posture and rotates using the rotary drive mechanism 54, aligns the wheels 7F, 7R on the furrow G side with the range G' extended in the working direction from the furrow G formed in the previous furrow pulling (a furrow where soil has not been released and plowing has not been completed), and drops the wheels 7F, 7R into the furrow G, then travels in the opposite direction to the previous furrow pulling to perform the furrow pulling (right diagram in Figure 8).

[0109] Figure 9 is a diagram illustrating plowing (hill pulling). As shown in Figure 9, unlike the first-class reversible plow 2A1, the second-class reversible plow 2A2 performs plowing while traveling without dropping one of the wheels 7F, 7R of the traveling device 7 into a furrow G formed in the field H. In other words, unlike furrow pulling, in hill pulling, plowing is performed while the vehicle body 3 maintains a relatively horizontal position. With the second-class reversible plow 2A2, the bottom 53 in the forward-most working position is positioned behind the wheels 7F, 7R on the furrow G side, and the scraped soil is thrown toward the furrow G of the field H.

[0110] Similar to furrowing, the work machine 1 performing hill pulling performs open-pit plowing as a preparatory operation for tillage (see the left diagram in FIG. 9 ). After completing open-pit plowing, the work machine 1 swings to align the bottom 53 in its forward-most working position with the furrow G (a furrow where soil has not been dumped and plowing has not been completed) formed during open-pit plowing, over a range G' extending in the working direction. At this time, the work machine 1 uses the rotation drive mechanism 54 to switch to a working position (the first working position or the second working position) in which all of the bottoms 53 on the same side of the open-pit bottom 53G are on the ground. The work machine 1 then travels in the opposite direction from open-pit plowing (from one side of the working direction of the field H to the other side) without dropping the wheels 7F, 7R into the furrow G, performing the first hill pulling (see the middle diagram in FIG. 9 ). When towing a hill for the second time or thereafter, the work machine 1 switches its working posture and rotates using the rotary drive mechanism 54, aligns the bottom 53 in its forwardmost working posture with the plowed mark (furrow portion G) from the previous hill towing, and travels in the opposite direction to the previous hill towing to perform the hill towing.

[0111] When the operator operates the input device 32 to specify the work device 2, if the work device 2 is a reversible plow 2A, the route definition unit 31a identifies the working width W2 (second working width, see Figure 8) of a single bottom 53 from the device information of the work device 2 and defines a plowing route.

[0112] 10 is a diagram showing an example of a second travel route R2 for plowing work in the first embodiment. For example, as shown in Fig. 10, the route definition unit 31a divides the first area A1 based on the second working width W2 and the first working width W1 to create an opening plowing section E3 (the range of the furrow G formed by opening plowing when the work implement 1 travels along the opening line LG) and an inner working section E1 in the first area A1, and defines the opening plowing section E3 and multiple inner working sections E1 in the first area A1.

[0113] Specifically, the route definition unit 31a first defines the opening tillage section E3 extending in the working direction based on the second working width W2. After defining the opening tillage section E3, the route definition unit 31a defines the inner working section E1. In this process, the route definition unit 31a overlaps the second area A2 by an overlapping amount WR1 with the second working width W2 in the opening tillage section E3. Furthermore, for the inner working section E1 defined first, the route definition unit 31a overlaps the first working width W1 with the opening tillage section E3 by an overlapping amount WR1. Based on the second offset amount WO2 (the offset amount of the widthwise center of the opening bottom 53G from the widthwise center of the vehicle body 3; see FIG. 3 ) included in the machine information, the route definition unit 31a defines the opening tillage line LG, which passes along a line offset by the second offset amount WO2 from the center line of the opening tillage section E3. The route definition unit 31a defines a work line LS for each opening plowing section E3 and each inner work section E1.

[0114] Furthermore, the route definition unit 31a defines adjacent opening lines LG and connecting lines LC that connect multiple work lines LS in the second area A2.

[0115] 11 and 12 are diagrams illustrating fluctuations in the actual working width W3 (actual working width, third working width) of the work implement 2 during plowing in the first embodiment. As described above, the reversible plow 2A has a working section (bottom 53) that rotates about a longitudinal rotation axis to switch between the first working position and the second working position. Therefore, as shown in FIGS. 11 and 12 , the third working width W3 may fluctuate depending on the condition of the field H (e.g., soil hardness) during both furrowing and hill-drilling. In particular, the height of the reversible plow 2A relative to the vehicle body 3 is changed by the lifting device 3a, and the actual third working width W3 may also fluctuate depending on the height of the reversible plow 2A when the work implement 1 travels through the field H.

[0116] Specifically, the top view of Fig. 11 shows the work implement 1 in a state where the wheels 7F, 7R have not fallen into the furrow G and the first-class reversible plow 2A1 is in contact with the field H, while the middle and bottom views of Fig. 11 show the work implement 1 with the first-class reversible plow 2A1 in contact with the field H and performing furrow pulling. In the work implement 1 in the top view of Fig. 11, the first-class reversible plow 2A1 is horizontal with respect to the field H, so the third working width W3 is the same as the first working width W1. Also, the roll angles of the work implement 1 and the first-class reversible plow 2A1 increase in the order of the top view, middle view, and bottom view of Fig. 11, and the third working width W3 decreases as the roll angle increases.

[0117] 12 shows the work implement 1 with the second-class reversible plow 2A2 in contact with the field H, and the middle and bottom views of FIG. 12 show the work implement 1 performing hill towing with the second-class reversible plow 2A2 in contact with the field H. In the work implement 1 in the top view of FIG. 12, the second-class reversible plow 2A2 is horizontal with respect to the field H, so the third working width W3 matches the first working width W1. The roll angle of the second-class reversible plow 2A2 increases in the order of the top view, middle view, and bottom view of FIG. 12, and the third working width W3 decreases as the roll angle increases.

[0118] For this reason, as the reversible plow 2A tilts from a parallel state to the field H, the third working width W3 of the reversible plow 2A becomes smaller than the first working width W1. Furthermore, the third working width W3 may also vary when work is performed with a working implement 2 other than the reversible plow 2A that is attached to the vehicle body 3 so as to be swingable about an axis in the fore-and-aft direction and has a working implement that performs work by contacting the field H (hereinafter referred to as a first-class working implement). Furthermore, with the reversible plow 2A, in addition to the third working width W3, the offset amounts WO1 and WO2 may also vary.

[0119] Here, the first control device 31 (route definition unit 31a) defines a travel route R (first travel route R1) that passes through the reference vehicle body position VP1 based on the vehicle body position VP (hereinafter referred to as the reference vehicle body position VP1) when the work implement 1 moves to the reference position BP. The reference position BP is a position based on evidence of a previous task performed by the same work implement 2 as the work implement 2 used in the current task during automated driving. Note that in this embodiment, the route definition unit 31a defines the travel route R in advance in the second definition mode regardless of the reference vehicle body position VP1 (hereinafter, the travel route R defined in the second definition mode regardless of the reference vehicle body position VP1 will be referred to as the second travel route R2). Therefore, the route definition unit 31a defines the first travel route R1 based on the reference vehicle body position VP1 separately from the second travel route R2.

[0120] Figure 13 is a flowchart showing an example of the process for defining the first travel route R1. The steps in Figure 13 are executed by the first control device 31 in accordance with a software program stored in memory or the first storage device 33. As shown in Figure 13, the route definition unit 31a determines whether the work device 2 is a first-class work device (S11). The route definition unit 31a determines whether the work device 2 is a first-class work device based on the acquired device information.

[0121] When the route definition unit 31a determines that the work implement 2 is a type 1 work implement (S11: YES), it determines whether the work implement 1 has arrived at the field H (S12). When the route definition unit 31a determines that the work implement 2 has arrived at the field H based on the acquired field information, equipment information, and vehicle body position VP (S12: YES), it causes the input device 32 to display a predetermined second setting screen and accepts setting input for defining the travel route R (first travel route R1) (S13).

[0122] When the operator operates the second setting screen to input a definition instruction for the first travel route R1 (S13: YES), the route definition unit 31a transitions to a first definition mode for defining the first travel route R1 (S14). Even if the operator does not operate the second setting screen to input a definition instruction for the first travel route R1 (S13: NO), when the operator performs a predetermined operation on the input device 32 (S15: YES), the route definition unit 31a may cause the input device 32 to display the second setting screen again (S13), allowing the operator to separately input a definition instruction for the first travel route R1.

[0123] When the route definition unit 31a transitions to the first definition mode (S14), the input device 32 accepts a setting input that the work machine 1 has moved to the reference position BP (S17), provided that the work machine 1 is in the manual mode (S16: YES). The input device 32 may display a dedicated setting screen for accepting the setting input that the work machine 1 has moved to the reference position BP, or may be configured to display a setting operation key (object) for accepting the setting input on another screen.

[0124] Specifically, the route definition unit 31a acquires the current mode (manual mode or automatic mode) of the work machine 1 via the first communication device 34 and the second communication device 24, and if the work machine 1 has switched to the manual mode (S16: YES), it accepts key operation via the input device 32. For example, if the route definition unit 31a determines that the work machine 1 is in the manual mode, it may display the setting operation keys in an active state, and if it determines that the work machine 1 is in the automatic mode, it may display the setting operation keys in a deactive state (for example, grayed out and unable to accept operations).

[0125] Therefore, in S16, the operator operates the mode selector switch to switch the work implement 1 to manual mode, and manually operates the work implement 1 to move the work implement 1 to the reference position BP. The operator also moves the work implement 1 to the reference position BP so that the vehicle body orientation VD of the work implement 1 coincides with the work direction.

[0126] When the operator has moved the work machine 1 to the reference position BP, he or she operates the input device 32 to specify (input) that the work machine 1 has moved to the reference position BP (S17).

[0127] 14 to 18 are diagrams illustrating the reference position BP during plowing work. The definition of the first travel route R1 will be explained below using a reversible plow 2A as an example of the first type working implement.

[0128] The reference position BP is a position where the working range 2a of the working implement 2 is aligned based on the evidence of the previous work. The evidence of the previous work is the furrow G in the field H that was formed by plowing work, including open-hole plowing. Taking the reversible plow 2A as an example, the previous work is, for example, open-hole plowing and / or the plowing work immediately before the current plowing work.

[0129] When the reversible plow 2A is performing furrow plowing and the previous operation is open-crop plowing, the reference position BP is a position where the wheels 7F, 7R of the work implement 1 are aligned with a range G' extending in the working direction from the furrow G, which is a trace of open-crop plowing (a furrow where soil has not been dumped and plowing has not been completed). Here, the frontmost bottom 53 is positioned widthwise inward of the wheels 7F, 7R that will be dropped into the furrow G. Therefore, by aligning the wheels 7F, 7R of the work implement 1 with the range G', the end of the frontmost bottom 53 on the furrow G side can be aligned with the end of the furrow G on the work implement 1 side. Therefore, at the reference position BP, the work implement 1 can align the end of the work range 2a of the reversible plow 2A on the furrow G side with the furrow G formed in the previous operation.

[0130] As shown at point BP1 in Figure 14, the reference position BP is the position where the wheels 7F, 7R of the work implement 1 that have turned after performing open-hole plowing and that are on the side where the furrow G formed by open-hole plowing are located are aligned on the range G'. For example, the reference position BP is the position where the wheels 7F, 7R of the work implement 1 have dropped into the furrow G after turning after performing open-hole plowing.

[0131] At point BP1 shown in Figure 14, the work machine 1 is located within the first area A1 of the field H, and the wheels 7F, 7R of the work machine 1 are dropped into the groove G, but the reference position BP is not limited to the position where the wheels 7F, 7R of the work machine 1 are dropped into the groove G, and may be a position where at least the wheels 7F, 7R on the side where the groove G is located are aligned on the range G'. For example, as shown at point BP2 in Figure 15, the wheels 7F, 7R may not be dropped into the groove G, but may be aligned just before the end of the groove G.

[0132] Furthermore, when the reversible plow 2A is performing furrow drawing and the previous work is the furrow drawing immediately before this current furrow drawing, the reference position BP is a position where the wheels 7F, 7R of the work implement 1 are aligned within a range G' obtained by extending the trace (furrow G) of the tilling work (the previous furrow drawing) in the working direction. As shown at point BP3 in Figure 16, the reference position BP is a position where the wheels 7F, 7R of the work implement 1 that have rotated after the previous furrow drawing are aligned within the range G' on the side where the furrow G formed in the previous furrow drawing is located. The reference position BP is a position where the wheels 7F, 7R of the work implement 1 have rotated after the previous furrow drawing and dropped into the furrow G, or a position where the wheels 7F, 7R are aligned just before the end of the furrow G without dropping into the furrow G.

[0133] Furthermore, when the reversible plow 2A is performing hill towing and the previous work is open-hole plowing, the reference position BP is the position where the range G' extending in the working direction of the furrow G, which is a trace of open-hole plowing, is adjacent to the working range 2a of the reversible plow 2A. Here, because the foremost bottom 53 is located behind the wheels 7F, 7R on the furrow G side, by aligning the outer widthwise ends of the wheels 7F, 7R on the furrow G side with the end of range G', the end of the foremost bottom 53 on the furrow G side can be aligned with the end of the furrow G on the implement 1 side.

[0134] As shown at point BP4 in Figure 17, the reference position BP is the position where the working range 2a is adjacent to the range G' obtained by extending the trace of open-hole plowing (furrow G) of the front-most bottom 53 of the reversible plow 2A of the work implement 1 that has rotated after open-hole plowing in the working direction. Specifically, the reference position BP is the position of the work implement 1 when the end of the front-most bottom 53 on the furrow G side is aligned with the end of the furrow G formed by open-hole plowing on the work implement 1 side.

[0135] Furthermore, when the reversible plow 2A is performing hill-pulling and the previous operation is the previous hill-pulling, the reference position BP is the position where the range G' obtained by extending in the working direction the trace (furrow G) of the tilling operation (the previous hill-pulling) and the working range 2a of the reversible plow 2A are adjacent. As shown at point BP5 in Figure 18, the reference position BP is the position where the range G' obtained by extending in the working direction the trace (furrow G) of the work performed by the front-most bottom 53 of the reversible plow 2A of the work implement 1 that has turned and changed its working posture after the previous hill-pulling operation and the working range 2a are adjacent. Specifically, the reference position BP is the position of the work implement 1 when the end of the front-most bottom 53 on the furrow G side is aligned with the end of the furrow G in the field H on the work implement 1 side. As a result, at the reference position BP, the work machine 1 can align the end of the working range 2a of the reversible plow 2A on the groove G side with the groove G formed in the previous work.

[0136] 14 to 18 are merely examples, and the reference position BP is not limited to a position immediately after turning. Furthermore, when trenching is performed with a work machine 1 in which the detection device 25 does not have an inclination correction function, the reference position BP is preferably a position where the wheels 7F, 7R are dropped into the trench G (points BP1, BP3, etc.).

[0137] 13, when the operator operates the input device 32 to specify (input) that the vehicle has moved to the reference position BP (S17), the route definition unit 31a acquires (S18) the vehicle body position VP (reference vehicle body position VP1) detected by the detection device 25 at the reference position BP via the first communication device 34 and the second communication device 24. Upon acquiring (S18) the reference vehicle body position VP1, the route definition unit 31a defines a first traveling route R1 based on the reference vehicle body position VP1 (S19).

[0138] The first travel route R1 is a travel route R that passes through the reference vehicle body position VP1 and includes multiple paths LSm that are spaced apart by a predetermined first separation width WS1. In this embodiment, the first storage device 33 stores the second travel route R2 that the route definition unit 31a defined in advance in the second definition mode, and therefore the route definition unit 31a corrects the second travel route R2 in the first definition mode to define the first travel route R1 that passes through the reference vehicle body position VP1.

[0139] Specifically, the route definition unit 31a corrects the second travel route R2 based on the deviation ΔD (position deviation) of the reference vehicle body position VP1 from the second travel route R2 to define the first travel route R1. The route definition unit 31a obtains the second travel route R2 stored in the first storage device 33, and extracts subsequent work lines LSm (m = 1, 2, 3, ...) included in the second travel route R2.

[0140] The route definition unit 31a calculates the shortest distance between the extracted current work line LS1 (hereinafter referred to as the first work line) and the reference vehicle body position VP1, and calculates the deviation ΔD of the reference vehicle body position VP1 from the first work line LS1. The deviation ΔD is the distance between the first work line LS1 and a virtual line that passes through the reference vehicle body position VP1 and extends in the work direction, and is the length in the direction perpendicular to the work direction.

[0141] 19 is a diagram illustrating the definition of the first travel route R1 in the first embodiment. As shown in Fig. 19, the route definition unit 31a corrects the work lines LSm extracted from the second travel route R2 for the current and subsequent periods to define the first travel route R1 including multiple paths LSm' (corrected work lines) that are spaced apart by a first separation width WS1, which is calculated by subtracting the overlap width WR1 from the first work width W1.

[0142] Here, the first separation width WS1 is calculated as the difference between the overlap width WR1 and the estimated working width W4 (estimated actual working width, fourth working width) obtained by estimating the third working width W3. The fourth working width W4 can be calculated using the following formula (1) based on the deviation ΔD and the first working width W1.

[0143] Fourth working width W4 = first working width W1 - 2 x ΔD ...Equation (1) Where ΔD: Deviation of reference vehicle position VP1 from first working line LS1 As described above, the first separation width WS1 is calculated as the difference between the fourth working width W4 and the overlapping space WR1, and the second separation width WS2 is calculated as the difference between the first working width W1 and the overlapping space WR1, so the difference between the first separation width WS1 and the second separation width WS2 is twice the deviation ΔD.

[0144] The route definition unit 31a defines a first separation width WS1 and performs a correction to shift each work line LS in a direction closer to the reference vehicle body position VP1 so that the work lines LS from this time onwards are separated by the first separation width WS1 (the value obtained by subtracting twice the deviation ΔD from the second separation width WS2).

[0145] Specifically, the route definition unit 31a corrects the first work line LS1 by shifting it by the deviation ΔD in the direction toward the reference vehicle body position VP1. The shift amount for each work line LSm (m=2, 3, ...) is calculated using the following equation (2).

[0146] Shift amount = (2m-1) x ΔD Equation (2) where m: order from the first work line LS1 ΔD: deviation of reference vehicle body position VP1 relative to the first work line LS1 In other words, the route definition unit 31a corrects the extracted work lines LS, shifting the work line LS2 (second work line) next to the first work line LS1 by an amount three times ΔD in a direction closer to the reference vehicle body position VP1. Furthermore, the route definition unit 31a corrects the extracted work lines LS, shifting the work line LS3 (third work line) next to the second work line LS2 by an amount five times ΔD in a direction closer to the reference vehicle body position VP1.

[0147] After correcting the extracted work line LS by shifting it, the route definition unit 31a redefines a connecting line LC' connecting adjacent corrected work lines LSm' to define a first travel route R1. After defining the first travel route R1, the route definition unit 31a stores the first travel route R1 in the first storage device 33, and the first communication device 34 (output device) outputs the first travel route R1 to the second control device 20 via the second communication device 24. This allows the second control device 20 to control the automated travel based on the first travel route R1 defined by the route definition unit 31a based on the reference vehicle body position VP1.

[0148] 13 is merely an example, and the present invention is not limited to the above-described definition process. For example, the process of S11 may be omitted, and the route definition unit 31a may define the first travel route R1 even when the work implement 2 is a work implement 2 other than the first-class work implement (e.g., a pesticide spraying implement 2B).

[0149] Furthermore, in S16 of the definition process described above, the work machine 1 is switched to manual mode by operating the mode change switch, but the work machine 1 may be configured to automatically switch to manual mode when the vehicle body position VP travels along the connection line LC and arrives at the first work line LS1 (for example, when the vehicle body position VP reaches the middle of the connection line LC or the start point of the first work line LS1 or its vicinity).

[0150] In addition, in S16, the route definition unit 31a may display the setting operation key in an active state if it determines that the work machine 1 is in manual mode and that the vehicle body orientation VD matches the work direction, and may display the setting operation key in a deactive state if it determines that the work machine 1 is in automatic mode or that the vehicle body orientation VD does not match the work direction.

[0151] As described above, the first separation width WS1 can be calculated by subtracting twice the deviation ΔD from the second separation width WS2. Therefore, if an unworked area may occur within the first area A1 when the route definition unit 31a defines the first travel route R1 by correcting the second travel route R2 using the procedure described above, the route definition unit 31a can define a new work line LS based on the first separation width WS1 (fourth work width W4 and overlap WR1).

[0152] Furthermore, the first travel route R1 may include multiple paths LSm' that pass through the reference vehicle body position VP1 and are spaced apart by the first separation width WS1, and the method of defining the first travel route R1 by the route definition unit 31a is not limited to the method described above. For example, the route definition unit 31a may define a subsequent work line LSm' based on the fourth work width W4 derived using the above-described formula (1).

[0153] At this time, the route definition unit 31a may define the first work line LS1 of the first driving route R1 by correcting the first work line LS1 of the second driving route R2 by shifting it by an offset ΔD in a direction closer to the reference vehicle body position VP1, or may define a new work line LS that passes through the reference vehicle body position VP1 and extends in the work direction.

[0154] FIG. 20 is a diagram illustrating the definition of the first travel route R1 in a modified example of the first embodiment. As shown in FIG. 20 , to create an inner working section E1′ in the first area A1, the route definition unit 31a divides the first area A1 based on the fourth working width W4 and defines multiple inner working sections E1′ extending in the working direction within the first area A1. In this case, the route definition unit 31a defines a first inner working section E1′ as a work line LS′ that passes through the reference vehicle body position VP1 and extends in the working direction, thereby defining the first inner working section E1′. The route definition unit 31a also calculates an unworked area of ​​the field H based on the reference position BP and the fourth working width W4, and defines second and subsequent inner working sections E1′ in the unworked area. In this case, the route definition unit 31a overlaps the fourth working width W4 with the previously defined inner working section E1′ by an overlapping margin WR1. As in the case of defining the second travel route R2, the route definition unit 31a defines a work line LS' for each inner work section E1' and defines a connecting line LC' that connects adjacent work lines LS'.

[0155] In the above example, in the second definition process, the route definition unit 31a divided the first area A1 into inner work sections E1 and defined a driving route R that travels through the entire inner work section E1. However, in the second definition process, the route definition unit 31a only needs to define at least two work lines LS: a work line LS for the previous work and a work line LS after the previous work.

[0156] Furthermore, in the above-described embodiment, the route definition unit 31a defined the first travel route R1 based on the second travel route R2. However, if the previous work is not open-field plowing and the work implement 1 arrives at the field H without the route definition unit 31a defining the second travel route R2, or if the route definition unit 31a does not have the second definition mode, and the second travel route R2 is not stored in the first storage device 33, the operator may operate the work implement 1 in manual mode to perform the previous work, and the route definition unit 31a may newly define a first travel route R1 that passes through the reference vehicle position VP1 and includes multiple routes LSm' spaced apart by the first separation width WS1.

[0157] [Second Embodiment] In the work assistance device 30, work implement 1, and work assistance method of the first embodiment, when the previous task is performed by the same work implement 2 as the current task, the first control device 31 (route definition unit 31 a) defines the first travel route R1 based on the reference vehicle body position VP1. However, in the second embodiment, the previous task is performed by a work implement 2 other than the work implement 2 possessed by the work implement 1, and the first control device 31 defines the first travel route R1 based on the first separation width WS1 defined based on the task information and the vehicle body position VP at the reference position BP. The following description of the work assistance device 30, work implement 1, and work assistance method of the second embodiment will focus on configurations that differ from those of the above-described embodiment (first embodiment), and configurations that are common to the first embodiment will be designated by the same reference numerals and will not be described in detail.

[0158] In the second embodiment, a work apparatus 2 (type-2 work apparatus) that performs work by autonomous travel based on a first travel route R1 performs the work after another work has been performed by another work apparatus 2 (type-3 work apparatus). For example, the previous work is work such as ridge formation work or crop planting work, in which it is necessary to avoid contact with the ridges U (at least the upper surface of the ridges U) or crops in the field H when the work implement 1 travels through the field H after the previous work. The type-3 work apparatus is a ridge formation apparatus or a transplanter. The type-2 work apparatus is a work apparatus 2 that performs work according to the position of the ridges U and crops in the field H, such as a pesticide spraying apparatus 2B, a fertilizer spraying apparatus, and a seed spraying apparatus as shown in FIG. 21 .

[0159] Below, the work support device 30, work machine 1, and work support method of the second embodiment will be described using an example in which the second type work device is a pesticide spraying device 2B and the third type work device is a ridge forming device.

[0160] 21, the pesticide spraying device 2B has multiple pesticide nozzles 61, which are arranged in the width direction. The multiple pesticide nozzles 61 perform spraying work over a relatively wide area, regardless of the position of the ridges U or the crops.

[0161] The pesticide spraying device 2B has a tank 62 that stores pesticide, a holding frame 63 that holds the tank 62, and a spray pump 64 that supplies the pesticide in the tank 62 to the pesticide nozzles 61. The pesticide nozzles 61 are each attached at predetermined intervals to support members that protrude to the left or right from the rear of the holding frame 63. The holding frame 63 is formed into a frame shape by combining vertical and horizontal members. By driving the spray pump 64, the pesticide spraying device 2B can spray the pesticide in the tank 62 by ejecting it from the pesticide nozzles 61.

[0162] The first working width W1 of the pesticide spraying device 2B is the length from the left end of the spraying range of the pesticide nozzle 61 located on one side (left end) of the width direction to the right end of the spraying range of the pesticide nozzle 61 located on the other side (right end) of the width direction, as shown in Figure 21.

[0163] As in the first embodiment, the route definition unit 31a may define the second travel route R2 in advance in the second definition mode and then correct the second travel route R2, or may define a new first travel route R1 separately from the second travel route R2. First, a case will be described in which the route definition unit 31a corrects the second travel route R2 to define the first travel route R1.

[0164] When the work implement 2 is a Type 2 work implement such as a pesticide spraying implement 2B, the route definition unit 31a defines an inner route LU (post-work route) that takes into account the ridge width WU, unlike the general-purpose route described using Figure 7B. Figure 22 is a diagram showing an example of a second travel route R2 for pest control work in the second embodiment. The route definition unit 31a defines a first separation width WS1 based on the first work width W1 and the ridge width WU, and defines a second travel route R21 that includes multiple paths LS that are spaced apart by the first separation width WS1, as shown in Figure 22.

[0165] Specifically, the route definition unit 31a identifies the first working width W1 and first offset amount WO1 of the working device 2 from the device information of the working device 2, and identifies the working direction and ridge width WU from the work information. The route definition unit 31a calculates the largest multiple of the identified ridge width WU that is less than or equal to the first working width W1 as the first separation width WS1. The route definition unit 31a also calculates the difference between the first working width W1 and the first separation width WS1 as the overlapping width WR2. Therefore, the route definition unit 31a differs only in the definition of the overlapping widths WR1 and WR2 when defining a subsequent working route and when defining a general-purpose route. Therefore, a detailed description of the method for defining a subsequent working route by the route definition unit 31a will be omitted.

[0166] Figure 23 is a flowchart showing an example of the process for defining the first travel route R1 in the second embodiment. The steps in Figure 23 are executed by the first control device 31 in accordance with a software program stored in memory or the first storage device 33. As shown in Figure 22, the route definition unit 31a determines whether the work device 2 is a type 2 work device such as a pesticide spraying device 2B (S21). The route definition unit 31a determines whether the work device 2 is a type 2 work device based on the acquired device information.

[0167] When the route definition unit 31a determines that the work implement 2 is a type 2 work implement (S21: YES), it determines whether the work implement 1 has arrived at the field H (S22). When the route definition unit 31a determines that the work implement 2 has arrived at the field H based on the acquired field information, equipment information, and vehicle body position VP (S22: YES), it causes the input device 32 to display a predetermined third setting screen and accepts setting input for defining the travel route R (first travel route R1) (S23).

[0168] When the operator operates the third setting screen to input a definition instruction for the first travel route R1 (S23: YES), the route definition unit 31a transitions to a first definition mode for defining the first travel route R1 (S24). Even if the operator does not operate the third setting screen to input a definition instruction for the first travel route R1 (S23: NO), when the operator performs a predetermined operation on the input device 32 (S25: YES), the route definition unit 31a may cause the input device 32 to display the third setting screen again (S23), allowing the operator to separately input a definition instruction for the first travel route R1.

[0169] When the route definition unit 31a transitions to the first definition mode (S24), the input device 32 accepts a setting input that the work machine 1 has moved to the reference position BP (S27), provided that the work machine 1 is in the manual mode (S26: YES). The input device 32 may display a dedicated setting screen for accepting the setting input that the work machine 1 has moved to the reference position BP, or may be configured to display a setting operation key (object) for accepting the setting input on another screen.

[0170] Specifically, the route definition unit 31a acquires the current mode (manual mode or automatic mode) of the work machine 1 via the first communication device 34 and the second communication device 24, and if the work machine 1 has switched to the manual mode (S26: YES), it accepts key operation via the input device 32. For example, if the route definition unit 31a determines that the work machine 1 is in the manual mode, it may display the setting operation keys in an active state, and if it determines that the work machine 1 is in the automatic mode, it may display the setting operation keys in a deactive state (for example, grayed out and unable to accept operation).

[0171] Therefore, in S26, the operator operates the mode selector switch to manually switch to manual mode, and manually operates the work implement 1 to move the work implement 1 to the reference position BP. The operator also moves the work implement 1 to the reference position BP so that the vehicle body orientation VD of the work implement 1 coincides with the work direction.

[0172] When the operator moves the work machine 1 to the reference position BP, he operates the setting operation keys of the input device 32 to specify (input) that the work machine 1 has moved to the reference position BP (S27).

[0173] 24 and 25 are diagrams illustrating the reference position BP in pest control work according to Embodiment 2. As shown in Fig. 24, the reference position BP is a position based on evidence of previous work performed by a type 3 work implement that is different from the type 2 work implement used in the current autonomous travel work.

[0174] The reference position BP is the position where the traveling device 7 is aligned with evidence of the previous work. The evidence of the previous work is the ridges U in the field H formed by ridge-making work and the crops planted in the field H during planting work. Explaining the case where the pesticide spraying device 2B performs pest control work, the previous work is, for example, ridge-making work, and the reference position BP is the position where the traveling device 7 is aligned with the ridges U, which are evidence of the ridge-making work. Specifically, the reference position BP is the position of the working implement 1 when the wheels 7F, 7R of the traveling device 7 are positioned between the ridges. In this case, the reference position BP is sufficient as long as the traveling device 7 is aligned with at least the ridges U, which are evidence of the ridge-making work. The working implement 1 may be located within the first area A1, as at point BP6 in FIG. 24 , or outside the first area A1, as at point BP7 in FIG. 25 .

[0175] 23, when the operator operates the input device 32 to specify (input) that the vehicle has moved to the reference position BP (S27), the route definition unit 31a acquires (S28) the vehicle body position VP (reference vehicle body position VP1) detected by the detection device 25 at the reference position BP via the first communication device 34 and the second communication device 24. Upon acquiring (S28) the reference vehicle body position VP1, the route definition unit 31a defines a first traveling route R1 based on the reference vehicle body position VP1 (S29).

[0176] For example, in the first definition mode, the route definition unit 31a corrects the second travel route R2 to define a first travel route R1 that passes through the reference vehicle body position VP1. The route definition unit 31a obtains the second travel route R2 stored in the first storage device 33 and extracts the first work line LS1 included in the second travel route R2.

[0177] 26 is a diagram illustrating the definition of the first travel route R1 in the second embodiment. The route definition unit 31a calculates the shortest distance between the extracted first work line LS1 and the reference vehicle body position VP1, and calculates the deviation ΔD (position deviation) of the reference vehicle body position VP1 from the current work line LS. As shown in FIG. 26 , after calculating the deviation ΔD, the route definition unit 31a shifts the second travel route R2 in a direction that reduces the deviation ΔD to zero, thereby defining the first travel route R1.

[0178] Next, a case where a new first travel route R1 is defined separately from the second travel route R2 will be described. FIG. 27 is a diagram illustrating the definition of the first travel route R1 in a modified example of the second embodiment. To create an inner working section E1' in the first area A1, the route definition unit 31a divides the first area A1 based on the first working width W1 and defines multiple inner working sections E1' extending in the working direction within the first area A1, as shown in FIG. 27 . In this case, the route definition unit 31a defines the first inner working section E1' as a work line LS1' that passes through the reference vehicle body position VP1 and extends in the working direction, thereby defining the first inner working section E1'. Furthermore, the route definition unit 31a calculates the unworked area of ​​the field H based on the reference position BP and the first working width W1, and defines second and subsequent inner working sections E1' in the unworked area. At this time, the route definition unit 31a overlaps the first work width W1 with the previously defined inner work section E1' by an overlapping amount WR2. As in defining the second travel route R2, the route definition unit 31a defines work lines LSm' (m = 2, 3, ...) for each inner work section E1' and defines connecting lines LC' that connect adjacent work lines LSm'.

[0179] 23 is merely an example, and is not limited to the above-described definition process. For example, the process of S21 may be omitted, or in S26, the route definition unit 31a may display the setting operation key in an active state if it determines that the work machine 1 is in the manual mode and that the vehicle body orientation VD matches the work direction, and may display the setting operation key in a deactive state if it determines that the work machine 1 is in the automatic mode or that the vehicle body orientation VD does not match the work direction.

[0180] A preferred embodiment of the present invention provides a work support device 30, a work machine 1, and a work support method described in the following items.

[0181] (Item 1) A work support device 30 is provided with: a first control device 31 that defines a first travel route R1 for the work machine 1 to automatically travel through a field H based on a vehicle body position VP of the work machine 1 that is detected by a detection device 25 provided on the work machine 1 having a work device 2; and an output device 34 that outputs the first travel route R1 defined by the first control device 31 to the work machine 1, wherein the first control device 31 defines the first travel route R1 that passes through the vehicle body position VP when the work machine 1 moves to a reference position BP that is based on evidence of previous work performed in the field H.

[0182] According to the work support device 30 of this item 1, the first control device 31 can define the first travel route R1 based on the actual position of the work implement 1 taking into consideration the traces of the previous work, i.e., the work performance. Therefore, the work implement 1 can appropriately link the previous work and the current work by performing work by automatic travel based on the first travel route R1 after the previous work.

[0183] (Item 2) The work support device 30 according to Item 1 includes a storage device 33 that stores a second travel route R2 that is defined separately from the first travel route R1 and that is used by the work machine 1 to automatically travel through the field H, and the first control device 31 defines the first travel route R1 by correcting the second travel route R2 based on a deviation ΔD of the vehicle body position VP with respect to the second travel route R2 when the work machine 1 moves to the reference position BP.

[0184] According to the work support device 30 relating to this item 2, the first control device 31 can easily and quickly define the first driving route R1 by correcting the second driving route R2 stored in the memory device 33 with the vehicle body position VP of the work machine 1 at the reference position BP.

[0185] (Item 3) The work support device 30 according to Item 1 or 2, wherein the first control device 31 defines the first travel route R1 including a plurality of paths LSm′ each extending in a work direction of the field H and spaced apart by a predetermined separation width WS1.

[0186] According to the work support device 30 of this item 3, the first control device 31 defines the first travel route R1 at a position that takes into account the work results of the previous work, so that it is possible to prevent each of the multiple routes LSm' from being shifted away from each other. As a result, the work machine 1 can perform work at a position appropriate for the previous work.

[0187] (Item 4) The previous work is work performed by the work implement 2 while the work machine 1 travels toward the work direction, the reference position BP is a position where a work range 2a of the work implement 2 is aligned based on evidence of the previous work, and the first control device 31 defines the first travel route R1 that includes a plurality of the paths LSm′ that are spaced apart by the separation width WS1 based on the vehicle body position VP at the reference position BP.

[0188] According to the work support device 30 of this item 4, when the work implement 1 automatically travels along the first travel route R1, it can perform work appropriately by following the traces of the previous work. Furthermore, even if the work implement 1 has a work implement 2 whose first working width W1 varies due to factors such as the condition of the field H, it is possible to appropriately define the separation width WS1.

[0189] (Item 5) A work machine 1 including the work support device 30 according to Item 4, the work device 2, and a second control device 20 that controls automatic traveling based on the first traveling route R1 output from the output device 34.

[0190] According to the work machine 1 according to this item 5, it is possible to realize a work machine 1 that exhibits the unique effects described above, and the work machine 1 can appropriately perform the work after the previous work.

[0191] (Item 6) The work machine 1 according to Item 5 includes a vehicle body 3 to which the work device 2 is coupled, the work device 2 is attached to the vehicle body 3 so as to be swingable about an axis in the front-to-rear direction, and has a work implement 53 that comes into contact with the field H to perform work.

[0192] According to the work implement 1 of this item 6, the swing angle of the work device 2 varies in accordance with the state of the field H, which may change the actual working width W3 relative to the field H. However, because the separation width WS1 is defined based on the reference position BP that aligns the working range 2a with evidence of the previous work, it is possible to define the separation width WS1 taking the actual working width W3 into consideration. Because the first control device 31 can therefore appropriately define the separation width WS1 in response to changes in the actual working width W3, it is possible to define a first travel route R1 that prevents the creation of unworked areas where the automatically traveling work implement 1 does not work and prevents unnecessary overlapping work.

[0193] (Item 7) The work machine 1 according to Item 5 or 6, further comprising a lifting device 3a that connects the work device 2 to the vehicle body 3 so that the work device 2 can be raised and lowered, and the second control device 20 controls the lifting device 3a to maintain the work device 2 at a predetermined height during the automatic traveling.

[0194] According to the work machine 1 relating to this item 7, depending on the height of the work device 2 when traveling through the field H, the swing angle of the work device 2 may change in response to the condition of the field H, and the actual working width W3 may fluctuate. However, the first control device 31 can appropriately define the separation width WS1 in response to changes in the actual working width W3, and therefore can define a first traveling route R1 that prevents the occurrence of unworked areas where the automatically traveling work machine 1 does not perform work and prevents unnecessary overlapping work.

[0195] (Item 8) The work machine 1 described in any one of Items 5 to 7, wherein the work device 2 is a reversible plow 2A having a first frame 51 connected to the lifting device 3a, a second frame 52 supported so as to be rotatable relative to the first frame 51, and a plurality of bottoms 53 that are the work implements 53 that are supported symmetrically above and below on the second frame 52 and perform plowing work.

[0196] According to the work implement 1 relating to this item 8, plowing work can be carried out appropriately using the reversible plow 2A while preventing the occurrence of unworked areas and unnecessary overlapping work.

[0197] (Item 9) The work implement 1 according to item 8, which is provided with a traveling device 7 including a plurality of wheels 7F, 7R, the first control device 31 defines the first traveling route R1 along which the work implement 1 performs furrow drawing using the reversible plow 2A, the previous work is opening plowing in which the reversible plow 2A forms a furrow G in the field H that extends in the working direction, and the reference position BP is a position where the wheels 7F, 7R of the work implement 1 are aligned over a range G' obtained by extending the furrow G, which is a trace of the opening plowing, in the working direction.

[0198] According to the work machine 1 relating to this item 9, it is possible to define a first travel route R1 for trench towing that prevents the occurrence of unworked areas and unnecessary overlapping work.

[0199] (Item 10) The work implement 1 described in Item 8 is provided with a traveling device 7 including a plurality of wheels 7F, 7R, the first control device 31 defines the first traveling route R1 along which the work implement 1 performs furrow digging using the reversible plow 2A, the previous work is plowing work in which the reversible plow 2A travels in the field H in the working direction, and the reference position BP is a position where the wheels 7F, 7R of the work implement 1 are aligned over a range G' obtained by extending a furrow portion G, which is a trace of the plowing work, in the working direction.

[0200] According to the work machine 1 relating to this item 10, it is possible to define a first travel route R1 for trench towing that prevents the occurrence of unworked areas and unnecessary overlapping work.

[0201] (Item 11) The work implement 1 described in Item 8, wherein the first control device 31 defines the first travel route R1 along which the work implement 1 performs hill towing using the reversible plow 2A, the previous work is opening plowing in which the reversible plow 2A forms a furrow G in the field H extending in the working direction, and the reference position BP is a position where a range G' obtained by extending the furrow G, which is a trace of the opening plowing, in the working direction is adjacent to the working range 2a of the reversible plow 2A.

[0202] According to the work machine 1 relating to this item 11, it is possible to define a first travel route R1 for hill towing that prevents the occurrence of unworked areas and unnecessary overlapping work.

[0203] (Item 12) The first control device 31 defines the first travel route R1 along which the work machine 1 performs hill towing using the reversible plow 2A, the previous work is the plowing work in which the reversible plow 2A travels in the work direction in the field H, and the reference position BP is a position where a range G' obtained by extending a furrow portion G, which is a trace of the plowing work, in the work direction is adjacent to the work range 2a of the reversible plow 2A.

[0204] According to the work machine 1 relating to this item 11, it is possible to define a first travel route R1 for hill towing that prevents the occurrence of unworked areas and unnecessary overlapping work.

[0205] (Item 13) The work support device 30 according to Item 3 includes an input device 32 that accepts setting input of information, the input device 32 accepting setting input of work information related to a work device 2 possessed by the work machine 1, the previous work being work performed by a work device 2 different from the work device 2 possessed by the work machine 1, and the first control device 31 defining the separation width WS1 based on the work information, and defining the first traveling route R1 based on the separation width WS1 and the vehicle body position VP at the reference position BP.

[0206] According to the work support device 30 relating to this item 13, when the work machine 1 automatically travels along the first travel route R1, it can perform work appropriately according to the location of evidence of the previous work.

[0207] (Item 14) The work support device 30 described in Item 13, wherein the pre-work is a ridge formation work in which a ridge U is formed in the field H by a ridge forming device, and the reference position BP is a position where the traveling device 7 of the work machine 1 is aligned with the ridge U, which is a trace of the pre-work.

[0208] According to the work support device 30 relating to this item 14, the first traveling route R1 is defined according to the actual positional relationship between the traveling device 7 and the ridge U, so that when the work machine 1 automatically travels along the first traveling route R1, the positional relationship between the traveling device 7 and the ridge U can be appropriately maintained.

[0209] (Item 15) The input device 32 receives setting input of the first working width W1 of the work device 2 and the ridge width WU of the ridge U as the work information, and the first control device 31 defines the first traveling route R1 including multiple paths LSm' spaced apart by the separation width WS1 based on the first working width W1 and the ridge width WU.

[0210] According to the work support device 30 relating to item 15, the work route is defined based on the actual positional relationship between the traveling device 7 and the ridge U, as well as the separation width WS1 taking into account the first working width W1 and the ridge width WU, so that the work machine 1 can travel while maintaining an appropriate positional relationship between the traveling device 7 and the ridge U, while suppressing the occurrence of unworked areas and unnecessary overlapping work.

[0211] (Item 16) A work machine 1 including the work support device 30 according to any one of items 13 to 15, the work device 2, and a second control device 20 that controls automatic traveling based on the first traveling route R1 output from the output device 34.

[0212] According to the work machine 1 according to this item 16, it is possible to realize a work machine 1 that exhibits the unique effects described above, and the work machine 1 can appropriately perform the work after the previous work.

[0213] (Item 17) A work assistance method for a work implement 1 including a work implement 2, a detection device 25 that detects a vehicle body position VP, a first control device 31 that defines a first travel route R1 for automatic travel through a field H based on the vehicle body position VP, and a second control device 20 that controls the automatic travel based on the first travel route R1 defined by the first control device 31, the work assistance method including the steps of: moving the work implement 1 to a reference position BP that is based on evidence of previous work performed in the field H; and defining the first travel route R1 that passes through the vehicle body position VP based on the vehicle body position VP of the work implement 1 at the reference position BP detected by the detection device 25.

[0214] According to the work support method of this item 17, it is possible to define a first travel route R1 based on the actual position of the work implement 1 taking into consideration the traces of the previous work, i.e., the work performance. Therefore, the work implement 1 can appropriately link the previous work and the current work by performing work by automatic travel based on the first travel route R1 after the previous work.

[0215] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0216] 1: Work machine 2: Work device 2A: Reversible plow 2a: Working range 3: Vehicle body 3a: Lifting device 7: Traveling device 7F: Wheels 7R: Wheels 20: Second control device 25: Detection device 30: Work support device 31: First control device 32: Input device 33: Memory device (first memory device) 34: Output device (first communication device) 51: First frame 52: Second frame 53: Work implement (bottom) BP: Reference position G: Furrow portion G': Range H: Field LSm': Route R1: First traveling route R2: Second traveling route U: Furrow VP: Vehicle body position W1: First working width WS1: Separation width (first separation width) WU : Ridge width ΔD : Displacement

Claims

1. A first control device that defines a first travel route for the work machine to automatically travel in the field based on the vehicle body position of the work machine detected by a detection device provided in the work machine having a working device; an output device that outputs the first travel route defined by the first control device to the work machine; and the first control device is a work support device that defines the first travel route passing through the vehicle body position based on the vehicle body position when the work machine moves to a reference position based on the traces of the previous work performed in the field.

2. A storage device that stores a second travel route that is defined separately from the first travel route and for which the work machine automatically travels in the field, and the first control device defines the first travel route by correcting the second travel route based on the deviation of the vehicle body position from the second travel route when the work machine moves to the reference position. The work support device according to claim 1.

3. The first control device defines the first travel route including a plurality of paths that extend in a predetermined working direction of the field and are separated by a predetermined separation width. The work support device according to claim 1 or 2.

4. The previous work is work that the work machine travels in the working direction and performs with the working device, the reference position is a position that aligns the working range of the working device based on the traces of the previous work, and the first control device defines the plurality of paths separated by the separation width based on the vehicle body position at the reference position. The work support device according to claim 3.

5. A work machine comprising the work support device according to claim 4, the working device, and a second control device that controls automatic travel based on the first travel route output from the output device.

6. The work machine includes a vehicle body to which the working device is connected, and the working device has a working tool that is swingably attached around an axis in the front-rear direction with respect to the vehicle body and is grounded in the field to perform work. The work machine according to claim 5.

7. The work machine includes a lifting device that connects the working device to the vehicle body so as to be liftable, and the second control device controls the lifting device to maintain the working device at a predetermined height during the automatic travel. The work machine according to claim 6.

8. The working device according to claim 7, wherein the working device is a reversible plow having a first frame connected to the lifting device, a second frame rotatably supported with respect to the first frame, and a plurality of bottoms which are supported symmetrically above and below the second frame and which are the working tools for performing tillage work.

9. The working machine is provided with a traveling device including a plurality of wheels, the first control device defines a first traveling route along which the working machine performs furrow dragging by the reversible plow, the previous work is furrow opening tillage for forming a furrow portion extending in the working direction in the field by the reversible plow, and the reference position is a position where the wheels of the working machine are aligned on a range obtained by extending the furrow portion which is a trace of the furrow opening tillage in the working direction.

10. The working machine is provided with a traveling device including a plurality of wheels, the first control device defines a first traveling route along which the working machine performs furrow dragging by the reversible plow, the previous work is tillage work for traveling in the working direction in the field by the reversible plow, and the reference position is a position where the wheels of the working machine are aligned on a range obtained by extending a furrow portion which is a trace of the tillage work in the working direction.

11. The first control device defines a first traveling route along which the working machine performs hill dragging by the reversible plow, the previous work is furrow opening tillage for forming a furrow portion extending in the working direction in the field by the reversible plow, and the reference position is a position where a range obtained by extending the furrow portion which is a trace of the furrow opening tillage in the working direction and the working range of the reversible plow are adjacent to each other.

12. The first control device defines a first traveling route along which the working machine performs hill dragging by the reversible plow, the previous work is tillage work for traveling in the working direction in the field by the reversible plow, and the reference position is a position where a range obtained by extending a furrow portion which is a trace of the tillage work in the working direction and the working range of the reversible plow are adjacent to each other.

13. The working support device according to claim 3, comprising an input device that receives an input for setting information, wherein the input device receives an input for setting working information regarding a working device of the working machine, the previous work is work performed by a working device different from the working device of the working machine, and the first control device defines the separation width based on the working information and defines the first travel route based on the separation width and the vehicle body position at the reference position.

14. The working support device according to claim 13, wherein the previous work is a ridging operation of forming ridges in the field by a ridging device, and the reference position is a position where the traveling device of the working machine is aligned with the ridges that are the traces of the previous work.

15. The input device receives an input for setting the working width of the working device and the ridge width of the ridges as the working information, and the first control device defines the first travel route including a plurality of the routes separated by the separation width based on the working width and the ridge width. The working support device according to claim 14.

16. A working machine comprising the working support device according to claim 13, the working device, and a second control device that controls automatic traveling based on the first travel route output from the output device.

17. A working support method for a working machine, comprising a working device, a detection device that detects a vehicle body position, a first control device that defines a first travel route for automatically traveling in a field based on the vehicle body position, and a second control device that controls automatic traveling based on the first travel route defined by the first control device, the method comprising: moving the working machine to a reference position based on a trace of previous work performed in the field; and the first control device defining the first travel route passing through the vehicle body position based on the vehicle body position of the working machine at the reference position detected by the detection device.