Work assistance device, work machine, and work assistance method

Abstract

The present invention suppresses the generation of an unworked area or reduces the unworked area in the vicinity of the outer periphery of a farm field when a work machine travels along a path on the outer peripheral side of the farm field.　A work assistance device (30) comprises: a first control device (31) that defines, in a map indicating a farm field (H), a travel route (R) on which a work machine (1) including a work device (2) travels when performing work in the farm field; and an input device (32) that accepts an information input operation. The first control device defines, as the travel route, a path along which the work machine travels inside the farm field, and, in accordance with information input by the input operation accepted by the input device, performs correction processing for shifting and / or extending at least a path in the travel route that is on the outer peripheral side of the farm field toward the outside of the farm field.

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 autonomous driving system disclosed in Patent Document 1 includes a field acquisition unit that acquires information about a field having a work area in which a driving path is set for a work machine equipped with a work device to autonomously drive and perform work, and a headland area formed between the work area and the edge of the field, a reference auxiliary line creation unit that creates a reference auxiliary line within the headland area at a position spaced inward from the edge of the field by a first reference interval that is 1 / 2 of the work width or 1 / 2 of the outer width of the work device, and a driving control unit that causes the work machine to autonomously drive along the reference auxiliary line.

[0003] Japanese Patent Publication No. 2020-092621

[0004] In the autonomous driving system of Patent Document 1, the work equipment is made to autonomously drive (automatically drive) along a reference auxiliary line, thereby preventing the work equipment from working outside the field or from leaving the field.

[0005] However, in the invention of Patent Document 1, it is preferable to set the first standard interval to half of the larger of the working width and the external width (working machine width), and depending on the size of the first standard interval, when the working machine is made to travel autonomously along the reference auxiliary line, an unworked area may occur near the periphery of the field.

[0006] The present invention has been made to solve these problems of the conventional technology, and aims to provide a work support device, work machine, and work support method that can prevent the occurrence of unworked areas near the periphery of a field when the work machine travels along a route on the periphery of the field, or can reduce the size of such unworked areas.

[0007] A work support device according to one aspect of the present invention includes a first control device that defines, on a map showing a field, a travel route along which a work machine having a work device will travel when working in the field, and an input device that accepts information input operations.The first control device defines, as the travel route, a path along which the work machine will travel inside the field, and performs a correction process that shifts and / or extends at least the path on the outer periphery of the field of the travel route toward the outside of the field, depending on the information input by the input device.

[0008] The first control device may define the travel route in which the work device is located inside the field based on dimensional information of the work device, and may perform the correction process according to information received as input operation by the input device so that at least a part of the work device of the work machine traveling on the outermost route of the travel route is located outside the field.

[0009] The range in which the work device performs work is located at least in the width direction inside the outer shape of the work device, and the first control device may perform the correction process according to the information received from the input device as an input operation so that at least a part of the outer shape of the work device of the work machine traveling on the outermost route of the travel route is located outside the field.

[0010] The first control device may define one or more circuit lines that circle the first area of ​​the map in a second area located outside the first area as at least part of the driving route, and perform the correction process of the circuit lines according to information received as input operations by the input device.

[0011] The first control device may perform the correction process on the outermost circular line in accordance with information on an input operation received by the input device, as the correction process.

[0012] As the correction process, the first control device may shift each side of the outermost circumferential line to the outside of the field in accordance with information of an input operation received by the input device.

[0013] The first control device may define the outermost circular line within the second area by shifting the periphery of the field inward based on the dimensional information, and as the correction process, may shift each side of the outermost circular line outside the field by an amount that is at least longer than the distance between the work device of the work machine traveling on the outermost circular line and the periphery of the field, depending on the information received as input by the input device.

[0014] The first control device may define a plurality of circular lines in the second area, spaced apart by a difference between the working width of the work device and a predetermined overlapping amount, as at least a part of the travel route, and the shift amount may be less than or equal to the length of the overlapping amount.

[0015] The input device may accept an input operation for any shift amount within a range that is longer than the separation width and less than the length of the overlapping margin, and as the correction process, the first control device may shift each side of the outermost circular line to the outside of the field by the shift amount input by the input device.

[0016] The input device accepts an input operation to select whether or not to perform the correction processing, and when the input device accepts an input operation to perform the correction processing, the first control device calculates the shift amount in a range longer than the separation width and less than the length of the overlapping space, and performs the correction processing with that shift amount, and when the input device accepts an input operation to not perform the correction processing, the first control device does not have to perform the correction processing.

[0017] As the correction process, the first control device may extend ends of each side of the outermost circumferential line outside the field in accordance with information of an input operation received by the input device.

[0018] When defining the travel route, the first control device may, based on the dimension information, define a work start position where the work device will begin work at one end of each side of the circular line, and define a work end position where the work device will end work at the other end, and as the correction process, extend the end of each side of the outermost circular line according to information received as an input operation by the input device, and shift the work start position and the work end position outside the field.

[0019] A work machine according to one aspect of the present invention includes the work assistance device described above and a second control device that controls automatic traveling or automatic steering based on the traveling route.

[0020] A work assistance method according to one aspect of the present invention is a work assistance method for a work machine comprising: a work assistance device having a first control device that defines, on a map showing a field, a driving route that the work machine will follow when working in the field; and an input device that accepts information input operations; and a second control device that controls automatic driving or automatic steering based on the corrected driving route defined by the first control device, the method comprising the steps of: the first control device defining, as the driving route, a path that the work machine will follow inside the field; the input device accepting information input operations; and the first control device performing a correction process to shift and / or extend at least the path on the outer periphery of the field of the driving route toward the outside of the field, in accordance with the information accepted as input operations by the input device.

[0021] According to the above-mentioned work support device, work machine, and work support method, when the work machine travels along a path on the outer periphery of the field, it is possible to prevent the occurrence of unworked areas near the periphery of the field, or to reduce the size of such unworked areas.

[0022] 1 is a configuration diagram of a work machine support system. FIG. 1 is a side view of a work machine. FIG. 1 is a first view showing a plan view of a work machine. FIG. 2 is a second view showing a plan view of a work machine. FIG. 2 is a diagram illustrating automatic travel of a work machine. FIG. 3 is a flowchart illustrating an example of a travel route definition process. FIG. 4 is a diagram illustrating an example of a travel route defined in a field map. FIG. 4 is a first view illustrating the definition of a circumnavigation line by a route definition unit. FIG. 5 is a second view illustrating the definition of a circumnavigation line by a route definition unit. FIG. 6 is a diagram illustrating the definition of a circumnavigation line by a route definition unit. FIG. 7 is a diagram illustrating the definition of a work start position on a circumnavigation line by a route definition unit. FIG. 8 is a diagram illustrating the definition of a work end position on a circumnavigation line by a route definition unit. FIG. 9 is a first view illustrating correction processing by a route correction unit. FIG. 10 is a second view illustrating correction processing by a route correction unit. FIG. 11 is a flowchart illustrating an example of correction processing of a travel route. FIG. 12 is a diagram illustrating an example of a setting screen.

[0023] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0024] 1 is a diagram showing a support system 200 for a work machine 1 that includes a work machine 1 and a work support device 30. The work machine 1 is an autonomously traveling work machine that includes a work device 2 that performs work, and the work support device 30 supports the travel and work of the work machine 1. The work machine 1 will be described below.

[0025] FIG. 2 is a side view of the work machine 1. In the example shown in FIG. 2 , the work machine 1 is a tractor (work vehicle) equipped with a work implement 2 (implement). The work machine 1 is not limited to a tractor, but may be any work machine equipped with the work implement 2 that performs work in a field H or the like and capable of autonomous 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 implement 2, and descriptions of other work machines will be omitted. In addition, in the following description, the front side (in the direction of arrow AR1 in FIG. 2 ) 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 (in the direction of arrow AR2 in FIG. 2 ) 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 ), and the right side of the operator will be referred to as the right side (the far side in FIG. 2 ). The horizontal direction, which is perpendicular to the fore-and-aft direction of the work machine 1, will be referred to as the width direction.

[0026] 1 and 2 , 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 coupling device 3a to which the work device 2 can be coupled is provided at the front and / or rear of the vehicle body 3.

[0027] In the example shown in Fig. 2, the coupling device 3a is provided at the rear of the vehicle body 3 and couples the working device 2 to the rear of the vehicle body 3. The coupling device 3a is, for example, a three-point linkage mechanism or the like, and is an elevating device that can raise and lower the coupled working device 2. The coupling device 3a is operated by a hydraulic cylinder, which is a hydraulic actuator, and raises and lowers the coupled working device 2. Therefore, by coupling the working device 2 to the coupling device 3a, the working device 2 is mounted on the work machine 1.

[0028] The work implements 2 include a tilling implement for tilling, a ridge forming implement for making ridges, a fertilizer spreading implement for spreading fertilizer, a pesticide spreading implement 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, a shaping implement for shaping grass and the like, etc. In other words, the operator can select from various types of work implements 2 as described above and connect the selected work implement 2 to the connecting device 3a.

[0029] 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 motor driven by supplied electricity and be operated by the electric motor.

[0030] 3A and 3B are plan views of the work implement 1. As shown in FIG. 3A , there is a work implement 2 (first work implement 2A) in which the working area 2a of the work implement 2 connected to the coupling device 3a is located at least inward in the width direction from the outer shape of the work implement 2. As shown in FIG. 3B , there is a work implement 2 (second work implement 2B) in which the working area 2a of the work implement 2 connected to the coupling device 3a is located at least inward in the width direction from the outer shape of the work implement 2. Examples of the first work implement 2A in FIG. 3A include a tilling implement, a ridge forming implement, a seed spreading implement, a transplanter, a harvesting implement, a reaping implement, a grass collecting implement, and a shaping implement. Examples of the second work implement 2B in FIG. 3B include a fertilizer spreading implement, a pesticide spreading implement, and a diffusion implement.

[0031] The following description will focus on the case where the working device 2 connected to the connecting device 3a is the first working device 2A. Furthermore, the following description will focus on the case where the center of the width of the working device 2 and the center of the width of the vehicle body 3 are not offset in the width direction (when the offset amount is zero), but the working device 2 may also be offset in the width direction relative to the vehicle body 3.

[0032] The prime mover 4 is a power source that outputs power, and is an engine (e.g., a diesel engine) or an electric motor.

[0033] 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).

[0034] 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.

[0035] 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 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 wheels, but they may also be crawler-type wheels. The work machine 1 is also provided with 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.

[0036] 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 .

[0037] 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. In addition, when the working device 2 connected to the coupling device 3a receives power from the PTO shaft 5a, the second control device 20 controls the transmission device 5 to change the drive of the PTO shaft 5a, thereby controlling the working device 2.

[0038] In addition, if an electronic control unit is provided on the work device 2 connected to the connecting 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 the work command received from the second control device 20 to perform agricultural work.

[0039] 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.

[0040] 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).

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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 .

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The second communication device 24 is a communication interface of the work machine 1 and includes a communication circuit. The second communication device 24 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.

[0049] 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 of the work implement 1. The detection device 25 detects the body position VP of the work implement 1 using a satellite positioning system.

[0050] The detection device 25 also has an inertial measurement unit (IMU) including an acceleration sensor, a gyro sensor, etc. The detection device 25 detects the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3 using the inertial measurement unit. The second control device 20 controls automatic traveling based on the vehicle body position VP detected by the detection device 25 and a predefined traveling route (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 travels 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 also changes the traveling speed between a straight section of the travel route R where the work machine 1 travels straight and a turning section where the work machine 1 turns.

[0051] 4 is a diagram illustrating the automatic traveling of the work machine 1. 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, and 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.

[0052] 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.

[0053] 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.

[0054] 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)).

[0055] 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.

[0056] 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.

[0057] 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.

[0058] As shown in FIG. 1 , the work assistance device 30 includes a first control device 31, an input device 32, a first 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.

[0059] 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.

[0060] 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 that also serves as a display device and an output device (output interface) of the work support apparatus 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.

[0061] 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 the display device and output device that display various information.

[0062] 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.

[0063] 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 addition, the first communication device 34 may be able to communicate with the work machine 1 via the server device 100.

[0064] 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 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.

[0065] 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.

[0066] The work information includes information about 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, and an overlap width w10 (overlap width) of the work implement 2 or the work range 2a of the work implement 2 in adjacent work. The headland is, for example, an area in which the work implement 1 is turned, and is defined as the outer edge of the field H (such as around a ridge). Whether or not to cultivate crops on the headland is up to the farmer's discretion. The working direction may be specified by the farmer in a predetermined direction, defined based on the outline OL of the field H, or may be specified by the farmer's discretion.

[0067] 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.

[0068] The device information includes information indicating the identification information, type, dimensional information, specifications, and working width w1 (horizontal width of working range 2a) of the working device 2. The dimensional information includes information indicating at least the widthwise length w2 (external width) of the external shape of the working device 2. In addition to the above, the device information may also include an offset amount. Note that the working device 2 may be provided with a memory, and the device information may also be stored in this memory.

[0069] 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.

[0070] The route definition unit 31a defines, as the travel route R, a path along which the work implement 1 travels 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.

[0071] 5 is a flowchart showing an example of a process for defining a travel route R executed by the work support device 30. Each step in FIG. 5 is executed by the first control device 31 in accordance with a software program stored in the memory or the first storage device 33.

[0072] For example, the operator operates the input device 32 to specify (input) the field H, the agricultural work, the work implement 1 to be used, and the work implement 2, and instructs the definition of the travel route R (S1). The route definition unit 31a acquires the field information, work information, machine information of the work implement 1, and device information of the work implement 2 corresponding to the specified field H from at least one of the memory and the first storage device 33, or from the server device 100 via the first communication device 34 (S2). In other words, 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.

[0073] Next, the route definition unit 31a identifies the working width w1, offset amount, and overlap width w10 of the work device 2 from the device information of the work device 2 (S3). The route definition unit 31a defines a travel route R based on the acquired information (S4). At this time, the route definition unit 31a defines the travel route R with the following goals in mind: (P1) the work device 1 should not travel through the worked area CE as much as possible; (P2) the setting of turning sections that require the work device 1 to turn as much as possible should be avoided; and (P3) the non-working distance, which is the distance the work device 1 travels without performing work using the work device 2, should be as short as possible. Note that these goals are merely examples, and at least one of them is emphasized. Furthermore, goals other than (P1) to (P3) may also be emphasized. After defining the travel route R, the route definition unit 31a associates the defined travel route R with the identification information of the field H and stores the defined travel route R in the first storage device 33. At this time, the route definition unit 31a may store, in addition to the identification information of the field H, work information, machine information, and device information in association with the travel route R in the first storage device 33.

[0074] FIG. 6 is a diagram showing an example of a travel route R defined on the field map M. As shown in FIG. 6 , the route definition unit 31a defines, for example, a headland route LO for performing work in the second area A2 and an inner route LU for performing work in the first area A1 as the travel route R. In the example shown in FIG. 6 , the second area A2 is defined to extend from the outline OL of the field H to 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 circuit lines LOn on the headland route LO corresponds to the number n of headlands. The route definition unit 31a defines the headland route LO on the field map M included in the field information based on the number n of headlands included in the acquired work information, the working width w1 included in the device information, etc.

[0075] 6 , 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 the difference (predetermined width w20) between the working width w1 of the working implement 2 and the overlapping width w10.

[0076] Specifically, the route definition unit 31a defines a number of circuit lines LOn corresponding to the number of headlands n by shifting the contour OL of the field H inward, starting from circuit line LO1 (n=1, hereinafter referred to as the outermost line), which is the route located outermost inside the field H. Figure 7 is a diagram illustrating the definition of circuit lines LOn by the route definition unit 31a. As shown in Figure 7, the route definition unit 31a defines the travel route R based on the dimensional information of the work implement 2 so that the work implement 2 is located inside the field H.

[0077] Specifically, the route definition unit 31a defines the outermost periphery line LO1 inside the field H so that the separation width w21 (the length between the outer shape of the work implement 2 and the contour OL of the field H) between the work implement 2 of the work implement 1 traveling on the outermost periphery line LO1 and the contour OL (outer periphery) of the field H is zero or greater (w21≧0). In other words, the route definition unit 31a may define the outermost periphery line LO1 so that the length from the outermost periphery line LO1 to the contour OL of the field H (w21+w2 / 2) is equal to or greater than the length from the vehicle body position VP of the work implement 1 to the part of the work implement 1 that is closest to the contour OL of the field H. In the example shown in Figure 7, the outermost line LO1 can be defined so that the length (w21 + w2 / 2) from the outermost line LO1 to the contour OL of the field H is greater than or equal to the length (w2 / 2) from the vehicle position VP to the end of the work implement 2.

[0078] At this time, an unworked area NE is generated, and the width of the unworked area NE (the direction perpendicular to the direction of travel of the work implement 1 traveling along the outermost line LO1) is the sum of half the difference between the outer width w2 and the working width w1 and the separation width w21. Therefore, in order to prevent the unworked area NE from becoming too large, it is preferable that the separation width w21 be a value close to zero.

[0079] 8 and 9 are diagrams illustrating the definition of the circuit line LOn by the route definition unit 31a. For example, as shown in Fig. 8, the route definition unit 31a generates contours OL1 (lines) for the number n of headlands by shifting the contour OL of the field H inward by a predetermined width w20. Also, as shown in Fig. 8, the route definition unit 31a generates contours OL2 (lines) by shifting the contours OL and OL1 of the field H inward by a first reference width w22.

[0080] As shown in Figure 9, the route definition unit 31a defines circuit lines LOn that pass through the widthwise centers of work sections E, which are obtained by dividing the generated outline OL2 by a work width w1 (in Figure 9, the work sections E corresponding to the outermost line LO1 are shown hatched). In this way, the route definition unit 31a defines as many circuit lines LOn as there are headlands, n. Therefore, when the route definition unit 31a generates multiple circuit lines LOn, the distance between each of these multiple circuit lines LOn is a predetermined width w20.

[0081] The first reference width w22 is defined as a length equal to or greater than half the difference between the outer width w2 and the working width w1. The first reference width w22 is equal to the sum of half the difference between the outer width w2 and the working width w1 and the separation width w21. Therefore, as long as the separation width w21 is equal to or greater than zero, the first reference width w22 may be half the value of the difference between the outer width w2 and the working width w1, or may be a value obtained by adding a first predetermined value to half the difference between the outer width w2 and the working width w1.

[0082] The first predetermined value may be an arbitrary value input by the input device 32, or may be a fixed value (e.g., 5 cm) stored in the first storage device 33. The fixed value may be changeable by the operator, and for example, the input device 32 may accept an input operation of a fixed value, and the first control device 31 may update the fixed value stored in the first storage device 33.

[0083] Furthermore, it is sufficient that at least the separation width w21 is equal to or greater than zero, and the method of defining the circuit line LOn by the route definition unit 31a is not limited to the example described above with reference to Figures 8 and 9. Figure 10 is a diagram illustrating how the route definition unit 31a defines the circuit line LOn. For example, as shown in Figure 10, the route definition unit 31a may first define the outermost line LO1 by shifting the contour OL of the field H inward by the second reference width w23, and then define the circuit line LOn by shifting the outermost line LO1 by a predetermined width w20.

[0084] In this case, the second reference width w23 is defined as a length equal to or greater than half the outer width w2 of the working device 2. The second reference width w23 is equal to the sum of half the outer width w2 and the separation width w21. Therefore, as long as the separation width w21 is equal to or greater than zero, the second reference width w23 may be half the outer width w2 or a value obtained by adding a second predetermined value to half the outer width w2. Like the first predetermined value, the second predetermined value may be an arbitrary value input via the input device 32, or may be a fixed value (e.g., 5 cm) stored in the first storage device 33.

[0085] Furthermore, when defining the field map M, the route definition unit 31a may define the outermost periphery line LO1 based on a movement trajectory based on a plurality of vehicle body positions VP when the work implement 1 travels along the edge of the field H. In such a case, as in the example described above, the route definition unit 31a shifts the outermost periphery line LO1 inward of the field H by a predetermined width w20, and defines a number of circumferential lines LOn corresponding to the number (n-1) obtained by subtracting 1 from the number of headlands n.

[0086] In addition, if the widthwise center of the working device 2 is offset from the widthwise center of the vehicle body 3, the route definition unit 31a may add or subtract an offset amount to the first reference width w22 or the second reference width w23 to define the outermost line LO1 and define other circular lines LOn.

[0087] When defining the travel route R, the route definition unit 31a defines, based on the dimension information, a work start position SP at one end of each side S of the circular line LOn where the work device 2 starts work, and a work end position GP at the other end where the work device 2 ends work.

[0088] The work start position SP is the vehicle body position VP when the work machine 1 starts moving and the work device 2 starts working. When the vehicle body position VP is located at the work start position SP, the coupling device 3a lowers the work device 2 and switches it to a working posture in which the work device 2 touches the field H.

[0089] 11 and 12 are diagrams illustrating how the route definition unit 31a defines the work start position SP on the circular line LOn. First, one side S of the outermost line LO1 is extracted, and the work start position SP for each side S of the outermost line LO1 is explained. Based on the field information, work information, and machine information, the route definition unit 31a defines the work start position SP for that side S as a position where the work implement 2 does not extend outside the field H and where the unworked area NE is small.

[0090] For example, taking the case where the length w3 between the rear end of the work device 2 and the rear end of the working range 2a is less than or equal to the sum of half the difference between the outer width w2 and the working width w1 and the separation width w21, as shown in Figure 11, the route definition unit 31a defines the work start position SP of each side S of each circular line LOn so that when the vehicle position VP of the work machine 1 is located at the work start position SP, the rear end of the working range 2a of the work device 2 coincides with the outline OL2 of the work section E of the circular line LOn.

[0091] Furthermore, if the length w3 between the rear end of the work implement 2 and the rear end of the work range 2a is longer than the sum of half the difference between the outer width w2 and the work width w1 and the separation width w21, as shown in FIG. 12 , the route definition unit 31a defines the work start position SP of each side S of the outermost line LO1 so that the rear end of the work implement 2 coincides with the outline OL of the field H when the vehicle body position VP of the work implement 1 is located at the work start position SP. In other words, an unworked area NE with a length w3 in the traveling direction occurs behind the work start position SP of the outermost line LO1. Furthermore, for each of the other circumferential lines LOn of the outermost line LO1, the route definition unit 31a defines the work start position SP of each side S so that the rear end of the work implement 2 coincides with the outline OL2 of the work section E of the circumferential line LOn when the vehicle body position VP of the work implement 1 is located at the work start position SP.

[0092] The work end position GP is the point at which the work machine 1 stops moving and the work device 2 ends its work. At the work end position GP, ​​the coupling device 3a raises the work device 2 and switches it to a non-working posture in which the work device 2 does not contact the field H.

[0093] FIG. 13 is a diagram illustrating how the route definition unit 31a defines the work end position GP on the circular line LOn. As shown in FIG. 13 , one side S of the outermost line LO1 is extracted, and the work end position GP of each side S of the outermost line LO1 is described. Based on the field information, work information, and machine information, the route definition unit 31a defines the work end position GP of the one side S as a position where the unworked area NE becomes small. Specifically, when the vehicle position VP of the work implement 1 is located at the work end position GP, ​​the route definition unit 31a defines the work end position GP of the one side S so that the front end of the work range 2a of the work device 2 coincides with the inner contour of the work section E of the next side S. The work end position GP may be offset from the inner contour by an overlapping width w10 to the outside of the field H.

[0094] The route definition unit 31a defines a turning portion on each circuit line LOn that connects the work end position GP on one side S (first line) with the work start position SP on the next side S (second line). The turning portion is a portion where the work machine 1 turns or turns back on the circuit line LOn, and the route definition unit 31a defines the turning portion between one side S (first line) and the next side S (second line) of the circuit line LOn.

[0095] The route definition unit 31a does not need to define a turning section at every characteristic point on the circuit line LOn, and may instead define a turning section at a characteristic point that satisfies a predetermined condition. For example, the route definition unit 31a may define a turning section at a characteristic point between the first line and the second line when the angle θ formed between the first line and the second line is equal to or greater than a predetermined value. Here, the angle θ formed between the first line and the second line refers to the smaller angle between the first line and the second line. Furthermore, if the work machine 1 can automatically travel from the first line to the second work line, the route definition unit 31a does not need to define a turning section.

[0096] The route definition unit 31a then defines the first area A1 and the second area A2 based on the innermost circular line LOn and the work width w1. After defining the first area A1 and the second area A2, the route definition unit 31a defines the inner route LU. Specifically, the route definition unit 31a defines, as the inner route LU, multiple work lines LU1 that connect both ends of the first area A1 in the work direction and are spaced apart by a predetermined width w20. In the second area A2, the route definition unit 31a defines connecting lines LU2 that connect adjacent work lines LU1. In the example shown in FIG. 6 , the work lines LU1 are substantially straight, and the connecting lines LU2 are substantially curved. 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 and from the first area A1.

[0097] 6 is merely an example and is not intended to be limiting. For example, the connection line LU2 is not limited to a curve and may be a route consisting of a series of straight lines. In addition, if the work implement 1 can automatically travel from one work line LU1 to another work line LU1, the route definition unit 31a does not need to define the connection line LU2.

[0098] Here, the first control device 31 performs a correction process to shift and / or extend at least the paths LOn, LU1 of the travel route R on the contour OL (outer periphery) side of the field H toward the outside of the field H, in accordance with information received as an input operation by the input device 32. As shown in FIG. 1 , the first control device 31 has a route correction unit 31b that performs the correction process, and the route correction unit 31b is, for example, a software program implemented in the first control device 31. As another example, the route correction unit 31b may be configured with hardware such as semiconductor elements and electric circuits and provided in the work support device 30. Hereinafter, for convenience of explanation, the input information received as an input operation by the input device 32 and used for the correction process by the route correction unit 31b will be referred to as "setting information."

[0099] The route correction unit 31b (first control device 31) performs correction processing in accordance with the setting information so that at least a portion of the work implement 2 of the work implement 1 traveling on the outermost routes LOn, LU1 of the travel route R is positioned outside (extends over) the field H. In particular, the route correction unit 31b performs correction processing in accordance with the setting information so that at least a portion of the outline of the work implement 2 of the work implement 1 traveling on the outermost routes LOn, LU1 of the travel route R is positioned outside the field H. The outer routes LOn, LU1 that are corrected by the route correction unit 31b are routes defined at least in the second area A2, and in this embodiment are the circumferential line LOn, and the outermost route is the outermost circumferential line LO1.

[0100] 14 and 15 are diagrams for explaining the correction process by the route corrector 31b. In Fig. 14, the outermost line LO1 before the correction process by the route corrector 31b is shown by a dashed line, and the outermost line LO1' after the correction process by the route corrector 31b is shown by a solid line.

[0101] 14, as a correction process, the route correction unit 31b shifts each side S of the outermost perimeter line LO1 to the outside of the field H by a shift amount w24 that is longer than the separation width w21 in accordance with the setting information (first correction process). Here, the shift amount w24 is equal to or less than the length of the overlapping margin w10.

[0102] As a result, the work implement 2 of the work implement 1 traveling along the corrected outermost periphery line LO1' protrudes outward from the outline OL of the field H by the difference between the shift amount w24 and the separation width w21. For this reason, as is clear from a comparison of Figures 7 and 14, on the outermost periphery line LO1' after the first correction process, the separation width w21' between the work implement 2 of the work implement 1 traveling along each side S and the outline OL of the field H is smaller by the shift amount w24 than the separation width w21 before correction, and the widthwise length of the unworked area NE is also smaller by w24.

[0103] In other words, the width of the unworked area NE is the sum of half the difference between the outer width w2 and the working width w1 and the separation width w21 minus the shift amount w24. Therefore, if the shift amount w24 is equal to the sum of half the difference between the outer width w2 and the working width w1 and the separation width w21, no unworked area NE will occur.

[0104] 15 , as a correction process, the route corrector 31b extends the ends of each side S of the outermost periphery line LO1 outside the field H in accordance with the setting information (second correction process). As the second correction process, the route corrector 31b extends the ends of each side S of the outermost periphery line LO1 in accordance with information input by the input device 32, and shifts each work start position SP and each work end position GP of the outermost periphery line LO1 outside the field H.

[0105] At this time, as shown in Figure 15, when the vehicle body position VP of the work implement 1 is located at the work start position SP, the route definition unit 31a shifts the work area 2a of the work implement 2 outside the field H in the direction in which each side S extends so that the rear end of the work area 2a coincides with the outline OL of the field H (in Figure 15, the work start position after the shift is shown as "SP'"). As a result, the work implement 2 of the work implement 1 located at the work start position SP' after the shift protrudes outside the outline OL by a length w3 between the rear end of the work implement 2 and the rear end of the work area 2a.

[0106] For example, in the case where the length w3 between the rear end of the work device 2 and the rear end of the work range 2a is less than the sum of half the difference between the outer width w2 and the work width w1 and the separation width w21, the route correction unit 31b shifts each work start position SP outside the field H and in the direction in which each side S extends by the sum of half the difference between the outer width w2 and the work width w1 and the separation width w21.

[0107] In addition, if the length w3 between the rear end of the work device 2 and the rear end of the working range 2a is longer than the sum of half the difference between the outer width w2 and the working width w1 and the separation width w21, the route correction unit 31b shifts each work start position SP by the length w3 between the rear end of the work device 2 and the rear end of the working range 2a, outside the field H and in the direction in which each side S extends.

[0108] The route correction unit 31b also shifts each work end position GP by a shift amount w24, toward the outside of the field H and in the direction of each side S (in FIG. 15, the work end position after the shift is shown as "GP'"). As a result, as is clear from a comparison of FIG. 7 and FIG. 15, on the outermost perimeter line LO1' after the second correction process, the length in the forward direction of the unworked area NE at the work start position SP' is reduced by the length w3, and no unworked area NE occurs within the work section E. This allows the route correction unit 31b to prevent the occurrence of an unworked area NE at the work end position GP' as a result of performing the first correction process.

[0109] The information (setting information) input by the input device 32 is, for example, the shift amount w24. In the following explanation, the correction process will be explained along with the information input by the input device 32 and the flow of the correction process by the route corrector 31b, taking as an example a case where the input device 32 receives the input of the shift amount w24, the route corrector 31b performs the correction process for the outermost line LO1 based on the input shift amount w24, and the route corrector 31b does not perform the correction process for any line other than the outermost line LO1.

[0110] FIG. 16 is a flowchart showing an example of a process for correcting a travel route R. As shown in FIG. 16 , when the operator first performs a predetermined operation on the input device 32, the first control device 31 retrieves the travel route R defined by the route definition unit 31a in S4 from the first storage device 33 and displays a setting screen D1 for setting setting information on the input device 32 (S10). For example, the first control device 31 displays the setting screen D1 on the input device 32 after the operator operates the input device 32 in S1 and the route definition unit 31a executes the processes of S2 to S4. Furthermore, the first control device 31 may display the setting screen D1 on the input device 32 when the operator performs a predetermined operation on the input device 32 to select a travel route R for automatic travel from the travel routes R stored in the first storage device 33 before the work machine 1 starts automatic travel. The first control device 31 may then cause the setting screen D1 to be displayed on the input device 32 when the operator performs a predetermined operation on the input device 32 while the work machine 1 is performing automatic traveling.

[0111] 17 is a diagram showing an example of the setting screen D1. The setting screen D1 has a field display section 40 showing a field map M, a correction key 41, a confirmation key 42, and a cancel key 43. The field display section 40 shows the field map M based on the field information acquired by the first control device 31. Also displayed on the field map M are the travel route R and an icon 40a showing the current position of the work implement 1.

[0112] The first control device 31 displays on the field map M the driving route R along which automatic driving is planned to be performed or the driving route R along which automatic driving is currently being performed.

[0113] 17 , the icon 40a is an overhead image showing the work machine 1. The first control device 31 may display the icon 40a by reflecting the type of work machine 1, the type of work machine 2 connected to the work machine 1, and the offset amount based on the acquired machine information and device information. In other words, if the center of the width of the work machine 2 coincides with the center of the width of the work machine 1 in the width direction, the center of the width of the work machine 2 is also displayed in the icon 40a so that it coincides with the center of the width of the work machine 1 in the width direction. On the other hand, if the center of the width of the work machine 2 is shifted in the width direction from the center of the width of the work machine 1, the center of the width of the work machine 2 is also displayed in the icon 40a so that it is shifted in the width direction from the center of the width of the work machine 1.

[0114] The information displayed on the field map M in the field display unit 40 is not limited to the driving route R and icons 40a. When the setting screen D1 is displayed during automatic driving, the first control device 31 may display a completed work area CE in the field display unit 40 of the setting screen D1, as shown in FIG. 17 . In such a case, the first control device 31 acquires the vehicle body position VP during automatic driving and calculates the movement trajectory of the work implement 1 during automatic driving based on the vehicle body position VP. The first control device 31 displays the completed work area CE, which indicates the work results of the work implement 2, in the field display unit 40 based on the calculated movement trajectory and device information.

[0115] The first control device 31 may display an unworked area NE in the field display section 40 of the setting screen D1 instead of or in addition to the worked area CE. Furthermore, the first control device 31 may display a travel route R in the field display section 40 of the setting screen D1.

[0116] The correction key 41 is a key for accepting an input operation of an arbitrary shift amount w24 on the field map M. The correction key 41 accepts an input operation of an arbitrary shift amount w24 in a range that is longer than the separation width w21 and equal to or shorter than the length of the overlapping width w10. The correction key 41 includes a cursor 41a that indicates and changes the shift amount w24, and a meter 41b that indicates the adjustable range of the shift amount w24.

[0117] Note that the correction key 41 is not limited to the example shown in FIG. 17 as long as it can accept an input operation for an arbitrary shift amount w24 within a range that is longer than the separation width w21 and equal to or shorter than the length of the overlap width w10. For example, the meter 41b may be configured to display a range that exceeds the range that is longer than the separation width w21 and equal to or shorter than the length of the overlap width w10 as the adjustable range of the shift amount w24, thereby restricting the movement range of the cursor 41a. For example, a configuration may be adopted in which the cursor 41a cannot be moved beyond the range that is longer than the separation width w21 and equal to or shorter than the length of the overlap width w10, or a configuration in which the first control device 31 displays a pop-up warning on the setting screen D1 when the cursor 41a moves beyond that range.

[0118] The confirmation key 42 is a key for accepting an operation to confirm the shift amount w24 input by the correction key 41. In other words, when the confirmation key 42 is operated, the input device 32 accepts the input operation as the shift amount w24 pointed to by the cursor 41 a on the correction key 41 and the shift amount w24 to be used in the first correction process and the second correction process.

[0119] Therefore, when the input device 32 is displaying the setting screen D1 (S10) and the operator operates the correction key 41 and the confirmation key 42 (S11: YES), the input device 32 outputs the shift amount w24 input using the correction key 41 to the route correction unit 31b (S12).

[0120] The route corrector 31b executes correction processes (first correction process and second correction process) based on the shift amount w24 input by the input device 32 (S13). When the route corrector 31b executes the correction processes (S13), the first control device 31 outputs the corrected travel route R' to the second control device 20 (S14). As a result, the second control device 20 controls the automatic travel based on the corrected travel route R', and causes the work machine 1 in the automatic mode to travel along the corrected travel route R'.

[0121] The cancel key 43 accepts an input operation of an instruction not to execute the correction process. In other words, if the operator does not operate the enter key 42 (S11: NO) but operates the cancel key 43 (S15: YES), the route corrector 31b does not execute the correction process, and the series of processes related to the correction process ends.

[0122] In the above example, the route correction unit 31b performs both the first correction process and the second correction process as correction processes, but the route correction unit 31b only needs to perform at least one of the correction processes.

[0123] Furthermore, the amount by which the route correction unit 31b shifts each work start position SP and each work end position GP in the second correction process is not limited to the example described above, and for example, the input device 32 may individually accept input operations for the amount by which each work start position SP is shifted and the amount by which each work end position GP is shifted.

[0124] In the above example, the input device 32 accepts an input operation for an arbitrary shift amount w24, and the route corrector 31b performs correction processing based on the arbitrary shift amount w24. However, the input device 32 may accept an operation for selecting whether or not to perform correction processing as setting information, instead of the shift amount w24. In such a case, when the input device 32 accepts an input operation to perform correction processing, the route corrector 31b calculates a shift amount w24 that is longer than the separation width w21 and is equal to or shorter than the length of the overlapping width w10, and performs correction processing based on the calculated shift amount w24. On the other hand, when the input device 32 accepts an input operation to not perform correction processing, the route corrector 31b does not perform correction processing.

[0125] At this time, the route correction unit 31b calculates the length of the gap between the work section E of the outermost line LO1 and the outline OL of the field H (the widthwise length of the unworked area NE) based on the positional information of the outline OL of the field H, the positional information of the outermost line LO1, and the device information, and sets the widthwise length of the unworked area NE as a candidate for the shift amount w24. For example, the route correction unit 31b calculates the widthwise length of the unworked area NE from the sum of half the length of the difference between the outer width w2 and the working width w1 and the separation width w21.

[0126] If the calculated widthwise length of the unworked area NE is less than or equal to the length of the overlapping area w10, the route corrector 31b uses the widthwise length of the unworked area NE as the shift amount w24. If the calculated widthwise length of the unworked area NE is longer than the length of the overlapping area w10, the route corrector 31b uses a length equal to the overlapping area w10 as the shift amount w24. This allows the route corrector 31b to calculate the shift amount w24 and perform correction processing based on the shift amount w24. However, the method of calculating the shift amount w24 by the route corrector 31b is not limited to the example described above. For example, the length obtained by multiplying the widthwise length of the unworked area NE by a predetermined coefficient may be used as a candidate for the shift amount w24.

[0127] In the above example, the route corrector 31b corrects the outermost line LO1 in accordance with the setting information, but the route corrector 31b may also correct the outer routes LOn, LU1 in accordance with the setting information, as long as the outermost line LO1 is included in the correction process. In other words, the route corrector 31b may also correct the outer routes LOn, LU1 of the traveling route R other than the outermost line LO1.

[0128] For example, if the travel route R includes multiple circuit lines LOn, the route correction unit 31b may perform correction processing on the multiple circuit lines LOn as outer routes LOn, LU1 of the travel route R. In such a case, the maximum value of the shift amount w24 of the outermost line LO1 to be corrected is the product of the number of circuit lines LOn to be corrected and the overlapping amount w10.

[0129] In this case, the shift amount w24 of each circular line LOn is calculated by dividing the number of circular lines LOn that are to be corrected by the number of those circular lines LOn from the inside, and multiplying this by the shift amount w24 of the outermost line LO1. Therefore, the shift amount w24 of the second outermost circular line LO2 is calculated by multiplying the shift amount w24 of the outermost line LO1 by 4 / 5, and the shift amount w24 of the third outermost circular line LO3 is calculated by multiplying the shift amount w24 of the outermost line LO1 by 2 / 5.

[0130] In the above example, the route correction unit 31b corrects the circular line LOn in accordance with the setting information, but the route correction unit 31b may also correct the outer routes LOn, LU1 in accordance with the setting information, or may correct a route that travels back and forth from one side of the field H to the other, such as the inner route LU. In such a case, the outer route is the outer work line LU1 that is perpendicular to the direction of travel of the inner route LU.

[0131] Furthermore, in the above-described embodiment, an example was given of the case where the work implement 2 connected to the connecting device 3a is the first work implement 2A, but the correction process of shifting and / or extending the travel route R defined by the route definition unit 31a toward the outside of the field H may also be executed when the work implement 2 is the second work implement 2B.

[0132] 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.

[0133] (Item 1) A work support device 30 includes a first control device 31 that defines, on a map showing a field H, a travel route R along which a work machine 1 having a work device 2 travels when working in the field H, and an input device 32 that accepts information input operations, wherein the first control device 31 defines, as the travel route R, routes LOn, LU1 along which the work machine 1 travels inside the field H, and performs a correction process to shift and / or extend at least the routes LOn, LU1 on the outer periphery OL (outline) side of the travel route R towards the outside of the field H, in accordance with the information input by the input device 32.

[0134] According to the work support device 30 of this item 1, the first control device 31 can, in response to a request from the operator, shift and / or extend at least the paths LOn, LU1 on the outer periphery OL side of the field H outward from the field H. As a result, the corrected paths LOn, LU1 on the outer periphery OL side are positioned further outward from the field H than before the correction, and therefore it is possible to prevent an unworked area NE from occurring near the outer periphery OL of the field H when the work implement 1 travels along the outer periphery side paths LOn, LU1, or to reduce the unworked area NE.

[0135] (Item 2) The work support device 30 described in Item 1, wherein the first control device 31 defines the travel route R in which the work device 2 is positioned inside the field H based on dimensional information of the work device 2, and performs the correction process in accordance with information received as an input operation by the input device 32 so that at least a part of the work device 2 of the work machine 1 traveling on the outermost path LOn, LU1 of the travel route R is positioned outside the field H.

[0136] According to the work support device 30 relating to this item 2, it is possible to define a travel route R along which the work device 2 does not extend beyond the field H, while at the same time correcting the travel route R according to the operator's request, and by having the work machine 1 travel along the corrected travel route R in a state in which the work device 2 extends beyond the field H, it is possible to expand the range in which the work device 2 performs work in the field H.

[0137] (Item 3) The work support device 30 described in Item 2, wherein the range in which the work device 2 performs work is located inside the outer shape of the work device 2 at least in the width direction, and the first control device 31 performs the correction process in accordance with information input by the input device 32, so that at least a part of the outer shape of the work device 2 of the work machine 1 traveling on the outermost path LOn, LU1 of the travel route R is located outside the field H.

[0138] According to the work support device 30 relating to this item 3, for a work implement 2 such as a tillage implement, whose work range is located inside the outer shape in the width direction, it is possible to define a travel route R that does not extend beyond the field H, while at the same time, by correcting the travel route R according to the operator's requests, it is possible to expand the range in which the work implement 2 works in the field H.

[0139] (Item 4) The work support device 30 according to item 2 or 3, wherein the first control device 31 defines one or more circuit lines LOn that circle the periphery of the first area A1 in a second area A2 of the map that is located outside the first area A1, as at least a part of the travel route R, and performs the correction process of the circuit lines LOn in accordance with information input by the input device 32.

[0140] According to the work support device 30 relating to this item 4, when the work implement 1 travels on the circular line LOn, a travel route R is created so that the work implement 2 does not protrude from the field H, and at the same time, the circular line LOn is corrected in accordance with the operation of the input device 32, so that the work implement 1 can travel in a state in which the work implement 2 protrudes from the field H.

[0141] (Item 5) The work support device 30 according to Item 4, wherein the first control device 31 performs the correction process of the outermost circulation line LOn in accordance with information of an input operation received by the input device 32, as the correction process.

[0142] According to the work support device 30 of this item 5, when the work implement 1 travels along the corrected outermost circular line LOn, the area in which the work implement 2 works in the field H can be expanded compared to when the work implement 1 travels along the circular line LOn before the correction. Therefore, when the work implement 1 travels along the circular line LOn, it is possible to prevent an unworked area NE from occurring near the outer periphery OL of the field H, or to reduce the unworked area NE.

[0143] (Item 6) The work support device 30 according to Item 5, wherein the first control device 31, as the correction process, shifts each side S of the outermost circular line LOn to the outside of the field H in accordance with information of an input operation received by the input device 32.

[0144] According to the work support device 30 relating to this item 6, when the work implement 1 is traveling on each side S of the corrected circular line LOn, the work implement 2 can be reliably caused to extend outside the field H.

[0145] (Item 7) The work support device 30 described in Item 6 is configured such that the first control device 31 defines the outermost circular line LOn within the second area A2 by shifting the outer periphery OL of the field H inward based on the dimension information, and as the correction process, shifts each side S of the outermost circular line LOn outward from the field H by an amount of shift w24 that is longer than a separation width w21 between the outer periphery OL of the field H and the work implement 2 of the work implement 1 traveling on the outermost circular line LOn, in accordance with information received as an input operation by the input device 32.

[0146] According to the work support device 30 relating to this item 7, when the work implement 1 is traveling on each side S of the corrected circular line LOn, the work implement 2 can be made to extend outside the field H more reliably.

[0147] (Item 8) The work support device 30 according to Item 7, wherein the first control device 31 defines, in the second area A2, a plurality of the circular lines LOn spaced apart by a difference between the working width w1 of the work device 2 and a predetermined overlapping amount w10 as at least a part of the travel route R, and the shift amount w24 is equal to or less than the length of the overlapping amount w10.

[0148] According to the work support device 30 relating to this item 8, when the outermost circulation line LOn is shifted by the shift amount w24, it is possible to prevent an unworked region NE from occurring within the second area A2.

[0149] (Item 9) The input device 32 accepts an input operation of any of the shift amounts w24 in a range that is longer than the separation width w21 and is equal to or shorter than the length of the overlapping width w10, and the first control device 31, as the correction process, shifts each side S of the outermost circumferential line LOn to the outside of the field H by the shift amount w24 that the input device 32 accepted as the input operation.

[0150] The work support device 30 relating to this item 9 not only prevents the occurrence of unworked areas NE, but also allows the operator to set an arbitrary shift amount w24, thereby improving the versatility of the work of the work machine 1 using the corrected driving route R corrected by the first control device 31.

[0151] (Item 10) The input device 32 accepts an input operation to select whether or not to perform the correction processing, and when the input device 32 accepts the input operation to perform the correction processing, the first control device 31 calculates the shift amount w24 in a range that is longer than the separation width w21 and is equal to or shorter than the length of the overlapping width w10, and performs the correction processing with the shift amount w24, and when the input device 32 accepts the input operation to not perform the correction processing, the first control device 31 does not perform the correction processing.

[0152] The work support device 30 according to this item 10 not only prevents the occurrence of unworked areas NE, but also allows the operator to have the first control device 31 correct the travel route R simply by operating the input device 32. Therefore, even if an unworked area NE may occur, the first control device 31 can quickly correct the travel route R.

[0153] (Item 11) The work support device 30 according to any one of Items 5 to 10, wherein the first control device 31, as the correction process, extends an end of each side S of the outermost circular line LOn to the outside of the field H in accordance with information of an input operation received by the input device 32.

[0154] According to the work support device 30 relating to this item 11, the work implement 1 can reliably cause the work implement 2 to extend outside the field H at the end of each side S of the corrected circumferential line LOn.

[0155] (Item 12) The work support device 30 according to item 11, wherein when defining the travel route R, the first control device 31 defines, based on the dimension information, a work start position SP at one end of each side S of the circular line LOn where the work device 2 starts work, and defines a work end position GP at the other end of the side S where the work device 2 ends work, and as the correction process, extends the end of each side S of the outermost circular line LOn in accordance with information received as an input operation by the input device 32, and shifts the work start position SP and the work end position GP to the outside of the field H.

[0156] According to the work support device 30 according to this item 12, the range in which the work implement 2 performs work can be expanded at the end of each side S of the corrected circumferential line LOn.

[0157] (Item 13) A work machine 1 including the work support device 30 according to any one of items 1 to 12, and a second control device 20 that controls automatic traveling or automatic steering based on the travel route R.

[0158] According to the work machine 1 according to this item 13, it is possible to realize the work machine 1 that achieves the above-mentioned effects.

[0159] (Item 14) A work support method for a work implement 1 including a work support device 30 having a first control device 31 that defines, on a map showing a field H, a travel route R that the work implement 1 will travel when working in the field H, and an input device 32 that accepts information input operations, and a second control device 20 that controls automatic travel or automatic steering based on the corrected travel route R defined by the first control device 31, the work support method including the steps of: the first control device 31 defining, as the travel route R, routes LOn, LU1 that the work implement 1 will travel on the inside of the field H; the input device 32 accepting information input operations; and the first control device 31 performing a correction process to shift and / or extend at least the routes LOn, LU1 on the outer periphery OL side of the field H outward from the field H, in accordance with the information accepted as input operations by the input device 32.

[0160] According to the work support method of item 14, the first control device 31 can, in response to a request from the operator, shift and / or extend at least the paths LOn, LU1 of the travel route R that are on the outer periphery OL side of the field H to the outside of the field H. As a result, the outer periphery side paths LOn, LU1 after the correction are located further outside the field H than before the correction, and therefore it is possible to prevent an unworked area NE from occurring near the outer periphery OL of the field H when the work implement 1 travels on the outer periphery side paths LOn, LU1, or to reduce the unworked area NE.

[0161] 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.

[0162] 1: Work machine 2: Work device 20: Second control device 30: Work support device 31: First control device 32: Input device A1: First area A2: Second area GP: Work end position H: Field LOn: Circumference line (route) LU1: Work line (route) NE: Unworked area OL: Outer periphery R: Travel route S: Side SP: Work start position w1: Work width w10: Overlap margin w21: Separation width w24: Shift amount

Claims

1. A work support device comprising: a first control device that defines a travel route on a map showing a field, along which a work machine having a work device travels when performing work in the field; and an input device that receives an input operation of information, wherein the first control device defines, as the travel route, a route along which the work machine travels inside the field, and performs a correction process of shifting and / or extending at least a route on the outer peripheral side of the field of the travel route toward the outside of the field according to the information received by the input device through the input operation.

2. The work support device according to claim 1, wherein the first control device defines the travel route along which the work device is located inside the field based on dimension information of the work device, and performs the correction process such that at least a part of the work device of the work machine traveling along the outermost route of the travel route is located outside the field according to the information received by the input device through the input operation.

3. The range in which the work device performs work is located inside at least in the width direction than the outer shape of the work device, and the first control device performs the correction process such that at least a part of the outer shape of the work device of the work machine traveling along the outermost route of the travel route is located outside the field according to the information received by the input device through the input operation. The work support device according to claim 2.

4. The first control device defines, in a second area located outside a first area of the map, one or a plurality of circular lines that circle around the periphery of the first area as at least a part of the travel route, and performs the correction process of the circular line according to the information received by the input device through the input operation. The work support device according to claim 2.

5. The work support device according to claim 4, wherein the first control device performs the correction process of the outermost circular line as the correction process according to the information received by the input device through the input operation.

6. The work support device according to claim 5, wherein the first control device performs, as the correction process, shifting each side of the outermost circular line to the outside of the field according to the information received by the input device through the input operation.

7. The first control device defines the outermost circumferential line within the second area by shifting the outer periphery of the field inward based on the dimension information, and as the correction process, in accordance with the information received by the input device for an input operation, shifts each side of the outermost circumferential line outward from the field by a shift amount longer than the separation width between the working device of the work machine traveling along at least the outermost circumferential line and the outer periphery of the field. The work support device according to claim 6.

8. The first control device defines, in the second area, a plurality of circumferential lines separated by the difference between the working width of the working device and a predetermined overlap margin as at least part of the travel route, and the shift amount is equal to or less than the length of the overlap margin. The work support device according to claim 7.

9. The input device receives an input operation for an arbitrary shift amount within a range longer than the separation width and equal to or less than the length of the overlap margin, and the first control device, as the correction process, shifts each side of the outermost circumferential line outward from the field by the shift amount received by the input device for an input operation. The work support device according to claim 8.

10. The input device receives an input operation for selecting whether to perform the correction process, and the first control device, when the input device receives an input operation indicating that the correction process is to be performed, calculates a shift amount within a range longer than the separation width and equal to or less than the length of the overlap margin, and performs the correction process with the calculated shift amount, and when the input device receives an input operation indicating that the correction process is not to be performed, does not perform the correction process. The work support device according to claim 8.

11. The first control device, as the correction process, extends the end portions of each side of the outermost circumferential line outward from the field in accordance with the information received by the input device for an input operation. The work support device according to claim 5.

12. The first control device defines, when defining the travel route, a work start position where the work device starts work at one end of each side of the circumferential line based on the dimensional information, and a work end position where the work device ends work at the other end. As the correction process, the work support device according to claim 11 extends the ends of each side of the outermost circumferential line according to the information received by the input device's input operation, and shifts the work start position and the work end position outside the field.

13. A working machine comprising the work support device according to any one of claims 1 to 12, and a second control device that controls automatic travel or automatic steering based on the travel route.

14. A work support method for a working machine, comprising a first control device that defines a travel route along which the working machine travels when working in a field on a map of the field, and an input device that receives an input operation of information, and a second control device that controls automatic travel or automatic steering based on the corrected travel route defined by the first control device, the method comprising: a step in which the first control device defines, as the travel route, a path along which the working machine travels inside the field; a step in which the input device receives an input operation of information; and a step in which the first control device performs a correction process of shifting and / or extending at least the path on the outer peripheral side of the field in the travel route toward the outside of the field according to the information received by the input device's input operation.

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