Work assistance device, work system, and work assistance method

Abstract

The present invention accurately and appropriately defines a position for guiding a transport vehicle on a road.　A work assistance device (100) comprises: a storage device (102) that stores map information including a road (FR) around a field (H); an arithmetic device (101) that, when a harvester (1A) for harvesting crops in the field stops traveling, defines, on the road, a guide position (SP2) for guiding a transport vehicle (1B) to the vicinity of the harvester on the basis of the map information and a stop position (SP1) of the harvester, the transport vehicle transporting the crops discharged from the harvester; and an output device (103) that outputs the guide position defined by the arithmetic device.

Description

Work support device, work system, and work support method

[0001] The present invention relates to a work support device, a work system, and a work support method.

[0002] In the harvesting method disclosed in Patent Document 1, when the amount of grain stored in the grain tank becomes greater than a predetermined amount while the combine is automatically traveling, the combine controller automatically drives the combine from a departure position at a corner of the rectangular automatic harvesting path located in front of the combine to a discharge position set on the outer periphery of the field, and then drives the discharge auger to discharge the grain stored in the grain tank to the outside.

[0003] Japanese Patent Publication No. 2022-129637

[0004] In the harvesting method of Patent Document 1, a combine (harvester) is automatically driven to a discharge position set on the periphery of a field, and the harvester discharges grains (harvested material) at the discharge position onto the loading platform of a transport vehicle (carrier).

[0005] However, the discharge position in Patent Document 1 is defined merely in the vicinity of the transport vehicle, and does not take into consideration roads around the field.

[0006] The present invention has been made to solve the problems of the conventional technology, and aims to provide a work support device, a work system, and a work support method that can accurately and appropriately define the position to which a transport vehicle should be guided relative to a road.

[0007] A work support device according to one embodiment of the present invention includes a storage device that stores map information including roads surrounding a field, a calculation device that, when a harvester harvesting crops in the field stops moving, defines a guidance position on the road based on the map information and the stopping position of the harvester to guide a transport vehicle carrying the harvested crops discharged from the harvester to the vicinity of the harvester, and an output device that outputs the guidance position defined by the calculation device.

[0008] The map information may define a plurality of vertices based on the shape of the road, and the calculation device may define the guidance position on the road based on the vertices and the stop position.

[0009] The map information may define a plurality of section routes connecting a plurality of the vertices, and the calculation device may define the guidance position on the section routes based on the plurality of section routes and the stop position.

[0010] The calculation device may define the guidance position on a predetermined section route among the plurality of section routes based on a positional relationship between the plurality of section routes and the stop position.

[0011] The calculation device may define the guidance position on a section route that is closest to the stop position among the plurality of section routes.

[0012] The calculation device may define the guidance position at a position closest to the stop position among the section route closest to the stop position.

[0013] The map information may include a plurality of the fields and the roads around the plurality of the fields, and the calculation device may define the guidance position on the roads around the plurality of the fields.

[0014] The calculation device may define a waiting position at which the transport vehicle is to wait at any one of the plurality of vertices based on the map information, and the output device may output the waiting position defined by the calculation device.

[0015] The calculation device may, based on the map information, prioritize defining the standby position at a vertex that is connected to a larger number of the section routes among the plurality of vertices.

[0016] A work support system according to one aspect of the present invention includes the work support device, the harvester, and the transporter.

[0017] The transporter may acquire the guide position output from the output device and automatically travel to the guide position.

[0018] The calculation device may define a waiting position at one of the plurality of vertices based on the map information, the waiting position defined by the calculation device, the output device may output the waiting position defined by the calculation device, the transport vehicle may acquire the waiting position output from the output device, wait at the waiting position, and upon acquiring the guide position, may automatically drive from the waiting position to the guide position.

[0019] The harvester may stop traveling when the remaining capacity of a storage section that stores the harvested product falls below a predetermined value.

[0020] When the remaining capacity falls below a predetermined value, the harvester may stop traveling at a location on the road where a discharge device that discharges the harvested product stored in the storage section to the transport vehicle is located.

[0021] A work assistance method according to one aspect of the present invention includes the steps of: when a harvester harvesting crops in a field stops moving, a calculation device acquiring the stopping position of the harvester; the calculation device defining, based on map information including roads surrounding the field and the stopping position, a guidance position on the road for guiding a transport vehicle carrying the harvested crops discharged from the harvester to the vicinity of the harvester; and an output device outputting the guidance position defined by the calculation device.

[0022] According to the above-described work support device, work system, and work support method, the position to which the transporter is to be guided can be defined accurately and appropriately with respect to the road.

[0023] 1 is a configuration diagram of a work support system in a first embodiment. FIG. 1 is a side view showing an example of a harvester in the first embodiment. FIG. 2 is a plan view showing an example of a harvester in the first embodiment. FIG. 3 is a side view showing an example of a transporter in the first embodiment. FIG. 4 is a diagram showing an example of a first traveling route in the first embodiment. FIG. 5 is a diagram showing an example of an example of a harvester moving to a stop position in the first embodiment. FIG. 6 is a diagram showing another example of an example of an example of a harvester moving to a stop position in the first embodiment. FIG. 7 is a diagram showing an example of a second traveling route in the first embodiment. FIG. 8 is a diagram showing an example of a road map in the first embodiment. FIG. 9 is a flowchart showing an example of a process for defining a guided route including a guided position executed by the work support device in the first embodiment. FIG. 10 is a diagram explaining the definition of a guided position in the first embodiment. FIG. 11 is a flowchart showing an example of a process for defining a standby route including a standby position executed by the work support device in the first embodiment. FIG. 12 is a configuration diagram of a work support system in a second embodiment. FIG. 13 is a side view showing an example of a work vehicle in the second embodiment. FIG. 14 is a side view showing an example of a work vehicle in the second embodiment. FIG. 15 is a front oblique view showing a front loader in the second embodiment. FIG. 16 is a diagram showing an example of cooperative traveling between a work vehicle and a harvester in the second embodiment. FIG. 17 is a diagram explaining the handover of transported goods by a work vehicle in the second embodiment. 10 is a diagram illustrating the loading (discharging) of transported materials by a work vehicle in a second embodiment. FIG. 11 is a diagram illustrating a work vehicle equipped with tillage equipment in a second embodiment. FIG. 12 is a diagram illustrating a work vehicle equipped with tillage equipment in a second embodiment. FIG. 13 is a configuration diagram of a work assistance system in a modified example of the second embodiment. FIG. 14 is a diagram illustrating an example of cooperative traveling between a work vehicle and a harvester in a modified example of the second embodiment. FIG. 15 is a configuration diagram of a work assistance system in a third embodiment. FIG. 16 is a side view showing an example of an agricultural machine in a third embodiment. FIG. 17 is a side view showing an example of an agricultural machine in a third embodiment. FIG. 18 is a front perspective view showing a transport mechanism and a front loader in a third embodiment. FIG. 19 is a side view showing an example of a transport device in a third embodiment. FIG. 19 is a rear view showing an example of a transport device in a third embodiment.

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

[0025] 1 is a configuration diagram of a work support system 200 according to the first embodiment. The work support system 200 is a system that supports the harvesting of crops (harvested products) such as vegetables, unhulled rice, wheat, millet, barley, buckwheat, beans, and other grains, as well as potatoes and seeds.

[0026] As shown in Fig. 1, the work support system 200 includes a harvester 1A, a transporter 1B, and a work support device 100. The harvester 1A is a work machine that is capable of traveling and that harvests crops in a field H. The transporter 1B is a vehicle that is capable of traveling and that transports the crops harvested by the harvester 1A. The work support device 100 supports the traveling and work of the harvester 1A and the transporter 1B. The harvester 1A will be described below.

[0027] In this embodiment, the harvester 1A is equipped with a discharge device 13A that discharges harvested crops to a transporter 1B. The harvester 1A may also be equipped with a first storage section 12A (storage section) that stores harvested crops. FIG. 2 is a side view showing an example of the harvester 1A in the first embodiment. FIG. 3 is a plan view showing an example of the harvester 1A in the first embodiment. In the example shown in FIGS. 2 and 3, the harvester 1A is a combine that can discharge harvested crops to a transporter 1B.

[0028] The harvester 1A is not limited to a combine harvester as long as it is capable of at least harvesting crops in the field H. For example, the harvester 1A may be a tractor 1C (work vehicle) equipped with an implement 15B for harvesting crops, or a work machine such as an onion picker that collects crops placed in the field H. For convenience of explanation, the following description will be given taking as an example a case where the harvester 1A is a so-called head-feeding combine harvester that harvests grains (kernels) as the crop, and will omit explanations of other types of harvester 1A.

[0029] In the following description, harvester 1A will be described with the front side (the direction of arrow AR1 in FIGS. 2 and 3) of the worker (operator) seated in driver's seat 2A of harvester 1A as the front, the rear side of the worker (the direction of arrow AR2 in FIGS. 2 and 3) as the rear, the left side of the worker as the left side (the near side in FIG. 2, the direction of arrow AR3 in FIG. 3), and the right side of the worker as the right side (the far side in FIG. 2, the direction of arrow AR4 in FIG. 3). In addition, the horizontal direction, which is perpendicular to the fore-and-aft direction of harvester 1A, will be described as the width direction of harvester 1A.

[0030] As shown in Figures 1 to 3, the harvester 1A comprises a vehicle body 3A (machine body), a prime mover 4A, a transmission 5A, a running device 6A, a harvesting device 10A, a threshing device 11A, a first storage section 12A (grain tank), and a discharge device 13A.

[0031] The vehicle body 3A supports various devices (on-vehicle devices) provided on the harvester 1A. For example, the vehicle body 3A is provided with a driver's seat 2A and a protection mechanism (for example, a cabin, a canopy, etc.) for protecting the driver's seat 2A.

[0032] The prime mover 4A is a power source that outputs power. The prime mover 4A is an engine (e.g., a diesel engine) or an electric actuator. The power generated by the prime mover 4A is output to, for example, a hydraulic pump that discharges hydraulic oil to drive a hydraulic actuator.

[0033] The transmission 5A can change the propulsive force of the traveling device 6A by changing gears, and can also switch between forward and reverse travel of the traveling device 6A. The transmission 5A has an HST (Hydro Static Transmission), multiple gears that transmit power, a shifter that changes the connection of the gears, a clutch that switches between transmitting and disconnecting power, and the like, and switches the propulsive force of the traveling device 6A and switches between forward and reverse travel by the HST, gears, shifter, clutch, and the like.

[0034] A pair of traveling units 6A are provided in the width direction and support the vehicle body 3A so that it can travel. The traveling units 6A are provided with crawler-type wheels. The traveling unit 6A on one side (left side) in the width direction and the traveling unit 6A on the other side (right side) are driven independently by HSTs. Therefore, when the HST does not cause a difference in rotation between the left and right traveling units 6A, the vehicle body 3A travels straight, and when a difference in rotation occurs, the vehicle body 3A turns. In the example shown in Figures 2 and 3, the traveling units 6A are crawler-type, but may include tire-type front and rear wheels instead of crawler-type wheels.

[0035] The reaping device 10A is a device that reaps planted stalks in the field H. The reaping device 10A is provided at the front of the vehicle body 3A across the width direction.

[0036] The threshing device 11A is a device that threshes the stalks harvested by the harvesting device 10A. The threshing device 11A is provided at the rear of the vehicle body 3A.

[0037] The first storage section 12A is a tank that stores the grain threshed by the threshing device 11A. The first storage section 12A is provided at the rear of the vehicle body 3A and is positioned adjacent to the threshing device 11A in the width direction. The first storage section 12A is also provided with a yield sensor 12A1 that detects the amount of grain stored in the first storage section 12A. The yield sensor 12A1 is, for example, a load cell that measures the weight of the grain stored in the first storage section 12A.

[0038] The discharge device 13A discharges the grain stored in the first storage section 12A to the outside. The discharge device 13A includes a vertical conveying section 13A1 and a horizontal conveying section 13A2 (unloader). The vertical conveying section 13A1 is connected to the bottom of the first storage section 12A. A vertical conveying mechanism such as a conveying screw is provided inside the vertical conveying section 13A1 to send the grain sent out from the first storage section 12A upward.

[0039] The horizontal conveying section 13A2 is connected to the upper end of the vertical conveying section 13A1 and is in communication with the vertical conveying section 13A1. The horizontal conveying section 13A2 has a cylindrical horizontal cylinder that extends horizontally and through which the grain passes, a horizontal feed mechanism such as a conveying screw that is provided inside the horizontal cylinder and feeds the grain sent out from the vertical conveying section 13A1 to the tip of the horizontal cylinder, and a vertical cylinder that is attached to the tip of the horizontal cylinder and extends in the up-down direction (vertical direction). The vertical cylinder at the tip of the horizontal conveying section 13A2 is the section that discharges the grain, discharging the grain from the bottom.

[0040] As shown in Fig. 3, the horizontal conveying section 13A2 can rotate (turn) around a rotation axis O extending in the vertical direction. Specifically, the horizontal conveying section 13A2 turns when driven by a hydraulic actuator (a rotation motor). The horizontal conveying section 13A2 can rotate between a storage position where the tip of the horizontal cylinder is located inside the width direction of the vehicle body 3A and an unloading position where the tip of the horizontal cylinder is located outside the width direction of the vehicle body 3A.

[0041] The horizontal conveying section 13A2 is mounted on the upper end of the vertical conveying section 13A1 and can swing up and down around a horizontally extending swing axis. Specifically, the horizontal conveying section 13A2 swings when driven by a hydraulic actuator (hydraulic cylinder). The swing motor and the hydraulic cylinder are connected to a control valve that controls the hydraulic oil discharged from the hydraulic pump of the harvester 1A, and their drive is controlled by the control valve.

[0042] As shown in FIG. 1, the harvester 1A includes a first control device 20A, a first storage device 21A, a first operating device 22A, a first communication device 23A, a first sensing device 24A, and a first display device 25A.

[0043] The first control device 20A is a processing circuit including one or more processors. The first control device 20A is a controller for the harvester 1A and performs various controls related to the harvester 1A. The first control device 20A is communicatively connected to various devices mounted on the harvester 1A via an on-board network N1 such as CAN, ISOBUS, LIN, or FlexRay. For example, the first control device 20A performs control processing (operation) of the prime mover 4A, the transmission 5A, etc. based on a signal (operation signal) input from the first operating device 22A. For example, the first control device 20A controls the drive, stop, and rotation speed of the prime mover 4A. The first control device 20A controls the transmission 5A to switch the operating speed and operating direction of the traveling device 6A, thereby changing the vehicle speed of the harvester 1A (body 3A), and switching between forward and reverse travel of the harvester 1A.

[0044] The first control device 20A 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 first control device 20A 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 first control device 20A may also be able to execute various processes based on predetermined logic circuits using one or more processors.

[0045] 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).

[0046] The first control device 20A may execute various processes by having multiple physically separated processors cooperate with each other, and the configuration is not limited to the configuration described above. In such a case, the multiple processors are mounted on one or more computers that are physically separated from the harvester 1A, and these processors are connected to each other so as to be able to communicate with each other via a network such as the in-vehicle network N1, a LAN, a WAN, or the Internet.

[0047] In addition, the software program may be stored in a recording medium (non-volatile memory such as HDD, SSD, CD-ROM, DVD-ROM, etc.) communicatively connected to the first control device 20A, or in an external work support device 100 connected via the network, and may be configured to be installed into the memory from there.

[0048] The first storage device 21A stores various types of information and data related to the harvester 1A in a readable and writable manner. The first storage device 21A includes a non-volatile memory, etc. The first storage device 21A is communicably connected to the first control device 20A, and the first control device 20A can acquire the various types of information and data stored in the first storage device 21A. For example, the first storage device 21A stores information about the field H where the harvester 1A will perform harvesting work (field information) and machine information about the harvester 1A.

[0049] The field information includes information indicating the identification information, position, area, and field map M1 of the field H. The field information is information defined in association with each field H. The field map M1 is map information indicating the outline of the field H and the position information of various areas set in the field H.

[0050] The machine information includes information indicating the identification, type, size, and specifications of the harvester 1A. For example, the machine information includes information indicating the first working width W1 of the harvesting device 10A (the widthwise length over which the harvesting device 10A harvests the stalks). The machine information also includes information indicating the movable range of the discharge device 13A (particularly the vertical cylinder).

[0051] The first storage device 21A may also store work information related to agricultural work in the field H. The work information includes information related to agricultural work that is scheduled to be carried out in the field H. The work information is information that is defined in association with each field H. The work information includes, for example, work conditions and a work plan.

[0052] The first operating device 22A includes levers, switches, pedals, dials, other keys, etc. that can be operated by an operator seated in the driver's seat 2A or an operator near the harvester 1A. For example, the first operating device 22A includes a lever that controls the turning of the vehicle body 3A by the traveling device 6A, a lever that controls the speed change of the HST (main transmission), and a dial that controls the rotation speed of the prime mover 4A.

[0053] The harvester 1A is capable of manual steering, in which the vehicle body 3A is turned (steered) in accordance with the operation of the first operating device 22A, and automatic steering, in which the vehicle body 3A is turned by the first control device 20A controlling the transmission device 5A without the operation of the first operating device 22A.

[0054] Furthermore, the harvester 1A can run and stop using the traveling device 6A by operating the transmission 5A in response to the operation of the first operating device 22A. Furthermore, the first control device 20A controls the transmission 5A and operates the traveling device 6A, thereby enabling the harvester 1A to run and stop automatically.

[0055] That is, the harvester 1A is capable of manual operation in which the operator performs the driving and steering operations, and automatic driving (also referred to as automatic driving or autonomous driving) in which the first control device 20A automatically performs the driving and steering operations. In the following description, a mode in which the harvester 1A is manually driven and steered by the operator is referred to as manual mode, and a mode in which the driving and steering are automatically performed by the first control device 20A is referred to as automatic mode. The harvester 1A (first control device 20A) can be switched between manual mode and automatic mode, for example, by a mode selector switch provided in the first operation device 22A.

[0056] The first control device 20A may be capable of automatically switching between the manual mode and the automatic mode based on predetermined conditions. In addition, although the present embodiment will be described taking as an example a case where the first control device 20A controls the automatic driving, the first control device 20A may perform automatic steering in the automatic mode and leave the driving to an operator (the driving is operated by the operator's manual driving) to perform automatic steering.

[0057] The first communication device 23A is a communication interface of the harvester 1A and includes a communication circuit. The first communication device 23A wirelessly communicates with the work assistance device 100 via, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series, which is a communication standard, a mobile phone communication network, a data communication network, or the like. The first communication device 23A wirelessly communicates with the work assistance device 100 and inputs and outputs (transmits and receives) various types of information, data, signals, and the like.

[0058] The first sensing device 24A is a device that senses the harvester 1A. For example, the first sensing device 24A includes a first position detection device 24A1 that detects a first vehicle body position VP1 of the harvester 1A. The first sensing device 24A also includes a first distance detection device 24A2 that detects the distance between the harvester 1A and another object.

[0059] The first position detection device 24A1 receives satellite signals from a satellite positioning system using a GPS antenna and detects a first vehicle body position VP1 of the harvester 1A using the satellite signals. The first vehicle body position VP1 detected by the first position detection device 24A1 is the current position of the harvester 1A. The first vehicle body position VP1 is positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The first vehicle body position VP1 is, for example, the own position of the first position detection device 24A1 or a position obtained by correcting the own position of the first position detection device 24A1 to a predetermined position (reference point) of the harvester 1A.

[0060] Furthermore, the first position detection device 24A1 may have an inertial measurement unit (IMU) including an acceleration sensor, a gyro sensor, etc. The first position detection device 24A1 may detect tilt information (roll angle, pitch angle, and yaw angle) of the vehicle body 3A using the inertial measurement unit, and correct the first vehicle body position VP1 based on the tilt information.

[0061] The first control device 20A controls automatic travel based on the first vehicle body position VP1 detected by the first position detection device 24A1 and the first travel route R1, causing the harvester 1A in automatic mode to travel along the first travel route R1. The first control device 20A controls the transmission 5A so that the position deviation and / or azimuth deviation between the first vehicle body position VP1 and the first travel route R1 becomes zero. The first travel route R1 is a route along which the harvester 1A travels automatically, and is data represented by latitude and longitude, or data represented by coordinates (X-axis, Y-axis), or the like. The first control device 20A changes the vehicle speed between a straight section along the first travel route R1 where the harvester 1A travels straight and a turning section along the first travel route R1 where the harvester 1A turns.

[0062] In the example described above, the first position detection device 24A1 detects the first vehicle body position VP1 of the harvester 1A using a satellite positioning system, but the first vehicle body position VP1 of the harvester 1A may be detected by another method other than the satellite positioning system. For example, the first position detection device 24A1 may be configured to detect the current first vehicle body position VP1 based on the results of sensing by the LiDAR of the first distance detection device 24A2 and the map information stored in the first storage device 21A.

[0063] Furthermore, in the above example, the harvester 1A is provided with the first position detection device 24A1, but the first position detection device 24A1 does not have to be provided in the harvester 1A. For example, the first position detection device 24A1 may be provided in another terminal capable of communicating with the first communication device 23A (for example, in the case where an operator is riding on the harvester 1A, a portable terminal carried by the operator), and a configuration may be adopted in which the first vehicle body position VP1 is transmitted from the other terminal to the first control device 20A.

[0064] The first distance detection devices 24A2 include devices such as laser sensors like LiDAR, ultrasonic sensors, and cameras. Each first distance detection device 24A2 is installed at the front, rear, and left and right sides of the vehicle body 3A. Each first distance detection device 24A2 detects the presence or absence of an object around the harvester 1A and the distance to the object. The first control device 20A controls the transmission 5A and other devices based on the output signal from each first distance detection device 24A2. For example, when an object is present in the traveling direction of the harvester 1A and the distance from the harvester 1A to the object is less than a predetermined value, the first control device 20A controls the transmission 5A and other devices to slow down or stop the traveling device 6A.

[0065] The first display device 25A is a device that displays various information related to the harvester 1A. The first display device 25A is disposed near the driver's seat 2A (e.g., in front of the operator seated in the driver's seat 2A). The first display device 25A may be operable using a switch included in the first operating device 22A, or may have a touch display and be operable using the touch display. In other words, the first display device 25A also serves as an input interface that accepts information input operations (input of information settings). Therefore, the first display device 25A accepts various information settings or input of instructions when the operator performs predetermined operations on objects displayed on the display screen using the switch or touch display.

[0066] Next, the transporter 1B will be described. The transporter 1B is a vehicle that transports the harvested product discharged from the harvester 1A and is equipped with a second storage section 16B1 that stores the harvested product. The second storage section 16B1 is a flexible container bag (flecon), a container, a tank, a loading platform, or the like. Fig. 4 is a side view showing an example of the transporter 1B in the first embodiment. In the example shown in Fig. 4, the transporter 1B is a tractor 1C equipped with a dolly 15B1 (trailer) that can carry a container as the second storage section 16B1.

[0067] In the following description, a configuration including the tractor 1C and the second storage section 16B1 is referred to as a transporter 1B. Also, a configuration including the tractor 1C and the implement 15B is referred to as a work machine or agricultural machine, and a configuration of only the tractor without the implement 15B is sometimes referred to as a work vehicle.

[0068] Furthermore, the transporter 1B is not limited to a work machine 1B equipped with a dolly 15B1, but may be any vehicle that is equipped with at least a second storage section 16B1 for storing harvested products and is capable of transporting the harvested products discharged from the harvester 1A. For example, the transporter 1B may be a work machine 1B equipped with a tank as the second storage section 16B1 instead of the dolly 15B1, or a truck having a loading platform as the second storage section 16B1. For convenience of explanation, the following description will be given taking as an example a case where the transporter 1B is a tractor 1C equipped with a dolly 15B1, and descriptions of other transporters 1B will be omitted.

[0069] In the following description, the work vehicle 1C will be described with the front side (in the direction of arrow AR5 in FIG. 4) of the worker seated in the driver's seat 2B of the work vehicle 1C being the front, the rear side of the worker (in the direction of arrow AR6 in FIG. 4) being the rear, the left side of the worker being the left side (the near side in FIG. 4), and the right side of the worker being the right side (the far side in FIG. 4). The horizontal direction, which is perpendicular to the fore-and-aft direction of the work vehicle 1C, will be described as the width direction of the work vehicle 1C.

[0070] As shown in FIGS. 1 and 4 , the work vehicle 1C includes a vehicle body 3B (machine body), a motor 4B, a transmission 5B, and a traveling device 6B. The vehicle body 3B supports various devices (on-board devices) provided on the work vehicle 1C. For example, the vehicle body 3B is provided with a driver's seat 2B and a protection mechanism (e.g., a cabin, a canopy, a rope, etc.) for protecting the driver's seat 2B. In addition, an implement 15B such as a bogie 15B1 or a working device 15B2 can be coupled to the vehicle body 3B. The working device 15B2 refers to the implement 15B that performs agricultural work in a field H, etc. Specifically, a coupling device 3B1 is provided at the front and / or rear of the vehicle body 3B to couple the implement 15B so that it can be raised and lowered.

[0071] In the example shown in FIG. 4 , the coupling device 3B1 is provided at the rear of the vehicle body 3B and couples the implement 15B to the rear of the vehicle body 3B. The coupling device 3B1 is configured, for example, with a three-point linkage mechanism or the like, and is capable of raising and lowering the coupled implement 15B. The coupling device 3B1 is operated by a hydraulic actuator (hydraulic cylinder) and raises and lowers the coupled implement 15B. Therefore, by coupling the implement 15B to the coupling device 3B1, the implement 15B is mounted on the work vehicle 1C. The hydraulic cylinder is connected to a control valve that controls the hydraulic oil discharged from the hydraulic pump of the work vehicle 1C, and its drive is controlled by the control valve.

[0072] 4, the implement 15B is a cart 15B1 capable of carrying the second storage section 16B1, a tilling implement 40B for tilling, a tilling implement 50B for plowing, a ridge forming device for forming ridges, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spraying pesticides for pest control, a seed spreading device for sowing seeds, a transplanter for planting crops (seedlings), a harvesting device for harvesting crops, a reaping device for reaping grass, etc., a spreading device for spreading grass, etc., a grass collecting device for collecting grass, etc., a shaping device for shaping grass, etc. In other words, the operator can select from various types of implement 15B as described above and connect the selected implement 15B to the connecting device 3B1.

[0073] The implement 15B may be operated by power transmitted from a PTO shaft 5B1 described below, or may have a hydraulic actuator driven by hydraulic oil discharged from a hydraulic pump of the work vehicle 1C and be operated by the hydraulic actuator. The implement 15B may also have an electric actuator driven by supplied electric power and be operated by the electric actuator.

[0074] At this time, when power is transmitted to the implement 15B from the PTO shaft 5B1, the input shaft of the implement 15B is connected to the PTO shaft 5B1 by a universal joint. Furthermore, when the implement 15B has a hydraulic actuator, the hydraulic actuator is connected to a control valve that controls the hydraulic oil discharged from the hydraulic pump of the work vehicle 1C, and its drive is controlled by the control valve. Furthermore, when the implement 15B has an electric actuator, the electric actuator is supplied with power from the work vehicle 1C.

[0075] The prime mover 4B is a power source that outputs power. The prime mover 4B is an engine (e.g., a diesel engine) or an electric actuator. The power generated by the prime mover 4B is output to, for example, a hydraulic pump that discharges hydraulic oil to drive a hydraulic actuator.

[0076] The transmission 5B can change the propulsive force of the traveling device 6B by changing gears, and can also switch the traveling device 6B between forward and reverse. The transmission 5B 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 like, and switches the propulsive force of the traveling device 6B and switches between forward and reverse using the gears, shifters, clutches, etc. As a result, the power generated by the prime mover 4B is transmitted to the traveling device 6B by the transmission 5B, which drives the traveling device 6B, causing the vehicle body 3B to travel forward and backward.

[0077] 4, the transmission 5B is provided with a PTO shaft 5B1 for transmitting (outputting) the power output by the prime mover 4B to the outside. The transmission 5B can switch between driving and stopping the PTO shaft 5B1 using, for example, a clutch, and the implement 15B connected to the PTO shaft 5B1 is driven by the power transmitted from the PTO shaft 5B1.

[0078] The traveling units 6B are provided in pairs in the width direction and support the vehicle body 3B so that it can travel. The traveling units 6B are provided with tire-type wheels (front wheels 6B1 and rear wheels 6B2). In the example shown in Fig. 4, the front wheels 6B1 and the rear wheels 6B2 are tire-type wheels, but they may also be crawler-type wheels.

[0079] As shown in FIG. 1, the work vehicle 1C is equipped with a second control device 20B, a second memory device 21B, a second operating device 22B, a second communication device 23B, a second sensing device 24B (sensing device), and a second display device 25B.

[0080] The second control device 20B is a processing circuit including one or more processors. The second control device 20B is a controller for the work vehicle 1C and performs various controls related to the work vehicle 1C. The second control device 20B is communicatively connected to various devices mounted on the work vehicle 1C via an on-board network N2 such as CAN, ISOBUS, LIN, or FlexRay. For example, the second control device 20B performs control processing (operation) of the prime mover 4B and the transmission 5B, etc., based on a signal (operation signal) input from the second operating device 22B. For example, the second control device 20B controls the drive, stop, and rotation speed of the prime mover 4B. The second control device 20B controls the transmission 5B to switch the operating speed and operating direction of the traveling device 6B, thereby changing the vehicle speed of the work vehicle 1C (body 3B) and switching between forward and reverse travel of the work vehicle 1C.

[0081] The second control device 20B includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (store) software programs and various data to be executed by one or more processors. The second control device 20B 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, as described for the first control device 20A, the second control device 20B may execute various processes based on predetermined logic circuits using one or more processors. Furthermore, as described for the first control device 20A, the second control device 20B may execute various processes by multiple physically separated processors working together, and the configuration is not limited to the configuration described above.

[0082] The second storage device 21B stores various types of information and data related to the work vehicle 1C in a readable and writable manner. The second storage device 21B includes a non-volatile memory, etc. The second storage device 21B is communicably connected to the second control device 20B, and the second control device 20B can acquire the various types of information and data stored in the second storage device 21B.

[0083] The second operating device 22B includes switches, levers, pedals, other keys, etc. that can be operated by an operator seated in the driver's seat 2B or an operator near the work vehicle 1C. For example, the second operating device 22B includes a steering wheel that operates the steering device 7B (steering shaft and power steering mechanism) that changes the direction of the front wheels 6B1 of the traveling unit 6B to steer the vehicle body 3B, a lever that operates a gear change, and an accelerator member (lever and / or pedal) that controls the rotation speed of the prime mover 4A.

[0084] The work vehicle 1C is capable of manual steering, in which the second operating device 22B steers the vehicle body 3B in response to operation of the steering wheel, and automatic steering, in which the second control device 20B controls the second operating device 22B to steer the vehicle body 3B.

[0085] Furthermore, in response to manual operation of the accelerator member or brake pedal provided on the second operating device 22B, the braking devices of the prime mover 4B, the transmission 5B, or the traveling device 6B are activated, and the work vehicle 1C can travel and stop by activating the traveling device 6B. Furthermore, the second control device 20B controls the prime mover 4B, the transmission 5B, and the braking devices, and activates the traveling device 6B, allowing the work vehicle 1C to travel and stop automatically.

[0086] That is, the work vehicle 1C is capable of manual driving, in which the worker performs driving and steering operations, and automatic driving, in which the second control device 20B automatically performs driving and steering. In the following description, a mode in which the work vehicle 1C is manually driven and steered by the worker is referred to as manual mode, and a mode in which driving and steering are automatically performed by the second control device 20B is referred to as automatic mode. The work vehicle 1C (second control device 20B) can be switched between manual mode and automatic mode, for example, by a mode selector switch provided on the second operating device 22B.

[0087] The second control device 20B may be capable of automatically switching between the manual mode and the automatic mode based on predetermined conditions. In addition, although the present embodiment will be described taking as an example a case where the second control device 20B controls automatic driving, the second control device 20B may perform automatic steering in the automatic mode and leave driving to an operator (the driving is operated by manual driving by the operator) to perform automatic steering.

[0088] The second communication device 23B is a communication interface of the work vehicle 1C and includes a communication circuit. The second communication device 23B communicates wirelessly with the work assistance device 100, for example, via Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series, which is a communication standard, a mobile phone communication network, or a data communication network. The second communication device 23B communicates wirelessly with the work assistance device 100 and inputs and outputs (transmits and receives) various types of information, data, signals, etc. Note that the second communication device 23B may be capable of direct or indirect wireless communication with the first communication device 23A.

[0089] The second sensing device 24B is a device that senses the work vehicle 1C. For example, the second sensing device 24B includes a second position detection device 24B1 that detects a second vehicle body position VP2 of the work vehicle 1C. The second sensing device 24B also includes a second distance detection device 24B2 that detects the distance between the work vehicle 1C and another object.

[0090] The second position detection device 24B1 receives satellite signals from a satellite positioning system using a GPS antenna, and detects a second vehicle body position VP2 of the work vehicle 1C using the satellite signals. The second vehicle body position VP2 detected by the second position detection device 24B1 is the current position of the work vehicle 1C. The second vehicle body position VP2 is positioning information such as data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis). The second vehicle body position VP2 is, for example, the own position of the second position detection device 24B1, or a position obtained by correcting the own position of the second position detection device 24B1 to a predetermined position (reference point) of the work vehicle 1C (or work implement 1B).

[0091] The second position detection device 24B1 may also have an inertial measurement unit (IMU) including an acceleration sensor, a gyro sensor, etc. The second position detection device 24B1 may detect tilt information (roll angle, pitch angle, and yaw angle) of the vehicle body 3B using the inertial measurement unit, and correct the second vehicle body position VP2 based on the tilt information.

[0092] The second control device 20B controls the automatic traveling based on the second vehicle body position VP2 detected by the second position detection device 24B1 and the second traveling route R2, and causes the work vehicle 1C in automatic mode to travel along the second traveling route R2. The second control device 20B controls the steering device 7B so that the position deviation and / or azimuth deviation between the second vehicle body position VP2 and the second traveling route R2 becomes zero. The second traveling route R2 is a route along which the work vehicle 1C travels automatically, and is data indicated by latitude and longitude, or data indicated by coordinates (X axis, Y axis), etc. The second control device 20B changes the vehicle speed at straight sections of the second traveling route R2 where the work vehicle 1C travels straight and at turning sections where the work vehicle 1C turns.

[0093] In the above example, the second position detection device 24B1 detects the second vehicle body position VP2 of the work vehicle 1C using a satellite positioning system, but as explained for the first position detection device 24A1, the second vehicle body position VP2 of the work vehicle 1C may also be detected by other methods without using a satellite positioning system.

[0094] Furthermore, in the above example, the case where the work vehicle 1C is equipped with the second position detection device 24B1 has been described as an example, but the second position detection device 24B1 need not be provided on the work vehicle 1C as long as it is able to detect the second vehicle body position VP2 of the work vehicle 1C, as described for the first position detection device 24A1.

[0095] The second distance detection devices 24B2 include devices such as laser sensors like LiDAR, ultrasonic sensors, and cameras. Each second distance detection device 24B2 is installed at the front, rear, and left and right sides of the vehicle body 3B. Each second distance detection device 24B2 detects the presence or absence of an object around the work vehicle 1C and the distance to the object. The second control device 20B controls the transmission 5B, steering device 7B, and the like based on the output signal from each second distance detection device 24B2. For example, when an object is present in the traveling direction of the work vehicle 1C and the distance from the work vehicle 1C to the object is less than a predetermined distance, the second control device 20B controls the transmission 5B, braking device, and the like to slow down or stop the traveling device 6B.

[0096] The second display device 25B is a device that displays various information related to the work vehicle 1C. The second display device 25B is arranged near the driver's seat 2B (for example, in front of the worker seated in the driver's seat 2B). The second display device 25B is detachable from the work vehicle 1C. For example, when the worker boards the work vehicle 1C in manual mode and manually operates the work vehicle 1C, the second display device 25B is attached to the work vehicle 1C. On the other hand, when the work vehicle 1C in automatic mode is performing automatic driving and the worker is not boarding the work vehicle 1C, it is preferable that the worker remove the second display device 25B from the work vehicle 1C and carry it with him.

[0097] The second display device 25B is a portable information processing device (computer), such as a tablet-type terminal device. The second display device 25B may be operable using switches included in the second operating device 22B, or may have a touch display and be operable using the touch display. In other words, the second display device 25B also serves as an input interface that accepts information input operations (input of information settings). Therefore, the second display device 25B accepts various information settings or instruction inputs when the worker performs predetermined operations on objects displayed on the display screen using the switches or touch display.

[0098] The work support device 100 is, for example, a fixed terminal (server) such as a fixed computer provided outside the harvester 1A or the work machine 1B (or the work vehicle 1C). The work support device 100 is also installed, for example, by an agricultural machinery manufacturer, an agricultural cooperative, or a management company. In this embodiment, the work support device 100 is described as a server, but the work support device 100 is not limited to a server and may be a display device 25A, 25B, a computer, a tablet-type terminal device, or the like provided on the harvester 1A or the work machine 1B. As shown in FIG. 1 , the work support device 100 includes a third control device 101 (arithmetic device), a third storage device 102 (storage device), and a third communication device 103.

[0099] The third control device 101 is a processing circuit including one or more processors. The third control device 101 performs various arithmetic processes to support the travel and work of the harvester 1A and the work machine 1B based on the information stored in the third storage device 102 and the information received by the third communication device 103.

[0100] The third control device 101 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (store) software programs and various data to be executed by one or more processors. The third control device 101 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 third control device 101 may execute various processes based on predetermined logic circuits using one or more processors, as described for the first control device 20A, etc. Furthermore, the third control device 101 may execute various processes by multiple physically separated processors working together, as described for the first control device 20A, and the configuration is not limited to the above-described configuration.

[0101] The third storage device 102 stores various pieces of information and data related to the work assistance device 100 in a readable and writable manner. The third storage device 102 includes a non-volatile memory, etc. The third storage device 102 is communicably connected to the third control device 101, and the third control device 101 can acquire the various pieces of information and data stored in the third storage device 102. The third control device 101 can also store the various pieces of information and data received by the third communication device 103 in the third storage device 102.

[0102] The third storage device 102 stores map information including, for example, roads FR around the field H. The map information includes a road map M2 showing the roads FR around the field H and a field map M1 showing the field H. In this embodiment, the field map M1 of the map information includes information on a plurality of fields H. The field map M1 shows position information such as the outline of the field H.

[0103] Furthermore, the road map M2 of the map information includes roads FR surrounding a plurality of fields H. The road map M2 shows position information such as the outlines of the roads FR. The roads FR included in the road map M2 are, for example, farm roads surrounding the fields H. Note that the roads FR included in the road map M2 are at least roads FR surrounding the fields H, and may be roads FR other than farm roads.

[0104] The third storage device 102 also stores machine information related to the harvester 1A and work vehicle 1C, and equipment information related to the implement 15B coupled to the work vehicle 1C. The machine information related to the harvester 1A and work vehicle 1C includes information indicating the identification information, type, dimensional information, specifications, etc. of each of the harvester 1A and work vehicle 1C. The equipment information includes information indicating the identification information, type, dimensional information, specifications, second working width W2 (the widthwise length of the work performed by the implement 15B), etc. of each implement 15B.

[0105] The third communication device 103 is a communication interface of the work assistance device 100 and includes a communication circuit. The third communication device 103 wirelessly communicates with the harvester 1A and the work machine 1B via, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series, which is a communication standard, a mobile phone communication network, or a data communication network. The third communication device 103 wirelessly communicates with the first communication device 23A and the second communication device 23B, and inputs and outputs (transmits and receives) various types of information, data, signals, etc. In other words, the third communication device 103 is an output device (output interface) that outputs the results of arithmetic processing by the third control device 101 to the outside.

[0106] In the first embodiment, when the harvester 1A in automatic mode performs harvesting operations in a field H by automatically traveling along a first traveling route R1 and moves to a stop position SP1, the work unit 1B (transporter) in automatic mode automatically travels along a second traveling route R2 to the vicinity of the stop position SP1. Furthermore, when the work unit 1B moves to the vicinity of the stop position SP1, the harvester 1A (first control device 20A) controls each control valve based on the sensing results of the first sensing device 24A, etc., to drive the swing motor and hydraulic cylinder, thereby aligning the lateral conveying unit 13A2 with the second storage unit 16B1, as shown in FIG. 3 . Furthermore, the first control device 20A drives the vertical feed mechanism and the horizontal feed mechanism to discharge the harvested crops from the vertical cylinder of the lateral conveying unit 13A2 to the second storage unit 16B1. The first traveling route R1 and the second traveling route R2 are described in detail below.

[0107] 5 is a diagram showing an example of a first travel route R1 in the first embodiment. The first travel route R1 is defined on a map (field map M1) showing the field H, and in this embodiment, is defined by the first control device 20A. Note that the following description will be given taking as an example a case where the first control device 20A defines the first travel route R1. However, the first control device 20A only needs to be able to automatically travel the harvester 1A based on at least the first vehicle body position VP1 and the first travel route R1, and the first travel route R1 may be defined by another control device (for example, the work support device 100 or a mobile terminal carried by the worker) other than the first control device 20A.

[0108] The first control device 20A defines the first travel route R1 with the following goals in mind: (P1) reducing the occurrence of unworked areas where the harvester 1A does not perform harvesting work; (P2) avoiding, as much as possible, the setting of turning sections that require the harvester 1A to perform turning operations; (P3) minimizing, as much as possible, the non-working distance, which is the distance the harvester 1A travels without performing harvesting work; and (P4) minimizing, as much as possible, the travel distance required for the harvester 1A to move the harvested product (grain) in the first storage section 12A to the position where it is discharged from the discharge device 13A (stop position SP1). Note that these goals are merely examples, and at least one of them is emphasized. Furthermore, goals other than the above (P1) to (P4) may also be emphasized.

[0109] For example, the harvester 1A first performs harvesting work (circular travel) by traveling around an area E1 (first area) on the outer periphery of the field H along the contour (boundary line) of the field H, and the first control device 20A defines the area where harvesting work was performed by circular travel as the first area E1 based on the first vehicle body position VP1 and the first working width W1 during circular travel. The first control device 20A also defines the area of ​​the field H inside the first area E1 as a second area E2 where the harvester 1A will perform harvesting work by automatic travel.

[0110] The first travel route R1 includes a circumferential line L1 along which the harvester 1A makes a circular travel and an inner line L2 defined inside the circumferential line L1. The circumferential line L1 is a route that makes one or more circles around the inside of the contour of the field H. The circumferential line L1 is defined in a substantially spiral shape so that the harvester 1A makes one or more circles (for example, two to three circles).

[0111] The inner line L2 is a path along which the harvester turns in the first area E1 and performs harvesting work in the second area E2. The inner line L2 includes a straight path Ls and a turning path Lc. The straight path Ls is defined in the second area E2 and extends from one end of the second area E2 to the other end. The turning path Lc is defined in the first area E1 and connects one straight path Ls to another straight path Ls. In the example shown in FIG. 5 , the first turning path Lc1 connects the first straight path Ls1 to the sixth straight path Ls6, and the second turning path Lc2 connects the sixth straight path Ls6 to the second straight path Ls2. Therefore, the harvester 1A traveling along the first travel route R1 travels along the first straight path Ls1, the first turning path Lc1, the sixth straight path Ls6, the second turning path Lc2, the second straight path Ls2, and so on, in this order.

[0112] 5 is merely an example and is not intended to be limiting. For example, the first travel route R1 may not include the circuit line L1, and the operator seated in the driver's seat 2A may manually steer the harvester 1A to travel around the field H.

[0113] The harvester 1A stops traveling when the remaining capacity of the first storage section 12A, which stores harvested grain (harvested product), falls below a predetermined value (first threshold value). Specifically, when the remaining capacity falls below the first threshold value, the harvester 1A stops traveling at a location where the discharge device 13A (particularly the vertical cylinder body) is located within the road FR. That is, when the remaining capacity falls below the first threshold value, the harvester 1A stops traveling at a location where the movable range of the discharge device 13A is located within the road FR. For example, the first control device 20A stops traveling at a location where the movable range of the discharge device 13A is located within the road FR, i.e., outside the field H, based on the dimensions of the harvester 1A in the machine information stored in the first storage device 21A and the first vehicle body position VP1.

[0114] 6A is a diagram showing an example in which the harvester 1A moves to stop position SP1 in the first embodiment. In automatic mode, when the first control device 20A determines that the grain stored in the first storage unit 12A should be discharged, it controls the traveling device 6A to move the harvester 1A to the next turning path Lc of the current straight path Ls and stop the harvester 1A at a predetermined position (stop position SP1). For example, the first control device 20A calculates the remaining capacity of grain that can be stored in the first storage unit 12A based on the detection result of the yield sensor 12A1 and a predetermined arithmetic expression or table stored in the first memory device 21A, and determines whether or not the grain needs to be discharged.

[0115] In such a case, the first control device 20A determines that it is necessary to discharge grain when the remaining capacity of the first storage unit 12A is less than the first threshold value. When the first control device 20A stops the harvester 1A at the stop position SP1, it causes the first communication device 23A to transmit to the work support device 100 the current first vehicle position VP1 (i.e., position information of the stop position SP1 of the harvester 1A) and arrival information indicating that the harvester has stopped at the stop position SP1.

[0116] In the above example, the first control device 20A determines whether or not it is necessary to discharge grain based on the remaining capacity of the first storage unit 12A, but it may also determine whether or not it is necessary to discharge grain based on the end of the grain stored in the first storage unit 12A.

[0117] Furthermore, when it is necessary to discharge grain, the harvester 1A only needs to move near the contour of the field H, and the stop position SP1 is not limited to being on the turning path Lc. FIG. 6B is a diagram showing another example in which the harvester 1A moves to the stop position SP1 in the first embodiment. As shown in FIG. 6B , when the first control device 20A determines that it is necessary to discharge grain, the first control device 20A defines, in addition to the first travel route R1, a departure path L3 for moving to the stop position SP1 and a return path L4 for returning from the stop position SP1 to the position where work was interrupted. At this time, the first control device 20A defines, as the departure path L3 and the return path L4, paths along which the harvester 1A travels through the completed work area E3 from the current first vehicle body position VP1 to the stop position SP1. In the example shown in FIG. 6B , the departure path L3 is connected to the end of the third straight path Ls3, and the return path L4 is connected to the start of the eighth straight path Ls8.

[0118] Furthermore, in the example described above, the first control device 20A automatically drives the harvester 1A to the stop position SP1, but the first display device 25A displays the remaining capacity or yield of the first storage section 12A, and if the operator checks the remaining capacity, etc. displayed on the first display device 25A and determines that it is necessary to discharge grain, the operator may manually steer the harvester 1A to move it near the outline of the field H. At this time, the first control device 20A causes the first communication device 23A to transmit arrival information to the work support device 100 when it determines that it is necessary to discharge grain and that the harvester 1A has been stopped for a predetermined period of time or longer, or when it determines that it is necessary to discharge grain and that the parking brake included in the first operating device 22A has been operated, etc.

[0119] 7 is a diagram showing an example of a second travel route R2 in the first embodiment. The second travel route R2 is defined on a road map M2, and in this embodiment, is defined by the work support device 100 (third control device 101). Specifically, when the harvester 1A stops traveling at the stop position SP1, the third control device 101 defines a guidance position SP2 (in other words, the end point of the second travel route R2) on the road FR surrounding the field H to guide the work implement 1B to the vicinity of the harvester 1A. Furthermore, the third control device 101 defines a second travel route R2 (hereinafter referred to as a guidance route L5) from the current second vehicle body position VP2 to the guidance position SP2 based on the guidance position SP2, the current second vehicle body position VP2, and the road map M2, and outputs the second travel route R2 to the work implement 1B via the third communication device 103.

[0120] In the following explanation, an example will be given in which the work assistance device 100 defines the guidance route L5, but the work assistance device 100 only needs to define at least the guidance position SP2, and the second control device 20B, the second display device 25B, etc. may be configured to define the guidance route L5 based on the guidance position SP2, the current second vehicle body position VP2, and the road map M2.

[0121] FIG. 8 is a diagram showing an example of a road map M2 in the first embodiment. As shown in FIG. 8 , the road map M2 stored in the third storage device 102 defines multiple vertices V (nodes) based on the shape of the road FR. Each vertex V is defined at an inflection point, an intersection, or the like on the road FR. Furthermore, for example, each vertex V is defined at the center of the width direction of each road FR. The third storage device 102 stores a management table that associates identification information of each vertex V with position information of the vertex V. An administrator may manually define the vertices V on the road map M2 by operating a management terminal (such as a personal computer) communicatively connected to the work assistance device 100, or the third control device 101 may automatically define the vertices V based on the shape of the road FR included in the road map M2 and predetermined conditions.

[0122] The road map M2 also defines a plurality of section routes SR that connect a plurality of vertices V. Each section route SR is a straight route with one end connected to one vertex V and the other end connected to another vertex V. Each section route SR is defined as a route that connects one vertex V and another vertex V on a road FR. As shown in FIG. 8 , the section routes SR are defined on the road FR without crossing the field H.

[0123] The third control device 101 defines a guidance position SP2 on the road FR based on the vertex V and the stop position SP1. Specifically, the third control device 101 defines a guidance position SP2 on the section route SR based on the plurality of section routes SR and the stop position SP1. The third control device 101 also defines a guidance position SP2 on a specific section route SR among the plurality of section routes SR based on the positional relationship between the plurality of section routes SR and the stop position SP1. The third control device 101 defines a guidance position SP2 on the section route SR that is closest to the stop position SP1 among the plurality of section routes SR, and defines a guidance position SP2 on the section route SR that is closest to the stop position SP1.

[0124] A method for defining the guide position SP2 by the third control device 101 will be described in detail below with reference to Fig. 9. Fig. 9 is a flowchart showing an example of a process for defining the guide route L5 including the guide position SP2, which is executed by the work assistance device 100 in the first embodiment. Each step in Fig. 9 is executed by the third control device 101 in accordance with a software program stored in the memory or the third storage device 102.

[0125] First, when the harvester 1A stops at the stop position SP1 and the third communication device 103 receives arrival information from the first communication device 23A (S11: YES), the third control device 101 identifies (acquires) the current first vehicle body position VP1 of the harvester 1A, i.e., the position information of the stop position SP1, from the arrival information (S12). After identifying the stop position SP1 (S12), the third control device 101 requests the current second vehicle body position VP2 from the work implement 1B via the third communication device 103 and the second communication device 23B (S13).

[0126] When the third communication device 103 receives the current second vehicle body position VP2 from the second communication device 23B (S14: YES), the third control device 101 identifies one or more section routes SR located around the first vehicle body position VP1 from the multiple section routes SR based on the map information (road map M2) in the third storage device 102 and the first vehicle body position VP1 (S15). In the example shown in Fig. 8, the harvester 1A is located in the second field H2 of the first to eighth fields H1 to H8, so the third control device 101 identifies the multiple section routes SR around the second field H2.

[0127] When the third control device 101 identifies one or more section routes SR located around the first vehicle body position VP1 (S15), it calculates a perpendicular line PL that passes through the stop position SP1 (first vehicle body position VP1) and is perpendicular to the identified one or more section routes SR (S16), as shown in Fig. 10. After calculating the perpendicular lines PL (S16), the third control device 101 calculates a distance D (determination distance) from the intersection of each perpendicular line PL and a section route SR that is perpendicular to the perpendicular line PL (i.e., the section route SR corresponding to the perpendicular line PL) to the first vehicle body position VP1 (S17).

[0128] After calculating the determination distance D for each perpendicular line PL (S17), the third control device 101 identifies the intersection point corresponding to the perpendicular line PL with the shortest determination distance D, and defines the intersection point as the guide position SP2 (S18).

[0129] After defining the guide position SP2 (S18), the third control device 101 calculates a route from the second vehicle body position VP2 to the guide position SP2 based on the guide position SP2, the current second vehicle body position VP2, and the road map M2, and defines a guide route L5 (S19). At this time, the third control device 101 defines the guide route L5 with the following goals in mind: (P11) to minimize the travel distance and / or travel time of the work implement 1B, and (P12) to avoid, as much as possible, the setting of turning sections that require turning operations of the work implement 1B. Note that these goals are merely examples, and at least one of them is emphasized. Furthermore, goals other than (P11) and (P12) may also be emphasized.

[0130] For example, the third control device 101 identifies a plurality of section routes SR defined in the road map M2 as routes connecting the guided position SP2 and the current second vehicle body position VP2, and defines the guided route L5 based on the identified plurality of section routes SR. Specifically, the third control device 101 defines, as the guided route L5, a route that passes through the identified plurality of section routes SR as a route connecting the guided position SP2 and the current second vehicle body position VP2. Furthermore, in S17, if there are a plurality of perpendicular lines PL with the same judgment distance D and a plurality of guided positions SP2 are defined, the third control device 101 defines, as the guided route L5, the route to the guided position SP2 that is closest in travel distance and / or shortest in travel time from the current second vehicle body position VP2 among these guided positions SP2.

[0131] When the third control device 101 defines the guided route L5 (S19), the third control device 101 transmits (outputs) the guided route L5 including the guided position SP2 to the second communication device 23B by the third communication device 103 (S20).

[0132] As a result, the work machine 1B, to which the guided position SP2 (guided route L5) has been output, acquires the guided route L5 that includes the guided position SP2, and the second control device 20B performs automatic traveling based on the guided route L5 and the second vehicle body position VP2. As a result, the work machine 1B can move by automatic traveling from the current second vehicle body position VP2 to the guided position SP2.

[0133] When the work machine 1B moves to the guide position SP2, the first control device 20A controls the traveling device 6A and the discharge device 13A, or the second control device 20B controls the traveling device 6B, to align the discharge device 13A with the second storage unit 16B1. Once the alignment is complete, the first control device 20A controls the discharge device 13A to start discharging grain into the second storage unit 16B1.

[0134] In the example described above, the third control device 101 identifies the intersection corresponding to the perpendicular line PL with the shortest judgment distance D and defines the intersection as the guide position SP2. However, the guide position SP2 may be defined based on the perpendicular line PL with the shortest judgment distance D, and its position is not limited to the intersection. For example, after defining the intersection as the guide position SP2, the third control device 101 may correct the guide position SP2 by shifting it in the direction of the perpendicular line PL based on the machine information (such as the movable range of the discharge device 13A and the dimensions of the work vehicle 1C) stored in the third storage device 102. In such a case, if the distance between the stop position SP1 and the guide position SP2 is relatively long and the second storage unit 16B is not located within the movable range of the discharge device 13A, the guide position SP2 is corrected by shifting it toward the stop position SP1. On the other hand, if the distance between the stop position SP1 and the guide position SP2 is relatively short and the second storage section 16B is not located within the movable range of the discharge device 13A, a correction is made to shift the guide position SP2 away from the stop position SP1.

[0135] Furthermore, in the above example, the third control device 101 defines the guide position SP2, but the third control device 101 may also define a standby position SP3 where the work machine 1B is to wait at one of the multiple vertices V based on map information. Based on the map information, the third control device 101 prioritizes defining the standby position SP3 at a vertex V that is connected to a large number of section routes SR among the multiple vertices V. Furthermore, when multiple harvesters 1A are performing harvesting work, the third control device 101 identifies the field H in which these harvesters 1A are located, and prioritizes defining the standby position SP3 at a vertex V that is relatively close to the identified field H among the multiple vertices V. The third control device 101 defines a second driving route R2 (hereinafter referred to as the waiting route L6) from the current second vehicle body position VP2 to the waiting position SP3 based on the waiting position SP3, the current second vehicle body position VP2, and the road map M2, and outputs the waiting route L6 to the work machine 1B via the third communication device 103.

[0136] A method for defining the standby position SP3 by the third control device 101 will be described in detail below with reference to Fig. 11. Fig. 11 is a flowchart showing an example of a process for defining a standby route L6 including the standby position SP3, which is executed by the work assistance device 100 in the first embodiment. Each step in Fig. 11 is executed by the third control device 101 in accordance with a software program stored in the memory or the third storage device 102.

[0137] First, the third control device 101 refers to the work information stored in the third storage device 102 and identifies the field H where harvesting work is currently being performed based on the work plan included in the work information (S21). Note that the third control device 101 only needs to be able to identify the field H where the harvester 1A is currently performing harvesting work, and may, for example, request the current first vehicle body position VP1 from each harvester 1A via the third communication device 103 and the first communication device 23A, and then identify the field H where harvesting work is currently being performed based on the acquired first vehicle body position VP1 and map information.

[0138] When the third control device 101 identifies the field H where harvesting work is currently being performed (S21), it refers to the map information and identifies, of the multiple vertices V, the vertex V that is relatively close to the identified field H (S22). For example, the third control device 101 calculates a polygon that surrounds the identified field H, and identifies the vertex V that is closest to the center of the polygon (e.g., the center of gravity position).

[0139] When the third control device 101 identifies vertices V that are relatively close to the identified field H (S22), it selects the vertex V that is connected to the largest number of section routes SR from among these vertices V, and defines the standby position SP3 at this vertex V (S23). In other words, when there are multiple vertices V that are relatively close to the identified field H, the third control device 101 defines the vertex V that is connected to the largest number of section routes SR from among these vertices V as the standby position SP3.

[0140] After defining the standby position SP3 (S23), the third control device 101 calculates a route from the second vehicle body position VP2 to the standby position SP3 based on the standby position SP3, the current second vehicle body position VP2, and the road map M2, and defines a standby route L6 (S24). At this time, the third control device 101 defines the standby route L6 with the above-mentioned (P11), (P12), etc. as targets. For example, the third control device 101 identifies a plurality of section routes SR defined on the road map M2 as a route connecting the standby position SP3 and the current second vehicle body position VP2, and defines the standby route L6 based on the identified plurality of section routes SR.

[0141] When the third control device 101 defines the standby route L6 (S24), it transmits (outputs) the standby route L6 including the standby position SP3 to the second communication device 23B by the third communication device 103 (S25).

[0142] As a result, the work machine 1B, to which the standby position SP3 (standby route L6) has been output, acquires the standby route L6 that includes the standby position SP3, and the second control device 20B performs automatic traveling based on the standby route L6 and the second vehicle body position VP2. Therefore, the work machine 1B can move by automatic traveling from the current second vehicle body position VP2 to the standby position SP3. When the work machine 1B moves to the standby position SP3, the second control device 20B stops at the standby position SP3 until the guided position SP2 (guided route L5) is output from the work support device 100.

[0143] In the above example, the third control device 101 defines the guidance position SP2 and the standby position SP3, and outputs the second traveling route R2 (guidance route L5) including the guidance position SP2 and the second traveling route R2 (standby route L6) including the standby position SP3 to the second communication device 23B (work machine 1B) via the third communication device 103. However, it is sufficient if the third control device 101 can at least define the guidance position SP2 and output the guidance position SP2 to the outside via the third communication device 103.

[0144] For example, when the third control device 101 defines the guided position SP2, it may output the guided position SP2 to the second display device 25B via the third communication device 103 and the second communication device 23B. When the guided position SP2 is output, the second display device 25B may display the guided position SP2 on the field map M1. Furthermore, the second display device 25B may display the current second vehicle body position VP2 and a guided route L5 including the guided position SP2.

[0145] Similarly, when the third control device 101 defines the standby position SP3, it may output the standby position SP3 to the second display device 25B via the third communication device 103 and the second communication device 23B, and the second display device 25B may display the standby position SP3 on the field map M1. The second display device 25B may also display a standby route L6 including the standby position SP3 together with the current second vehicle body position VP2.

[0146] In such a case, the worker manually steers the work implement 1B while checking the guide route L5 and the standby route L6 displayed on the second display device 25B.

[0147] [Second Embodiment] In the first embodiment described above, the discharge device 13A discharged grain into the second storage section 16B1 placed on the carriage 15B1, which is the implement 15B, but in the second embodiment, the discharge device 13A discharges grain into a storage body 33B that is supported so as to be able to rise and fall relative to the work vehicle 1C. Also, in the first embodiment, the transporter 1B (work machine) automatically traveled to the guide position SP2 defined by the work support device 100, and the grain was discharged from the harvester 1A at the stop position SP1 into the second storage section 16B1 of the transporter 1B, but in the second embodiment, the harvester 1A and the work vehicle 1C, which are traveling while performing harvesting work, may travel in a coordinated manner, and the discharge device 13A discharges grain into the storage body 33B during the coordinated travel.

[0148] The work vehicle 1C of the second embodiment is a vehicle that transports grain discharged from a harvester 1A, similar to the transporter 1B, but differs in that it is equipped with a lifting device 32B that can raise and lower a storage body 33B relative to a vehicle body 3B, and that the lifting device 32B raises the storage body 33B when storing grain from the harvester 1A. Fig. 12 is a configuration diagram of a work support system 200 in the second embodiment. Figs. 13 and 14 are side views showing an example of a work vehicle 1C in the second embodiment. Fig. 13 shows a state in which the lifting device 32B is lowering the storage body 33B, and Fig. 14 shows a state in which the lifting device 32B is raising the storage body 33B.

[0149] 13 and 14, the work vehicle 1C is a tractor equipped with a front loader 30B having a bucket 33B (container) and a boom 32B (lifting device) that can raise and lower the bucket 33B. For this reason, in the following explanation, the explanation of the configuration of the work vehicle 1C (tractor) that was explained as an example of the transporter 1B in the first embodiment will be omitted, and the front loader 30B will be explained in detail.

[0150] Figure 15 is a front perspective view showing a front loader 30B in the second embodiment. As shown in Figures 13 to 15, the front loader 30B has a mounting frame 31B, a boom 32B, a bucket 33B, a boom cylinder 34B, and a bucket cylinder 35B.

[0151] The mounting frame 31B is a frame member for mounting the front loader 30B to the vehicle body 3B. The mounting frame 31B is detachably mounted on the left and right sides of the vehicle body 3B.

[0152] The boom 32B is mounted on the vehicle body 3B so as to be able to swing up and down. The boom 32B includes a first boom 32B1 disposed on the left side of the vehicle body 3B and a second boom 32B2 disposed on the right side of the vehicle body 3B. In this embodiment, the first boom 32B1 and the second boom 32B2 are long, substantially rectangular tubular bodies, and are formed into a substantially V-shape in side view with an obtuse angle at the approximate center in the front-to-rear direction. Note that the first boom 32B1 and the second boom 32B2 are not limited to being substantially rectangular tubular bodies and may have other shapes. The rear end of the first boom 32B1 is connected and supported to be able to swing around a pivot 32B3 provided on the left mounting frame 31B. The rear end of the second boom 32B2 is connected and supported to be able to swing around a pivot 32B3 provided on the right mounting frame 31B. The first boom 32B1 and the second boom 32B2 are connected by a connecting portion and swing integrally about a pivot 32B3 as a fulcrum.

[0153] The bucket 33B is attached to the vehicle body 3B and is capable of storing objects therein. The bucket 33B is attached to the front of the boom 32B. In other words, the bucket 33B is attached to the vehicle body 3B via the boom 32B. Therefore, the bucket 33B is raised and lowered by the boom 32B as the boom 32B swings up and down. The bucket 33B is mainly used to scoop up and push forward soil and sand from a work area in front of the vehicle body 3B. In the second embodiment, the bucket 33B receives grain discharged from the harvester 1A and stores the grain therein.

[0154] The bucket 33B has a first side wall 33B1, a second side wall 33B2, a connecting wall 33B3, and a connecting bracket 33B4. An opening 33B5 for accommodating an object is formed by the front ends of the first side wall 33B1, the second side wall 33B2, and the connecting wall 33B3. An object thrown into the bucket 33B through the opening 33B5 is held by at least one of the first side wall 33B1, the second side wall 33B2, and the connecting wall 33B3.

[0155] The first side wall 33B1 is provided on the left side of the bucket 33B. The second side wall 33B2 is provided on the right side of the bucket 33B. The first side wall 33B1 and the second side wall 33B2 are arranged opposite each other with a gap in the width direction. The rear edges of the first side wall 33B1 and the second side wall 33B2 are bent or curved.

[0156] The connecting wall 33B3 connects the first side wall 33B1 and the second side wall 33B2 together, and connects the rear edge of the first side wall 33B1 and the rear edge of the second side wall 33B2 together.

[0157] The connecting bracket 33B4 is provided on the rear side of the connecting wall 33B3, and is connected and supported so as to be swingable around a pivot 32B4 provided at the front end of the boom 32B.

[0158] The boom cylinders 34B are provided on the undersides of the first boom 32B1 and the second boom 32B2, respectively, and connect the mounting frame 31B and the booms 32B. One end of the boom cylinder 34B is rotatably supported on the mounting frame 31B. The other end of the boom cylinder 34B is rotatably supported at the middle of the boom 32B in the fore-and-aft direction. The boom cylinder 34B is formed by a hydraulic cylinder, and when it extends, it swings the boom 32B upward about the pivot 32B3, and when it retracts, it swings the boom 32B downward about the pivot 32B3.

[0159] The bucket cylinders 35B are respectively provided on the upper surfaces of the first boom 32B1 and the second boom 32B2 and connect the bucket 33B and the booms 32B. One end of the bucket cylinder 35B is rotatably supported on a connecting bracket 33B4 at the rear of the bucket 33B. The other end of the bucket cylinder 35B is rotatably supported on a central portion of the boom 32B in the fore-and-aft direction. The bucket cylinder 35B is formed by a hydraulic cylinder that, when extended, swings the bucket 33B downward about the pivot 32B4 (dumping operation), and when retracted, swings the bucket 33B upward about the pivot 32B4 (scooping operation).

[0160] Boom cylinder 34B and bucket cylinder 35B are connected to a control valve that controls the hydraulic oil discharged from the hydraulic pump of work vehicle 1C, and their drive is controlled by this control valve. Specifically, second control device 20B drives boom cylinder 34B and bucket cylinder 35B by controlling the control valve in response to the operation of a lever provided on second operating device 22B, for example.

[0161] When the harvester 1A performs harvesting work, the second sensing device 24B senses the positional relationship between the vehicle body 3B and the harvester 1A, and the second control device 20B controls the traveling device 6B based on the sensing results of the second sensing device 24B, automatically traveling and steering, thereby performing cooperative traveling with the harvester 1A. Furthermore, during cooperative traveling, the second control device 20B automatically operates the front loader 30B in addition to controlling the traveling device 6B. In the following description, a mode in which the work vehicle 1C travels cooperatively with the harvester 1A, and traveling and steering are performed automatically by the second control device 20B, is referred to as cooperative mode. The work vehicle 1C can be switched between manual mode, automatic mode, and cooperative mode, for example, by a mode selector switch.

[0162] The second control device 20B automatically performs driving and steering with the following goals: (P21) maintaining a predetermined distance between the vehicle body 3B and the harvester 1A (a positional relationship in which the vehicle body 3B is located behind the harvester 1A and the bucket 33B is located within the movable range of the vertical cylinder of the discharge device 13A) and driving in coordination with the harvester 1A; and (P22) avoiding, as much as possible, the driving of the work vehicle 1C through an unworked area where the harvester 1A is not performing harvesting work. Note that these goals are merely examples, and at least one of them is emphasized. Also, goals other than the above (P21) and (P22) may be emphasized.

[0163] Specifically, for example, the second control device 20B automatically performs traveling and steering based on the sensing results of the second sensing device 24B, and the traveling device 6B performs cooperative traveling while adjusting the relative positions of the harvester 1A (vertical cylinder body) and the bucket 33B so that grain discharged from the discharge device 13A of the harvester 1A is stored in the bucket 33B. At this time, the second control device 20B acquires the first vehicle body position VP1 using the second communication device 23B, and the second sensing device 24B senses the positional relationship between the vehicle body 3B and the harvester 1A based on the second vehicle body position VP2 detected by itself and the first vehicle body position VP1.

[0164] The first control device 20A of the harvester 1A may also be switchable to cooperative mode, similar to the second control device 20B. In such a case, the first control device 20A in cooperative mode automatically travels and steers based on the sensing results of the first sensing device 24A, and the traveling device 6A performs cooperative traveling while adjusting the relative position of the vertical cylinder body and the bucket 33B. At this time, the second control device 20B outputs the second vehicle body position VP2 to the first control device 20A via the work support device 100, and the first sensing device 24A, like the second sensing device 24B, senses the positional relationship between the vehicle body 3A and the work vehicle 1C based on the first vehicle body position VP1 and the second vehicle body position VP2 detected by itself.

[0165] In other words, the second control device 20B of the work vehicle 1C and the first control device 20A of the harvester 1A share their own vehicle body positions VP1, VP2, i.e., the actual positions they have traveled, and by doing so, when the distance between them gets closer, they move in a direction to avoid a collision, and when the distance between them gets farther, they adjust their vehicle speed in a direction to shorten the distance, thereby enabling them to operate automatically in cooperation with each other.

[0166] In the example described above, the second sensing device 24B senses the positional relationship between the work vehicle 1C (vehicle body 3B) and the harvester 1A based on the second vehicle body position VP2 and the first vehicle body position VP1, but the method for sensing this positional relationship is not limited to the example described above as long as it can sense at least the positional relationship between the vehicle body 3B and the harvester 1A. For example, the second sensing device 24B may sense the positional relationship between the vehicle body 3B and the harvester 1A by using the second distance detection device 24B2 to sense the distance from the harvester 1A.

[0167] FIG. 16 is a diagram showing an example of cooperative traveling between the work vehicle 1C and the harvester 1A in the second embodiment. In FIG. 16, the worked area E3 where the harvester 1A performed the harvesting work is hatched. In the example shown in FIG. 16, the second control device 20B in cooperative mode automatically travels and steers the vehicle body 3B behind the harvester 1A, based on the positional relationship between the vehicle body 3B and the harvester 1A sensed by the second sensing device 24B, so that the bucket 33B is positioned within the movable range of the vertical cylinder of the discharge device 13A. For example, the second control device 20B acquires machine information of the harvester 1A from the work support device 100 and identifies the movable range of the vertical cylinder of the discharge device 13A.

[0168] The front loader 30B is also provided with a state detection sensor 36B for detecting the attitude (state) of the boom 32B and bucket 33B, and the second control device 20B calculates the position of the bucket 33B relative to the second vehicle body position VP2 based on the detection results of the state detection sensor 36B and predetermined calculation formulas and tables stored in the second storage device 21B. The state detection sensor 36B is composed of a potentiometer that directly detects the swing of the boom 32B and the bucket 33B, a stroke sensor that detects the extension and contraction states of the boom cylinder 34B and the bucket cylinder 35B, etc.

[0169] The second control device 20B calculates the swing angle of the boom 32B and the swing angle of the bucket 33B based on predetermined arithmetic expressions and tables stored in the second storage device 21B, and calculates the position of the bucket 33B relative to the second vehicle body position VP2. The second control device 20B automatically performs traveling and steering so that the bucket 33B is positioned within the movable range of the vertical cylinder based on the acquired movable range of the vertical cylinder, the first vehicle body position VP1, and the identified position of the bucket 33B.

[0170] 16, the second control device 20B may automatically drive and steer the vehicle body 3B so as to maintain a position offset in the width direction from the harvester 1A. Specifically, the second control device 20B identifies a worked area E3 where the harvester 1A has performed harvesting work, based on the first vehicle body position VP1 acquired from the harvester 1A and machine information of the harvester 1A acquired from the work support device 100, and causes the work vehicle 1C to travel in the worked area E3.

[0171] Note that the automatic traveling by the second control device 20B in the cooperative mode as described above is merely an example, and it is sufficient that at least the work vehicle 1C can maintain a predetermined distance from the harvester 1A and travel cooperatively with the harvester 1A. For example, the second control device 20B has been described as an example of a case where the work vehicle 1C automatically travels while maintaining a position where the vehicle body 3B is offset in the width direction from the harvester 1A, but the second control device 20B may automatically travel and steer behind the harvester 1A while following the harvester 1A so that the bucket 33B is positioned within the movable range of the vertical cylinder of the discharge device 13A.

[0172] The second control device 20B may also be configured to control cooperative traveling based on a predetermined second traveling route R2, the first vehicle body position VP1, and the second vehicle body position VP2. In such a case, for example, the third control device 101 acquires the first traveling route R1 from the first control device 20A via the third communication device 103 and the first communication device 23A. Based on the first traveling route R1, the third control device 101 defines a straight path Ls' as the second traveling route R2, by offsetting each straight path Ls by a predetermined length (a length based on the movable range of the vertical cylinder of the discharge device 13A) in the width direction. Note that the predetermined length by which the straight path Ls is offset is defined so that the bucket 33B can be positioned within the movable range of the vertical cylinder of the discharge device 13A.

[0173] Fig. 17 is a diagram showing an example of a first travel route R1 and a second travel route R2 defined based on the first travel route R1. In Fig. 17, the first travel route R1 is indicated by a dashed dotted line, and the second travel route R2 is indicated by a solid line. On the inside line L2 of the first travel route R1 shown in Fig. 17, a turning path Lc connects adjacent straight paths Ls, and the harvester 1A traveling on the inside line L2 travels back and forth from one end of the field H to the other end.

[0174] As shown in FIG. 17 , the straight path Ls′ of the second travel route R2 is defined by offsetting the straight paths Ls of the inside line L2 of the first travel route R1, except for the first straight path Ls1, by a predetermined length toward the first straight path Ls1. Furthermore, the traveling direction of the harvester 1A traveling along one straight path Ls of the first travel route R1 is the same as the traveling direction of the work vehicle 1C traveling along the straight path Ls of the second travel route R2, which is defined by offsetting the one straight path Ls. As a result, when the harvester 1A is traveling automatically along the one straight path Ls, the work vehicle 1C also travels automatically along the straight path Ls′ that is an offset from the one straight path Ls. The first control device 20A and the second control device 20B in the cooperative mode control the traveling devices 6A and 6B, respectively, based on the sensing results of the sensing devices 24A and 24B, allowing the harvester 1A and the work vehicle 1C to travel cooperatively while maintaining a predetermined distance from each other.

[0175] In addition, in the cooperative mode, the second control device 20B controls the control valves to drive the boom cylinder 34B and the bucket cylinder 35B, and with the bucket 33B raised as shown in FIG. 14 , collects grain from the harvester 1A into the bucket 33B (receiving position). Specifically, the second control device 20B maintains the bucket 33B in the raised position as the receiving position, with the opening 33B5 of the bucket 33B facing upward, and collects grain from the harvester 1A into the bucket 33B. At this time, the second control device 20B controls the control valves to extend the boom cylinder 34B to swing the boom 32B upward, and to shorten the bucket cylinder 35B to swing the bucket 33B upward (scooping operation). Therefore, in the cooperative mode, the second control device 20B travels cooperatively with the harvester 1A while maintaining the receiving position with the bucket 33B raised.

[0176] When the second control device 20B ends the cooperative mode and transfers the grain stored in the bucket 33B to another transporter 1B or the like, it controls the control valve and, while maintaining the height of the boom 32B, extends the bucket cylinder 35B to swing the bucket 33B downward (dump operation), as shown in Fig. 18. This allows the work vehicle 1C to transfer the grain from the bucket 33B to the transporter 1B at a relatively high position.

[0177] On the other hand, when the second control device 20B ends the cooperative mode and discharges the grain stored in the bucket 33B to a relatively low position, such as the ground level of the field, it controls the control valve and, as shown in FIG. 19 , retracts the boom cylinder 34B to swing the boom 32B downward while maintaining the horizontal position of the bucket 33B (horizontal control). Specifically, the second control device 20B calculates the swing angle of the boom 32B and the swing angle of the bucket 33B, and controls the control valve to retract the bucket cylinder 35B to further swing the bucket 33B upward (scooping operation) to maintain the horizontal position of the bucket 33B. Then, when the bucket 33B approaches the vicinity of the ground level, the second control device 20B extends the bucket cylinder 35B to swing the bucket 33B downward (dumping operation). This allows the work vehicle 1C to load (discharge) grain from the bucket 33B at a relatively low position.

[0178] The second control device 20B calculates the attitude (state) of the boom 32B and the bucket 33B based on the detection result of the state detection sensor 36B, and controls the receiving attitude of the front loader 30B. The second control device 20B calculates the swing angle of the boom 32B and the swing angle of the bucket 33B based on predetermined arithmetic expressions and tables stored in the second storage device 21B, and identifies the attitude (state) of the boom 32B and the bucket 33B.

[0179] Furthermore, the second control device 20B may request dimensional information of the harvester 1A from the work support device 100 via the second communication device 23B and the third communication device 103, and control the height T2 of the bucket 33B based on the dimensional information of the harvester 1A acquired from the work support device 100. Specifically, the second control device 20B acquires a height T1 (reference height) from the ground level of the field H to the bottom end of the vertical cylinder as dimensional information of the harvester 1A. At this time, the height T1 from the ground level of the field H to the bottom end of the vertical cylinder is the height when the horizontal conveying unit 13A2 swings and the vertical cylinder is positioned at the lowest end. Note that, if the work support device 100 is capable of acquiring the current swing angle of the horizontal conveying unit 13A2, the height T1 may be the height from the ground level of the field H to the current bottom end of the vertical cylinder.

[0180] When the second control device 20B acquires the reference height T1, it calculates the swing angle of the boom 32B and the swing angle of the bucket 33B based on predetermined calculation formulas and tables stored in the second memory device 21B, and controls the receiving posture so that the opening 33B5 of the bucket 33B faces upward and the height T2 of the upper end of the bucket 33B is less than the reference height T1.

[0181] At this time, if second control device 20B can calculate the remaining capacity of bucket 33B to accommodate harvested grain, it may raise or lower bucket 33B in accordance with this remaining capacity. For example, bucket 33B is provided with a yield sensor 33B6 that detects the amount of grain contained in bucket 33B, and second control device 20B calculates the remaining capacity of grain that bucket 33B can accommodate based on the detection results of yield sensor 33B6 and a predetermined arithmetic formula or table stored in second memory device 21B. Yield sensor 33B6 is, for example, a load cell that measures the weight of the grain contained in bucket 33B.

[0182] When the second control device 20B calculates the remaining capacity, it controls the control valve to lower the height T2 of the bucket 33B in the receiving position as the remaining capacity decreases, and drives the boom cylinder 34B and the bucket cylinder 35B.

[0183] In the example described above, the second control device 20B controls the height T2 of the bucket 33B in accordance with the remaining capacity, but it may also control the height T2 of the bucket 33B in accordance with the yield of the bucket 33B. In such a case, the second control device 20B calculates the yield of the bucket 33B based on the detection result of the yield sensor 33B6 and a predetermined arithmetic expression or table stored in the second storage device 21B, and controls the control valve to lower the height T2 of the bucket 33B in the receiving position as the yield increases, thereby driving the boom cylinder 34B and the bucket cylinder 35B.

[0184] At this time, the first control device 20A may also control the vehicle speed of the traveling device 6B based on the remaining capacity of the bucket 33B calculated by the second control device 20B. In this case, the first control device 20A controls the traveling device 6A to reduce the vehicle speed when the remaining capacity becomes less than a predetermined value (second threshold value).

[0185] For example, the second control device 20B outputs the remaining capacity to the third control device 101 via the second communication device 23B and the third communication device 103, and the third control device 101 issues a deceleration instruction to the first control device 20A to reduce the vehicle speed in accordance with the remaining capacity. The third control device 101 calculates a vehicle speed correction value based on the remaining capacity and a predetermined calculation formula or table stored in the third storage device 102 so that the vehicle speed decreases as the remaining capacity decreases, and issues a deceleration instruction including the correction value. When the first control device 20A receives the deceleration instruction, it identifies the correction value from the deceleration instruction and corrects the vehicle speed corresponding to the straight-line path Ls using the correction value.

[0186] The first control device 20A may control the vehicle speed of the traveling device 6B based on the remaining capacity of the bucket 33B, and the control method is not limited to the above-described method. For example, the first control device 20A may acquire the remaining capacity via the third control device 101, and correct the vehicle speed so that it decreases as the remaining capacity decreases based on the remaining capacity and a predetermined arithmetic expression or table stored in the first storage device 21A.

[0187] Furthermore, in the above example, the first control device 20A was described as controlling the vehicle speed of the traveling device 6B based on the remaining capacity of the bucket 33B, but the vehicle speed may also be controlled based on the yield of the bucket 33B instead of the remaining capacity.

[0188] Furthermore, a work implement 15B2 may be coupled to the work vehicle 1C, and the work implement 15B2 may perform agricultural work other than storing grain when the work vehicle 1C travels cooperatively with the harvester 1A. The work implement 15B2 is, for example, a tilling implement 40B that performs tilling work or a tilling implement 50B that performs plowing work. Figure 20 shows a tractor 1C (work vehicle) equipped with a tilling implement 40B as the implement 15B, and Figure 21 shows a tractor 1C (work vehicle) equipped with a tilling implement 50B as the implement 15B.

[0189] 20, the tillage implement 40B is a rotary tillage implement. The tillage implement 40B includes a machine frame 41B, a transmission mechanism 42B, a tine shaft 43B, tillage tines 44B, and a tillage cover 45B. The machine frame 41B is the part that is connected to the connecting device 3B1.

[0190] The power transmission mechanism 42B is connected to the PTO shaft 5B1 by a universal joint, and receives power from the PTO shaft 5B1.

[0191] The pawl shaft 43B receives power from the PTO shaft 5B1 via a transmission mechanism 42B.

[0192] The tillage tines 44B are attached to the tine shaft 43B and rotate around the axis of the tine shaft 43B to till and break the soil. The tillage tines 44B are arranged from one side (left side) to the other side (right side) in the width direction of the tine shaft 43B and extend radially outward from the axis of the tine shaft 43B.

[0193] The tillage cover 45B covers the claw shaft 43B and the tillage tines 44B. The tillage cover 45B covers the upper and rear sides of the claw shaft 43B and the tillage tines 44B and the rear sides of both widthwise sides of the claw shaft 43B and the tillage tines 44B, and a ground leveling cover is removably attached to the lower end side. The tillage cover 45B is pivotally supported around a pivot axis extending in the widthwise direction.

[0194] 21, the tilling implement 50B is a reversible plow. The reversible plow has a first frame 51B, a second frame 52B, and a plurality of bottoms 53B. The first frame 51B is a frame member that is connected to the connecting device 3B1.

[0195] The second frame 52B is a frame member rotatably supported relative to the first frame 51B. As shown in Figure 21, the second frame 52B has a rotating frame 52B1 connected to the first frame 51B and a support frame 52B2. The front portion of the rotating frame 52B1 is connected to the first frame 51B via a rotating shaft extending in the front-to-rear direction. The rear portion of the rotating frame 52B1 is connected to the support frame 52B2.

[0196] The support frame 52B2 is supported by the rotating frame 52B1 and supports a plurality of bottoms 53B.

[0197] The plurality of bottoms 53B are implements used for plowing. When the reversible plow is towed by the vehicle body 3B, the plurality of bottoms 53B scrape the portions of the plows that come into contact with the soil of the field H (plow bottoms) to form furrows, and then turn the scraped soil into the furrows and dump it into the furrows to perform plowing.

[0198] In the above example, when the work vehicle 1C travels cooperatively with the harvester 1A, a tillage implement 40B or a tillage implement 50B is coupled to the work vehicle 1C, but other agricultural work performed when the work vehicle 1C travels cooperatively with the harvester 1A is not limited to tillage or plowing. For example, when the work vehicle 1C travels cooperatively with the harvester 1A, a spreading device may be coupled to the work vehicle 1C to spread the straw in the field H after harvesting (e.g., straw discharged into the field H from the harvester 1A), a grass collection device may be coupled to the work vehicle 1C to collect the straw in the field H after harvesting, or a molding device may be coupled to the work vehicle 1C to mold the straw in the field H after harvesting.

[0199] Furthermore, in the above-described work support system 200, the work vehicle 1C and the harvester 1A perform cooperative traveling and store grain from the harvester 1A in the bucket 33B. However, the work vehicle 1C does not have to always perform cooperative traveling (hereinafter sometimes referred to as first cooperative traveling) in which the work vehicle 1C receives grain from the harvester 1A using the bucket 33B. For example, the work vehicle 1C may perform cooperative traveling (hereinafter sometimes referred to as second cooperative traveling) in which the work vehicle 1C performs work using the work device 15B2 without storing the harvested product in the bucket 33B, and perform the first cooperative traveling when predetermined conditions are met. For example, the work vehicle 1C may normally perform the second cooperative traveling, but when predetermined conditions are met, the work vehicle 1C may temporarily perform the first cooperative traveling in place of the transporter 1B, which performs cooperative traveling with the harvester 1A and stores grain discharged from the harvester 1A.

[0200] FIG. 22 is a configuration diagram of a work support system 200 according to a modification of the second embodiment. In this modification of the work support system 200 according to the second embodiment, a transporter, separate from the work vehicle 1C, travels in coordination with the harvester 1A and / or the work vehicle 1C to collect grain discharged from the harvester 1A. At this time, it is preferable that the work vehicle 1C is coupled to the coupling device 3B1 with a working device 15B2 and performs agricultural work separate from the harvesting work of the harvester 1A. Since the transporter 1B has been described in the first embodiment, a detailed description of the transporter 1B will be omitted. Hereinafter, in the description of the modification of the work support system 200 according to the second embodiment, in order to distinguish the transporter that travels in coordination with the work vehicle 1C from the work vehicle 1C (working machine 1B) equipped with the working device 15B2, the transporter that travels in coordination with the work vehicle 1C will be indicated by the reference numeral "1B'," the body of the transporter 1B' will be indicated by the reference numeral "3B'," and the second vehicle body position of the transporter 1B' will be indicated by the reference numeral "VP2'." The second control device of the transport vehicle 1B' is designated by the reference numeral "20B'", the second storage device of the transport vehicle 1B' is designated by the reference numeral "21B'", the second communication device of the transport vehicle 1B' is designated by the reference numeral "23B'", and the second sensing device of the transport vehicle 1B' is designated by the reference numeral "24B'".

[0201] Figure 23 is a diagram showing an example of cooperative traveling between a work vehicle 1C and a harvester 1A in a modified example of the second embodiment. The left diagram of Figure 23 shows an example in which a transporter 1B' performs cooperative traveling together with the work vehicle 1C and the harvester 1A, and the work vehicle 1C performs second cooperative traveling with the harvester 1A. The right diagram of Figure 23 shows an example in which the transporter 1B' ends cooperative traveling, and the work vehicle 1C performs first cooperative traveling with the harvester 1A.

[0202] In cooperative mode, the second control device 20B' of the transporter 1B' automatically drives and steers the vehicle body 3B' so that the second storage section 16B1 is positioned behind the harvester 1A within the movable range of the vertical cylinder body of the discharge device 13A, based on the positional relationship between the vehicle body 3B' and the harvester 1A sensed by the second sensing device 24B'.

[0203] At this time, the second control device 20B' automatically drives and steers with the following goals: (P31) maintain a predetermined distance between the vehicle body 3B' and the harvester 1A (a positional relationship in which the vehicle body 3B' is located behind the harvester 1A and the second storage section 16B1 is located within the movable range of the vertical cylinder of the discharge device 13A), and travel in coordination with the harvester 1A; (P32) maintain a predetermined distance or more between the vehicle body 3B' and the work vehicle 1C, and prevent contact between the transporter 1B' and the work vehicle 1C; and (P33) avoid, as much as possible, the transporter 1B' traveling through an unworked area where the harvester 1A is not performing harvesting work. Note that these goals are merely examples, and at least one of them is emphasized. Furthermore, goals other than the above (P31) to (P33) may also be emphasized.

[0204] Furthermore, transporter 1B' performs cooperative traveling to receive grain from harvester 1A when the remaining capacity for storing grain is equal to or greater than a predetermined value (third threshold), and discontinues cooperative traveling when the remaining capacity falls below the predetermined value (third threshold). For example, second storage unit 16B1 is provided with yield sensor 16B2 that detects the amount of grain stored in second storage unit 16B1, and second control device 20B' calculates the remaining capacity of grain that second storage unit 16B1 can store based on the detection result of yield sensor 16B2 and a predetermined arithmetic formula or table stored in second memory device 21B'. Yield sensor 16B2 is, for example, a load cell that measures the weight of the grain stored in bucket 33B.

[0205] The second control device 20B' of the transporter 1B' that has finished cooperative traveling outputs an interruption signal indicating that cooperative traveling has been interrupted to the work support device 100 via the second communication device 23B' and the third communication device 103, and requests position information of the first area E1 of the field H from the work support device 100. When the second control device 20B' acquires the position information of the first area E1 of the field H from the work support device 100, it moves the transporter 1B' to the first area E1 based on the second vehicle body position VP2' and the position information of the first area E1.

[0206] When the second control device 20B' stops the transport vehicle 1B' at a predetermined stop position SP1 in the first area E1, similar to the first control device 20A in the first embodiment, the second control device 20B' may cause the second communication device 23B' to transmit the current second vehicle body position VP2' (i.e., position information of the stop position SP1 of the transport vehicle 1B') and arrival information indicating that the transport vehicle has stopped at the stop position SP1 to the work support device 100. In such a case, the third control device 101 defines a guidance position SP2 on the road FR for guiding a transport vehicle (second transport vehicle) other than the transport vehicle 1B' (referred to as the first transport vehicle) to the vicinity of the first transport vehicle based on the vertex V and the stop position SP1, and outputs the guidance position SP2 to the second transport vehicle via the third communication device 103.

[0207] Furthermore, when grain is discharged from the second storage section 16B1 and the remaining capacity changes from a state where it is less than a predetermined value (the fourth threshold) to a predetermined value (a fifth threshold value greater than the fourth threshold) or greater, the second control device 20B' outputs a resume signal indicating that cooperative traveling will be resumed to the work support device 100. At this time, the second control device 20B' moves to the periphery of the harvester 1A while avoiding the completed work area E3 based on the first vehicle body position VP1 acquired from the work support device 100, and resumes cooperative traveling.

[0208] In the above example, the transport vehicle 1B' carried out, interrupted, or resumed cooperative driving depending on the remaining capacity of the second storage section 16B1, but it may also carry out, interrupted, or resume cooperative driving based on the yield of the second storage section 16B1 instead of the remaining capacity of the second storage section 16B1.

[0209] The work vehicle 1C performs second cooperative traveling in which it travels in coordination with the harvester 1A and / or transporter 1B' and performs work using the work device 15B2 in the work-completed area E3 so as to avoid contact with the harvester 1A and transporter 1B'. The second control device 20B of the work vehicle 1C automatically travels and steers so as to avoid contact with the harvester 1A and transporter 1B', based on the positional relationship between the vehicle body 3B, harvester 1A, and transporter 1B' sensed by the second sensing device 24B.

[0210] At this time, the second control device 20B automatically performs driving and steering with the following goals: (P41) maintaining a predetermined distance between the vehicle body 3B and the harvester 1A and driving cooperatively with the harvester 1A; (P42) maintaining a predetermined distance or more between the vehicle body 3B and the work vehicle 1C and preventing contact between the transporter 1B' and the work vehicle 1C; and (P43) avoiding, as much as possible, driving of the work vehicle 1C through an unworked area where the harvester 1A is not performing harvesting work. Note that these goals are merely examples, and at least one of them is emphasized. Also, goals other than the above (P41) to (P43) may be emphasized.

[0211] Furthermore, when the remaining capacity of the second storage section 16B1 of the transporter 1B' is less than a predetermined value (fourth threshold), the work vehicle 1C performs the first cooperative traveling in place of the transporter 1B'. Specifically, when the work assistance device 100 receives an interruption signal from the transporter 1B', it starts the first cooperative traveling and outputs a switch signal to the work vehicle 1C via the third communication device 103 and the second communication device 23B, indicating an instruction to receive grain from the harvester 1A with the bucket 33B in place of the transporter 1B'.

[0212] When the second control device 20B acquires the changeover signal, it switches from the second cooperative traveling intended for (P41) to (P43), etc. to the first cooperative traveling intended for (P21), (P22), etc. In other words, when the work vehicle 1C is performing work behind the transporter 1B', the work vehicle 1C that has switched to the first cooperative traveling shortens the relative distance to the harvester 1A and travels closer to the harvester 1A.

[0213] At this time, the work assistance device 100 outputs a first standby signal to the harvester 1A via the third communication device 103 and the first communication device 23A to cause the harvester 1A to wait for harvesting work. When the first control device 20A acquires the first standby signal, it interrupts automatic traveling based on the first traveling route R1, and waits for the work vehicle 1C, which has started the first cooperative traveling, to approach the vehicle body 3A, and stops until the vehicle body 3A and the work vehicle 1C are at a predetermined distance (the work vehicle 1C is located behind the vehicle body 3A, and the bucket 33B is located within the movable range of the vertical cylinder of the discharge device 13A), and waits for the approach of the work vehicle 1C.

[0214] When the work support device 100 receives a resume signal from the transporter 1B', it ends the first cooperative traveling of the work vehicle 1C via the third communication device 103 and the second communication device 23B, and outputs an end signal to the work vehicle 1C indicating an instruction to perform work only with the work device 15B2 in the second cooperative traveling. When the second control device 20B of the work vehicle 1C receives the end signal, it switches from the first cooperative traveling aimed at (P21), (P22), etc. to the second cooperative traveling aimed at (P41) to (P43), etc. The work vehicle 1C that has switched to the second cooperative traveling reduces its vehicle speed or reverses, and moves so as to increase the distance between it and the harvester 1A. This allows the transporter 1B' to move between the harvester 1A and the work vehicle 1C, as shown in the transition from the right diagram to the left diagram in FIG. 23 .

[0215] At this time, the work assistance device 100 outputs a second standby signal, which instructs the harvester 1A to wait for harvesting work, via the third communication device 103 and the first communication device 23A. When the first control device 20A receives the second standby signal, it suspends automatic traveling based on the first traveling route R1, and waits for the transporter 1B', which has started cooperative traveling, to approach, stopping the vehicle body 3A and the transporter 1B' until they are a predetermined distance apart (the transporter 1B' is located behind the vehicle body 3A, and the second storage section 16B1 is located within the movable range of the vertical cylinder of the discharge device 13A), and then waits for the transporter 1B' to approach.

[0216] It should be noted that the cooperative traveling of the work vehicle 1C, harvester 1A, and transporter 1B' in the above-described work support system 200 is merely an example and is not limited to the above-described example. For example, in the above-described modified example, the work vehicle 1C performs the first cooperative traveling with the harvester 1A and temporarily stores grain from the harvester 1A in the bucket 33B instead of the transporter 1B' that stores the grain discharged from the harvester 1A. However, the work vehicle 1C may be configured to automatically travel along a second traveling route R2 dedicated to performing work with the work device 15B2, separately from the harvester 1A and the transporter 1B', when the remaining capacity of the second storage section 16B1 is equal to or greater than the fourth threshold, and to perform the first cooperative traveling when the remaining capacity of the second storage section 16B1 is less than the fourth threshold.

[0217] Furthermore, in the above-described example, the work vehicle 1C, harvester 1A, and transporter 1B' each transmitted and received vehicle body positions VP1, VP2 via the work support device 100, but the respective communication devices 23A, 23B may also directly transmit and receive vehicle body positions VP1, VP2 to perform cooperative driving.

[0218] Furthermore, in the above example, the lifting device 32B (boom) of the work vehicle 1C raises the container 33B (bucket) and stores grain (harvested product) from the harvester 1A in the container 33B. However, the container 33B only needs to store material handed over from a device that transports material such as harvested product, such as the harvester 1A, and the device that transports the material (conveyor, transport device, etc.) is not limited to the harvester 1. For example, the bucket 33B may store material from a transport device (e.g., a conveyor) that transports agricultural materials such as fertilizer or seedlings, or from a transport device (e.g., a multicopter) that transports the materials. In such a case, the boom 32B stores material from a conveyor, drone, etc., with the bucket 33B raised (in the receiving position).

[0219] [Third embodiment] In the work vehicle 1C and work support system 200 of the second embodiment described above, instead of the transporter 1B (work machine) of the first embodiment, a case has been described in which grain is discharged into a container 33B that is supported so as to be able to rise and fall relative to the work vehicle 1C. However, instead of the work vehicle 1C, an agricultural machine 1D provided with a transport mechanism 60D that can transport objects (e.g., grain) stored in the bucket 33B out of the bucket 33B may also be used.

[0220] The agricultural machine 1D of the third embodiment is a vehicle that transports grain discharged from the harvester 1A, similar to the transport vehicle 1B of the first embodiment and the work vehicle 1C of the second embodiment, but differs in that it is equipped with a conveying mechanism 60D.

[0221] Fig. 24 is a configuration diagram of a work support system 200 according to the third embodiment. Figs. 25 and 26 are side views showing an example of an agricultural machine 1D according to the third embodiment. Fig. 25 shows a state in which the lifting device 32B is lowering the storage body 33B, and Fig. 26 shows a state in which the lifting device 32B is raising the storage body 33B.

[0222] 25 and 26, the agricultural machine 1D is a tractor 1C equipped with a front loader 30B and a transport mechanism 60D. For this reason, in the following explanation, first, the explanation of the configuration of the tractor 1C described as an example of the transporter 1B in the first embodiment and the explanation of the configuration of the front loader 30B described as an example of the container 33B and the lifting device 32B in the second embodiment will be omitted, and the transport mechanism 60D will be explained in detail.

[0223] FIG. 27 is a front perspective view showing the transport mechanism 60D and the front loader 30B. As shown in FIGS. 25 to 27 , the agricultural machine 1D includes the transport mechanism 60D and a third storage section 70D (storage section). The transport mechanism 60D transports grain from the bucket 33B to the third storage section 70D, and the third storage section 70D is capable of storing the transported grain. The transport mechanism 60D is supported by the boom 32B. Specifically, as shown in FIGS. 25 and 26 , the transport mechanism 60D is supported by the boom 32B and the coupling device 3B1. The third storage section 70D is supported by the vehicle body 3B and, in this embodiment, is coupled to the coupling device 3B1.

[0224] The conveying mechanism 60D has an inlet 61D, a communicating pipe 62D, a pump 63D, and a discharge part 64D. The inlet 61D is a duct attached to the bucket 33B and introduces grain from the bucket 33B into the communicating pipe 62D. The inlet 61D has a hollow housing 61D1, an inlet hole 61D2 that connects the interior of the housing 61D1 to the interior of the bucket 33B, and a connection part 61D3 that connects the interior of the housing 61D1 to the communicating pipe 62D.

[0225] The housing 61D1 is attached to the bucket 33B via fastening members such as fixed brackets and bolts, or detachable attachments such as clips and magnets. The housing 61D1 is disposed from the first side wall 33B1 to the second side wall 33B2, and in this embodiment, is attached to the top of the bucket 33B. The housing 61D1 protrudes upward from the bottom of the connecting wall 33B3 beyond the upper front end.

[0226] The introduction hole 61D2 is a hole formed in the housing 61D1, and the introduction hole 61D2 is formed on the bottom side of the connecting wall 33B3 of the housing 61D1. The introduction hole 61D2 communicates from the bottom of the connecting wall 33B3 to the inside of the housing 61D1.

[0227] The introduction hole 61D2 may be provided with a rotation mechanism driven by an actuator to scrape the grain in the bucket 33B into the introduction section 61D. In this case, the rotation mechanism scrapes the grain in the bucket 33B into the introduction section 61D with a rotating brush. For example, the rotation mechanism includes a rotation shaft and a brush. The rotation shaft is disposed extending in the width direction of the introduction section 61D and rotated about its axis by an actuator. The actuator is a hydraulic actuator (hydraulic motor) or an electric actuator (electric motor) driven by hydraulic oil. The brush is disposed from one side (left side) to the other side (right side) in the width direction of the rotation shaft and extends radially outward from the axis of the rotation shaft. Therefore, when the rotation shaft rotates about its axis, the brush scrapes the grain in the bucket 33B into the introduction section 61D.

[0228] The connecting portion 61D3 is a cylindrical member that communicates with the interior of the housing 61D1. In this embodiment, the connecting portion 61D3 is provided at the top of the housing 61D1 and protrudes rearward. A pair of connecting portions 61D3 are provided spaced apart in the width direction and are located respectively outside the first boom 32B1 and the second boom 32B2 in the width direction. A communicating pipe 62D is connected to the connecting portion 61D3.

[0229] The communicating pipe 62D is a tubular member that communicates within the bucket 33B. The communicating pipe 62D is, for example, a hose made of a flexible material such as rubber or silicone, or a bellows-shaped duct hose. In this embodiment, the conveying mechanism 60D has a pair of communicating pipes 62D, and one end of each of the pair of communicating pipes 62D is connected to the connecting portion 61D3. One end of each of the communicating pipes 62D is fixed to the connecting portion 61D3 by a fixing member such as a hose band. The other end of each communicating pipe 62D is connected to the pump 63D.

[0230] 25 to 27, the communicating pipe 62D is routed from one end to the other end of the boom 32B. The communicating pipe 62D is routed outward in the width direction of the boom 32B. In this embodiment, the communicating pipe 62D is fixed from one end to the middle of the communicating pipe 62D to the side of the boom 32B by a routing member 62D1. Therefore, the communicating pipe 62D can follow the swinging of the boom 32B both in a state in which the boom 32B has lowered the bucket 33B as shown in FIG. 25 and in a receiving position in which the bucket 33B has been raised as shown in FIG. 26.

[0231] The communicating pipe 62D from the middle to the other end passes inside (behind) the width direction of the step below the entrance of the protection mechanism and is routed on the upper surface of the fender of the rear wheel 6B2. The communicating pipe 62D only needs to be routed to at least the boom 32B, and the other end may be routed above the protection mechanism.

[0232] The pump 63D supplies (discharges) objects in the bucket 33B to the outside of the bucket 33B via the communicating pipe 62D. The pump 63D is connected to the communicating pipe 62D and is driven by power transmitted from the outside to generate an airflow inside the communicating pipe 62D. The pump 63D is driven by power transmitted from an electric actuator 63D1 (electric motor) or a hydraulic actuator (hydraulic motor), or by power transmitted from the PTO shaft 5B1. In this embodiment, the pump 63D is driven by the electric motor 63D1 to suck grain from the bucket 33B via the communicating pipe 62D and the introduction section 61D and convey the grain by air through the communicating pipe 62D. Therefore, as shown by the arrows in FIG. 27 , the grain contained in the bucket 33B is sucked (air-conveyed) by the pump 63D via the introduction section 61D into the communicating pipe 62D. As shown in Figures 25 and 26, the pneumatically transported grain is discharged from the discharge section 64D into the third storage section 70D.

[0233] The grain is discharged from the discharge section 64D through an opening formed in the bottom of the discharge section 64D. The discharge section 64D is disposed above the opening of the third storage section 70D, and the grain discharged from the discharge section 64D is stored inside the third storage section 70D.

[0234] The third storage unit 70D is a hollow tank with an intake port 70D1 formed at the top. This allows the third storage unit 70D to store grain discharged from the discharge unit 64D. The third storage unit 70D is also connected to the connecting device 3B1. Specifically, the third storage unit 70D is attached to a connecting frame 71D connected to the connecting device 3B1.

[0235] The connecting frame 71D is a frame connected to the connecting device 3B1, and the third storage section 70D can be detachably attached to the connecting frame 71D. In this embodiment, the connecting frame 71D has a front frame 71D1 whose front section is connected to the connecting device 3B1, and a rear frame 71D2 that extends rearward from the front frame 71D1. A pump 63D and a discharge section 64D are attached to the upper part of the front frame 71D1.

[0236] The rear frame 71D2 is a plate-shaped frame member with its plate surface facing up and down, and the third storage section 70D is placed on its upper surface. The third storage section 70D may be attached to the rear frame 71D2 with fastening members such as bolts or a fixing belt, or may be attached to the rear frame 71D2 with a locking member that can be switched between locked and unlocked by an electric actuator, for example.

[0237] The third storage unit 70D is detachable from the connecting device 3B1 (connecting frame 71D) and may be provided with a held portion 70D2 that is held by a transport device 80 that transports the third storage unit 70D removed from the connecting device 3B1. In the third embodiment, the held portion 70D2 is provided to surround the intake 70D1. The held portion 70D2 has side wall portions that cover both sides of the intake 70D1 in the width direction, a rear wall portion that covers the rear of the intake 70D1, and a top wall portion that covers the top of the intake 70D1. Therefore, the held portion 70D2 also serves as a cover that prevents anything other than the grain discharged from the discharge portion 64D from entering the third storage unit 70D.

[0238] As shown in Fig. 24 , the work support system 200 includes a transporting device 80. Figs. 28 and 29 are diagrams showing an example of the transporting device 80 in the third embodiment. In the example shown in Figs. 28 and 29 , the transporting device 80 is an implement 15B that is connected to a connecting device 3B1 of a tractor 1C that is different from the agricultural machine 1D. The transporting device 80 will be described in detail below using Figs. 28 and 29 .

[0239] 28 and 29, the transport device 80 has a connecting frame 81D, a mounting table 82D, support wheels 83D, and a transport mechanism 84D. The connecting frame 81D is a frame connected to the connecting device 3B1.

[0240] The mounting base 82D is a base on which the third storage unit 70D removed from the connecting device 3B1 can be placed. One or more third storage units 70D can be placed on the mounting base 82D. In the example shown in Figures 28 and 29, two third storage units 70D can be placed in the front-to-rear direction. The mounting base 82D extends rearward from the rear of the connecting frame 81D. The rear of the mounting base 82D is supported by support wheels 83D.

[0241] The transport mechanism 84D is a mechanism that moves the third storage unit 70D from the connecting device 3B1 to the upper surface of the mounting base 82D and attaches the third storage unit 70D of the mounting base 82D to the connecting device 3B1 (in this embodiment, the third storage unit 70D is mounted on the upper surface of the rear frame 71D2). The transport mechanism 84D has a support column 85D that extends vertically and stands on the mounting base 82D, an arm body 86D that extends in a direction perpendicular to the longitudinal direction of the support column 85D, and a holding mechanism 87D that is supported by the arm body 86D and can hold the storage unit 33B. The transport mechanism 84D can move the holding mechanism 87D vertically and horizontally.

[0242] The support pillar 85D is installed at the front of the mounting table 82D, and in the example shown in Figures 28 and 29, is a straight metal pipe that extends straight over its entire length. A convex rib is provided on the outer circumferential surface of the support pillar 85D, and is arranged along the center of the support pillar 85D. The cross-sectional shape of the convex rib is rectangular when viewed from the up-down direction. The convex rib is formed like a key extending in the up-down direction. The convex rib is formed to correspond to the movable range of the arm body 86D. Note that a regulating body may be attached to the support pillar 85D to determine the upper limit position (raised position) and lower limit position (lowered position) of the movable range of the arm body 86D.

[0243] In this embodiment, the support column 85D is attached to the mounting table 82D so as to be rotatable about an axis extending in the vertical direction. The support column 85D is provided with a first drive mechanism 88D that rotates the support column 85D. The first drive mechanism 88D has an actuator 88D1 (e.g., an electric motor) and rotates the support column 85D using power generated by the electric motor 88D1. The drive of the electric motor 88D1 is controlled by the second control device 20B. For example, based on the operation of a switch included in the second operating device 22B, the second control device 20B controls the power supplied to the electric motor 88D1 to drive the first drive mechanism 88D.

[0244] The arm body 86D has a guided portion 86D1 that is movable along the support pillar 85D, and an arm portion 86D2 that supports the holding mechanism 87D. The guided portion 86D1 includes the base end of the arm body 86D, and is formed with a guide hole through which the support pillar 85D and the protruding portion are inserted. This allows the guided portion 86D1 to move in the longitudinal direction of the support pillar 85D between the upper and lower restricting bodies while being restricted from rotating around the support pillar 85D.

[0245] The guided portion 86D1 is moved up and down relative to the support 85D by a second drive mechanism 89D. Accordingly, the arm portion 86D2 is also moved up and down relative to the support 85D. The second drive mechanism 89D includes a pair of pulleys 89D1, 89D2 spaced apart along the longitudinal direction of the support 85D, a cable 89D3 wound around the pair of pulleys 89D1, 89D2 and connected at both ends to the guided portion 86D1, and an actuator 89D4 (e.g., an electric motor) that rotates one of the pulleys 89D1, 89D2. Of the pair of pulleys 89D1, 89D2, the pulley 89D1 is attached to the upper end of the support 85D, and the other pulley 89D2 is attached to a position below the middle of the support 85D.

[0246] The cable 89D3 passes through the support 85D and is wound around pulleys 89D1 and 89D2, with both ends connected to the guided portion 86D1. As a result, by moving (pulling) the cable 89D3 in the vertical direction, the guided portion 86D1 connected to the cable 89D3 can move in the vertical direction (along the support 85D).

[0247] The electric motor 89D4 generates power to rotate the lower pulleys 89D1 and 89D2. The driving of the electric motor 89D4 is controlled by the second control device 20B. For example, based on the operation of a switch included in the second operating device 22B, the second control device 20B controls the power supplied to the electric motor 89D4 to drive the second drive mechanism 89D. As a result, the second drive mechanism 89D rotates the lower pulleys 89D1 and 89D2, thereby moving the cable 89D3 and raising and lowering the guided portion 86D1 (arm body 86D).

[0248] The arm portion 86D2 includes the tip of the arm body 86D and is held by the guided portion 86D1. A holding mechanism 87D is supported at the tip of the arm portion 86D2. In this embodiment, the arm portion 86D2 is held so as to be movable horizontally relative to the guided portion 86D1, and is moved by a third drive mechanism 90D. In other words, the third drive mechanism 90D can change the horizontal position of the holding mechanism 87D at the tip of the arm portion 86D2.

[0249] The third drive mechanism 90D has an actuator 90D1 (e.g., an electric motor), and changes the position of the arm portion 86D2 relative to the guided portion 86D1 using power generated by the actuator 90D1. The drive of the electric motor 90D1 is controlled by the second control device 20B. For example, based on the operation of a switch included in the second operating device 22B, the second control device 20B controls the power supplied to the electric motor 90D1 to drive the third drive mechanism 90D.

[0250] The holding mechanism 87D has a pair of holding claws 87D1. The pair of holding claws 87D1 are arranged so that their holding surfaces that hold the held portion 70D2 face each other, and the separation width between them is changed by a fourth drive mechanism 91D. The fourth drive mechanism 91D has an actuator 91D1 (e.g., an electric motor) that generates power to change the separation width between the pair of holding claws 87D1. The drive of the electric motor 91D1 is controlled by the second control device 20B. For example, based on operation of a switch included in the second operating device 22B, the second control device 20B controls the power supplied to the electric motor 91D1 to drive the fourth drive mechanism 91D. As a result, the holding mechanism 87D switches between a holding state in which the pair of holding claws 87D1 clamp the held portion 70D2 to hold it, and a release state in which the separation width between the holding claws 87D1 is increased to release the hold of the held portion 70D2.

[0251] In the above example, the holding mechanism 87D holds the third housing portion 70D by clamping the held portion 70D2 between the pair of holding claws 87D1. However, the holding mechanism 87D need only be able to hold the held portion 70D2 of the third housing portion 70D. For example, if the held portion 70D2 is made of magnetic metal, the holding mechanism 87D may be an electromagnet. Furthermore, if the held portion 70D2 is an eyebolt, the holding mechanism 87D may be a hook that can be engaged with the eyebolt.

[0252] In the third embodiment, the agricultural machine 1D performs cooperative traveling to receive grain from the harvester 1A when the remaining capacity of the third storage unit 70D is equal to or greater than a predetermined value (sixth threshold). When the remaining capacity falls below the predetermined value (sixth threshold), the agricultural machine 1D suspends cooperative traveling and replaces the third storage unit 70D using the transport device 80. For example, the third storage unit 70D is provided with a yield sensor 70D3 that detects the amount of grain stored in the third storage unit 70D, and the yield sensor 70D3 is connected to the second control unit 20B via wired or wireless communication. The second control unit 20B calculates the remaining capacity of grain that the third storage unit 70D can store based on the detection result of the yield sensor 70D3 and a predetermined calculation formula or table stored in the second memory device 21B. The yield sensor 70D3 is, for example, a load cell that measures the weight of the grain stored in the third storage unit 70D.

[0253] The second control device 20B calculates the remaining capacity of the third storage section 70D, and suspends cooperative traveling when the remaining capacity falls below a predetermined value. The second control device 20B of the agricultural machine 1D that has ended cooperative traveling outputs an suspension signal indicating that cooperative traveling has been suspended to the work support device 100 via the second communication device 23B and the third communication device 103, and requests the first area E1 of the field H from the work support device 100. When the second control device 20B acquires the first area E1 of the field H from the work support device 100, it moves the agricultural machine 1D to the first area E1 based on the second vehicle body position VP2 of the agricultural machine 1D and the position information of the first area E1.

[0254] At this time, similar to the first control device 20A in the first embodiment, the second control device 20B of the agricultural machine 1D may, when stopping the transporter 1B at a predetermined stop position SP1 in the first area E1, cause the second communication device 23B to transmit the current second vehicle body position VP2 (i.e., position information of the stop position SP1 of the agricultural machine 1D) and arrival information indicating that the agricultural machine 1D has stopped at the stop position SP1 to the work support device 100. In such a case, the third control device 101 defines a guidance position SP2 on the road FR for guiding the work vehicle 1C coupled with the transporter device 80 to the vicinity of the agricultural machine 1D based on the vertex V and the stop position SP1, and outputs the guidance position SP2 to the work vehicle 1C via the third communication device 103. As a result, the work vehicle 1C coupled with the transporter device 80 moves to the guidance position SP2, and the third storage section 70D of the agricultural machine 1D can be replaced by the transporter 80.

[0255] In the above example, the second control device 20B interrupted cooperative driving and replaced the third storage unit 70D using the transport device 80 depending on the remaining capacity of the third storage unit 70D, but it may also interrupt cooperative driving and replace the third storage unit 70D using the transport device 80 depending on the yield of the third storage unit 70D.

[0256] Furthermore, in the above example, the transporting device 80 was described using the implement 15B connected to the tractor 1C as an example, but the transporting device 80 is not limited to the implement 15B as long as it can transport the third storage section 70D from the coupling device 3B1. Furthermore, it is preferable that the transporting device 80 is equipped with a traveling device or is connected to a travelable vehicle (for example, a vehicle such as a tractor 1C or a truck) and towed. Furthermore, the transporting device 80 may be installed in a building that stores a work vehicle 1C such as a tractor 1C or in the vicinity of the building.

[0257] Preferred embodiments of the present invention provide a work assistance device 100, a work assistance system 200, a work assistance method, a work vehicle 1C, and an agricultural machine 1D described in the following items.

[0258] (Item A1) A work support device 100 comprising: a storage device 102 that stores map information including roads FR around a field H; a calculation device 101 that, when a harvester 1A harvesting crops in the field H stops traveling, defines a guidance position SP2 on the road FR based on the map information and a stopping position SP1 of the harvester 1A to guide a transport vehicle 1B transporting the harvested crops discharged from the harvester 1A to the vicinity of the harvester 1A; and an output device 103 that outputs the guidance position SP2 defined by the calculation device 101.

[0259] According to the work assistance device 100 relating to this item A1, the guidance position SP2 can be accurately and appropriately defined with respect to the road FR.

[0260] (Item A2) The work support device 100 described in Item A1, in which the map information defines a plurality of vertices V based on the shape of the road FR, and the calculation device 101 defines the guidance position SP2 on the road FR based on the vertices V and the stop position SP1.

[0261] According to the work support device 100 relating to this item A2, the guidance position SP2 can be appropriately defined on the road FR in accordance with the shape of the road FR, i.e., the shape of the field H.

[0262] (Item A3) The work support device 100 according to Item A2, wherein the map information defines a plurality of section routes SR connecting a plurality of the vertices V, and the calculation device 101 defines the guidance position SP2 on the section routes SR based on the plurality of section routes SR and the stop position SP1.

[0263] According to the work support device 100 relating to this item A3, the guidance position SP2 can be more appropriately defined on the road FR in accordance with the shape of the field H.

[0264] (Item A4) The work support device 100 according to Item A3, wherein the calculation device 101 defines the guide position SP2 on a predetermined section route SR among the plurality of section routes SR based on a positional relationship between the plurality of section routes SR and the stop position SP1.

[0265] According to the work support device 100 relating to this item A4, the guidance position SP2 can be more appropriately defined on the road FR, taking into consideration the position of the harvester 1A that stops at the stop position SP1.

[0266] (Item A5) The work support device 100 according to Item A4, wherein the calculation device 101 defines the guide position SP2 on a section route SR that is closest to the stop position SP1 among the plurality of section routes SR.

[0267] According to the work support device 100 relating to this item A5, the guidance position SP2 can be defined at a position relatively close to the harvester 1A that stops at the stop position SP1.

[0268] (Item A6) The work support device 100 according to Item A5, wherein the calculation device 101 defines the guide position SP2 at a position closest to the stop position SP1 among the section route SR closest to the stop position SP1.

[0269] According to the work support device 100 relating to this item A6, the guidance position SP2 can be defined at a position closer to the harvester 1A that stops at the stop position SP1.

[0270] (Item A7) The work support device 100 according to any one of Items A3 to A6, wherein the map information includes a plurality of the fields H and the roads FR around the plurality of the fields H, and the calculation device 101 defines the guidance position SP2 on the roads FR around the plurality of the fields H.

[0271] According to the work support device 100 relating to this item A7, even if there are multiple fields H where the harvester 1A can potentially perform harvesting work, the guidance position SP2 can be appropriately defined.

[0272] (Item A8) The work support device 100 according to any one of items A3 to A7, wherein the calculation device 101 defines a waiting position SP3 at which the transporter 1B is to wait at any one of the plurality of vertices V based on the map information, and the output device 103 outputs the waiting position SP3 defined by the calculation device 101.

[0273] According to the work support device 100 relating to this item A8, the position where the transporter 1B waits relative to the road FR can be defined accurately and appropriately.

[0274] (Item A9) The work support device 100 described in A8, which cites Item A7, is configured such that the calculation device 101, based on the map information, preferentially defines the standby position SP3 at a vertex V that is connected to a large number of section routes SR among the plurality of vertices V.

[0275] According to the work support device 100 relating to this item A9, even when the harvesters 1A are performing harvesting work in multiple fields H, it is possible to define positions to which the transporter 1B can be moved efficiently.

[0276] (Item A10) A work support system 200 including the work support device 100 according to any one of items A2 to A9, the harvester 1A, and the transporter 1B.

[0277] According to the work support system 200 according to item A10, it is possible to realize the work support system 200 that provides the unique effects described above.

[0278] (Item A11) The work support system 200 according to item A10, wherein the transporter 1B acquires the guide position SP2 output from the output device 103 and automatically travels to the guide position SP2.

[0279] According to the work support system 200 relating to this item A11, the transporter 1B can be stopped appropriately on the road FR.

[0280] (Item A12) The work support system 200 described in Item A10 or A11, in which the calculation device 101 defines a waiting position SP3 where the transporter 1B is to wait at any one of the plurality of vertices V based on the map information, the output device 103 outputs the waiting position SP3 defined by the calculation device 101, the transporter 1B acquires the waiting position SP3 output from the output device 103, waits at the waiting position SP3, and, upon acquiring the guide position SP2, automatically travels from the waiting position SP3 to the guide position SP2.

[0281] According to the work support system 200 relating to this item A12, the transporter 1B can appropriately stop on the road FR and wait to move to the guide position SP2.

[0282] (Item A13) The work support system 200 according to any one of items A10 to A12, wherein the harvester 1A stops traveling when the remaining capacity of the storage section 12A that stores the harvested product falls below a predetermined value.

[0283] According to the work support system 200 relating to this item A13, the harvester 1A can perform harvesting work efficiently regardless of the position of the transporter 1B.

[0284] (Item A14) The work support system 200 described in Item A13 is configured such that, when the remaining capacity becomes less than a predetermined value, the harvester 1A stops traveling at a location within the road FR where a discharge device 13A that discharges the harvested product stored in the storage section 12A to the transport vehicle 1B is located.

[0285] According to the work support system 200 relating to this item A14, the harvester 1A can properly discharge the harvested product onto the transporter 1B.

[0286] (Item A15) A work assistance method comprising the steps of: when a harvester 1A harvesting crops in a field H stops traveling, a calculation device 101 acquiring a stopping position SP1 of the harvester 1A; the calculation device 101 defining a guidance position SP2 on the road FR for guiding a transport vehicle 1B transporting the harvested crops discharged from the harvester 1A to the vicinity of the harvester 1A based on map information including a road FR surrounding the field H and the stopping position SP1; and an output device 103 outputting the guidance position SP2 defined by the calculation device 101.

[0287] According to the work assistance method according to item A15, the guidance position SP2 can be accurately and appropriately defined with respect to the road FR.

[0288] (Item B1) A work vehicle 1C comprising a vehicle body 3B, a container 33B capable of storing an object handed over from an apparatus 1A for transporting the object, and a lifting device 32B capable of raising and lowering the container 33B relative to the vehicle body 3B, wherein the lifting device 32B raises the container 33B and stores the object from the apparatus 1A for transporting the object in the container 33B.

[0289] According to the work vehicle 1C relating to item B1, the lifting device 32B raises and lowers the container 33B, thereby changing the height of the container 33B relative to the device 1A transporting the transported goods, and the transported goods handed over from the device 1A can be appropriately stored in the container 33B.

[0290] (Item B2) The device 1A for transporting the transported material is a harvester, the transported material is a harvested product harvested in a farm field H by the harvester 1A, and the lifting device 32B stores the harvested product from the harvester 1A in the storage body 33B while raising the storage body 33B. This is the work vehicle 1C described in Item B1.

[0291] According to the work vehicle 1C relating to item B2, the lifting device 32B raises and lowers the storage body 33B, thereby changing the height of the storage body 33B relative to the harvester 1A, and the harvested crops discharged from the harvester 1A can be appropriately stored in the storage body 33B.

[0292] (Item B3) The work vehicle 1C described in Item B2, in which the lifting device 32B is a boom 32B attached to the front of the vehicle body 3B so as to be able to swing up and down, the storage body 33B is a bucket 33B provided on the boom 32B so as to be able to change its position, and the boom 32B faces an opening 33B5 of the bucket 33B upward, causing the harvested product from the harvester 1A to be stored in the bucket 33B.

[0293] According to the work vehicle 1C relating to item B3, by changing the height T2 and posture of the bucket 33B, the harvested products discharged from the harvester 1A can be appropriately stored in the bucket 33B.

[0294] (Item B4) The work vehicle 1C according to Item B3, which includes a coupling device 3B1 that can couple a work implement 15B2 for performing agricultural work to the vehicle body 3B.

[0295] With the work vehicle 1C according to item B4, when the work implement 15B2 is coupled to the vehicle body 3B via the coupling device 3B1, work can be performed using the work implement 15B2 while storing harvested crops with the bucket 33B. Furthermore, even if work using the work implement 15B2 is not performed while storing harvested crops with the bucket 33B, the work vehicle 1C can perform work using the work implement 15B2 and the work of storing harvested crops using the bucket 33B.

[0296] (Item B5) A work vehicle 1C according to Item B4, comprising a traveling device 6B that supports the vehicle body 3B so that it can travel, and a sensing device 24B that senses the positional relationship between the vehicle body 3B and the harvester 1A, wherein the traveling device 6B travels in coordination with the harvester 1A based on the sensing results of the sensing device 24B.

[0297] According to the work vehicle 1C according to item B5, by traveling in coordination with the harvester 1A, the work vehicle 1C can store the harvested products while coordinating with the harvesting operation by the harvester 1A. Therefore, the work vehicle 1C can perform storage work while maintaining the work efficiency of the harvesting operation, thereby improving work efficiency in the field H.

[0298] (Item B6) The work vehicle 1C according to Item B5, wherein the traveling device 6B maintains a predetermined distance from the harvester 1A based on the sensing result of the sensing device 24B, and travels in coordination with the harvester 1A.

[0299] According to the work vehicle 1C according to item B6, the work vehicle 1C can travel following the harvester 1A while storing the harvested products discharged from the harvester 1A. This allows the work vehicle 1C to perform appropriate and accurate storage work while maintaining the work efficiency of the harvesting work.

[0300] (Item B7) The work vehicle 1C according to Item B6, wherein the work device 15B2 performs agricultural work other than storing the harvested product when traveling cooperatively with the harvester 1A.

[0301] According to the work vehicle 1C according to item B7, while storing harvested crops with the bucket 33B, another agricultural task can be performed with the work implement 15B2, thereby reducing the number of times and distance traveled by the work vehicle 1C in the field H. As a result, the work vehicle 1C can improve the work efficiency in the field H.

[0302] (Item B8) The work vehicle 1C according to Item B7, wherein the work implement 15B2 is a tillage implement 40B that performs tillage work or a tillage implement 50B that performs plowing work.

[0303] According to the work vehicle 1C according to item B8, the harvester 1A can perform tilling or plowing work simultaneously with the harvesting work. This allows the worker to immediately utilize the field H after the harvesting work.

[0304] (Item B9) A work support system 200 including the work vehicle 1C according to any one of items B5 to B8 and the harvester 1A.

[0305] According to the work support system 200 according to item B9, it is possible to realize the work support system 200 that provides the unique effects described above.

[0306] (Item B10) A work support system 200 as described in Item B9, which includes a transporter 1B that travels in coordination with the harvester 1A and / or the work vehicle 1C, and that stores the harvested product discharged from the harvester 1A separately from the bucket 33B and transports the harvested product, the transporter 1B performing cooperative travel to receive the harvested product from the harvester 1A when the remaining capacity for storing the harvested product is equal to or greater than a predetermined value, and the work vehicle 1C performing cooperative travel to receive the harvested product from the harvester 1A with the bucket 33B instead of the transporter 1B when the remaining capacity of the transporter 1B is less than the predetermined value.

[0307] According to the work support system 200 of this item B10, the work vehicle 1C travels in coordination with the harvester 1A, and so when the transporter 1B is no longer able to store the harvest, the work vehicle 1C can store the harvest in place of the transporter 1B. This reduces the time during which the harvest discharged from the harvester 1A cannot be stored, and prevents delays in the harvesting work of the harvester 1A due to the work of storing the harvest.

[0308] (Item B11) The work support system 200 according to Item B9 or B10, wherein the harvester 1A is a combine 1A that harvests grain in the field H.

[0309] According to the work support system 200 relating to this item B11, the work vehicle 1C can appropriately cooperate with the harvesting work of the combine harvester 1A.

[0310] (Item C1) An agricultural machine 1D including: a travellable vehicle body 3B; a bucket 33B attached to the vehicle body 3B and capable of storing an object therein; and a transport mechanism 60D capable of transporting the object stored in the bucket 33B to outside the bucket 33B.

[0311] According to the agricultural machine 1D related to this item C1, while storing an object in the bucket 33B, the stored object can be transported out of the bucket 33B without changing the posture of the bucket 33B. This improves the efficiency of the work of storing objects using the bucket 33B.

[0312] (Item C2) The agricultural machine 1D according to Item C1, further comprising: a boom 32B attached to the vehicle body 3B and provided so as to be able to swing up and down; and the bucket 33B being provided to the vehicle body 3B via the boom 32B.

[0313] According to the agricultural machine 1D related to item C2, the bucket 33B can be raised and lowered depending on the position where the object is to be stored, while the transport mechanism 60D can transport the object in the bucket 33B. This can further improve the efficiency of the work of storing objects using the bucket 33B.

[0314] (Item C3) The agricultural machine 1D according to Item C2, wherein the boom 32B is capable of lifting and lowering the bucket 33B, and the transport mechanism 60D is supported by the boom 32B.

[0315] According to the agricultural machine 1D related to this item C3, an object can be appropriately transported from the lifting and lowering bucket 33B by the transport mechanism 60D.

[0316] (Item C4) The agricultural machine 1D according to Item C2 or C3, wherein the transport mechanism 60D includes a communication pipe 62D that communicates the inside of the bucket 33B, and a pump 63D that supplies the object inside the bucket 33B to the outside of the bucket 33B via the communication pipe 62D.

[0317] According to the agricultural machine 1D related to item C4, it is possible to supply objects in the bucket 33B to the outside of the bucket 33B while preventing objects from leaking out of the bucket 33B with a relatively simple configuration.

[0318] (Item C5) The agricultural machine 1D according to Item C4, wherein the communication pipe 62D is routed from one end to the other end of the boom 32B.

[0319] According to the agricultural machine 1D according to item C5, the communication pipe 62D can transport the object in the bucket 33B without interfering with the swinging of the boom 32B.

[0320] (Item C6) The agricultural machine 1D according to any one of Items C2 to C5, further comprising: a storage section 70D that is supported by the vehicle body 3B and is capable of storing the object, wherein the transport mechanism 60D transports the object from inside the bucket 33B to the storage section 70D.

[0321] According to the agricultural machine 1D related to item C6, the object transported from inside the bucket 33B can be stored in the storage section 70D. Therefore, the agricultural machine 1D can transport the object stored in the storage section 70D.

[0322] (Item C7) The agricultural machine 1D according to Item C6, further comprising a coupling device 3B1 that can couple a work implement 15B2 that performs agricultural work to the vehicle body 3B, the coupling device 3B1 coupling the storage section 70D instead of the work implement 15B2.

[0323] The agricultural machine 1D according to item C7 is capable of performing agricultural work, and is also capable of transporting an object conveyed from inside the bucket 33B.

[0324] (Item C8) The agricultural machine 1D according to Item C7, wherein the boom 32B is attached to a front part of the vehicle body 3B, and the coupling device 3B1 couples the storage section 70D to a rear part of the vehicle body 3B.

[0325] According to the agricultural machine 1D according to item C8, the bucket 33B stores an object in the front part of the vehicle body 3B, while the object inside the bucket 33B can be stored in the rear part of the vehicle body 3B. This makes it possible to prevent deterioration in the front-to-rear balance caused by the bucket 33B and the storage part 70D each storing an object.

[0326] (Item C9) The agricultural machine 1D according to any one of Items C1 to C8, wherein the bucket 33B stores, as the object, a harvested product harvested in a farm field H by a harvester 1A.

[0327] According to the agricultural machine 1D of item C9, while the bucket 33B receives the harvested product from the harvester 1A, the harvested product received by the bucket 33B (stored in the bucket 33B) can be transported to another location. This improves the workability of the harvesting operation of the harvester 1A.

[0328] (Item C10) The agricultural machine 1D according to Item C9, which cites Item C7, wherein the storage portion 70D is provided with a held portion 70D2 that is held by a transport device 80 that transports the storage portion 70D detached from the coupling device 3B1.

[0329] According to the agricultural machine 1D of this item C10, even if the remaining capacity of the storage section 70D becomes low, the storage section 70D can be replaced by the transport device 80, and the workability of the agricultural machine 1D can be improved.

[0330] (Item C11) A work support system 200 including the agricultural machine 1D according to Item C10, and a transport device 80 that transports the storage section 70D detached from the coupling device 3B1.

[0331] According to the work support system 200 according to this item C11, it is possible to realize the work support system 200 that exhibits the unique effects described above.

[0332] 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.

[0333] 1A: Harvester (combine) 1B: Transporter 12A: Storage section (first storage section) 13A: Discharge device 100: Work support device 101: Calculation device (third control device) 102: Storage device (third storage device) 103: Output device (third communication device) 200: Work support system FR: Road H: Field SP1: Stop position SP2: Guidance position SP3: Standby position SR: Section route V: Vertex

Claims

1. A work support device comprising: a storage device that stores map information including roads around a field; an arithmetic device that defines a guiding position on the road for guiding a transport vehicle that transports the harvested product discharged from the harvester to the vicinity of the harvester based on the map information and the stop position of the harvester when the harvester that harvests the harvested product in the field stops; and an output device that outputs the guiding position defined by the arithmetic device.

2. In the map information, a plurality of vertex portions based on the shape of the road are defined, and the arithmetic device defines the guiding position on the road based on the vertex portions and the stop position. The work support device according to claim 1.

3. In the map information, a plurality of section routes connecting the plurality of vertex portions are defined, and the arithmetic device defines the guiding position on the section route based on the plurality of section routes and the stop position. The work support device according to claim 2.

4. The arithmetic device defines the guiding position on a predetermined section route among the plurality of section routes based on the positional relationship between the plurality of section routes and the stop position. The work support device according to claim 3.

5. The arithmetic device defines the guiding position on the section route closest to the stop position among the plurality of section routes. The work support device according to claim 4.

6. The arithmetic device defines the guiding position at the position closest to the stop position among the section routes closest to the stop position. The work support device according to claim 5.

7. The map information includes a plurality of the fields and the roads around the plurality of the fields, and the arithmetic device defines the guiding position on the roads around the plurality of the fields. The work support device according to claim 6.

8. The arithmetic device defines a standby position for waiting the transport vehicle at any one of the plurality of vertex portions based on the map information, and the output device outputs the standby position defined by the arithmetic device. The work support device according to claim 7.

9. The arithmetic device preferentially defines the standby position at the vertex portion having a larger number of connecting section routes among the plurality of vertex portions based on the map information. The work support device according to claim 8.

10. A work support system comprising: the work support device according to any one of claims 2 to 9; the harvester; and the transport vehicle.

11. The work support system according to claim 10, wherein the carrier acquires the guidance position output from the output device and automatically travels to the guidance position.

12. The arithmetic unit defines a standby position for causing the carrier to standby at any one of the plurality of vertex portions based on the map information. The output device outputs the standby position defined by the arithmetic unit. The carrier acquires the standby position output from the output device, stands by at the standby position, and when acquiring the guidance position, automatically travels from the standby position to the guidance position. The work support system according to claim 10.

13. The work support system according to claim 10, wherein the harvester stops traveling when the remaining capacity of the storage unit for storing the harvested crop harvested by the harvester becomes less than a predetermined amount.

14. The work support system according to claim 13, wherein when the remaining capacity becomes less than a predetermined amount, the harvester stops traveling at a location where a discharge device for discharging the harvested crop stored in the storage unit to the carrier is located within the road.

15. A work support method comprising: a step in which an arithmetic unit acquires a stop position of the harvester when the harvester that harvests a crop in a field stops traveling; a step in which the arithmetic unit defines, on the road, a guidance position for guiding a carrier that transports the harvested crop discharged from the harvester to the vicinity of the harvester based on map information including a road around the field and the stop position; and a step in which an output device outputs the guidance position defined by the arithmetic unit.

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