JP7771043B2 - Agricultural work support device, agricultural work support system, agricultural machinery, and driving line creation method - Google Patents

Description

The present invention relates to technology that assists agricultural machinery in performing agricultural work using a work device connected to the agricultural machinery while the machinery is traveling in a field.

For example, Patent Document 1 discloses a technology for creating a driving line (working path) along which an agricultural machine coupled with a working device can autonomously travel in order to perform agricultural work in a field using the working device. In the agricultural work vehicle disclosed in Patent Document 1, when the operator designates the central area (working area) of the field, a working path creation unit in the control unit creates multiple linear driving lines in the central area, parallel to each other at appropriate intervals and passing through the working area. Areas of the field other than the central area are set as headlands (paragraphs 0045-0046, Figure 6, etc.).

Japanese Patent Application Laid-Open No. 2017-135995

For example, when agricultural machinery travels based on a travel line and begins agricultural work in a field using a work implement, the work may not be carried out properly. Simply creating multiple travel lines in a designated central area, as in the past, creates inconvenient areas where agricultural work is not carried out properly, such as immediately after the start of work, in the central area of the field, as it is not possible to set the areas to be in other areas.

In consideration of the above-mentioned problems, the present invention aims to improve the convenience of the travel line along which agricultural machinery travels to perform agricultural work using its working equipment.

The technical means of the present invention to solve the above technical problems is characterized by the following points:

The agricultural work support device of the present invention comprises an input unit that inputs field information that indicates the field, equipment information for a work equipment connected to the agricultural machine, and working conditions for the agricultural work to be performed by the work equipment while the agricultural machine is traveling in the field, and a control unit that creates a driving line for the agricultural machine to travel in a central area of a field map that indicates the field based on the field information, the equipment information, and the working conditions, in order to perform the agricultural work with the work equipment, and the control unit identifies a margin distance for starting or ending the traveling of the agricultural machine and the agricultural work by the work equipment from the working conditions, and adjusts the length of the driving line created in the central area based on the margin distance. The control unit also identifies the run-up distance of the agricultural machine as the margin distance from the working conditions, and shifts the starting point of the travel line created in the central area by the run-up distance in either the extension direction or the shortening direction of the travel line, and/or identifies the coasting distance of the agricultural machine as the margin distance from the working conditions, and shifts the end point of the travel line created in the central area by the coasting distance in either the extension direction or the shortening direction of the travel line.

This invention can improve the convenience of the travel path along which agricultural machinery travels to perform agricultural work using its working equipment.

FIG. 1 is a configuration diagram of an agricultural work support system. FIG. 10 is a diagram showing a work selection screen. FIG. 10 is a diagram showing a work device setting confirmation screen. FIG. 10 is a diagram showing a field selection screen. FIG. 10 is a diagram showing a route creation screen. FIG. 10 is a diagram showing a route creation screen after a driving line has been created. FIG. 10 is a diagram showing a route creation screen after a travel route has been created. FIG. 10 is a diagram showing a driving control screen. 10 is a flowchart showing a procedure for creating a driving line. FIG. 1 is a diagram showing a farm field map. FIG. 10 is a diagram showing a driving line before adjustment. FIG. 10 is a diagram showing a driving line after adjustment in headland priority mode. FIG. 10 is a diagram showing a driving line after adjustment in center priority mode. FIG. 10 is a diagram showing a route creation screen on which a task collaboration key is provided. 10 is a flowchart showing a procedure for creating a driving line when a plurality of farm works are coordinated. 10B is a flowchart continuing from FIG. 10A. FIG. 10 is a diagram showing a travel line for sowing work in headland priority mode. FIG. 10 is a diagram showing a travel line for hilling work in headland priority mode. FIG. 10 is a diagram showing a travel line for sowing work in center priority mode. FIG. 10 is a diagram showing a travel line for hilling work in center priority mode. FIG. 1 is a side view of an agricultural machine.

The following describes an embodiment of the present invention with reference to the drawings.

Figure 13 is a side view of agricultural machine 1. Agricultural machine 1 is composed of a tractor. Note that the agricultural machine of the present invention is not limited to tractors and may be composed of other agricultural machines that can travel, such as rice transplanters or combine harvesters.

The agricultural machine 1 comprises a body 3, a prime mover 4, a transmission 5, and a traveling device 7. The front wheels 7F of the traveling device 7 may be tire-type or crawler-type. The rear wheels 7R of the traveling device 7 may also be tire-type or crawler-type. The prime mover 4 is composed of a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is composed of a diesel engine. The transmission 5 is capable of changing the propulsion force of the traveling device 7 by shifting gears, and can also switch the traveling device 7 between forward and reverse motion. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, driving the traveling device 7, causing the body 3 to travel forward and backward. In FIG. 13, the left side is the front of the agricultural machine 1 (body 3), and the right side is the rear of the agricultural machine 1. Furthermore, when facing FIG. 13, the back side is the right side of the agricultural machine 1, and the front side is the left side of the agricultural machine 1.

A cabin 9 is provided on the vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A lifting device 8, constituted by a three-point linkage mechanism or the like, is provided at the rear of the vehicle body 3. A work implement 2 for performing agricultural work can be connected to the lifting device 8. More specifically, the work implement 2 can be connected to coupling parts 8g and 8h provided on the lifting device 8. By connecting the work implement 2 to the coupling parts 8g and 8h, the work implement 2 and the vehicle body 3 (agricultural machine 1) are connected, and the vehicle body 3 can tow the work implement 2.

The working device 2 performs agricultural work for cultivating crops in an open field. The working device 2 is composed of, for example, a tilling device (rotary tiller) for tilling the field, a spraying device for spraying fertilizer or pesticides, a soil-raising device (also called a ridge-making device) for raising soil, a seed-sowing device for sowing crop seeds, a transplanting device for transplanting seedlings, or a harvesting device for harvesting crops.

Figure 1 is a configuration diagram of an agricultural work support system 100. The agricultural work support system 100 includes an agricultural machine 1 and an agricultural work support device 50. The agricultural work support system 100 and the agricultural work support device 50 support agricultural work performed by the agricultural machine 1 using a work device 2 while traveling in a field.

The agricultural machine 1 is equipped with a control device 60, an operating device 62, a prime mover 4, a transmission 5, a braking device 6, a steering device 29, a lifting device 8, a position detection device 40, an alarm device 63, and a status detection device 64. The agricultural machine 1 also has an on-board network N1 such as a LAN or CAN. The control device 60, the operating device 62, the position detection device 40, the alarm device 63, and the status detection device 64 are connected to the on-board network N1. These components of the agricultural machine 1 are included in the agricultural work support system 100.

The control device 60 is composed of an electronic control unit (ECU) that includes a CPU and internal memory. The internal memory of the control device 60 includes volatile memory and non-volatile memory. The control device 60 controls the operation of each part of the agricultural machine 1 based on software programs and control data stored in the internal memory. The control device 60 is a controller that controls the travel of the agricultural machine 1 and the operation of the work device 2. The operating device 62 is composed of switches, levers, pedals, and other keys that can be operated by an operator such as a driver seated in the driver's seat 10 or a worker located near the agricultural machine 1.

The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 is connected to a control valve 37. The control valve 37 is a solenoid valve that operates based on a control signal sent from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as a single block in Figure 1, an appropriate number of control valves 37 are provided depending on the number of hydraulic devices, such as hydraulic clutches or hydraulic cylinders, provided in the transmission 5.

The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal sent from a control device 60. The control valve 38 is supplied with hydraulic oil discharged from a hydraulic pump 33. The control device 60 electrically controls the switching position and opening degree of the control valve 38, thereby operating the braking device 6 and applying the brakes to the vehicle body 3.

The control device 60 electrically controls the switching position (opening) of the control valve 37 to control the operation of the transmission 5. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the vehicle body 3 to travel forward and backward. In addition, for example, when the working device 2 performs ground work, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

The control device 60 also communicates with the work device 2 via the in-vehicle network N1. Specifically, the work device 2 is equipped with a control unit and a communication unit (not shown). The control device 60 transmits work commands to the work device 2 via the in-vehicle network N1. When the control unit of the work device 2 receives the work command via the communication unit, it controls the operation of each unit of the work device 2 based on the work command to perform agricultural work (ground work). The control unit of the work device 2 also transmits information or data indicating the work status, etc. to the control device 60 via the in-vehicle network N1 using the communication unit. The control device 60 detects the work status, etc. of the work device 2 based on the information or data received from the work device 2 via the in-vehicle network N1.

Note that there are also working devices 2 that do not have a control unit or a communication unit. For this type of working device 2, the control device 60 does not communicate via the in-vehicle network N1, but controls the operation of the working device 2 and detects the working state of the working device 2 by raising and lowering the working device 2 using the lifting device 8 and changing the position of the working device 2, as will be described later.

The steering device 29 has a steering wheel 30, a steering shaft 31, and an auxiliary mechanism (power steering mechanism) 32. The steering wheel 30 is located inside the cabin 9 (Figure 13). The steering shaft 31 rotates in conjunction with the rotation of the steering wheel 30. The auxiliary mechanism 32 assists steering by the steering wheel 30.

The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal sent from the control device 60. More specifically, the control valve 34 is a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening of the control valve 34, thereby adjusting the hydraulic pressure supplied to the steering cylinder 35 and causing the steering cylinder 35 to extend and retract. The steering cylinder 35 is connected to a knuckle arm 39 that changes the direction of the front wheels 7F.

The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operating state, changing the switching position and opening degree of the control valve 34. The steering cylinder 35 extends and contracts to the left or right of the vehicle body 3 according to the switching position and opening degree of the control valve 34. This extension and contraction of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the steering device 29 described above is an example and is not limited to the above configuration.

The body 3 of the agricultural machine 1 can be manually steered by manually operating the steering wheel 30, or automatically steered by the control device 60. Furthermore, the transmission 5 or the brake device 6 is activated in response to manual operation of the accelerator member or brake pedal (both not shown) provided on the operation device 62, allowing the body 3 to travel and stop. Furthermore, the body 3 can be automatically traveled and stopped in response to control of the transmission 5 and the brake device 6 by the control device 60. In other words, the agricultural machine 1 is capable of manual driving, in which the operator performs driving and steering operations; automatic driving, in which the control device 60 automatically performs driving and steering; and auto-steer control (also called automatic steering control or semi-automatic driving), in which the control device 60 automatically performs steering and the operator performs driving operations.

The lifting device 8 is provided with a hydraulic cylinder as an actuator. The hydraulic cylinder is connected to a control valve 36. The control valve 36 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position or opening of the control valve 36 to adjust the hydraulic pressure supplied to the hydraulic cylinder of the lifting device 8 and extend or retract the hydraulic cylinder. As the hydraulic cylinder of the lifting device 8 extends or retracts, the connecting portions 8g and 8h (Figure 13) rotate up and down, and the working device 2 connected to the connecting portions 8g and 8h moves up and down.

The position detection device 40 shown in FIG. 1 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (such as the position of the positioning satellite and the transmission time) transmitted from a satellite positioning system (positioning satellite), such as GPS, GLONASS, Beidou, Galileo, or Michibiki. The position detection device 40 detects the current position (e.g., latitude and longitude) based on the satellite signals received by the receiving device 41. That is, the position detection device 40 is a positioning device that detects the position of the agricultural machine 1 (body 3) using the satellite positioning system. The inertial measurement unit 42 includes an acceleration sensor and a gyro sensor. The inertial measurement unit 42 detects the roll angle, pitch angle, yaw angle, and the like of the body 3. The alarm device 63 is configured with a buzzer, speaker, warning light, or the like provided on the body 3. The alarm device 63 issues an alarm around the body 3 using sound or light.

The state detection device 64 is composed of sensors and other devices installed in various parts of the agricultural machine 1 and the working device 2. Based on output signals from the sensors and other devices, the state detection device 64 detects the operating state (drive/stop state, operating position, etc.) of each part of the agricultural machine 1, such as the transmission 5, braking device 6, traveling device 7, lifting device 8, steering device 29, and operating device 62. The state detection device 64 also detects the operating state of the working device 2 based on output signals from the sensors and other devices.

The condition detection device 64 also includes an object detection unit 64a, a laser sensor such as LiDAR, an ultrasonic sensor, a camera, etc. The laser sensor, ultrasonic sensor, camera, etc. are installed at the front, rear, left and right sides of the vehicle body 3. The object detection unit 64a detects the presence or absence of objects around the agricultural machine 1 and the work implement 2, as well as the distance to the objects, from the output signal from the laser sensor or ultrasonic sensor. The object detection unit 64a also detects the presence or absence of objects around the agricultural machine 1 and the work implement 2 from the captured image of the surroundings of the agricultural machine 1 and the work implement 2 taken by the camera. In other words, the condition detection device 64 detects the condition around the agricultural machine 1 using the laser sensor, ultrasonic sensor, camera, etc.

The agricultural work support device 50 is composed of, for example, a portable tablet terminal device. The agricultural work support device 50 is mounted, for example, inside the cabin 9 of the agricultural machine 1 and is detachable from the agricultural machine 1. In other words, the agricultural machine 1 is equipped with the agricultural work support device 50. The agricultural work support device 50 can also be detached from the agricultural machine 1.

The agricultural work support device 50 is equipped with a control unit 51, a display/operation unit 52, a memory unit 53, and a communication unit 54. The control unit 51 is the processor of the agricultural work support device 50 and includes a CPU and internal memory. The internal memory of the control unit 51 includes volatile memory and non-volatile memory.

The display operation unit 52 is composed of a touch panel display and displays various types of information on the screen. The operator performs predetermined operations on the display screen of the display operation unit 52 to input various types of information or instructions. The display operation unit 52 is the display device, output unit (output interface), and input unit (input interface) of the agricultural work support device 50. In other words, the display operation unit 52 is a user interface. Instead of the display operation unit 52, an independent display device, output interface, and input interface may be provided in the agricultural work support device 50.

The memory unit 53 is composed of non-volatile memory, etc. Information or data that supports the driving and work of the agricultural machine 1 is stored in the memory unit 53 in a readable and writable manner. The control unit 51 controls each part of the agricultural work support device 50 based on software programs and control data, etc. stored in the memory unit 53 or internal memory. The communication unit 54 is composed of communication interfaces for connecting to the in-vehicle network N1 and external communication networks such as the Internet. The control unit 51 communicates with the control device 60, operating device 62, position detection device 40, alarm device 63, status detection device 64, and work device 2 via the in-vehicle network N1 using the communication unit 54. The communication unit 54 is an output unit and input unit that inputs and outputs (transmits and receives) information, data, and instructions to and from the control device 60 of the agricultural machine 1.

Field information indicating the field, machine information indicating the agricultural machine 1, device information indicating the work device 2, and work conditions for agricultural work to be performed by the work device 2 while the agricultural machine 1 is traveling in the field, etc. are input to the agricultural work support device 50 by the display operation unit 52 or the communication unit 54, and stored in the storage unit 53 or the internal memory of the control unit 51. The control unit 51 creates, based on at least the field information, device information, and work conditions, multiple travel lines on a field map indicating the field along which the agricultural machine 1 will travel to perform agricultural work using the work device 2. The control unit 51 also adjusts the lengths of the multiple travel lines once created on the field map.

The field information includes information such as the field's identification information (ID), position (coordinates), contours, and area. The equipment information includes information indicating the specifications of the work equipment 2 (including dimensions, performance, identification information, etc.). The work conditions include information regarding the type of agricultural work, work direction, headland width, and travel line adjustment. The machine information of the agricultural machine 1 includes information indicating the specifications of the agricultural machine 1 (including dimensions, performance, identification information, etc.). The machine information of the agricultural machine 1 is also stored in a memory provided inside the control device 60.

The control unit 51 transmits information indicating the field information, equipment information, working conditions, and travel line via the communication unit 54 to the control device 60 of the agricultural machine 1. The control device 60 controls the drive of the prime mover 4, transmission 5, braking device 6, steering device 29, lifting device 8, and work device 2 based on the field information, equipment information, working conditions, travel line, the position of the agricultural machine 1 (body 3) detected by the position detection device 40, and the detection results of the status detection device 64, and performs automatic driving to perform agricultural work (ground work) in the field using the work device 2 while automatically driving and steering the agricultural machine 1 (body 3).

In addition, based on the above information, the control device 60 can also perform auto-steer operation, in which the driving of the agricultural machine 1 (body 3) is left to the manual, and the steering of the agricultural machine 1 is automatically performed while agricultural work is performed in the field using the work device 2. In auto-steer operation, the driver of the agricultural machine 1 operates the accelerator or brake member included in the operating device 62 (Figure 1), and the driving speed of the body 3 is changed in response to this operation.

The agricultural machine 1 can also be driven and steered manually, and agricultural work can be performed using the work device 2 while the machine is being driven manually. Manual driving of the agricultural machine 1 means that the driver changes the traveling speed of the vehicle body 3 by operating the accelerator or brake member of the operating device 62, and steers the vehicle body 3 by operating the steering wheel 30 (Figure 1).

Figures 2 to 6 are diagrams showing example screens displayed on the display operation unit 52 of the agricultural work support device 50. In this embodiment, the operator inputs device information indicating the work device 2 for open-field cultivation (field farming), field information indicating the field, and agricultural work conditions using screens D3, D4, D5, and D7 of the display operation unit 52 in Figures 2 to 5B. The control unit 51 of the agricultural work support device 50 then creates a driving line along which the agricultural machine 1 should travel to perform open-field cultivation work using the work device 2, based on the device information, field information, and work conditions, and displays the state of the agricultural machine 1 when traveling along that driving line on screen D8 of the display operation unit 52.

When the operator starts the agricultural work support device 50, the control unit 51 displays a home screen (not shown) on the display operation unit 52. When the operator performs a predetermined input operation on the home screen using the display operation unit 52, the control unit 51 displays the work selection screen D3 shown in FIG. 2 on the display operation unit 52. Data for the work selection screen D3 and data for each screen described below are stored in the memory unit 53. The control unit 51 reads data from the memory unit 53 as needed and displays a screen based on that data on the display operation unit 52.

On the work selection screen D3, the operator selects the type of agricultural work to be performed by the agricultural machine 1 and the work implement 2. When the operator operates (tap) one of the work keys B31 to B35, the agricultural work corresponding to the operated work key B31 to B35 is selected. The example in Figure 2 shows a state in which sowing work has been selected.

The work selection screen D3 in Figure 2 shows examples of agricultural work for outdoor cultivation of crops, including, but not limited to, tilling, sowing, soiling (also known as ridge making), pest control, and fertilizing. When the operator operates the arrow keys B41 and B42, the control unit 51 displays other agricultural work not shown in Figure 2, such as transplanting and harvesting, on the work selection screen D3. Note that sowing and transplanting are planting work for planting crop seeds or seedlings (seed potatoes in the case of potatoes) in a field.

When the operator operates one of the task keys B31-B35 on the task selection screen D3 and then operates the Next key B9, the control unit 51 determines that the agricultural task corresponding to the operated task key has been selected and stores information indicating the selected agricultural task in internal memory or the storage unit 53. The control unit 51 also displays the task equipment setting confirmation screen (hereinafter simply referred to as the "equipment setting screen") D4 shown in Figure 3 on the display operation unit 52. When the operator operates the Back key B8, the control unit 51 displays the previous screen on the display operation unit 52. (The same applies to subsequent screens D4, D5, and D7.)

The operator checks and inputs the specifications of the work device 2 on the device setting screen D4. In the example shown in Figure 3, the operator checks the identification information, dimensional information, and type of the work device 2 on the device setting screen D4, and operates the setting keys B37 to B39 to input and change the dimensional information and type of the work device 2, respectively.

The dimensional information of the work implement 2 includes the overall width, working width, overall length, and working position of the work implement 2. The type of work implement 2 includes the speed stage of the auxiliary transmission (not shown) for driving the work implement 2, whether the work implement 2 can be raised or lowered by the lifting device 8, and whether it is linked to the agricultural machine 1's PTO (Power Take-off).

The memory unit 53 also stores device information for work devices 2 for agricultural work other than the work device 2 for sowing work shown in Figure 3. The control unit 51 determines the work device 2 for that agricultural work according to the agricultural work selected on the work selection screen D3 of Figure 2, reads the device information for that work device 2 from the memory unit 53, and displays it on the device setting screen D4 of Figure 3. The memory unit 53 also stores machine information for one or more agricultural machines 1 that have been registered in advance.

When the operator operates one of the setting keys B37 to B39 and then inputs the dimensional information or type of the work device 2 using the display operation unit 52, the control unit 51 changes the display content of the device setting screen D4 according to the input content. When the operator confirms the display content of the device setting screen D4 and operates the next key B9, the control unit 51 stores the device information of the work device 2 displayed on the device setting screen D4 in internal memory or the storage unit 53, and displays the field selection screen D5 shown in Figure 4 on the display operation unit 52.

On the field selection screen D5, the operator selects one of the field maps MP2 representing one or more fields pre-registered in the memory unit 53. When the operator selects one of the field maps MP2, the control unit 51 displays the selected field map MP2 in a different display format from the other field maps MP2. In Figure 4, the selected field map MP2 is surrounded by a thick frame. When the operator selects the Next key B9 with one of the field maps MP2 selected, the control unit 51 reads out field information including the selected field map MP2 from the memory unit 53, stores the field information in internal memory, and displays the route creation screen D7 shown in Figure 5A on the display operation unit 52.

The route creation screen D7 displays the field map MP2 selected on the field selection screen D5, the agricultural machinery mark M1, various input fields, keys, and the like. The operator inputs work conditions on the route creation screen D7. In the example of Figure 5A, the operator inputs and changes the work conditions, including the work direction, headland width, whether or not to adjust the driving line, margin distance, and priority mode.

The working direction is the direction in which work is performed by the working implement 2 while the agricultural machine 1 is moved back and forth in a straight line in the field. The operator inputs one of the directions parallel to each of the multiple field edges H1a to H1d that make up the contour H1 of the field (field map MP2) as the working direction. Specifically, when the operator inputs a specific value (e.g., "1," "2," ...) in the numerical input field for the working direction, the field edge corresponding to that value is designated as the reference edge, and a direction parallel to that reference edge is input as the working direction. In the rectangular field map MP2 shown in Figure 5A, one of the field edges H1a to H1d is designated as the reference edge, and the up-down direction or left-right direction parallel to that reference edge can be input as the working direction. The headland width is the width of the headland at the edge of the field (width parallel to the working direction). A value greater than "0" is input for the headland width.

The line adjustment key B17 is a key for setting whether or not to adjust the driving line. When the operator operates (selects) "ON" with the line adjustment key B17, the control unit 51 adjusts the length of the driving line that was created on the field map MP2, as described below. Also, when the operator operates (selects) "OFF" with the line adjustment key B17, the control unit 51 does not adjust the length of the driving line that was created on the field map MP2.

When "ON" is operated (selected) with the line adjustment key B17, a numerical value can be entered in the margin distance input field. The margin distance is the allowance for starting or ending travel of the agricultural machine 1 and agricultural work by the implement 2, and indicates the amount of adjustment to the length of the travel line. The margin distance includes the run-up distance and coasting distance of the agricultural machine 1. The run-up distance is the travel distance of the agricultural machine 1 required from the start of travel of the agricultural machine 1 (body 3) and ground work by the implement 2 until the ground work is performed stably. The coasting distance is the travel distance of the agricultural machine 1 required from the stop of travel of the agricultural machine 1 and ground work by the implement 2 until the ground work is completely completed. Numerical values (absolute values) greater than "0" and shorter than the headland width can be entered for the run-up distance and coasting distance. Furthermore, the same value or different values may be entered for the run-up distance and coasting distance.

The priority mode key B18 is a key for selecting either headland priority mode or center priority mode. Headland priority mode is a mode in which a margin is left in the central area of the field map MP2 to secure a headland in the direction of the travel line extension. Center priority mode is a mode in which a margin is left in the headland of the field map MP2 to secure the central area as a working area. When "ON" is operated (selected) with the line adjustment key B17, the priority mode key B18 becomes active, and it becomes possible to operate (select) either "headland priority" or "center priority".

When the operator operates (selects) "headland" using the priority mode key B18, the control unit 51 adjusts the length of the driving line that was created on the field map MP2 in headland priority mode, as described below. Also, when the operator operates (selects) "center" using the priority mode key B18, the control unit 51 adjusts the length of the driving line that was created on the field map MP2 in center priority mode.

On the route creation screen D7, the operator selects the input field for each setting item and operates the plus key B45 or minus key B46 to input a numerical value or selection into the corresponding input field. After the operator inputs a numerical value or other value into each setting item on the route creation screen D7, the operator operates the line creation key B13, causing the control unit 51 to store the input contents for each setting item in its internal memory. The control unit 51 then creates, on the field map MP2, a travel line L1 along which the agricultural machine 1 will travel in order to perform agricultural work in the field with the work implement 2.

Figure 7 is a flowchart showing the procedure for creating a driving line L1 by the agricultural work support device 50. Each step in Figure 7 is executed by the control unit 51. Figures 8A to 8D show the process for creating a driving line L1 on the farm field map MP2.

As described above, when the operator operates the line creation key B13 after inputting values and selections for each setting item on the route creation screen D7 in FIG. 5A, the control unit 51 temporarily stores the values and other information entered for each setting item in its internal memory, and then reads the field information, device information for the work device 2, and working conditions stored in its internal memory (S1 in FIG. 7). The control unit 51 then identifies multiple field edges H1a-H1d that indicate the field contour H1 from the field information, identifies the working width of the work device 2 from the device information, and identifies the working direction and headland width from the working conditions (S2).

Next, as shown in Figure 8A, for example, the control unit 51 creates offset sides H2a, H2c (first offset side H2a and second offset side H2c) that are parallel to the field sides H1a, H1c in the field map MP2, offsetting the field sides H1a, H1c that are not parallel to the working direction V inward on the field map MP2 by the headland width Wp. The control unit 51 then determines a central region C1 surrounded by the offset sides H2a, H2c and the other field sides H1b, H1d, and determines the parts of the field map MP2 other than the central region C1 as headlands E1a, E1c (S3 in Figure 7). That is, headland E1a is the area surrounded by field sides H1a, H1b, H1d and offset side H2a, and headland E1c is the area surrounded by field sides H1c, H1b, H1d and offset side H2c.

As another example, the control unit 51 may also offset field edges H1b and H1d (Figure 8A) parallel to the working direction V inward by the headland width Wp or a predetermined distance to create offset edges parallel to field edges H1b and H1d, and determine the area surrounded by these offset edges and the aforementioned offset edges H2a and H2c as the central area. In this case, offset areas are set between the central area and each of field edges H1a to H1d. The worker may choose whether or not to perform farm work in the offset area.

Next, the control unit 51 creates multiple travel lines L1 in the central region C1 based on the field information, equipment information, and work conditions (S4 in Figure 7). At this time, the control unit 51 first creates a single travel line L1 parallel to the work direction V at a position within the central region C1 that is a distance Wa/2, half the work width Wa, from one side of the central region C1 that is parallel to the work direction V, as shown in Figure 8B, for example, and that extends across multiple offset sides H2a, H2c that are not parallel to the work direction V. Then, using this single travel line L1 as a reference, the control unit 51 creates multiple travel lines L1 parallel to the work direction V in the central region C1 at intervals of the work width Wa, from offset side H2a to offset side H2c.

The control unit 51 also sets one end point of each of the multiple travel lines L1 as a start point P1, and the other end point as an end point P2. At this time, the control unit 51 sets one end point of the travel line L1 closest to the entrance/exit of the field identified from the field information, for example, as an end point P2, and sets the other end point as the start point P1. The control unit 51 then sets the start points P1 and end points P2 of the other multiple travel lines L1 so that the start points P1 and end points P2 are alternately arranged on the respective offset edges H2a and H2c shown in FIG. 8B, for example.

Next, the control unit 51 checks whether the work conditions indicate that adjustment of the travel line L1 is ON (there is an instruction to adjust). If the work conditions indicate that adjustment of the travel line L1 is OFF (there is no instruction to adjust) (S5 in Figure 7: NO), the control unit 51 confirms the multiple travel lines L1 set in the field map MP2 at this point, and stores information (position, area, etc.) indicating the travel line L1, the central area C1, and the headlands E1a and E1c in the memory unit 53 (S10).

On the other hand, if the work conditions indicate that adjustment of the travel line L1 is ON (S5: YES), the control unit 51 identifies the margin distance (running distance Y1 and coasting distance Y2) from the work conditions (S6). The control unit 51 also confirms the priority mode selected from the work conditions.

When headland priority mode is selected (S7: headland priority), the control unit 51 shortens the multiple travel lines L1 created in the central region C1 by a margin distance (S8). Specifically, as shown in Figures 8B and 8C, the control unit 51 shifts the start points P1 of the multiple travel lines L1 created in the central region C1 by a run-up distance Y1 in the direction of shortening the travel lines L1, and shifts the end points P2 of the multiple travel lines L1 by a coasting distance Y2 in the direction of shortening the travel lines L1. That is, the control unit 51 adjusts the lengths of the multiple travel lines L1 created in the central region C1 to shorten them by the run-up distance Y1 and the coasting distance Y2, respectively. This ensures that the margin distances Y1 and Y2 of the travel lines L1 are maintained in the central region C1, and the headlands E1a and E1c in the extension direction of the travel lines L1 are maintained without narrowing.

On the other hand, when center priority mode is selected (S7: center priority in FIG. 7), the control unit 51 extends the multiple travel lines L1 created in the central region C1 by a margin distance (S9). Specifically, as shown in FIGS. 8B to 8D, the control unit 51 shifts the start points P1 of the multiple travel lines L1 created in the central region C1 by a run-up distance Y1 in the extension direction of the travel lines L1, and shifts the end points P2 of the multiple travel lines L1 by a coasting distance Y2 in the extension direction of the travel lines L1. That is, the control unit 51 adjusts the lengths of the multiple travel lines L1 created in the central region C1 so that they are longer by the run-up distance Y1 and the coasting distance Y2, respectively. As a result, the margin distances Y1 and Y2 of the travel lines L1 are secured in the headlands E1a and E1c, and the entire central region C1 is secured as a work area for the work implement 2 to perform work.

After adjusting the lengths of the multiple driving lines L1 by the margin distances Y1 and Y2 as described above, the control unit 51 confirms the multiple driving lines L1 set in the field map MP2 (adjusted driving lines L1), and stores information indicating the driving lines L1, the central area C1, and the headlands E1a and E1c in the memory unit 53 (S10 in Figure 7).

The control unit 51 then causes the display operation unit 52 to display the confirmed multiple driving lines L1 on the field map MP2 on the route creation screen D7, as shown in FIG. 5B. At this time, the headlands E1a, E1c, and central area C1 are also displayed on the field map MP2.

When the operator changes the numerical values or input contents of at least one of the following on the route creation screen D7: working direction, headland width, margin distance (run-up distance, coasting distance), and priority mode, and operates the line creation key B13 again, the control unit 51 sets the travel line L1, headlands E1a and E1c, and central area C1 on the field map MP2 as described above, and adjusts the length of the travel line L1.

That is, the control unit 51 changes at least one of the traveling line L1, the central area C1, and the headlands E1a, E1c in response to changes in at least one of the working direction, headland width, margin distance, and priority mode. The operator can change the working conditions while viewing the traveling line L1 and other information displayed on the route creation screen D7, thereby appropriately setting the traveling line L1 and other information. Furthermore, even if the operator changes the settings (input values) on the previous screens D3 to D5, the control unit 51 changes the traveling line L1 and other information in response to the change in the settings.

After the travel line L1 is displayed on the route creation screen D7, when the operator operates the route creation key B14, the control unit 51 determines the travel order of the multiple travel lines L1 along which the agricultural machine 1 will travel. At this time, the control unit 51 determines, for example, the travel line L1 closest to the entrance/exit of the field identified from the field information as the last travel line L1 in the travel order (the Nth travel line L1 if N travel lines L1 have been created), and determines the end point P2 of this last travel line L1 as the goal position Pg. Then, the control unit 51 determines the travel order of the other travel lines L1 based on the last travel line L1, and determines the start point P1 of the first travel line L1 in the travel order as the start position Ps.

After determining the driving order, etc., the control unit 51 causes the display operation unit 52 to display the start position Ps and goal position Pg on the field map MP2 on the route creation screen D7 as shown in Figure 5C, display arc-shaped auxiliary lines L2 connecting adjacent driving lines L1 in the determined driving order, and display arrows on the multiple driving lines L1 indicating the direction of travel of the agricultural machine 1. As a result, the multiple driving lines L1 are connected, and a continuous driving route L3 is created and displayed on the field map MP2.

As another example, the route creation key B14 may be omitted, and after the control unit 51 has confirmed the multiple travel lines L1 as described above, the control unit 51 may automatically create a series of travel routes L3 on the field map MP2 and display the travel routes L3 on the route creation screen D7. Furthermore, the line creation key B13 may also be omitted, and after field information, device information for the work device 2, and work conditions are input via the display operation unit 52, the control unit 51 may create multiple travel lines L1 on the field map MP2.

By operating the display operation unit 52, the operator can move (change) either the start position Ps or the finish position Pg in the field map MP2 on the route creation screen D7 to a different start point P1 or end point P2. When the start position Ps or the finish position Pg is moved to a different start point P1 or end point P2, the control unit 51 changes the start points P1 and end points P2 of the multiple travel lines L1 in accordance with the change in position, and as described above, shifts the changed start point P1 by the run-up distance Y1 and the changed end point P2 by the coasting distance Y2, thereby readjusting the lengths of the multiple travel lines L1. Furthermore, the control unit 51 changes the running order of the multiple travel lines L1 and changes the display of the start position Ps, finish position Pg, auxiliary lines L2, and arrows indicating the direction of travel of the multiple travel lines L1.

After the start position Ps and goal position Pg are displayed on the route creation screen D7, the operator presses the Next key B9. This causes the control unit 51 to store information indicating the travel route L3 (multiple travel lines L1, travel order, start position Ps, goal position Pg, and auxiliary line L2) in the memory unit 53 or internal memory, and display the travel control screen D8 shown in FIG. 6 on the display operation unit 52. The control unit 51 also generates travel data based on various setting information stored in the memory unit 53 and internal memory, and transmits (outputs) the travel data to the control device 60 of the agricultural machine 1 via the communication unit 54. The travel data includes information indicating the device information of the work device 2, the field map MP2, the travel route L3, the central area C1, the offset area J1, the headlands E1a and E1c, and the type of agricultural work.

The travel control screen D8 is a screen that shows the state in which agricultural work is being performed by the work implement 2 while the agricultural machine 1 is traveling in the field. The travel control screen D8 displays a field map MP2, a travel route L3, an agricultural machine mark M2, the traveling state of the agricultural machine 1, keys, etc. The control unit 51 transmits the actual position of the vehicle body 3 detected by the position detection device 40 to the communication unit 54 at a predetermined period.
and displays the agricultural machine mark M2 at any time at the corresponding location on the field map MP2 according to the position of the vehicle body 3. That is, the agricultural machine mark M2 on the travel control screen D8 indicates the actual position of the vehicle body 3 of the agricultural machine 1.

For example, the operator manually drives the agricultural machine 1 while viewing the travel control screen D8, moves the agricultural machine 1 to a position corresponding to the start position Ps of the travel route L3, and then performs a predetermined operation using the mode switch 62b on the operation device 62 (Figure 1) to switch to the automatic travel operation mode. This causes the control device 60 to switch to the automatic travel operation mode, and based on the travel data received from the agricultural work support device 50 and the position of the vehicle body 3 detected by the position detection device 40, the vehicle body 3 travels in automatic operation while the work device 2 performs agricultural work (ground work) in the field.

In more detail, the control device 60 first reads the driving data and identifies the headlands E1a, E1c, driving line L1, start position Ps, and finish position Pg. Then, based on the multiple driving lines L1 and the position of the vehicle body 3, the control device 60 automatically drives the vehicle body 3 from the start position Ps along the driving line L1 while performing ground work with the work device 2. The driving control screen D8 shown in Figure 6 shows the driving status of the agricultural machine 1 and the working status of the work device 2 some time after automatic driving of the agricultural machine 1 has begun.

In the autonomous driving operation mode, the control device 60 automatically steers the vehicle body 3. Specifically, the control device 60 calculates the deviation between the position of the vehicle body 3 detected by the position detection device 40 and the driving line L1. If the deviation is less than a threshold, the control device 60 maintains the rotation angle of the steering shaft 31 (Figure 1). Furthermore, if the deviation between the position of the vehicle body 3 and the driving line L1 is equal to or greater than the threshold and the vehicle body 3 is located to the left of the driving line L1, the control device 60 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is to the right (automatic steering). Furthermore, if the deviation between the position of the vehicle body 3 and the driving line L1 is equal to or greater than the threshold and the vehicle body 3 is located to the right of the driving line L1, the control device 60 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is to the left. Furthermore, the control device 60 automatically changes the driving speed of the vehicle body 3 based on the driving line L1 and the position of the vehicle body 3.

When the vehicle body 3 and working implement 2 reach the end point P2 of one travel line L1, the control device 60 temporarily stops ground work by the working implement 2 and rotates the vehicle body 3 toward the start point P1 of the other adjacent travel line L1. At this time, the control device 60 rotates the agricultural machine 1 and working implement 2 based on position information of the headlands E1a, E1c, position information of the travel line L1, dimensional information of the agricultural machine 1 and working implement 2, the position of the vehicle body 3 detected by the position detection device 40, and the detection results of the state detection device 64. Furthermore, if the working implement 2 is a working implement that performs agricultural work while on the ground, such as a soil-raising device, the control device 60 raises the working implement 2 using the lifting device 8 to lift it away from the ground during rotation.

Then, when the vehicle body 3 reaches the start point P1 of the other travel line L1, the control device 60 resumes ground work by the work device 2 when the vehicle body 3 begins to travel automatically based on the other travel line L1. If the work device 2 is a work device that performs agricultural work while on the ground, the control device 60 uses the lifting device 8 to lower the work device 2 and land it during ground work.

As described above, the agricultural machine 1 travels automatically in a straight line back and forth through the central area C1 along the multiple travel lines L1, and performs ground work in the central area C1 with the work device 2. The control device 60 performs ground work with the work device 2 while causing the vehicle body 3 to travel automatically based on the multiple travel lines L1 and the position of the vehicle body 3, and when the work device 2 arrives at the goal position Pg, the control device 60 stops the automatic travel work mode and stops the vehicle body 3 and the work device 2. This completes the agricultural work in the automatic travel work mode of the agricultural machine 1 and the work device 2.

As described above, the control device 60 can not only automatically drive the agricultural machine 1 based on the multiple travel lines L1 while performing agricultural work using the work device 2, but can also perform agricultural work using the work device 2 while auto-steering the agricultural machine 1 based on the multiple travel lines L1. In other words, the multiple travel lines L1 created by the agricultural work support device 50 can be used not only for automatic driving of the agricultural machine 1, but also for auto-steering operation of the agricultural machine 1. Furthermore, when auto-steering the agricultural machine 1, the control unit 51 of the agricultural work support device 50 may display the driving route L3 including the multiple travel lines L1 and the position of the vehicle body 3 on the display operation unit 52. Furthermore, when the operator manually drives the agricultural machine 1 while performing agricultural work using the work device 2, the control unit 51 may display the multiple travel lines L1 and the position of the vehicle body 3 on the display operation unit 52.

In the embodiment described above, the operator selected sowing work on the work selection screen D3 shown in FIG. 2, and the control unit 51 created multiple travel lines L1 and the like for sowing work. However, if the operator selects another agricultural work on the work selection screen D3, the control unit 51 can create multiple travel lines L1 and the like for the selected agricultural work on the field map MP2. The control unit 51 may also create travel lines on the headlands E1a and E1c along which the agricultural machine 1 travels to perform agricultural work using the work device 2. Furthermore, the operator may automatically or manually drive the agricultural machine 1 on the headlands E1a and E1c to perform agricultural work using the work device 2.

In the above-described embodiment, an example was shown in which the control unit 51 adjusted the travel line L1 of the agricultural machine 1 for performing a single agricultural task, but the control unit 51 may also adjust multiple travel lines L1 of the agricultural machine 1 for performing multiple types of agricultural tasks in the same field in a coordinated manner. An embodiment in this case will be described with reference to Figures 9 to 12B.

Figure 9 shows the route creation screen D7 with a work collaboration key B19. The work collaboration key B19 is a key for setting, as a work condition, whether or not to collaborate on the travel lines for multiple agricultural tasks. When the operator operates (selects) "ON" on the work collaboration key B19, the control unit 51 collaborates a first travel line along which the agricultural machine 1 travels to perform a first agricultural task using the work implement 2, and a second travel line along which the agricultural machine 1 travels to perform a second agricultural task different from the first agricultural task using the work implement 2. Furthermore, when the operator operates (selects) "OFF" on the work collaboration key B19, the control unit 51 does not collaborate the first and second travel lines, and instead creates the first and second travel lines separately, as shown in Figures 7 to 8D.

In the embodiment shown in Figures 9 to 12A, the first agricultural operation, first travel line, second agricultural operation, and second travel line are exemplified as sowing (cropping), a travel line for sowing (travel line for cropping), hilling, and a travel line for hilling, respectively. For example, when potatoes are grown in a field, sowing is performed followed by hilling. Depending on the crop, sowing may be performed after hilling. The operator determines the order in which hilling and sowing should be performed depending on the crop being grown in the field, and selects either headland priority mode or center priority mode.

Figures 10A and 10B are flowcharts showing the procedure for creating a driving line L1 by the agricultural work support device 50 when multiple agricultural works are coordinated. Each step in Figures 10A and 10B is executed by the control unit 51. In Figures 10A and 10B, the same steps as in Figure 7 are assigned the same reference numerals.

As described above, when the operator turns the work collaboration key B19 "ON" on the route creation screen D7 of FIG. 9, inputs values and selections for each setting item, and then operates the line creation key B13, the control unit 51 temporarily stores the values and other information entered for each setting item in its internal memory, and then reads the field information, work device 2 device information, and work conditions stored in its internal memory (S1 in FIG. 10A). Note that when the operator turns the work collaboration key B19 "OFF" on the route creation screen D7 of FIG. 9, inputs values and selections for each setting item, and then operates the line creation key B13, the control unit 51 executes steps S2 to S10 from S1 in FIG. 7 onward, as described above.

After step S1 in Figure 10A, the control unit 51 identifies the field edges H1a-H1d, the working width and working direction of the work implement 2 (S2), and determines the central area C1 and headlands E1a and E1c on the field map MP2 (S3). Next, the control unit 51 searches the contents of the memory unit 53 to confirm whether the driving line L1 to be linked is stored.

If at least one of the first driving line (driving line for sowing work) L1a and the second driving line (driving line for soil-raising work) L1b of the field map MP2 is stored in the memory unit 53 as a linkage target (S11: YES), the control unit 51 creates a driving line L1 in the central area C1 based on the first driving line L1a or the second driving line L1b of the linkage target in addition to the field information, equipment information, and work conditions (S12).

In this example, assuming that the number of working rows (number of rows sown simultaneously) of the sowing device used as the working device 2 is the same as the number of working rows (number of ridges created simultaneously) of the soil-raising device used as the working device 2, in step S12 the control unit 51 creates a traveling line L1 on the field map MP2 that is identical in number and position to the first traveling line L1a or second traveling line L1b to be linked, and shifts the start point P1 and end point P2 of the created traveling line L1 to the offset edges H2a and H2c, respectively (for example, the state shown in Figure 8B). In this case, because there is not just one first traveling line L1a or second traveling line L1b to be linked, but multiple first traveling line L1a or second traveling line L1b, multiple traveling lines L1 are created in the central region C1 in step S12.

If the number of working rows of the seeding device differs from the number of working rows of the soil-raising device, in step S12 the control unit 51 creates driving lines L1 on the field map MP2 so that agricultural work can be performed at the same positions as the work positions when agricultural work is performed by the agricultural machine 1 and work device 2 based on the multiple first driving lines L1a or second driving lines L1b to be linked, and shifts the start point P1 and end point P2 of the created driving lines L1 to the offset edges H2a and H2c, respectively. In other words, the control unit 51 creates a different number of driving lines L1 from the driving lines to be linked, at the same or different positions as any of the driving lines to be linked in the central area C1.

If the first driving line (driving line for sowing work) L1a and the second driving line (driving line for hilling work) L1b of the field map MP2 are not stored in the memory unit 53 (S11: NO in Figure 10A), the control unit 51 creates multiple driving lines L1 in the central area C1 based on the field information, equipment information, and work conditions as described above (S4, for example, the state in Figure 8B).

After step S12 or step S4 in FIG. 10A, if the adjustment of the driving line L1 is OFF (S5: NO), the control unit 51 confirms the multiple driving lines L1 set in the field map MP2 at this time, and stores information indicating the driving line L1, the central area C1, and the headlands E1a and E1c in the memory unit 53 (S10 in FIG. 10B).

If the adjustment of the travel line L1 is ON (S5 in FIG. 10A: YES), the control unit 51 checks the priority mode selected from the work conditions. At this time, if the headland priority mode is selected (S7 in FIG. 10B: headland priority), the control unit 51 checks the use (type of agricultural work) of the multiple travel lines L1 created in S4 or step S12 in FIG. 10A.

If the multiple travel lines L1 are intended for sowing (S13a in Figure 10B: sowing), the control unit 51 determines the margin distances Y1 and Y2 (run-up distance Y1, coasting distance Y2) from the work conditions (S6a) and shortens the multiple travel lines L1 created in the central area C1 by the margin distances Y1 and Y2 (S8). The control unit 51 then determines the shortened multiple travel lines L1 as sowing work travel lines L1a and stores information indicating the travel lines L1a, the central area C1, and headlands E1a and E1c in the memory unit 53 (S10). As a result, as shown in Figure 11A, the multiple sowing work travel lines L1a and the margin distances Y1 and Y2 are secured in the central area C1, and the headlands E1a and E1c are secured without narrowing.

Furthermore, if the purpose of the multiple travel lines L1 is for hilling (S13a in FIG. 10B: hilling), the control unit 51 does not adjust the length of the multiple travel lines L1 created in the central region C1, but instead defines the multiple travel lines L1 as hilling travel lines L1b, and stores information indicating the travel lines L1b, the central region C1, and the headlands E1a, E1c in the memory unit 53 (S10). As a result, as shown in FIG. 11B, multiple hilling travel lines L1b are created across the offset edges H2a, H2c of the central region C1 of the field map MP2, and the entire central region C1 is secured as a hilling work area for the work device 2.

That is, when the operator selects (instructs) to link the seeding work travel lines L1a and the soil-climbing work travel lines L1b and selects the headland priority mode, the control unit 51 creates multiple seeding work travel lines L1a and multiple soil-climbing work travel lines L1b in correspondence with each other, as shown in Figures 11A and 11B, and makes each of the seeding work travel lines L1a shorter than the soil-climbing work travel lines L1b. In other words, the control unit 51 adjusts the seeding work travel lines L1a in the shortening direction relative to the soil-climbing work travel lines L1b by margin distances Y1 and Y2.

On the other hand, if center priority mode is selected (S7: center priority in FIG. 10B), the control unit 51 checks the purpose of the multiple travel lines L1 created in step S4 or step S12 in FIG. 10A. Here, if the purpose of the multiple travel lines L1 is for sowing work (S13b: sowing in FIG. 10B), the control unit 51 does not adjust the length of the multiple travel lines L1 created in the central region C1, but instead defines the multiple travel lines L1 as sowing work travel lines L1a, and stores information indicating the travel lines L1a, the central region C1, and the headlands E1a and E1c in the memory unit 53 (S10). As a result, as shown in FIG. 12A, multiple sowing work travel lines L1a are created across the offset edges H2a and H2c of the central region C1 of the field map MP2, ensuring that the entire central region C1 is reserved as a sowing work area for the work implement 2, without narrowing the headlands E1a and E1c.

Furthermore, if the multiple travel lines L1 are intended for soil-raising work (S13b in FIG. 10B: soil-raising), the control unit 51 determines the margin distances Y1 and Y2 (run-up distance Y1, coasting distance Y2) from the work conditions (S6b) and extends the multiple travel lines L1 created in the central region C1 by the margin distances Y1 and Y2 (S9). The control unit 51 then determines the adjusted multiple travel lines L1 as soil-raising travel lines L1b and stores information indicating the travel lines L1b, the central region C1, and headlands E1a and E1c in the memory unit 53 (S10). As a result, as shown in FIG. 12B, the margin distances Y1 and Y2 of the soil-raising travel lines L1b are secured in the headlands E1a and E1c, and the central region C1 is included in the work area where soil-raising work is performed.

That is, when the operator selects linking the travel lines L1a for sowing and L1b for hilling and selects the center priority mode, the control unit 51 creates multiple travel lines L1a for sowing and multiple travel lines L1b for hilling so that they correspond to each other, and makes the multiple travel lines L1b for hilling longer than the multiple travel lines L1a for sowing. In other words, the control unit 51 adjusts the travel lines L1b for hilling in the extension direction by margin distances Y1 and Y2 relative to the travel lines L1a for sowing.

In the above-described embodiment, the control unit 51 designated the travel line L1a for sowing work as the first travel line L1a and the travel line L1b for hilling work as the second travel line L1b, and adjusted the lengths of these travel lines L1a, L1b in coordination with each other. However, this is not limited to this. The control unit 51 may also adjust the lengths of travel lines for at least two of hilling work, sowing work, and other agricultural work in coordination with each other. Furthermore, when linking pest control work with other agricultural work, for example, the control unit 51 may designate the travel line for pest control work as the first travel line L1a and the travel line L1 for the other agricultural work (such as sowing work) as the second travel line L1b, and adjust the length of the travel line L1a for pest control work in coordination with the travel line L1b for the other agricultural work.

In the above-described embodiment, an example was shown in which the operator inputs the run-up distance Y1 and the coasting distance Y2 as the margin distance, but this is not limited to this. The run-up distance Y1 and the coasting distance Y2 may not be distinguished, the operator may input a single margin distance, and the control unit 51 may adjust the length of the running line L1 by shifting at least one of the start point and end point of the running line L1 by the margin distance in the direction of shortening or extending the running line L1.

In addition, the margin distance may be input via the display operation unit 52 as either a positive (+) number greater than "0" or a negative (-) number less than "0." If the margin distance is a positive number, the control unit 51 may extend the driving line L1 by the margin distance, and if the margin distance is a negative number, the control unit 51 may shorten the driving line L1 by the margin distance.

The control unit 51 may also determine margin distances and the like (run-up distance, coasting distance) based on, for example, the type of agricultural work indicated in the work conditions and/or the type and specifications (characteristics) of the work implement 2 indicated in the equipment information. The operator or the control unit 51 may also input work conditions such as margin distances, field information, and equipment information for the work implement 2, etc., from an external storage medium or server to the agricultural work support device 50 via the communication unit 54.

Alternatively, the operator may specify any one of the multiple driving lines L1, starting point P1, and ending point P2 of the driving line L1, and the control unit 51 may shift the starting point P1 and ending point P2 of the specified driving line L1 by a margin distance to adjust the length of the driving line L1.

In the above-described embodiment, the control unit 51 creates multiple travel lines L1 on a field map MP2 showing a rectangular field, adjusts the lengths of the multiple travel lines L1, and the agricultural machine 1 travels based on the adjusted travel lines L1, etc., to perform agricultural work using the work implement 2. However, this is not limiting. Alternatively, for example, the control unit 51 may create multiple travel lines L1 on a field map showing a field with an irregular shape other than rectangular, adjust the lengths of the multiple travel lines L1, and the agricultural machine 1 travels based on the adjusted travel lines L1, etc., to perform agricultural work using the work implement 2. Furthermore, a worker may perform agricultural work in a field based on the travel lines L1 using not only the agricultural machine 1 and the work implement 2 connected to the agricultural machine 1, but also other agricultural machines and work implements connected to the agricultural machines.

In the above-described embodiment, an example has been given in which the agricultural work support device 50 is configured as a portable tablet terminal device, but the agricultural work support device may also be configured as at least one of, for example, a smartphone, a terminal device fixed to the agricultural machine 1, a computer or server installed in a location remote from the agricultural machine 1, and a server provided on the cloud. Also, a software program showing the procedure for creating the driving lines in Figures 7A and 7B may be stored on a server provided on the cloud, the driving line L1 may be created by a computer on which the software program is installed, the driving line L1 may be displayed on a display device connected to the computer, and driving data showing the driving line L1, etc. may be output from the computer to the agricultural machine 1, etc.

The present embodiment described above has the following configuration and provides the following effects.

The agricultural work support device 50 of this embodiment includes input units 52, 54 (display/operation unit 52, communication unit 54) into which field information indicating the field, device information indicating the work device 2 connected to the agricultural machine 1, and the working conditions for the agricultural work to be performed by the work device 2 while the agricultural machine 1 is traveling in the field, respectively; and a control unit 51 that creates a driving line L1 along which the agricultural machine 1 is to travel in a central area C1 of a field map MP2 indicating the field based on the field information, device information, and working conditions, in order to perform agricultural work with the work device 2. The control unit 51 determines, from the working conditions, margin distances Y1, Y2 for starting or ending the travel of the agricultural machine 1 and the agricultural work by the work device 2, and adjusts the length of the driving line L1 created in the central area C1 based on the margin distances Y1, Y2.

With the above configuration, the control unit 51 of the agricultural work support device 50 adjusts the length of the driving line L1, which was created in the central area C1 of the field map MP2, based on the margin distances Y1 and Y2 input via the input units 52 and 54, thereby improving the convenience of the driving line L1.

Furthermore, for example, immediately after agricultural work is started by the working device 2 after the agricultural machine 1 is traveling in a field, the operation of the working device 2 may become unstable, preventing the work from being performed properly. Furthermore, if the working device 2 is lifted off the ground immediately after agricultural work that was being performed while the device 2 was on the ground is completed, there may be no space in the area where the work was performed, and the subsequent agricultural work may not be performed properly. Specifically, for example, immediately after soil ripening is started using the working device 2 consisting of a soil ripening device, there is no soil accumulated inside the working device 2, so the ridges will not be formed in the desired shape. Furthermore, if the working device 2 is lifted off the ground immediately after the soil ripening is completed, there will be no space at the end of the ridge. As a result, when crops planted in the ridges subsequently grow, the crops may fall off near the beginning and end of the ridges, preventing proper harvesting.

However, by adjusting the length of the travel line L1 based on the margin distances Y1 and Y2 as described above, the control unit 51 can create areas where agricultural work such as hilling cannot be performed appropriately and areas where there is room for that work, for example, in the headlands E1a and E1c. This allows the agricultural machine 1 to appropriately perform the agricultural work (e.g., hilling) and subsequent agricultural work (e.g., harvesting) in the central area C1 using the work device 2. Furthermore, by adjusting the length of the travel line L1 based on the margin distances Y1 and Y2, the control unit 51 can confine the areas where agricultural work cannot be performed appropriately and areas where there is room for that work, for example, to the central area C1. This allows the agricultural machine 1 to easily perform agricultural work in the headlands E1a and E1c using the work device 2 after performing agricultural work in the central area C1.

In this embodiment, the control unit 51 creates multiple travel lines L1 at predetermined intervals in the central region C1 and extends or shortens each of the multiple travel lines L1 by margin distances Y1 and Y2. By extending the multiple travel lines L1 created in the central region C1 by the margin distances Y1 and Y2, the control unit 51 can reliably create areas in the headlands E1a and E1c where agricultural work is not performed appropriately, such as immediately after work begins. Furthermore, by shortening the multiple travel lines L1 created in the central region C1 by the margin distances Y1 and Y2, the control unit 51 can reliably create areas in the central region C1 where agricultural work is not performed appropriately and areas where agricultural work is not performed appropriately. This improves the convenience of the multiple travel lines L1.

In addition, in this embodiment, the control unit 51 determines the run-up distance Y1 of the agricultural machine 1 as the margin distance Y1 based on the work conditions, and shifts the start point P1 of the travel line L1 created in the central region C1 by the run-up distance Y1 in either the extension or shortening direction of the travel line L1. This allows the control unit 51 to adjust the run-up distance Y1 of the agricultural machine 1 relative to the travel line L1 created in the central region C1 to the headland E1a, E1c, or the central region C1, improving convenience. Furthermore, after traveling the run-up distance Y1, the agricultural machine 1 travels in the central region C1 based on the travel line L1, allowing the work implement 2 to perform agricultural work appropriately.

In addition, in this embodiment, the control unit 51 identifies the coasting distance Y2 of the agricultural machine 1 as the margin distance Y2 based on the work conditions, and shifts the end point P2 of the travel line L1 created in the central area C1 by the coasting distance Y2 in either the extension or shortening direction of the travel line L1. This allows the control unit 51 to adjust the coasting distance Y2 of the agricultural machine 1 relative to the travel line L1 created in the central area C1, improving convenience for the headland E1a, E1c, or the central area C1. Furthermore, the agricultural machine 1 travels based on the travel line L1 in the central area C1, performs agricultural work using the work implement 2, and then continues traveling the coasting distance Y2, creating a margin for agricultural work in the central area C1 or the headland E1a, E1c, allowing the work implement 2 to appropriately perform that agricultural work and subsequent agricultural work in the central area C1.

In addition, in this embodiment, either a headland priority mode in which margin distances Y1 and Y2 are set in the central area C1 to secure headlands E1a and E1c in the extension direction of the driving line L1, or a center priority mode in which margin distances Y1 and Y2 are set in the headlands E1a and E1c to secure the central area C1 as a working area, is selected by input units 52 and 54 and included in the working conditions.If the headland priority mode is selected, the control unit 51 shortens the driving line L1 created in the central area C1 by the margin distances Y1 and Y2, and if the center priority mode is selected, it extends the driving line L1 created in the central area C1 by the margin distances Y1 and Y2. As a result, depending on whether the operator selects headland priority mode or center priority mode, the control unit 51 shortens or extends the driving line L1 that was created in the center area C1 by margin distances Y1 and Y2, creating areas in the center area C1 or headlands E1a and E1c where agricultural work cannot be carried out appropriately, such as immediately after work begins as described above, and marginal areas for agricultural work.

In addition, in this embodiment, the agricultural work support device 50 includes a memory unit 53 that stores the driving line L1. When creating one of the driving lines L1, namely, the first driving line L1a along which the agricultural machine 1 travels to perform a first agricultural task using the work device 2, and the second driving line L1b along which the agricultural machine 1 travels to perform a second agricultural task linked to the first agricultural task using the work device 2, if the other driving line L1 is stored in the memory unit 53, the control unit 51 creates the one driving line L1 in the central area C1 based on the field information, device information, work conditions, and the other driving line L1. This allows the first driving line L1a for the first agricultural task and the second driving line L1b for the second agricultural task to be created in the field map MP2 while being linked, and then stored in the memory unit 53. Furthermore, by performing a first agricultural task using the agricultural machine 1 and the work implement 2 based on the first traveling line L1a, and performing a second agricultural task using the agricultural machine 1 and the work implement 2 based on the second traveling line L1b, the first agricultural task and the second agricultural task can be linked together.

In addition, in this embodiment, when creating the first driving line L1a, the control unit 51 shortens the driving line L1 created in the central region C1 by margin distances Y1 and Y2 and determines the shortened driving line L1 as the first driving line L1a, and when creating the second driving line L1b, the control unit 51 determines the driving line L1 created in the central region C1 as the second driving line L1b.
The control unit 51 can link the first driving line L1a of the first agricultural work and the second driving line L1b of the second agricultural work, and adjust the length of the first driving line L1a in the shortening direction relative to the length of the second driving line L1b in the central region C1 to create the field map MP2, thereby improving convenience.

Alternatively, when creating a first driving line L1a, the control unit 51 determines that the driving line L1 created in the central region C1 is the first driving line L1a, and when creating a second driving line L1b, it extends the driving line L1 created in the central region C1 by margin distances Y1 and Y2 and determines the extended driving line L1 as the second driving line L1b. This allows the control unit 51 to link the first driving line L1a of the first agricultural work and the second driving line L1b of the second agricultural work, while adjusting the length of the second driving line L1b in the extension direction at the headlands E1a and E1c relative to the length of the first driving line L1a, and create the field map MP2, thereby improving convenience.

In addition, in this embodiment, when the headland priority mode is selected, the control unit 51 shortens the driving line L1 created in the central region C1 by margin distances Y1 and Y2 and determines the shortened driving line L1 as the first driving line L1a, and when the second driving line L1b is created, the control unit 51 determines the driving line L1 created in the central region C1 as the second driving line L1b. When the center priority mode is selected, when the first driving line L1a is created, the control unit 51 determines the driving line L1 created in the central region C1 as the first driving line L1a, and when the second driving line L1b is created, the control unit 51 extends the driving line L1 created in the central region C1 toward the headlands E1a and E1c by margin distances Y1 and Y2 and determines the extended driving line L1 as the second driving line L1b.
This allows the control unit 51 to link the first driving line L1a and the second driving line L1b and adjust the lengths of the first driving line L1a and the second driving line L1b respectively, depending on the headland priority mode or center priority mode selected by the operator, and create the field map MP2, thereby improving convenience.

In addition, in this embodiment, the control unit 51 creates a hilling travel line L1a along which the agricultural machine 1 travels to perform hilling work using the work implement 2 as the first travel line L1a for performing the first agricultural work, and creates a cropping travel line L1b along which the agricultural machine 1 travels to perform cropping work (sowing work, planting work) to plant crops using the work implement 2 as the second travel line L1b for performing the second agricultural work. This allows the control unit 51 to create the hilling travel line L1a and the cropping travel line L1b in the field map MP2 while linking them together, depending on the headland priority mode or center priority mode selected by the operator. Furthermore, because the length of the travel line L1b for planting work is shorter than the length of the travel line L1a for soil cultivation work, the agricultural machine 1 travels along the travel line L1a for soil cultivation work and performs soil cultivation work using the work device 2, creating extra space near the front and rear ends of the formed ridges. Then, by traveling along the travel line L1b for planting work and performing planting work using the work device 2, even if the planted crops grow, they can be prevented from falling off near the front and rear ends of the ridges, allowing for proper crop harvesting work.

The control unit 51 may also create a pest control work travel line L1a along which the agricultural machine 1 travels to perform pest control work using the work implement 2 as the first travel line L1a for performing the first agricultural work. This allows the control unit 51 to create the pest control work travel line L1a in the field map MP2 in conjunction with the soil-raising work travel line L1a and the cropping work travel line L1b. The control unit 51 may also create a travel line L1 in the central region C1 of the field map MP2 along which other open-field cultivation work is performed using the work implement 2 while the agricultural machine 1 travels in the field. In this case, too, the control unit 51 can adjust the length of the open-field cultivation travel line L1 created in the central region C1 of the field map MP2 based on the margin distances Y1 and Y2 to improve the convenience of the travel line L1. Furthermore, the worker can appropriately perform open-field cultivation work in the field using the work implement 2 while traveling the agricultural machine 1 based on the travel line L1.

The agricultural work support system 100 of this embodiment includes an agricultural work support device 50, an agricultural machine 1, and a display device (display operation unit) 52 that displays a field map MP2 on which a driving line L1 has been created by the agricultural work support device 50. As a result, the field map MP2 on which the driving line L1 has been appropriately created and adjusted by the agricultural work support device 50 is displayed on the display device 52, allowing operators and workers to check the driving line L1 and drive the agricultural machine 1 based on the driving line L1, while appropriately performing agricultural work in the field using the work device 2.

In this embodiment, the agricultural work support system 100 includes a work implement 2 connected to the agricultural machine 1. The agricultural work support device 50 has an output unit (communication unit) 54 that outputs to the agricultural machine 1 a travel line L1 whose length has been adjusted based on the margin distances Y1 and Y2. The agricultural machine 1 has a drivable body 3, a position detection device 40 that detects the position of the body 3, and a control device 60 that performs agricultural work in the field using the work implement 2 while automatically steering or driving the body 3 along the travel line L1. As a result, an operator or worker can appropriately perform agricultural work in the field using the work implement 2 while driving the agricultural machine 1 in automatic or auto-steered mode, based on the travel line L1 appropriately created and adjusted by the agricultural work support device 50 and the position of the body 3 of the agricultural machine 1 detected by the position detection device 40.

The agricultural machine 1 of this embodiment comprises an agricultural work support device 50, a vehicle body 3 that is capable of traveling and to which a work implement 2 can be coupled, a position detection device 40 that detects the position of the vehicle body 3, a display device 52 that displays a field map MP2 output after a travel line L1 is created by the agricultural work support device 50, and a control device 60 that performs agricultural work in the field using the work implement 2 while automatically steering or driving the vehicle body 3 along the travel line L1. As a result, a worker riding in the agricultural machine 1 can appropriately perform agricultural work in the field using the work implement 2 while driving the agricultural machine 1 in automatic or auto-steered mode, based on the travel line L1 appropriately created and adjusted by the agricultural work support device 50 and the position of the vehicle body 3 of the agricultural machine 1 detected by the position detection device 40.

The travel line creation method of this embodiment is a method for creating a travel line L1 on a field map MP2 that shows the field along which the agricultural machine 1 travels in order to perform agricultural work using the work implement 2 coupled to the agricultural machine 1 in the field. The method includes the steps of: inputting field information describing the field, device information for the work implement 2, and working conditions for the agricultural work using the input units 52, 54 of the agricultural work support device 50; creating the travel line L1 in the central area C1 of the field map MP2 based on the field information, device information, and working conditions by the control unit 51; determining margin distances Y1, Y2 for starting or ending the travel of the agricultural machine 1 and agricultural work by the work implement 2 based on the working conditions by the control unit 51; and adjusting the length of the travel line L1 created in the central area C1 based on the margin distances Y1, Y2 by the control unit 51.

As described above, the control unit 51 adjusts the length of the driving line L1, which was created in the central region C1 of the field map MP2, based on the margin distances Y1 and Y2 input via the input units 52 and 54. This improves the convenience of the driving line L1 and also allows areas where farm work cannot be carried out appropriately and areas where there is margin for farm work to be created in the headlands E1a, E1c or central region C1 as appropriate.

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.

REFERENCE SIGNS LIST 1 Agricultural machine 2 Work device 3 Vehicle body 40 Position detection device 50 Agricultural work support device 52 Display operation unit (input unit, display device)
53 Storage unit 54 Communication unit (input unit, output unit)
60 Control device 100 Agricultural work support system C1 Central area E1a, E1c Headland L1 Traveling line L1a First traveling line, traveling line for sowing work, traveling line for planting work L1b Second traveling line, traveling line for hilling work,
MP2 Field map P1 Start point P2 End point Y1 Margin distance, run-up distance Y2 Margin distance, coasting distance

Claims (13)

an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field;
a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of a field map that shows the field, based on the field information, the device information, and the work conditions,
The control unit
identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions;
adjusting the length of the driving line created in the central region based on the margin distance ;
specifying a run-up distance of the agricultural machine as the margin distance from the work conditions;
An agricultural work support device that shifts the starting point of the driving line created in the central area by the run-up distance in either the extension direction or the shortening direction of the driving line . an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field;
a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of a field map that shows the field, based on the field information, the device information, and the work conditions,
The control unit
identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions;
adjusting the length of the driving line created in the central region based on the margin distance ;
specifying a coasting distance of the agricultural machine as the margin distance from the work conditions;
An agricultural work support device that shifts the end point of the travel line created in the central area by the coasting distance in either the extension direction or the shortening direction of the travel line . an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field;
a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of a field map that shows the field, based on the field information, the device information, and the work conditions,
The control unit
identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions;
adjusting the length of the driving line created in the central region based on the margin distance ;
either a headland priority mode in which the headland in the extension direction of the traveling line is secured by leaving the margin distance in the central region, or a center priority mode in which the headland is secured by leaving the margin distance in the headland and the central region is secured as a working region, the mode selection information being input by the input unit and included in the working conditions;
The control unit shortens the driving line created in the central area by the margin distance when the headland priority mode is selected, and extends the driving line created in the central area by the margin distance when the center priority mode is selected . an input unit for inputting field information indicating a field, device information of a work device connected to the agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field;
a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of a field map that shows the field, based on the field information, the device information, and the work conditions,
The control unit
identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions;
adjusting the length of the driving line created in the central region based on the margin distance ;
when creating a first travel line along which the agricultural machine is to travel in order to perform a first agricultural work using the work device, shortening the travel line created in the central area by the margin distance and determining the shortened travel line as the first travel line;
When creating a second driving line along which the agricultural machine travels to perform a second agricultural work linked to the first agricultural work using the work device, the agricultural work support device determines the driving line created in the central area as the second driving line . an input unit for inputting field information indicating a field, device information of a work device connected to an agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field;
a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of a field map that shows the field, based on the field information, the device information, and the work conditions,
The control unit
identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions;
adjusting the length of the driving line created in the central region based on the margin distance ;
when creating a first travel line along which the agricultural machine is to travel in order to perform a first agricultural work using the work implement, determining the travel line created in the central area as the first travel line;
When creating a second driving line along which the agricultural machine is to travel in order to perform a second agricultural task linked to the first agricultural task using the work device, the agricultural work support device extends the driving line created in the central area by the margin distance and determines the extended driving line as the second driving line . an input unit for inputting field information indicating a field, device information of a work device connected to the agricultural machine, and work conditions for agricultural work to be performed by the work device while the agricultural machine is traveling in the field;
a control unit that creates a travel line along which the agricultural machine is to travel in order to perform the agricultural work using the work implement in a central area of a field map that shows the field, based on the field information, the device information, and the work conditions,
The control unit
identifying a margin distance for starting or ending the travel of the agricultural machine and the agricultural work by the work implement from the work conditions;
adjusting the length of the driving line created in the central region based on the margin distance ;
either a headland priority mode in which the headland in the extension direction of the traveling line is secured by leaving the margin distance in the central region, or a center priority mode in which the headland is secured by leaving the margin distance in the headland and the central region is secured as a working region, the mode selection information being input by the input unit and included in the working conditions;
The control unit
When the headland priority mode is selected,
when creating a first travel line along which the agricultural machine is to travel in order to perform a first agricultural work using the work implement, the travel line created in the central area is shortened by the margin distance, and the shortened travel line is determined to be the first travel line;
when creating a second travel line along which the agricultural machine is to travel in order to perform a second agricultural work linked to the first agricultural work using the work device, the travel line created in the central area is determined to be the second travel line;
When the center priority mode is selected,
When creating the first driving line, the driving line created in the central area is determined to be the first driving line;
When creating the second driving line, the agricultural work support device extends the driving line created in the central area to the pillow area by the margin distance, and determines the driving line after the extension as the second driving line . The control unit
creating a plurality of the driving lines at predetermined intervals in the central region;
The agricultural work support device according to claim 1 , wherein each of the plurality of travel lines is extended or shortened by the margin distance. a storage unit that stores the driving line;
2. The agricultural work support device according to claim 1, wherein when creating one of a first driving line along which the agricultural machine travels to perform a first agricultural task using the work device and a second driving line along which the agricultural machine travels to perform a second agricultural task linked to the first agricultural task using the work device, if the other driving line is stored in the memory unit, the control unit creates one of the driving lines in the central area based on the field information, the device information, the work conditions, and the other driving line. The agricultural work support device according to any one of claims 1 to 8 ;
the agricultural machine;
a display device that displays the farm field map on which the driving line has been created by the farm work support device. the work implement coupled to the agricultural machine;
the agricultural work support device includes an output unit that outputs the traveling line, the length of which has been adjusted based on the margin distance, to the agricultural machine;
The agricultural machine includes:
A drivable vehicle body,
a position detection device for detecting the position of the vehicle body;
10. The agricultural work support system according to claim 9 , further comprising: a control device that automatically steers or drives the vehicle body along the travel line while performing the agricultural work in the field using the work device. The agricultural work support device according to any one of claims 1 to 8 ;
a vehicle body that is capable of traveling and to which the working device can be connected;
a position detection device for detecting the position of the vehicle body;
a display device that displays the farm field map output after the driving line is created by the agricultural work support device; and
a control device that automatically steers or drives the vehicle body along the travel line while performing the agricultural work on the field using the work device. 1. A travel line creation method for creating, on a field map showing a field, a travel line along which an agricultural machine travels in order to perform agricultural work in a field using a work implement connected to the agricultural machine, the method comprising:
a step in which field information representing the field, device information of the work device, and work conditions for the farm work are input by an input unit of the farm work support device;
a step in which a control unit of the agricultural work support device creates the driving line in a central area of the field map based on the field information, the device information, and the work conditions;
a step in which the control unit specifies a margin distance for starting or ending the traveling of the agricultural machine and the agricultural work by the work implement based on the work conditions;
and a step by the control unit adjusting the length of the driving line created in the central area based on the margin distance ,
In the specifying step, the control unit specifies a run-up distance of the agricultural machine as the margin distance from the work conditions,
In the adjusting step, the control unit shifts the start point of the running line by the run-up distance in either the extending direction or the shortening direction of the running line . 1. A travel line creation method for creating, on a field map showing a field, a travel line along which an agricultural machine travels in order to perform agricultural work in a field using a work implement coupled to the agricultural machine, the method comprising:
a step in which field information representing the field, device information of the work device, and work conditions for the farm work are input by an input unit of the farm work support device;
a step in which a control unit of the agricultural work support device creates the driving line in a central area of the field map based on the field information, the device information, and the work conditions;
a step in which the control unit specifies a margin distance for starting or ending the traveling of the agricultural machine and the agricultural work by the work implement based on the work conditions;
and a step by the control unit adjusting the length of the driving line created in the central area based on the margin distance ,
In the specifying step, the control unit specifies a coasting distance of the agricultural machine as the margin distance from the work conditions,
In the adjusting step, the control unit shifts the end point of the travel line by the coasting distance in either the extending direction or the shortening direction of the travel line .