AGRICULTURAL WORK ASSISTANCE SYSTEM, AGRICULTURAL WORK ASSISTANCE APPARATUS, AND AGRICULTURAL MACHINE

An agricultural work assistance system includes a display to display a map representing an agricultural field, and a controller configured or programmed to define or function as an area setter to set a first area and a second area located inward of the first area in the map displayed by the display, and a route creator to create, in at least one of the first area or the second area, a travel route along which an agricultural machine is to travel. The route creator is configured or programmed to set at least a portion of the travel route as an automatic steering route on which the agricultural machine is to be automatically steered and a travel speed of the agricultural machine is to be changed manually.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to techniques to assist agricultural work while causing an agricultural machine to travel in an agricultural field.

2. Description of the Related Art

Japanese Unexamined Patent Application Publication No. 2018-39 discloses a technique to assist agricultural work performed using a working device coupled to an agricultural machine while causing the agricultural machine to travel by automatic operation in an agricultural field. The agricultural machine disclosed in Japanese Unexamined Patent Application Publication No. 2018-39 includes an acquirer, a work setter, and a display. The acquirer acquires position data of a peripheral portion of an agricultural field. Based on the position data, the work setter sets a footpath neighborhood line, a work start/end line, and a headland line, and sets a work traveling line at a central portion, of the agricultural field, enclosed by the work start/end line and the headland line. Each of these lines is displayed on the display. While traveling by automatic operation based on the work traveling line, the agricultural machine performs agricultural work on the central portion of the agricultural field via the working device. Then, while traveling by automatic operation based on the footpath neighborhood line, the work start/end line, and the headland line, the agricultural machine performs agricultural work on headlands located around the central portion via the working device.

SUMMARY OF THE INVENTION

For example, it is sometimes difficult for an agricultural machine to travel by automatic operation due to an influence of a degree of flatness, a degree of roughness, a contour, or the like of an agricultural field, and a decrease in efficiency of agricultural work performed by a working device coupled to the agricultural machine may occur. Moreover, in this case, if the operator of the agricultural machine stops the automatic operation and drives the agricultural machine manually, the burden on the operator will increase, and the efficiency of the agricultural work may further decrease.

In view of the above problems, preferred embodiments of the present invention make it possible to reduce the burden on the operator of the agricultural machine and improve the efficiency of agricultural work.

Technical solution(s) provided by preferred embodiments of the present invention to solve the above technical problems includes the following feature(s).

An agricultural work assistance system according to an aspect of a preferred embodiment of the present invention includes a display to display a map representing an agricultural field, and a controller configured or programmed to define or function as an area setter to set a first area and a second area located inward of the first area on the map displayed by the display and a route creator to create, in at least one of the first area or the second area, a travel route along which an agricultural machine is to travel, wherein the route creator is configured or programmed to set at least a portion of the travel route as an automatic steering route on which the agricultural machine is to be steered automatically and a travel speed of the agricultural machine is to be manually changed.

In an aspect of a preferred embodiment of the present invention, the route creator may be configured or programmed to set at least a portion of the travel route created in the first area and the second area to the automatic steering route or an automatic operation route on which the agricultural machine is to be steered automatically and the travel speed of the agricultural machine is to be changed automatically.

In an aspect of a preferred embodiment of the present invention, the controller may be configured or programmed to define or function as a route changer to change the automatic operation route to the automatic steering route and change the automatic steering route to the automatic operation route.

In an aspect of a preferred embodiment of the present invention, the route changer may be configured or programmed to change the automatic operation route or the automatic steering route to a manual operation route on which the agricultural machine is to be manually steered and the travel speed of the agricultural machine is to be manually changed and to change the manual operation route to the automatic operation route or the automatic steering route.

In an aspect of a preferred embodiment of the present invention, the display may be operable to display differently the automatic steering route and the automatic operation route on a screen such that the automatic steering route and the automatic operation route are visually recognizable.

In an aspect of a preferred embodiment of the present invention, the display may be operable to display, on a screen, at least one portion of the travel route created in the first area and the second area that is settable as the automatic steering route.

In an aspect of a preferred embodiment of the present invention, the route creator may be configured or programmed to, if an angular difference between a first portion of the travel route and a second portion of the travel route adjacent to each other in a direction of travel along the travel route is greater than a predetermined threshold, set a multi-point turn spot between the first portion and the second portion such that a position and a travel direction of the agricultural machine change at the multi-point turn spot. The route creator may be configured or programmed to, if the angular difference is not greater than the threshold, connect the first portion and the second portion to obtain a continuous portion of the automatic steering route.

In an aspect of a preferred embodiment of the present invention, the route creator may be configured or programmed to, if the angular difference is not greater than the threshold, create a travel route portion connecting a first intermediate point of the first portion and a second intermediate point of the second portion, the first intermediate point and the second intermediate point each being at a predetermined distance from a connection point between the first portion and the second portion, and delete a portion between the first intermediate point of the first portion and the connection point and another portion between the second intermediate point of the second portion and the connection point.

In an aspect of a preferred embodiment of the present invention, the route creator may be configured or programmed to create, as the travel route portion, a straight portion along which the agricultural machine is to travel straight.

In an aspect of a preferred embodiment of the present invention, the controller may be configured or programmed to define or function as a threshold changer to change the threshold.

In an aspect of a preferred embodiment of the present invention, the display may be operable to display a position of the agricultural machine detected by a position detector on the map and display, when the position of the agricultural machine is near the multi-point turn spot while the agricultural machine travels based on the travel route, a notification suggesting that a multi-point turn be performed to change the position and the travel direction of the agricultural machine.

In an aspect of a preferred embodiment of the present invention, the controller may be configured or programmed to define or function as an agricultural field register to register a contour of the agricultural field located inward of an outline of the agricultural field represented by the map. The area setter may be configured or programmed to set, as the second area, an area enclosed by another contour obtained by displacing the contour of the agricultural field inward, and set, as the first area, an area between the second area and the contour of the agricultural field. The route creator may be configured or programmed to create, in the first area, the travel route which surrounds the second area based on a working width over which a working device coupled to the agricultural machine performs ground work or based on an outside width of the working device.

In an aspect of a preferred embodiment of the present invention, the area setter may be configured or programmed to, after obtaining a first contour by displacing the contour of the agricultural field inward once by a first displacement amount calculated based on the working width of the working device, the outside width of the working device greater than the working width thereof, a predetermined overlap, and/or a predetermined shift amount, define one or more second contours by displacing the first contour inward once or more each by a second displacement amount calculated based on the working width or based on the working width and the overlap, the second displacement amount being smaller than the first displacement amount, and set an area enclosed by the innermost one of the one or more second contours as the second area. The route creator may be configured or programmed to create, in the first area, the travel route between the contour of the agricultural field and the first contour, between the first contour and one of the one or more second contours that is closest to the first contour, and between the one or more second contours.

In an aspect of a preferred embodiment of the present invention, the route creator may be configured or programmed to create, in the first area, the travel route that includes a plurality of loops which surround the second area and which have different diameters, set a gap between an outermost loop of the travel route and the contour of the agricultural field based on the working width of the working device, the outside width of the working device greater than the working width thereof, a predetermined overlap, and/or a predetermined shift amount, and set, based on the working width or based on the working width and the overlap, another gap between the outermost loop and a second outermost loop, and one or more further gaps between inner loops such that the another gap and the one or more further gaps are smaller than the gap between the outermost loop and the contour of the agricultural field.

In an aspect of a preferred embodiment of the present invention, the agricultural work assistance system may further include a position detector configured or programmed to detect a position of the agricultural machine, and an automatic controller configured or programmed to perform automatic steering in which the agricultural machine is steered automatically based on the position of the agricultural machine and the automatic steering route, and cause a working device coupled to the agricultural machine to perform agricultural work on the agricultural field.

In an aspect of a preferred embodiment of the present invention, the route creator may be configured or programmed to set the automatic steering route at a portion of the travel route created in the first area and the second area and set an automatic operation route at another portion of the travel route, the automatic operation route being a route on which the agricultural machine is to be steered automatically and the travel speed of the agricultural machine is to be changed automatically. The automatic controller may be configured or programmed to perform an automatic operation in which the agricultural machine is steered automatically and the travel speed of the agricultural machine is changed automatically based on the position of the agricultural machine and the automatic operation route, and switch between the automatic steering and the automatic operation of the agricultural machine automatically as one of the automatic steering route and the automatic operation route that are connected to each other changes to the other while the agricultural machine travels along the travel route.

In an aspect of a preferred embodiment of the present invention, the automatic controller may be configured or programmed to perform the automatic steering of the agricultural machine when the agricultural machine travels rearward along the automatic steering route as a multi-point turn to change the position and a travel direction of the agricultural machine is performed manually.

In an aspect of a preferred embodiment of the present invention, the automatic controller may be configured or programmed to, based on the automatic steering route, perform the automatic steering of the agricultural machine and cause the working device to start agricultural work on the agricultural field if the travel route based on which the agricultural work is started on the agricultural field by the agricultural machine and the working device is the automatic steering route.

In an aspect of a preferred embodiment of the present invention, the agricultural work assistance system may further include a first portion of a display operation interface to select whether or not to perform agricultural work by the automatic steering. The automatic controller may be configured or programmed to, based on the position of the agricultural machine and the travel route, perform the automatic steering of the agricultural machine and cause the working device to start agricultural work on the agricultural field if performing agricultural work by the automatic steering is selected via the first portion of the display operation interface.

In an aspect of a preferred embodiment of the present invention, the agricultural work assistance system may further include a second portion of the display operation interface to select whether or not to perform agricultural work by automatic operation. The automatic controller may be configured or programmed to, based on the position of the agricultural machine and the travel route, perform the automatic operation of the agricultural machine and cause the working device to start agricultural work on the agricultural field if performing agricultural work by the automatic operation is selected via the second portion of the display operation interface. The automatic steering is selectable via the first portion of a display operation interface if not performing agricultural work by the automatic operation is selected via the second portion of the display operation interface.

In an aspect of a preferred embodiment of the present invention, the agricultural work assistance system may further include a third portion of the display operation interface to select, when agricultural work on the agricultural field by the agricultural machine and the working device is to be resumed after a pause, whether to resume the agricultural work by the automatic steering or to resume the agricultural work by automatic operation in which the agricultural machine is steered automatically and the travel speed of the agricultural machine is changed automatically. The automatic controller may be configured or programmed to, based on the position of the agricultural machine and the travel route, perform the automatic steering of the agricultural machine and cause the working device to resume the agricultural work on the agricultural field if resuming the agricultural work by the automatic steering is selected via the third portion of the display operation interface. The automatic controller may be configured or programmed to, based on the position of the agricultural machine and the travel route, perform the automatic operation of the agricultural machine and cause the working device to resume the agricultural work on the agricultural field if resuming the agricultural work by the automatic operation is selected via the third portion of the display operation interface.

An agricultural work assistance apparatus according to an aspect of a preferred embodiment of the present invention includes a controller configured or programmed to cause a display to display a map representing an agricultural field, and to define or function as an area setter to set a first area and a second area located inward of the first area on the map displayed by the display and a route creator to create, in the first area and the second area, a travel route along which an agricultural machine is to travel, wherein the route creator is configured or programmed to set at least a portion of the travel route as an automatic steering route on which the agricultural machine is to be steered automatically and a travel speed of the agricultural machine is to be changed manually.

In an aspect of a preferred embodiment of the present invention, the route creator is configured or programmed to set at least a portion of the travel route to the automatic steering route or an automatic operation route on which the agricultural machine is to be steered automatically and the travel speed of the agricultural machine is to be changed automatically. The controller may be configured or programmed to define or function as a route changer to change the automatic operation route to the automatic steering route and change the automatic steering route to the automatic operation route and is mountable on the agricultural machine.

An agricultural machine according to an aspect of a preferred embodiment of the present invention is an agricultural machine to perform agricultural work assisted by an agricultural work assistance system, the agricultural machine including a traveling vehicle body, a coupling portion to couple a working device to the traveling vehicle body, a position detector configured or programmed to detect a position of the traveling vehicle body, a display to display a map representing an agricultural field, and a controller configured or programmed to define or function as an area setter to set a first area and a second area located inward of the first area on the map displayed by the display and a route creator to create, in the first area and the second area, a travel route along which the traveling vehicle body is to travel, and an automatic controller configured or programmed to cause the working device to perform the agricultural work on the agricultural field, wherein the route creator is configured or programmed to set at least a portion of the travel route as an automatic steering route, and the automatic controller is configured or programmed to automatically steer the traveling vehicle body based on the position of the traveling vehicle body and the automatic steering route.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG.45is an overall side view of an agricultural machine1. The agricultural machine1according to the present preferred embodiment is a tractor. The agricultural machine1is not limited to a tractor, and may be another kind of agricultural machine such as a rice transplanter or a combine, a working vehicle that performs agricultural work other than a tractor, or the like.

The agricultural machine1includes a traveling vehicle body3, a prime mover4, a transmission5, and a traveling device7. The traveling device7includes front wheels7F and rear wheels7R. The front wheels7F may be of a tire type or a crawler type. The rear wheels7R may also be of a tire type or a crawler type. The prime mover4includes a diesel engine, an electric motor, or the like. The transmission5can switch a propelling force of the traveling device7by changing speed stages, and can also switch between forward traveling and rearward traveling of the traveling device7. A driving force of the prime mover4is transmitted to the traveling device7by the transmission5to drive the traveling device7, thereby causing the traveling vehicle body3to travel forward or rearward. The left side inFIG.45is the front side of the traveling vehicle body3, and the right side inFIG.45is the rear side of the traveling vehicle body3.

A cabin9is provided on the traveling vehicle body3. An operator's seat10is provided inside the cabin9. A raising/lowering device8including a three-point linkage or the like is provided on a rear portion of the traveling vehicle body3. The raising/lowering device8is provided with coupling portions8gand8hto which a working device2to perform agricultural work can be coupled. Coupling the working device2to the coupling portions8gand8hlinks the working device2and the traveling vehicle body3to each other and thus enables the traveling vehicle body3to tow the working device2.

The working device2performs ground work on an agricultural field. For example, the working device2includes a tiller (rotary tiller) that performs tillage work on an agricultural field, a stubble cultivator that performs stubble cultivation, a drive harrow that performs puddling, a spreader that spreads fertilizer, agricultural chemicals, or the like, a seeder that performs seeding, a transplanter that transplants seedlings, a harvester that performs harvesting, and so on.

FIG.1is a configuration diagram of an agricultural work assistance system100.

The agricultural work assistance system100includes an agricultural work assistance apparatus50. The agricultural work assistance system100and the agricultural work assistance apparatus50assist agricultural work performed by the working device2while causing the traveling vehicle body3of the agricultural machine1to travel in an agricultural field.

The agricultural machine1includes a controller60, an operation unit62, the transmission5, a brake6, a steering29, the raising/lowering device8, a positioning device40, and a warner63. Additionally, in the agricultural machine1, an in-vehicle network N1such as a LAN or a CAN is built. The controller60, the operation unit62, the positioning device40, and the warner63are connected to the in-vehicle network N1. These components60,62,5,6,29,8,40,63, and N1included in the agricultural machine1are included in the agricultural work assistance system100.

The controller60includes an electric circuit or the like including a CPU and a memory. The controller60is configured or programmed to control an operation of each component of the agricultural machine1. The controller60is provided with an automatic controller61configured or programmed to control operations of the traveling vehicle body3(FIG.45) of the agricultural machine1and the working device2. The operation unit62includes a switch, a lever, a pedal, other keys, and so on that are operable by a user such as an operator seated on the operator's seat10or a worker located in the vicinity of the agricultural machine1. The operation unit62includes a mode switch65. The mode switch65is operated to switch the mode of the agricultural machine1.

The transmission5is connected to a control valve37. The control valve37is a solenoid valve that operates based on a control signal transmitted from the controller60. Hydraulic fluid delivered from a hydraulic pump33is supplied to the control valve37. Though the control valve37is depicted as one block inFIG.1, an appropriate number of control valves37may be provided in accordance with the number of hydraulic devices such as hydraulic clutches or hydraulic cylinders provided in the transmission5.

The automatic controller61is configured or programmed to control driving of the transmission5by electrically controlling a switching position and an opening of the control valve37. By transmission of a driving force of the prime mover4to the traveling device7by the transmission5, the traveling device7operates to cause the traveling vehicle body3to travel forward or rearward. Additionally, for example, when the working device2is a ground working device or the like, the transmission5transmits the driving force of the prime mover4to the working device2. This increases an operating force of the working device2.

The automatic controller61communicates with the working device2via the in-vehicle network N1. Specifically, the working device2includes a controller and a communicator. The automatic controller61transmits a work command to the working device2via the in-vehicle network N1. Upon receiving the work command via the communicator, the controller of the working device2controls, based on the work command, the operation of each component of the working device2to perform agricultural work (ground work). In addition, the controller of the working device2transmits, via the communicator, information or data indicating a work state or the like to the controller60via the in-vehicle network N1. Based on the information or data received from the working device2via the in-vehicle network N1, the automatic controller61detects the work state or the like of the working device2.

The brake6is connected to a control valve38. The control valve38is a solenoid valve that operates based on a control signal transmitted from the controller60. Hydraulic fluid delivered from the hydraulic pump33is supplied to the control valve38. By electrically controlling a switching position and an opening of the control valve38, the automatic controller61causes the brake6to operate to brake the traveling vehicle body3.

The steering29includes a steering handle (steering wheel)30, a rotation shaft (steering shaft)31, and an assist mechanism (power steering mechanism)32. The steering handle30is provided inside the cabin9(FIG.45). The rotation shaft31rotates along with the rotation of the steering handle30. The assist mechanism32assists steering performed with the steering handle30.

The assist mechanism32includes a control valve34and a steering cylinder35. The control valve34is a solenoid valve that operates based on a control signal transmitted from the controller60. More particularly, the control valve34is a three-position switching valve that is switchable by movement of a spool or the like. Hydraulic fluid delivered from the hydraulic pump33is supplied to the control valve34. By electrically controlling a switching position and an opening of the control valve34, the controller60adjusts the hydraulic pressure of the supply to the steering cylinder35to cause the steering cylinder35to extend/retract. The steering cylinder35is connected to knuckle arms (not illustrated) that change directions of the front wheels7F.

The control valve34can be switched also by steering of the steering shaft31. Specifically, when the steering handle30is operated, the steering shaft31rotates in accordance with the operation state to switch the switching position and the opening of the control valve34. Dependent on the switching position and the opening of the control valve34, the steering cylinder35extends/retracts leftward or rightward of the traveling vehicle body3. This extending/retracting motion of the steering cylinder35changes the steering direction of the front wheels7F. The steering29described above is just an example, and the configuration described above does not imply any limitation.

The traveling vehicle body3of the agricultural machine1can be manually steered by manual operation of the steering handle30and automatically steered by the automatic controller61. Moreover, the traveling vehicle body3is capable of traveling/stopping by the driving of the transmission5and the brake6in accordance with manual operation of an accelerator or a brake (both of which are not illustrated) included in the operation unit62. Furthermore, the traveling vehicle body3is capable of traveling/stopping automatically in accordance with control of the transmission5and the brake6by the automatic controller61.

FIG.2is a perspective view of the raising/lowering device8. The raising/lowering device8includes lift arms8a, lower links8b, a top link8c, lift rods8d, and lift cylinders8e. Front end portions of the lift arms8aare supported in such a way as to be able to pivot up/down on rear upper portions of a case (transmission case) in which the transmission5(FIG.45) is housed. The lift arms8apivot (are raised and lowered) when driven by the lift cylinders8e. The lift cylinders8eare hydraulic cylinders. The lift cylinders8eare connected to a control valve36illustrated inFIG.1. The control valve36is a solenoid valve that operates based on a control signal transmitted from the controller60. Hydraulic fluid delivered from the hydraulic pump33is supplied to the control valve36.

Front end portions of the lower links8billustrated inFIG.2are supported in such a way as to be able to pivot up/down on rear lower portions of the transmission5(FIG.1,FIG.45). A front end portion of the top link8cis supported on a rear portion of the transmission5above the lower links8bin such a way as to be able to pivot up/down. The lift rods8dlink the lift arms8ato the lower links8b. The coupling portions8gand8h, to which the working device2can be coupled, are provided on rear end portions of the lower links8band the top link8c.

By electrically controlling a switching position and an opening of the control valve36, the automatic controller61illustrated inFIG.1adjusts the hydraulic pressure of the supply to the lift cylinders8eillustrated inFIG.2to cause the lift cylinders8eto extend/retract. The extending/retracting motion of the lift cylinders8eraises/lowers the lift arms8aand raises/lowers the lower links8blinked to the lift arms8avia the lift rods8d. This moves the working device2pivotally upward or downward (raising/lowering motion), with front portions (the opposite of the coupling portions8gand8h) of the lower links8bacting as fulcrums.

The positioning device40illustrated inFIG.1includes a receiver41and an inertial measurement unit (IMU)42. The receiver41receives satellite signals (positions of positioning satellites, a transmission time, correction information, and so on) transmitted from a satellite positioning system (positioning satellites) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, or Michibiki. Based on the satellite signals received by the receiver41, the positioning device40detects a current position (for example, a latitude and a longitude). That is, the positioning device40is a position detector that detects a position of the traveling vehicle body3of the agricultural machine1. The inertial measurement unit42includes an acceleration sensor, a gyroscope sensor, and the like. The inertial measurement unit42detects a roll angle, a pitch angle, and a yaw angle, etc. of the traveling vehicle body3.

The warner63may include a beeper, a speaker, or a warning lamp, etc. provided on the traveling vehicle body3. The warner63issues a warning to people around the traveling vehicle body3by sound or light.

The agricultural work assistance apparatus50is, for example, a portable tablet terminal device or the like. For example, the agricultural work assistance apparatus50is mounted inside the cabin9of the agricultural machine1and is detachably attached to the agricultural machine1. That is, the agricultural machine1includes the agricultural work assistance apparatus50.

The agricultural work assistance apparatus50includes a controller51, a display operation interface52, a storing unit (storage and/or memory)53, and a communicator54. The controller51includes a CPU and a memory, and controls elements of the agricultural work assistance apparatus50. The controller51is configured or programmed to define or function as an agricultural field register51a, an area setter51b, a route creator51c, a path/track calculator51d, and a notifier51g. Each of these elements includes software program(s), but may include hardware.

The display operation interface52includes a touch pad, and displays various kinds of information on a screen. Various inputs can be performed by performing predetermined operations on a display screen of the display operation interface52. The display operation interface52is a display and an input interface. The agricultural work assistance apparatus50may be provided with an independent display and an independent operation interface (input interface) in place of the display operation interface52.

The storing unit53includes a nonvolatile memory and/or the like. The storing unit53is a read/write storing unit which stores information or data for assisting travel and work of the agricultural machine1. The communicator54is an interface for connection to the in-vehicle network N1. The controller51communicates with the controller60, the operation unit (manual operator)62, the positioning device40, the warner63, and the working device2over the in-vehicle network N1via the communicator54.

Upon startup of the agricultural work assistance apparatus50, the controller51causes the display operation interface52to display a home screen D1illustrated inFIG.3. Data of this home screen D1and data of each screen D2to D9to be described later are stored in the storing unit53. The controller51reads the data out of the storing unit53when necessary and causes the display operation interface52to display a screen based on the data.

The home screen D1displays an agricultural machine symbol X1, an agricultural field key B1, an automatic operation key B2a, an automatic steering key B2b, a history key B3, and a settings key B0. The settings key B0is used to perform various settings. By selecting (performing a tap operation on) the settings key B0, it is possible to set predetermined items. The predetermined items include, for example, setting (registration of) the agricultural machine1in which the agricultural work assistance apparatus50is mounted and the working device2coupled to the agricultural machine1, settings of the manner in which indications are displayed on the display operation interface52, or the like.

The agricultural field key B1is used to register an agricultural field in which agricultural work is performed by the agricultural machine1. The automatic operation key B2ais used to perform settings or prediction related to an automatic traveling work mode of the agricultural machine1. The automatic steering key B2bis used to perform settings or prediction related to an automatic steering work mode of the agricultural machine1.

The automatic traveling work mode mentioned above is a mode in which agricultural work (ground work) is performed using the working device2while causing the traveling vehicle body3of the agricultural machine1to travel by automatic operation. The automatic operation of the agricultural machine1refers to automatically changing the travel speed of the traveling vehicle body3and automatically steering the traveling vehicle body3. The automatic steering work mode is a mode in which agricultural work (ground work) is performed using the working device2while automatically steering the traveling vehicle body3. When the agricultural machine1is in the automatic steering work mode, the operator of the agricultural machine1operates the accelerator or the brake included in the operation unit62(FIG.1), and the travel speed of the traveling vehicle body3is changed in accordance with this operation. That is, in the automatic steering work mode, the travel speed of the traveling vehicle body3is changed based on manual operation.

The agricultural machine1can travel by manual operation and can perform ground work using the working device2during the travel. The manual operation of the agricultural machine1refers to changing the travel speed of the traveling vehicle body3by the operator operating the accelerator or the brake of the operation unit62and steering the traveling vehicle body3by the operator operating the steering handle30(FIG.1).

The history key B3on the home screen D1inFIG.3is used to display a work history of the agricultural machine1. When the user selects the agricultural field key B1on the home screen D1, the controller51causes the display operation interface52to display an agricultural field registration screen D2illustrated inFIG.4.

The agricultural field registration screen D2displays a map MP1, a position Pv of the traveling vehicle body3of the agricultural machine1, a new key B4, a register key B5, a call key B6, a cancel key B7, and a back key B8. The map MP1displays an image depicting a map of an area around the position where the agricultural machine1is located. The data of the map is acquired by the positioning device40controlled by the controller51or is pre-stored in the storing unit53. The map MP1further displays an agricultural field in which the agricultural machine1performs agricultural work and is associated with position information such as latitude and longitude. When the user performs a predetermined operation on the map MP1, a map displayed in the map MP1is zoomed in or out, or the displayed portion of the map is moved.

FIG.5Ais a diagram for explaining an agricultural field registration method. For example, the user (operator of the agricultural machine1) selects the new key B4on the agricultural field registration screen D2illustrated inFIG.4, and causes the agricultural machine1to travel in a circumferential direction in the agricultural field by manual operation. In so doing, the working device2may be raised by the raising/lowering device8such that agricultural work is not performed by the working device2on the agricultural field, or the working device2may be lowered by the raising/lowering device8such that agricultural work is performed by the working device2on the agricultural field. The controller51of the agricultural work assistance apparatus50(FIG.1) acquires, at predetermined interval(s) via the communicator54, the position Pv detected by the positioning device40and stores the detected position Pv in an internal memory upon each acquisition and causes the detected position Pv to be displayed on the map MP1upon each acquisition. InFIGS.4and5A, only some of the positions Pv are illustrated for convenience of description.

After the agricultural machine1ends traveling in the circumferential direction in the agricultural field, the user selects the register key B5. Upon the selection, based on the plurality of detected positions Pv stored, the agricultural field register51acalculates a travel path K1of the traveling vehicle body3. The controller51causes the travel path K1to be displayed on the map MP1as illustrated inFIG.5A. In the example ofFIG.5A, a line K1passing through the plurality of detected positions Pv in the detected order (acquired order) and then returning to the position Pv detected first is set as the travel path of the traveling vehicle body3.

Each detected position Pv is a GPS position of the positioning device40. The travel path K1is a path traveled by the GPS position. Therefore, the agricultural field register51aobtains a line H1located between the travel path K1and the outline of the map MP1by displacing the travel path K1outward by an amount equivalent to the distance in the width direction from the GPS position of the agricultural machine1to the outer edge of the working device2(the outer edge here refers to, inFIG.5A, the left edge of the working device2because the agricultural machine1travels in the circumferential direction in the agricultural field clockwise). In the present preferred embodiment, the GPS position detected by the positioning device40is at the center of the traveling vehicle body3, and the widthwise center of the traveling vehicle body3coincides with the widthwise center of the working device2. Therefore, the displacement amount mentioned above is the same as a half of the outside width (dimension in the width direction) of the working device2or a half of the working width (dimension in the width direction) W1over which the working device2performs ground work. As another example, the line H1may be obtained between the travel path K1and the outline of the map MP1using, as the displacement amount mentioned above, a value more than or less than the distance in the width direction from the GPS position of the agricultural machine1to the outer edge of the working device2by a predetermined amount.

The agricultural field register51asets the line H1obtained as described above as the contour (outer shape) of the agricultural field and registers (stores) an agricultural field map MP2(data representing the contour of the agricultural field) represented by the contour H1in the storing unit53. In so doing, the agricultural field register51aregisters agricultural field identification information such as an agricultural field name or an agricultural field management number in the storing unit53such that the information is in association with the agricultural field map MP2. For example, the agricultural field identification information may be assigned by the agricultural field register51a, may be inputted by the user through an operation on the display operation interface52, or may be stored in the storing unit53in advance. A plurality of agricultural field maps MP2and/or the like can be registered in the storing unit53. After the agricultural field register51aregisters the agricultural field map MP2, the controller51causes the agricultural field map MP2(the contour H1of the agricultural field) to be displayed on the map MP1.

The above-described agricultural field registration method is merely an example, and this does not imply any limitation. As another example, as illustrated inFIG.5B, the agricultural field register51acalculates turning points from the travel path K1of the traveling vehicle body3, and obtains a line K2passing through the turning points. Then, the line H1may be obtained between the travel path K1and the outline of the map MP1by displacing the line K2by the displacement amount mentioned above, the line H1may be set as the contour H1of the agricultural field and the agricultural field map MP2, and the agricultural field map MP2may be stored in the storing unit53.

Additionally or alternatively, when the agricultural machine1travels in the circumferential direction, the user may designate corners of the agricultural field as illustrated inFIG.5Cby operating a predetermined switch, etc. provided in the operation unit62. In such a case, the agricultural field register51aobtains a line K3passing through the corners of the agricultural field in the designated order and then returning to the first designated corner. Then, the line H1may be obtained between the travel path K1and the outline of the map MP1by displacing the line K3by the displacement amount mentioned above, the line H1may be set as the contour H1of the agricultural field and the agricultural field map MP2, and the agricultural field map MP2may be stored in the storing unit53. The contour H1of the agricultural field and the agricultural field map MP2may be, for example, data represented by positions (latitude and longitude), data represented by coordinates (X axis, Y axis), or data represented in some other fashion.

When the user selects the call key B6on the agricultural field registration screen D2illustrated inFIG.4, the controller51reads data of one of the agricultural field map(s) MP2registered in the storing unit53, and causes the agricultural field map MP2to be displayed on the agricultural field registration screen D2based on the data. When the user selects the cancel key B7, the agricultural field register51adeletes the positions Pv of the traveling vehicle body3and the agricultural field map MP2(the contour H1of the agricultural field) currently displayed on the map MP1and deletes data thereof also from the storing unit53. That is, the registration of the contour H1of the agricultural field and the agricultural field map MP2is canceled.

When the registration of the agricultural field ends and the user selects the back key B8, the controller51causes the display operation interface52to display the home screen D1inFIG.3. That is, the back key B8is used to return the screen displayed on the display operation interface52to the previous screen (the same applies to screens D3to D9described later). When the user selects the automatic operation key B2aon the home screen D1, the controller51causes the display operation interface52to display a work selection screen D3illustrated inFIG.6.

The work selection screen D3displays a message indicating an input operation procedure. The work selection screen D3displays a plurality of work keys B31to B35, an up arrow key B41, a down arrow key B42, a next key B9, and the back key B8. The work keys B31to B35indicate types of agricultural work that can be performed using the agricultural machine1and the working device2coupled to the agricultural machine1. InFIG.6, the five work keys B31, B32, B33, B34, and B35are displayed. However, when there are six or more types of agricultural work that can be performed using the agricultural machine1and the working device2, the controller51causes work keys indicating other works to be displayed on the work selection screen D3in response to the user selecting the up arrow key B41or the down arrow key B42.

When the user selects one of the work keys B31to B35, the controller51causes the selected work key to be displayed on the work selection screen D3in a manner different from that of the other work keys. In the example ofFIG.6, only the selected work key B31for tillage is marked with a filled circle. When the user selects the next key B9while one of the work keys B31, B32, B33, and B34is in the selected state, the controller51causes the display operation interface52to display a vehicle settings confirmation screen D4illustrated inFIG.7. That is, the next key B9is used to switch the screen displayed on the display operation interface52to the next screen (the same applies to the screens D4to D9described later).

The vehicle settings confirmation screen D4displays a message indicating an input operation procedure, the type of agricultural work, the type of agricultural machine1, and a working width of the working device2. The user can set the type of the agricultural machine1and the working width of the working device2displayed on this vehicle settings confirmation screen D4, for example, by selecting the settings key B0on the home screen D1illustrated inFIG.3and performing predetermined input operations. Moreover, the user can register a plurality of agricultural machines and types and specifications such as working widths of a plurality of working devices with the agricultural work assistance apparatus50by selecting the settings key B0and performing predetermined input operations. The working width of the working device2is a dimension in a horizontal plane perpendicular to the direction of travel of the working device2over which the working device2performs work.

The vehicle settings confirmation screen D4inFIG.7displays an unmanned machine settings key B10, a manned machine settings key B11, the next key B9, and the back key B8. When the user wishes to change the type of the agricultural machine1or the working width displayed on the vehicle settings confirmation screen D4, the user selects the unmanned machine settings key B10or the manned machine settings key B11. Upon the selection, the controller51causes the display operation interface52to display another setting screen (not illustrated) in which the type of the agricultural machine1or the working width is changeable. When the user performs a predetermined operation after changing the type of the agricultural machine1or the working width in the another setting screen, the controller51causes the display operation interface52to display the vehicle settings confirmation screen D4again.

The user selects the next key B9when there is no need to change the type of the agricultural machine1or the working width displayed on the vehicle settings confirmation screen D4. Upon the selection, the controller51causes the display operation interface52to display an agricultural field selection screen D5illustrated inFIG.8.

The agricultural field selection screen D5displays one or more registered agricultural field maps MP2, the up arrow key B41, the down arrow key B42, the next key B9, and the back key B8. InFIG.8, three agricultural field maps MP2are displayed. However, when there are four or more registered agricultural field maps MP2, the controller51causes the other registered agricultural field map(s) MP2to be displayed on the agricultural field selection screen D5in response to the user selecting the up arrow key B41or the down arrow key B42.

When the user selects one of the agricultural field maps MP2, the controller51causes the selected agricultural field map MP2to be displayed in a manner different from that of the other agricultural field maps MP2. InFIG.8, only the selected agricultural field map MP2is enclosed by a thick-line frame. In addition, the controller51causes the last work date and time of agricultural work performed in the selected agricultural field map MP2and the area of the agricultural field map MP2to be displayed on the agricultural field selection screen D5. When the user selects the next key B9while one of the agricultural field maps MP2is in the selected state, the controller51causes the display operation interface52to display a first route creation screen D6illustrated inFIG.9.

The first route creation screen D6displays the selected agricultural field map MP2(the contour H1of the agricultural field), the agricultural machine symbol X1, a message indicating an input operation procedure, an automatic headland work key B43, a work type key B44, the next key B9, and the back key B8. The automatic headland work key B43is used to select whether or not to perform agricultural work using the working device2while causing the traveling vehicle body3of the agricultural machine1to travel by automatic operation in headland(s) set in the agricultural field map MP2as will be described later.

The work type key B44is used to select the manner in which work is performed using the working device2. In the present preferred embodiment, since a tillage work is selected in the work selection screen D3inFIG.6for example, the work type key B44inFIG.9is a key to select whether the type of the tillage work is “every-line tillage” or “every-other-line tillage”. In a case that another kind of work is selected in the work selection screen D3in FIG.6, the work type key B44inFIG.9is used to select the manner in which the work is performed. When the user selects the next key B9after selecting the work manners via the automatic headland work key B43and the work type key B44, the controller51causes the display operation interface52to display a second route creation screen D7illustrated inFIG.10A.

The second route creation screen D7inFIG.10Adisplays the selected agricultural field map MP2, the agricultural machine symbol X1, a message indicating an input operation procedure, a plurality of setting items and numerical value input fields thereof, a recommendation key B12, a route creation key B13, a track prediction key B14, a plus key B45, a minus key B46, the next key B9, and the back key B8. While the second route creation screen D7is displayed, the controller51may acquire, via the communicator54, the actual position of the traveling vehicle body3detected by the positioning device40, and may cause the agricultural machine symbol X1to be displayed at the position on the agricultural field map MP2corresponding to the position of the traveling vehicle body3.

The plurality of setting items on the second route creation screen D7include an estimated work distance, the number of headlands, a working direction, an overlap for headlands, and an overlap for a central portion. Among them, numerical values can be inputted for items other than the estimated work distance. The number of headlands is the number of one or more headlands set along the contour H1inward of the contour H1of the registered agricultural field (the agricultural field map MP2).

The working direction is a direction in which work is performed using the working device2while the traveling vehicle body3is caused to travel straight back and forth in a central portion located inward of the headlands of the agricultural field. By inputting a predetermined numerical value (such as “1” or “2”, for example) in the numerical value input field of the working direction, the vertical direction or the horizontal direction corresponding to the numerical value is set in the second route creation screen D7. The overlap for the headlands is an overlap of the working width of the working device2with headland(s). The overlap for the central portion is an overlap between the working widths when work is performed using the working device2while the traveling vehicle body3is caused to travel straight back and forth in the central portion of the agricultural field.

The user selects the numerical value input field of each setting item described above and operates the plus key B45or the minus key B46to input a numerical value to the numerical value input field. Additionally or alternatively, in response to the user selecting the recommendation key B12, the controller51reads the set value of each setting item corresponding to the agricultural work selected in the work selection screen D3(FIG.6) among the set values stored in the storing unit53in advance and inputs (displays) the set value in the corresponding numerical value input field.

After the numerical value is inputted for each setting item, the user selects the route creation key B13. Upon the selection, as illustrated inFIG.10B, the area setter51b(FIG.1) sets a central area (second area) C1and a headland area (first area) E1in the agricultural field map MP2. The route creator51c(FIG.1) creates a travel route (planned travel route) L1in the agricultural field map MP2.

FIGS.11A to11Dare diagrams for explaining a method of setting the areas C1and E1and the travel route L1. When the route creation key B13is selected by the user, first, the area setter51bsets the central area C1and the headland area E1, based on the contour H1of the agricultural field, the working width of the working device2, the inputted number of headlands, and/or the overlap for the headlands. More specifically, for example, as illustrated inFIG.11A, the area setter51bcalculates the contour C1obtained by displacing the contour H1of the agricultural field inward a number of times corresponding to the number of headland(s), each by a width W4obtained by subtracting the overlap W2for the headlands from the working width W1of the working device2, and sets an area (central portion) enclosed by the contour C1as the central area C1.

As another example, the area setter51bmay calculate a contour obtained by displacing the contour H1of the agricultural field inward a number of times corresponding to the number of headland(s), each by the working width of the working device2(or the outside width of the working device2), and may set an area (central portion) enclosed by the contour C1as the central area. The number of headlands, the overlap for the headlands, and/or the overlap for the central portion may be a preset fixed value, and the fixed value may be pre-stored in the storing unit53, and the area setter51bmay read the fixed value from the storing unit53as necessary.

After setting the central area C1as described above, the area setter51bdefines a frame-shaped area (outer frame portion) located outward of the central area C1and inward of the contour H1of the agricultural field as the headland area E1. Then, the area setter51bcauses the storing unit53to store data of the position, etc. indicating each area C1, E1.

The route creator51ccreates the travel route L1based on the set areas C1and E1, the working width of the working device2, the inputted working direction, the overlap for the headlands, and/or the overlap for the central portion. More specifically, first, as illustrated inFIG.11B, the route creator51ccreates a plurality of unit work zones C2in the central area C1one after another from one of the opposite edges (the right edge inFIG.11B) of the central area C1each extending parallel to the working direction (up-and-down direction inFIG.11B) such that the unit work zones C2each have a width equal to the working width W1of the working device2. In so doing, in the unit work zone C2that is created by the route creator51cfirst has its width (which equals to the working width W1) overlapped with the headland area E1by the overlap W2for the headland(s). The second and subsequent unit work zones C2created by the route creator51chave their width (which equals to the working width W1) overlapped with the previously created unit work zone C2by the overlap W3for the central portion.

Next, the route creator51ccreates straight route portions L1aalong which the traveling vehicle body3is to travel straight, for the respective unit work zones C2as illustrated inFIG.11C. In so doing, the route creator51ccreates a straight route portion L1athat is a straight line connecting the opposite ends of a corresponding unit work zone C2in a longitudinal direction, on the widthwise (a left-and-right direction inFIG.11C) centerline of the unit work zone C2. With regard to the last created unit work zone C2(the leftmost unit work zone C2in the central area C1inFIG.11B), if the straight route portion L1acreated in this unit work zone C2is located outward of the central area C1, the route creator51cmay exclude this straight route portion L1afrom the travel route L1.

Next, the route creator51ccreates route portions L1beach connecting adjacent ones of the straight route portions L1ain the headland area E1. Each of the route portions L1bis a turning route portion along which the traveling vehicle body3turns from one of the two adjacent straight route portions L1ato the other. Although turning route portions L1bhaving a simple semi-circular shape are illustrated inFIG.11C, etc., this is merely to make it easier to display the turning route portions L1bon the display screen D7(and display screens D8, D10, and D11to be described later) of the display operation interface52, make it easier to visually recognize the travel route L1on the display screen thereof, for convenience. When the traveling vehicle body3actually travels based on one of the adjacent straight route portions L1aand makes a turn toward the other straight route portion L1a, the traveling vehicle body3turns while moving forward or rearward, and therefore the actual travel path is more complex than the turning route portion L1b. The route creator51cmay create the turning route portions L1bhaving a shape other than a semicircular shape. The same applies to other turning route portions to be described later and turning portions included in another travel route.

The controller60(FIG.1) of the agricultural machine1causes the raising/lowering device8(FIG.2) to lower the working device2to cause the working device2to perform ground work when causing the traveling vehicle body3to travel based on the straight route portions L1a. The controller60causes the raising/lowering device8to raise the working device2to cause the working device2to stop the ground work when causing the traveling vehicle body3to travel based on the turning route portions L1b.

That is, each of the straight route portions L1ais a work route portion where ground work is performed by the working device2while the traveling vehicle body3of the agricultural machine1is caused to travel by automatic operation. The central area C1in which the plurality of straight route portions L1aare created is a work area where ground work is performed by the working device2while the traveling vehicle body3is caused to travel straight back and forth by automatic operation. The work route portion is not limited to a straight-line route portion like the straight route portion L1aand may be a curved route portion. It is only necessary to create one or more work route portions including either a straight-line work route portion or a curved work route portion, or both, in the work area.

When not performing work in the headland(s) is selected via the automatic headland work key B43on the first route creation screen D6inFIG.9, the route creator51ccreates the travel route L1including the straight route portions L1aand the turning route portions L1bas illustrated inFIG.11C, and causes the storing unit53to store data of the position, etc. indicating the travel route L1. The route creator51csets a start position Ps at the end of one of straight route portions L1athat are not connected to any of the turning route portions L1b(upper end of the rightmost straight route portion L1ainFIG.11C) among the ends of the straight route portions L1aat the opposite sides of the central area C1, and sets a goal position Pg at the end of the other of the straight route portions L1athat are not connected to any of the turning route portions L1b(lower end of the leftmost straight route portion L1ainFIG.11C). Then, the route creator51ccauses the storing unit53to store data indicating each of the positions Ps and Pg.

The route creator51ccalculates the estimated work distance over which ground work is to be performed by the working device2while the traveling vehicle body3is caused to travel based on all the straight route portions L1a, and causes the storing unit53to store the calculated result. Furthermore, the route creator51csets vehicle speed(s) (moving speed(s)) at which the traveling vehicle body3is caused to travel by automatic operation on the straight route portions L1aand the turning route portions L1b, and causes the storing unit53to store the vehicle speed(s) in association with data of the respective route portions L1aand L1b. In so doing, for example, the route creator51csets lower vehicle speeds for portions of the route portions L1aand L1bwith a larger curvature. Alternatively, for example, an input field for inputting the vehicle speed for each of the route portions L1aand L1bmay be provided on the second route creation screen D7, and the route creator51cmay set the vehicle speed inputted to each of the input fields on the corresponding one of the route portions L1aand L1b.

After the settings and the creation end as described above, the controller51causes the areas C1and E1, the travel route L1, the start position Ps, the goal position Pg, and the estimated work distance to be displayed on the second route creation screen D7(seeFIG.11C). In so doing, the areas C1and E1, the travel route L1, the start position Ps, and the goal position Pg are displayed on the second route creation screen D7as illustrated inFIG.11C. The travel route L1includes the straight route portions L1aand the turning route portions L1b.

In contrast, when performing work in the headland(s) is selected via the automatic headland work key B43on the first route creation screen D6inFIG.9, the route creator51ccreates, in the headland area E1, a go-around route portion L1cwhich surrounds the central area C1as illustrated inFIG.11Din addition to the straight route portions L1aand the turning route portions L1b. In so doing, for example, the route creator51ccreates the go-around route portion L1cin a headland E2alocated closest to the central area C1among headlands E2a, E2b, and E2cthat are set outside the central area C1by the area setter51b.

The route creator51csets a starting position Ps at the end not connected to any turning route portion L1b(the upper end of the rightmost straight route portion L1ainFIG.11D) of one of endmost straight route portions L1a(the leftmost and rightmost straight route portions L1ainFIG.11D) in the central area C1, and connects the go-around route portion L1cto the end of the other of the endmost straight route portions L1a(to the lower end of the leftmost straight route portion L1ainFIG.11D). The route creator51csets a goal position Pg at the end of the go-around route portion L1cthat is not connected to any straight route portion L1a.

The go-around route portion L1cis a work route portion on which ground work is done by the working device2while the traveling vehicle body3is caused to travel in automatic operation. The go-around route portion L1cincludes straight portions L1swhich are substantially straight and turning portions L1rin the form of a curve with a curvature equal to or greater than a predetermined value. Each of the straight portions L1sis created on the widthwise centerline of the headland E2a. One of adjacent straight portions L1sin the direction of travel on the go-around route portion (travel route) L1cand the other of the adjacent straight portions L1sextend in different directions (differ in direction of travel). Each of the turning portions L1rconnects such adjacent straight route portions L1sand is a portion on which the traveling vehicle body3turns from one of the adjacent straight portions L1stoward the other.

Depending on the shape of the contour H1of the agricultural field (for example, when the contour H1of the agricultural field has an irregular shape), the go-around route portion L1cmay include, in addition to the straight portions L1sand the turning portions L1r, a gentle curved portion (curved route portion, not illustrated) that is curved with a curvature less than the predetermined value. In such a case, the ground work may be performed by the working device2when the traveling vehicle body3travels by automatic operation based on the straight portions L1sand the gentle curve portion of the go-around route portion L1cand ground work may not be performed by the working device2when the traveling vehicle body3travels by automatic operation based on the turning portions L1r.

The headland E2ain which the go-around route portion L1cis created as described above is a work area where ground work is performed by the working device2while the traveling vehicle body3is traveling at the outer side around the central area C1. As another example, the route creator51cmay create a go-around route portion also in the other headlands E2band E2clocated outward of the headland E2a. A key operable to input the number of headlands in which a go-around route portion is to be created may be provided on the second route creation screen D7.

The route creator51cmay create a go-around route portion that goes through at least one of the headlands E2a, E2b, and E2ctwo or more times. The route creator51cmay create a go-around route portion that goes through each of adjacent headlands. That is, the route creator51cmay create, in the headland area E1, a go-around route portion that goes around outside the central area C1one or more times equal to or more than the number of headlands.

As described above, after creating the travel route L1including the straight route portions L1a, the turning route portions L1b, and the go-around route portion L1c, the route creator51ccauses the storing unit53to store data of the position, etc. indicating the travel route L1. In addition, the route creator51csets the start position Ps and the goal position Pg of the travel route L1, and causes the storing unit53to store data indicating the positions Ps and Pg. Moreover, the route creator51ccalculates the estimated work distance over which ground work is to be performed by the working device2while the traveling vehicle body3is caused to travel based on all the straight route portions L1aand the go-around route portion L1c, and causes the storing unit53to store the calculation result. Furthermore, the route creator51csets vehicle speeds at which the traveling vehicle body3is caused to travel by automatic operation on the straight route portions L1a, the turning route portions L1b, and the go-around route portion L1c, and causes the storing unit53to store the vehicle speeds in association with data of the respective routes L1a, L1b, and L1c.

After the settings and the creation end as described above, as illustrated inFIG.10B, the controller51causes the areas C1and E1, the travel route L1, the start position Ps, the goal position Pg, and the estimated work distance to be displayed on the second route creation screen D7. The travel route L1displayed here includes the straight route portions L1a, the turning route portions L1b, and the go-around route portion Lic.

After the travel route L1is displayed on the second route creation screen D7, the user selects the track prediction key B14. Upon the selection, the path/track calculator51d(FIG.1) calculates a predicted work portion where ground work is predicted to be performed by the working device2while the traveling vehicle body3is caused to travel by automatic operation based on the travel route L1, that is, a predicted work track J1of the working device2.

More particularly, based on the travel route L1and the working width of the working device2, the path/track calculator51dcalculates the predicted work track J1. For example, the path/track calculator51ddetermines, as the predicted work track J1, a passed portion (passed area) having the working width of the working device2when the traveling vehicle body3and the working device2are moved (moved forward or rearward) along the work route portion (the straight route portions L1aand the straight portions L1sof the go-around route portion L1cinFIG.10C) where ground work is performed by the working device2in the travel route L1. In so doing, the widthwise center of the traveling vehicle body3and the center of the working width of the working device2are set on the work route portion.

Then, the path/track calculator51dcauses the storing unit53to store data of the predicted work track J1. As illustrated inFIG.10C, the controller51causes the predicted work track J1(hatched portion) to be displayed over the travel route L1on the agricultural field map MP2included in the second route creation screen D7in a superimposed manner.

The path/track calculator51dmay, upon the route creator51ccreating the travel route L1, immediately calculate the predicted work track J1and cause the storing unit53to store data of the predicted work track J1. Then, when the user selects the track prediction key B14, the controller51may read the data of the predicted work track J1from the storing unit53and cause the predicted work track J1to be displayed on the second route creation screen D7based on the data. The path/track calculator51dmay determine, as the predicted work track J1, a passed portion having the working width of the working device2when the working device2is moved along not only the straight work route portions but also the curved work route portions in the travel route L1.

InFIG.10C, the work route portions L1aand L1c(the straight route portions L1aand the go-around route portion L1c) where ground work is performed by the working device2while the traveling vehicle body3is caused to travel by automatic operation are created in the central area C1and the headland E2a. Therefore, the predicted work track J1is displayed along the work route portions L1aand L1c.

In contrast, if not performing work in the headland(s) is selected via the automatic headland work key B43in the first route creation screen D6inFIG.9and the work route portion L1ais created in the central area C1only as illustrated inFIG.11C, the predicted work track J1is displayed along the work route portion L1a.

For example, assume that the user who has looked at the travel route L1or the predicted work track J1displayed on the second route creation screen D7inputs numerical value(s) again for any of the setting items, and then selects the route creation key B13. In this case, the area setter51bsets the areas C1and E1again and the route creator51ccreates the travel route L1again in the procedure described above, and the areas C1and E1and/or the travel route L1, etc. displayed on the second route creation screen D7are updated.

Assume that the user selects the start position Ps or the goal position Pg, moves the position Ps, Pg to a desired position on the agricultural field map MP2, and then selects the route creation key B13. Upon the selection, the area setter51bsets the areas C1and E1again and the route creator51ccreates the travel route L1again in the procedure described above, and the areas C1and E1and/or the travel route L1, etc. displayed on the second route creation screen D7are updated.

Assume that, after the updating of the areas C1and E1and the travel route L1described above, the user selects the track prediction key B14. Upon the selection, the path/track calculator51dcalculates the predicted work track again in the procedure described above, and the predicted work track J1displayed on the second route creation screen D7is updated.

After the travel route L1is displayed on the second route creation screen D7, the user selects the next key B9. Upon the selection, the controller51transmits, via the communicator54, data indicating the agricultural field map MP2, the areas C1and E1, and the travel route L1displayed on the screen D7to the controller60(FIG.1) via the in-vehicle network N1. In addition, the controller51causes the display operation interface52to display a travel control screen D8illustrated inFIG.12.

The travel control screen D8displays a traveling state and a work state of the agricultural machine1in the automatic traveling work mode. The travel control screen D8illustrated inFIG.12depicts an example of a traveling state and a work state of the agricultural machine1after a while since the start of the automatic traveling work mode. The travel control screen D8displays the agricultural field map MP2, the travel route L1, the start position Ps, the goal position Pg, an agricultural machine symbol X2, the traveling state of the agricultural machine1, a setting change key B20, a work track key B15, and a track clear key B16.

The controller51acquires, at predetermined interval(s) via the communicator54, the actual position of the traveling vehicle body3detected by the positioning device40, and causes the agricultural machine symbol X2to be displayed at the position on the agricultural field map MP2corresponding to the position of the traveling vehicle body3whenever acquired. That is, the agricultural machine symbol X2in the travel control screen D8indicates the actual position of the traveling vehicle body3of the agricultural machine1.

For example, the user moves the agricultural machine1to the start position Ps by manual operation while looking at the travel control screen D8and then performs a predetermined operation for entering the automatic traveling work mode via the mode switch65(FIG.1). Upon the operation, the automatic controller61(FIG.1) enters the automatic traveling work mode to perform ground work using the working device2while causing the traveling vehicle body3to travel by automatic operation, based on the travel route L1received (acquired) from the agricultural work assistance apparatus50and the position of the traveling vehicle body3detected by the positioning device40.

More particularly, first, the automatic controller61causes the working device2to start ground work while causing the traveling vehicle body3to travel by automatic operation from the start position Ps based on the straight route portions Lal and the turning route portions L1b. In so doing, the automatic controller61causes ground work to be performed by the working device2when causing the traveling vehicle body3to travel by automatic operation based on a straight route portion L1a, and causes the ground work performed by the working device2to be stopped when causing the traveling vehicle body3to travel (turn) by automatic operation based on a turning route portion L1b. Then, the working device2is caused to resume ground work when the traveling vehicle body3begins to travel by automatic operation based on the next straight route portion L1a. With this, the traveling vehicle body3travels straight back and forth in the central area C1by automatic operation, and the ground work is performed by the working device2in the central area C1.

After that, based on the go-around route portion L1cand the position of the traveling vehicle body3, the automatic controller61causes the working device2to perform ground work while causing the traveling vehicle body3to travel by automatic operation. With this, the traveling vehicle body3goes around outside the central area C1by automatic operation, and ground work is performed by the working device2in the headland E2a(seeFIG.11Detc.) surrounding the central area C1.

FIGS.13A to13Dare diagrams for explaining automatic steering of the agricultural machine1. In the automatic traveling work mode, the automatic controller61calculates a deviation of the position of the traveling vehicle body3detected by the positioning device40from the travel route L1while causing the traveling vehicle body3to travel automatically. If the deviation is less than a threshold (for example,FIG.13A), the automatic controller61keeps the rotation angle of the steering shaft31(FIG.1). If the deviation of the position of the traveling vehicle body3from the travel route L1is greater than or equal to the threshold and the traveling vehicle body3is located on the left side with respect to the travel route L1(for example,FIG.13B), the automatic controller61causes the steering shaft31to rotate to steer the traveling vehicle body3to the right. If the deviation of the position of the traveling vehicle body3from the travel route L1is greater than or equal to the threshold and the traveling vehicle body3is located on the right side with respect to the travel route L1(for example,FIG.13C), the automatic controller61causes the steering shaft31to rotate to steer the traveling vehicle body3to the left.

In the example described above, the steering angle of the steering29is changed based on the deviation of the position of the traveling vehicle body3from the travel route L1. However, as another example, the steering angle of the steering29may be changed based on an angle θg of a traveling direction F1of the traveling vehicle body3with respect to the travel route L1illustrated inFIG.13D. In this case, for example, the automatic controller61calculates the traveling direction F1of the traveling vehicle body3from changes in the position of the traveling vehicle body3, and further calculates the angle θg of the traveling direction F1with respect to the travel route L1. Then, if the angle θg is greater than or equal to a threshold, the automatic controller61causes the steering shaft31to rotate such that the traveling direction F1of the traveling vehicle body3matches the direction of the travel route L1(that is, θg=“0°”).

Alternatively, as another example, the automatic controller61may calculate a first steering angle based on the deviation of the position of the traveling vehicle body3from the travel route L1, and may calculate a second steering angle based on the travel route L1and the traveling direction F1of the traveling vehicle body3. Then, the automatic controller61may calculate a third steering angle based on the first steering angle and the second steering angle, and cause the steering shaft31to rotate based on the third steering angle.

Additionally or alternatively, based on changes in the position of the traveling vehicle body3, the automatic controller61calculates an actual vehicle speed of the traveling vehicle body3when causing the traveling vehicle body3to automatically travel based on the travel route L1. Then, the automatic controller61controls the driving of the transmission5, the brake6, and the prime mover4such that the actual vehicle speed matches the vehicle speed associated with the straight route portion L1a, the turning route portion L1b, or the go-around route portion L1c.

As described above, in the automatic traveling work mode, the automatic controller61of the agricultural machine1causes the traveling vehicle body3to be steered automatically while automatically changing the travel speed of the traveling vehicle body3, based on the travel route L1and the position of the traveling vehicle body3. In addition, the automatic controller61causes the working device2to automatically perform and automatically stop agricultural work (ground work).

In the travel control screen D8illustrated inFIG.12, the user selects the work track key B15. Upon the selection, the path/track calculator51dcalculates an actual work track J2along which the working device2has performed ground work, based on the position of the traveling vehicle body3detected by the positioning device40and the working width of the working device2. The path/track calculator51dcauses the storing unit53to store data of the actual work track J2. As illustrated inFIG.12, the controller51causes the actual work track J2(hatched portion) to be displayed over the straight route portion L1aon the agricultural field map MP2in a superimposed manner. When the user selects the track clear key B16, the controller51deletes the displayed actual work track J2.

When the work track key B15is selected during the automatic traveling work mode, the path/track calculator51dcalculates the actual work track J2from the start of the automatic traveling work mode to the present, and causes the storing unit53to store data of the work track J2. Then, the controller51cases the actual work track J2to be displayed over the agricultural field map MP2. If the selection of the work track key B15continues, the calculation and display of the actual work track J2and storage of the data are performed at predetermined interval(s). With this, on the travel control screen D8, the displayed position of the agricultural machine symbol X2indicating the position of the traveling vehicle body3is updated on a real-time basis and the actual work track J2extends.

After entering the automatic traveling work mode, the path/track calculator51dmay calculate the actual work track J2at predetermined interval(s) and may cause the storing unit53to store the data of the work track J2. Then, when the user selects the work track key B15, the controller51may read the data of the actual work track J2from the storing unit53and cause the actual work track J2be displayed on the travel control screen D8, based on the data.

The modes which can be performed by the agricultural machine1include, as described earlier, the automatic steering work mode in addition to the automatic traveling work mode. In the automatic traveling work mode, the steering of the traveling vehicle body3and the changing of the travel speed are performed automatically (which is, i.e., an automatic operation traveling state, simply referred to also as an automatic traveling state). In contrast, in the automatic steering work mode, the steering of the traveling vehicle body3is performed automatically (that is, an automatic steering state), and the travel speed is changed manually.

In the automatic traveling work mode and the automatic steering work mode, ground work is performed automatically by the working device2as appropriate. In addition to the automatic traveling work mode and the automatic steering work mode, work modes which can be performed by the agricultural machine1include a manual operation work mode. In the manual operation work mode, the user of the agricultural machine1changes the travel speed of the traveling vehicle body3by operating the accelerator or the brake of the operation unit32and steers the traveling vehicle body3by operating the steering handle30. In the manual operation work mode, the performing and stopping of ground work by the working device2may be operated by the user via the operation unit62or may be controlled based on the position of the traveling vehicle body3and the travel routes L1and L2by the automatic controller61.

Besides the modes mentioned above, for example, an automatic traveling mode in which the traveling vehicle body3is caused to travel by automatic operation or an automatic steering mode in which the traveling vehicle body3is steered automatically, without performing ground work by the working device2automatically, can be performed by the agricultural machine1.

For example, when the user selects the setting change key B20on the travel control screen D8illustrated inFIG.12, the controller51of the agricultural work assistance apparatus50causes the display operation interface52to display the home screen D1illustrated inFIG.3. Then, when the user selects the automatic steering key B2bon the home screen D1, the controller51causes the display operation interface52to display a selection screen (not illustrated) to select whether to maintain, or discard, settings about the automatic traveling work mode that are already set and valid here (the content of settings having been made on the screens D2to D7illustrated inFIGS.4to10C, etc.) If the user selects maintaining the valid settings about the automatic traveling work mode by performing a predetermined operation on the selection screen, the controller51causes the display operation interface52to display a third route creation screen D10illustrated inFIG.14A.

The third route creation screen D10is a screen to perform settings about the automatic steering work mode. The third route creation screen D10displays the agricultural field map MP2, the agricultural machine symbol X1, a message indicating an input operation procedure, a plurality of setting items and numerical value input fields thereof, an automatic steering (AS) headland work key B47, the route creation key B13, the track prediction key B14, a route change key B21, the plus key B45, the minus key B46, the next key B9, and the back key B8.

Based on inputs on the second route creation screen D7(FIG.10B, etc.) described earlier, on the agricultural field map MP2included in the third route creation screen D10, the areas C1and E1set by the area setter51b, the travel route L1created by the route creator51c, and the start position Ps and the goal position Pg of the travel route L1are displayed. The travel route L1displayed inFIG.14Ais an automatic operation route along which the traveling vehicle body3is caused to travel by automatic operation in the automatic traveling work mode.

The plurality of setting items in the third route creation screen D10include the aforementioned estimated work distance, the aforementioned working direction, the aforementioned overlap for headlands, and the aforementioned overlap for the central portion. Among them, in the numerical value input fields of the working direction, the overlap for headlands, and the overlap for the central portion, the numerical values having been inputted on the second route creation screen D7(FIG.10B, etc.) described earlier are displayed. The numerical values displayed in the numerical value input fields of the working direction, the overlap for headlands, and the overlap for the central portion are changeable by operating the plus key B45or the minus key B46. In the numerical value input field of the estimated work distance, the numerical value calculated based on the travel route L1by the route creator51cis displayed.

The AS headland work key B47is used to select whether or not to perform work using the working device2while performing automatic steering of the traveling vehicle body3of the agricultural machine1in headland(s) set in the agricultural field map MP2. The route change key B21is used to change the use of a travel route.

The user inputs a numerical value for each setting item, selects a work state at the headland via the AS headland work key B47, and thereafter selects the route creation key B13. Upon the selection, as illustrated inFIG.14B, based on the areas C1and E1, the working width of the working device2, the overlap for the headlands, and the selection state of the AS headland work key B47, the route creator51c(FIG.1) creates a travel route L2for the automatic steering work mode in the agricultural field map MP2. In so doing, for example, if it is selected via the AS headland work key B47to perform work at headland(s), as illustrated inFIG.15, the route creator51ccreates the travel route L2for going around outside the central area C1in the headlands E2band E2cwhere the travel route L1is not created on the agricultural field map MP2.

More particularly, for example, the route creator51ccreates, in the inner headland E2b, a travel route L2for going around outside the central area C1such that the travel route L2continues from one end of the travel route L1that is not provided with the start position Ps (distal end of the go-around route portion L1e). Next, the route creator51ccreates, in the outer headland E2c, another travel route L2for going around outside the central area C1such that the other travel route L2continues from the distal end of the travel route L2been created in the inner headland E2b. Then, the route creator51csets the goal position Pg again at the distal end of the travel route L2created in the outer headland E2c.

Similarly to the straight portions L1sand the turning portions L1rof the go-around route portion L1c, the travel route L2includes a plurality of straight portions L2sthat are substantially straight and a plurality of turning portions L2rthat are curved with a predetermined curvature or greater. The straight portions L2sare created on the widthwise centerline of each of the headlands E2band E2c. Each of the turning portions L2ris a route portion that connects one of straight portions L2s(one portion of the travel route L2) which are arranged next to each other in the direction of travel of the travel route L2and which extend in different directions (different in direction of travel) and the other of the straight portions L2s(another portion of the travel route L2) to cause the traveling vehicle body3to turn from the one of the straight portions L2sto the other.

Although the turning portion L2rhas a shape of an arc in the example illustrated inFIG.15, etc., this does not imply any limitation. The turning portion L2rmay be created in any shape as appropriate. Depending on the shape of the contour H1of the agricultural field, the travel route L2may include, in addition to the straight portions L2sand the turning portions L2r, a gentle curved portion (curved route, not illustrated inFIGS.14B to14E and15, see a curved portion L2cinFIGS.23A and23B, etc. to be described later) that is curved with a curvature less than a predetermined value.

In the automatic steering work mode of the agricultural machine1, the user operates the accelerator or the brake included in the operation unit62, and, based on this operation, the automatic controller61controls the transmission5and/or the brake6(FIG.1) to change the travel speed of the traveling vehicle body3and cause the traveling vehicle body3to travel along the travel route(s) L2. Then, when the traveling vehicle body3travels along a straight portion L2s(or a curved portion) of the travel route L2, based on the position of the traveling vehicle body3detected by the positioning device40and the straight portion L2s(or the gentle curved portion), the automatic controller61controls the steering29to steer the traveling vehicle body3automatically. When the traveling vehicle body3travels along a turning portion L2rof the travel route L2, the user operates the steering handle30(FIG.1) to steer the traveling vehicle body3manually.

That is, each straight portion L2s(or the curved portion) of the travel route L2is an automatic steering route where the steering of the traveling vehicle body3of the agricultural machine1is performed automatically and the travel speed of the traveling vehicle body3is changed manually. Each turning portion L2rof the travel route L2is a manual operation route where the traveling vehicle body3of the agricultural machine1is steered manually and the travel speed is changed manually.

As described earlier, in a case where performing work in the headland(s) is selected via the AS headland work key B47, when the traveling vehicle body3travels along a straight portion L2s(or a curved portion) of the travel route L2(during automatic steering), the automatic controller61causes the working device2to perform ground work. When the traveling vehicle body3travels along a turning portion L2rof the travel route L2(during manual steering), usually, the automatic controller61causes the raising/lowering device8to raise the working device2such that ground work is not performed by the working device2.

That is, the straight portion L2s(or the curved portion) of the travel route L2is a work route portion where ground work is performed by the working device2while the traveling vehicle body3goes around outside the central area C1. The headland E2b, E2cin which the travel route L2is created is also a work area where ground work is performed by the working device2while the traveling vehicle body3goes around outside the central area C1. Furthermore, the headland area E1, which includes the headland E2ain which the travel route L1is created and the headlands E2band E2c, is also a work area.

Upon creating the travel route L2in addition to the travel route L1as described above, the route creator51ccauses the storing unit53to store data of the position, etc. indicating the travel route L2in association with the data of the travel route L1. The route creator51ccauses the storing unit53to store data of the goal position Pg whose settings have been changed, in association with the data of the start position Ps. Furthermore, the route creator51ccalculates again the estimated work distance over which ground work is to be performed by the working device2while the traveling vehicle body3is caused to travel based on the travel routes L1and L2, and causes the storing unit53to store the calculation result (updating of the estimated work distance).

Upon completion of adding the travel route L2or making settings related thereto, as illustrated inFIG.14B, the controller51causes the travel routes L1and L2, the start position Ps, the goal position Pg, and the estimated work distance to be displayed on the agricultural field map MP2included in the third route creation screen D10. The controller51causes the travel routes L1and L2to be displayed on the agricultural field map MP2differently from each other.

Furthermore, the controller51causes a legend Y3, which shows the uses of portions of the travel routes L1and L2and shows how these uses are displayed, to be displayed on the third route creation screen D10. InFIG.14B, etc., the legend Y3indicates that the travel route L1is an automatic operation route and is represented by solid-line arrows, the straight portions L2sof the travel route L2are automatic steering routes and are represented by dot-and-dash-line arrows, and the turning portions L2rof the travel route L2are manual operation routes and are represented by broken-line arrows. In a case where the display operation interface52is capable of performing color display, lines or arrows representing the automatic operation route, the automatic steering route, and the manual operation route may be displayed in different colors.

After the travel routes L1and L2are displayed on the third route creation screen D10, for example, the user selects the track prediction key B14. In this case, the path/track calculator51d(FIG.1) calculates, based on the travel route L1, the predicted work track(s) J1of the working device2during automatic operation (automatic traveling work mode), and calculates, based on the travel route L2, predicted work track(s) J3of the working device2during automatic steering (automatic steering work mode). The method of calculating the predicted work track(s) J1during automatic operation has already been described.

To calculate the predicted work track J3during automatic steering, for example, first, the path/track calculator51ddetermines, as the predicted work track J3during automatic steering, a passed portion (passed area size) having the working width of the working device2when the traveling vehicle body3and the working device2are moved (moved forward or rearward) along the work route portion (the straight portions L1sinFIG.15) where ground work is performed by the working device2in the travel route L2. In so doing, the widthwise center of the traveling vehicle body3and the center of the working width of the working device2are set on the work route portion. Then, the path/track calculator51dcauses the storing unit53to store data of each of the predicted work tracks J1and J3.

In addition, as illustrated inFIG.14C, the controller51causes the predicted work track J1during automatic operation to be displayed over the travel route L1on the agricultural field map MP2included in the third route creation screen D10in a superimposed manner. In addition, the controller51causes the predicted work track J3during automatic steering to be displayed over the travel route L2in a superimposed manner. InFIG.14C, since the work route portions L1aand L1care created in the central area C1and the headland E2a, the predicted work track J1during automatic operation is displayed along the work route portions L1aand L1c. In addition, since the work route portion L2is created in the headlands E2band E2c, the predicted work track J3during automatic steering is displayed along the work route portion L2.

In addition, the controller51causes the predicted work track J1during automatic operation and the predicted work track J3during automatic steering to be displayed on the agricultural field map MP2in different manners from each other. Furthermore, the controller51causes a legend Y4, which shows how each of the predicted work tracks J1and J3is displayed, to be displayed on the third route creation screen D10. How a predicted work track during manual operation of the agricultural machine1is displayed is also shown in the legend Y4. In this example, the predicted work track during automatic operation, the predicted work track during automatic steering, and the predicted work track during manual operation are displayed in different hatch patterns. However, in a case where the display operation interface52is capable of performing color display, the respective predicted work tracks may be filled with different colors, or shades of the colors may be different from one another (the same applies to an actual work track during automatic operation, an actual work track during automatic steering, and an actual work track during manual operation, which will be described later).

As described above, the route creator51csets portion(s) of a series of travel route(s) L1and/or L2created in the agricultural field map MP2as an automatic operation route L1(straight route portions L1a, turning route portions L1b, go-around route portion L1c). In addition, the route creator51csets another portion(s) of the travel route(s) L1and/or L2as an automatic steering route L2s(straight portions L2sof the travel route L2) or a manual operation route L2r(turning portions L2rof the travel route L2). In addition, the route creator51csets portion(s) of the series of travel route(s) L1and/or L2as the work route portions L1a, L1s, and L2s(straight route portion L1aof the travel route L1, straight portions L1sof the go-around route portion Lic, straight portions L2sof the travel route L2).

The route creator51ccauses the storing unit53to store the setting information of the routes described above in association with their corresponding routes. As another example, the controller51may detect, based on the data of each route stored in the storing unit53, the position and shape of each route, and determine, based on the detection result, the use of each route (that is, automatic operation route L1, automatic steering route L2s, work route portions L1a, L1s, L2s). Specifically, it is only necessary that, for example, the controller51determine the travel route L1created in the central area C1and the innermost headland E2aas an automatic operation route, determine the straight portions L2sof the travel route L2created in the other headlands E2band E2cas an automatic steering route, and determine the straight route portions L1aand the straight portions L1sand L2s, which are straight, as the work route portions.

As described earlier, the work route portions L1aand L1sare each set as the automatic operation route, and the work route portions L2sare each set as the automatic steering route. However, in a state in which any of the work route portions L1a, L1s, and L2sis selected, the user can change the setting of the selected route to the automatic steering route, the automatic operation route, or the manual operation route by thereafter performing a predetermined operation on the route change key B21.

Specifically, for example, on the third route creation screen D10, the user taps any route among the plurality of straight route portions L1aand the plurality of straight portions L1sof the go-around route portion L1c, each of which is a work route portion and an automatic operation route, to select this route. Then, the user taps the route change key B21once, and, in response thereto, the route that is in the selected state changes to the automatic steering route. When the user further taps the route change key B21once, the route that is in the selected state changes into the manual operation route. When the user further taps the route change key B21once, the route that is in the selected state changes into the automatic operation route.

In accordance with such a change in setting of the use of the route, the controller51changes the manner in which the route is displayed, and the route creator51ccauses the storing unit53to store the content of this setting change. Also for the plurality of straight portions L2sof the travel route L2, each of which is a work route portion and an automatic steering route, the set use can be changed through the same procedure as above, and the manner of display and the content of storage can be changed therethrough. The display operation interface52and the route creator51ccorrespond to a route changer that changes routes as described above.

For example, each of the straight portions L1sincluded in the go-around route portion L1c, which is created in the innermost headland E2aamong the plurality of headlands E2a, E2b, and E2cset in the agricultural field map MP2illustrated inFIG.14B, is set as the automatic operation route together with each of the turning portions L1rincluded in the go-around route portion L1c. Each of the straight portions L1screated in the headland E2ais changed from the automatic operation route in the automatic steering route through the operation procedure described above, for example. In this case, as illustrated inFIG.14D, the controller51changes the display of each of the straight portions L1screated in the headland E2aillustrated inFIG.14Bin the display of the straight portion L2sincluded in the travel route L2for the automatic steering work mode. In addition, in accordance with this change, as illustrated inFIG.14D, the controller51changes the display of each of the turning portions L1rcreated in the headland E2aillustrated inFIG.14Bin the display of the turning portion L2r(display of the manual operation route) included in the travel route L2for the automatic steering work mode. That is, as illustrated inFIG.14D, the controller51changes the display of the go-around route portion L1ccreated in the headland E2aillustrated inFIG.14Bin the display of the travel route L2for the automatic steering work mode. The route creator51ccauses the storing unit53to store the content of this setting change of the route.

Each of the straight portions L2sincluded in the travel route L2created in the outermost headland E2cin the agricultural field map MP2illustrated inFIG.14Bis set as the automatic steering route together with each of the turning portions L2rincluded in the travel route L2. Each of the straight portions L2screated in the headland E2cis changed from the automatic steering route in the manual operation route through the operation procedure described above, for example. In this case, as illustrated inFIG.14D, the controller51changes the display of each of the straight portions L2screated in the headland E2cillustrated inFIG.14Bin the display of a straight portion L3sincluded in a manual operation route L3for the manual operation work mode. In accordance with this change, as illustrated inFIG.14D, the controller51changes the display of each of the turning portions L2rcreated in the headland E2cillustrated inFIG.14Bin the display of a turning portion L3r(display of the manual operation route) included in the manual operation route L3for the manual operation work mode. That is, as illustrated inFIG.14D, the controller51changes the display of the travel route L2created in the headland E2cillustrated inFIG.14Bin the display of the manual operation route L3for the manual operation work mode. The route creator51ccauses the storing unit53to store the content of this setting change of the route.

The display operation interface52displays portions of the travel routes L1, L2, and L3that are settable as an automatic steering route including portions whose settings can be changed (in this example, the straight portions L2s, L1s, and L3sand the straight route portions L1a). These portions L2s, L1s, L3s, and L1asettable as an automatic steering route may be displayed by the display operation interface52in a manner different from that of the other portions. In addition, portions of the travel routes L1, L2, and L3that are not settable as an automatic steering route (in this example, the turning route portions L1band the turning portions L1r, L2r, and L3r) may be displayed in such a manner that they cannot be selected through a selection operation on the display operation interface52.

For example, as illustrated inFIG.14D, after making a route use setting change, the user selects the track prediction key B14. In this case, based on the travel routes L1, L2, and L3, the path/track calculator51dcalculates the predicted work track J1during automatic operation, the predicted work track J3during automatic steering, and the predicted work track J4during manual operation. Then, based on the calculation result, the controller51causes each of the predicted work tracks J1, J3, and J4to be displayed on the agricultural field map MP2.

As a result, as illustrated inFIG.14E, based on the automatic operation route L1a, the predicted work track J1during automatic operation is drawn in the central area C1only. Furthermore, based on the automatic steering route L2s, the predicted work track J3during automatic steering is drawn in the inner headlands E2aand E2b. Further, based on the straight portions L3sof the manual operation route L3, the predicted work track J4during manual operation is drawn in the outermost headland E2c.

For example, on the third route creation screen D10illustrated inFIG.14B, the user selects the next key B9. In this case, the controller51transmits, via the communicator54, data indicating the agricultural field map MP2, the areas C1and E1, and the travel routes L1and L2displayed on the screen D10to the controller60(FIG.1) via the in-vehicle network N1. The controller51causes the display operation interface52to display a travel control screen D11illustrated inFIG.16.

The travel control screen D11is a screen operable to display a traveling state and a work state of the agricultural machine1in a case where the plural work modes described above are used in combination. InFIG.16, an example of a traveling state and a work state of the agricultural machine1after a while since the start of the automatic traveling work mode from the start position Ps is illustrated. The travel control screen D11displays the agricultural field map MP2, the travel routes L1and L2, the start position Ps, the goal position Pg, the agricultural machine symbol X2, the traveling state of the agricultural machine1, the setting change key B20, the work track key B15, the track clear key B16, and a legend Y5.

The legend Y5shows how the track resulting from actual work performed by the working device2during automatic operation (automatic traveling work mode) of the agricultural machine1is displayed (automatic operation; hatched with oblique lines sloping down leftward), how the track resulting from actual work performed by the working device2during automatic steering (automatic steering work mode) thereof is displayed (automatic steering; hatched with oblique lines sloping down rightward), and how the track resulting from actual work performed by the working device2during manual operation (manual operation work mode) thereof is displayed (manual operation; hatched with dots).

For example, the user moves the agricultural machine1to the start position Ps by manual operation while viewing the travel control screen D11and then performs a predetermined operation for entering the automatic traveling work mode via the mode switch65(FIG.1). Upon the operation, as described earlier, the automatic controller61(FIG.1) enters the automatic traveling work mode to perform ground work using the working device2while causing the traveling vehicle body3to travel by automatic operation, based on the position of the traveling vehicle body3detected by the positioning device40and the travel route L1. Furthermore, the controller51of the agricultural work assistance apparatus50causes the travel control screen D11to display an indication that the agricultural machine1is under automatic operation (displayed above the legend Y5) and updates, based on the position of the traveling vehicle body3, the display position of the agricultural machine symbol X2.

When the user selects the work track key B15, the path/track calculator51dcalculates, based on the position of the traveling vehicle body3and the working width of the working device2, the actual work track J2during automatic operation along which the working device2has performed ground work, and causes the storing unit53to store data of the actual work track J2. Then, as illustrated inFIG.16, the controller51causes the actual work track J2to be displayed over the straight route portions L1ain a superimposed manner.

Since the automatic traveling work mode is performed by the automatic controller61, the traveling vehicle body3travels straight back and forth in the central area C1by automatic operation, and the ground work is performed by the working device2in the central area C1. Next, the traveling vehicle body3travels along the headland E2asurrounding the central area C1by automatic operation, and the ground work is performed by the working device2in the headland E2a.

Then, as illustrated inFIG.17A, upon completion of the ground work performed by the working device2up to a termination point (end position of the ground work under automatic operation) Pg1of the travel route L1, the automatic controller61causes the raising/lowering device8to raise the working device2to stop the ground work performed by the working device2and terminate the automatic traveling work mode. The notifier51gof the agricultural work assistance apparatus50causes a notification U4including the message “Automatic operation has ended. You can continue work by automatic steering. To continue work, move to a start point of automatic steering by manual operation.” to appear at the central portion of the travel control screen D11. That is, the user is notified by the notifier51gand the display operation interface52that automatic operation of the agricultural machine1has ended, it is possible to continue automatic steering of the agricultural machine1, and, it is necessary to move the traveling vehicle body3to the automatic steering start point by manual operation.

After looking at the above notification U4, the user, for example, performs a multi-point turn of the traveling vehicle body3manually and moves the traveling vehicle body3to the start point Ps1of the automatic steering work mode (the start point of the first straight portion L2sof the travel route L2) for the purpose of continuing the ground work by entering the automatic steering work mode.

More particularly, for example, first, the user operates the steering handle30and the accelerator/brake of the operation unit62to cause the traveling vehicle body3to make a turn along the turning portion L2rof the travel route L2connected to the termination point Pg1of the travel route L1. Next, the user operates the steering handle30and the accelerator, etc. to cause the traveling vehicle body3to travel rearward along the straight portion L2sconnected to this turning portion L2rand bring the orientation of the traveling vehicle body3into alignment with the traveling direction of this straight portion L2sgradually. In a case where the user operates the mode switch65to start the automatic steering work mode before this rearward traveling of the traveling vehicle body3, when the user causes the traveling vehicle body3to travel rearward by operating the accelerator without operating the steering handle30, the automatic controller61performs, based on the straight portion L2sand the position of the traveling vehicle body3, automatic steering of the traveling vehicle body3.

Then, when the user stops the traveling vehicle body3at the start point Ps1of the automatic steering work mode by operating the brake (vehicle speed=zero), as illustrated inFIG.17B, the notifier51gcauses a notification U5including the message “To continue work by automatic steering, perform start operation and traveling operation.” to appear at the central portion of the travel control screen D11. That is, the user is notified by the notifier51gand the display operation interface52that a start operation and a traveling operation are needed to start ground work by automatic steering of the agricultural machine1.

After looking at the above notification U5, the user, for example, operates the mode switch65to start the automatic steering work mode, and, upon this switch operation, the automatic controller61starts the automatic steering work mode and causes the raising/lowering device8to lower the working device2to a position where ground work can be performed. Then, when the user operates the accelerator to cause the traveling vehicle body3to travel (forward), based on the straight portion L2sof the travel route L2and the position of the traveling vehicle body3, the automatic controller61causes the working device2to perform ground work while performing automatic steering of the traveling vehicle body3.

In a case where the user operates the mode switch65to start the automatic steering work mode when performing a multi-point turn of the traveling vehicle body3to move to the start point Ps1of the automatic steering work mode, after the notification U5is displayed, the user may cause the traveling vehicle body3to travel by operating the accelerator without operating the mode switch65again. In this case, when the traveling vehicle body3stops at the start point Ps1, the automatic controller61causes the raising/lowering device8to lower the working device2in advance to a position where ground work can be performed, and then, based on the straight portion L2sand the position of the traveling vehicle body3, causes the working device2to perform ground work while performing automatic steering of the traveling vehicle body3when the traveling vehicle body3travels.

As another example, the automatic controller61may automatically perform a multi-point turn of the traveling vehicle body3from the termination point Pg1of the travel route L1to the start point Ps1of the automatic steering work mode and switching from the automatic traveling work mode to the automatic steering work mode. In this case, after the ground work is performed by the working device2until the termination point Pg1is reached, the automatic controller61causes the raising/lowering device8to raise the working device2to stop the ground work performed by the working device2and thereafter performs a multi-point turn of the traveling vehicle body3by automatic operation, based on the travel route L2and the position of the traveling vehicle body3.

More particularly, for example, first, the automatic controller61causes the traveling vehicle body3to make a turn along the turning portion L2rof the travel route L2connected to the termination point Pg1by automatic operation. Next, the automatic controller61causes the traveling vehicle body3to travel rearward along the straight portion L2sconnected to this turning portion L2rby automatic operation and brings the orientation of the traveling vehicle body3into alignment with the traveling direction of this straight portion L2sgradually. Then, upon causing the traveling vehicle body3to stop at the start point Ps1of the automatic steering work mode, the automatic controller61causes the raising/lowering device8to lower the working device2to a position where ground work can be performed, and enters the automatic steering work mode from the automatic traveling work mode.

When the automatic steering work mode is started and then the traveling vehicle body3travels by manual operation, the controller51of the agricultural work assistance apparatus50causes the notification U5to disappear from the travel control screen D11and display an indication that the agricultural machine1is under automatic steering (displayed above the legend Y5inFIG.18, for example) and updates, based on the position of the traveling vehicle body3, the display position of the agricultural machine symbol X2.

When the work track key B15is selected, the path/track calculator51dcalculates, based on the position of the traveling vehicle body3and the working width of the working device2, an actual work track J5during automatic steering along which the working device2has performed ground work, and causes the storing unit53to store data of the actual work track J5. Then, the controller51causes the actual work track J5to be displayed over the straight portions L2sof the travel route L2in a superimposed manner (FIG.18).

When the user operates the steering handle30during automatic steering of the traveling vehicle body3, the automatic controller61stops automatic steering of the traveling vehicle body3and terminates the automatic steering work mode. In so doing, the steering of the traveling vehicle body3is performed based on the operation of the steering handle30(manual steering state). After that, when the user performs a predetermined operation on the mode switch65to resume the automatic steering work mode, the automatic controller61resumes automatic steering of the traveling vehicle body3.

InFIG.18, a connection point Px (point indicated by a filled circle) between the distal end of each straight portion L2sof the travel route L2and a corresponding turning portion L2ris a multi-point turn spot (multi-point turn start position) where automatic steering of the traveling vehicle body3is temporarily stopped and a multi-point turn of the traveling vehicle body3for movement to the next straight portion L2sis started manually (inFIG.18, for convenience of description, only some of points indicated by filled circles are assigned “Px”).

A multi-point turn spot Px is a connection point located between two portions such as straight portions L2s, L1s, turning portions L2r, L1rthereof, straight route portions L1a, and/or turning route portions L1bof the travel route L2, L1(or a connection point located between two straight portions L2s) where an angular difference between one portion and the other portion is greater than a predetermined threshold (a detailed explanation will be given later with reference toFIG.24, etc.).

As illustrated inFIG.18, upon the traveling vehicle body3reaching a predetermined intermediate point Px1on the straight portion L2sthat is short of the multi-point turn spot Px by a predetermined distance, the notifier51gcauses a notification U6including the message “Be careful, the vehicle is approaching a multi-point turn spot.” to appear at the central portion of the travel control screen D11for a predetermined duration That is, the user is notified by the notifier51gand the display operation interface52that the traveling vehicle body3is near the multi-point turn spot Px, at which automatic steering will be temporarily stopped, and a multi-point turn of the traveling vehicle body3by manual operation is needed.

After the above notification U6is displayed, as illustrated inFIG.19A, the traveling vehicle body3travels along one straight portion L2s, and, for example, the traveling vehicle body3or the working device2reaches the multi-point turn spot Px. In so doing, the controller51of the agricultural work assistance apparatus50may cause the travel control screen D11to display a message, etc. indicating that the multi-point turn spot Px is reached or indicating a multi-point turn of the traveling vehicle body3needs to be performed by manual operation.

For example, after looking at the notification U6, etc. illustrated inFIG.18, the user recognizes on the travel control screen D11that the agricultural machine symbol X2has reached the multi-point turn spot Px, and then performs, based on the travel route L2and the position of the traveling vehicle body3, a multi-point turn of the traveling vehicle body3manually.

More particularly, for example, first, the user operates the steering handle30and the accelerator/brake to make a turn along the turning portion L2rwhile causing the traveling vehicle body3to travel forward (manual operation state). In so doing, the automatic controller61temporarily stops automatic steering of the traveling vehicle body3and causes the raising/lowering device8to raise the working device2to temporarily stop the ground work performed by the working device2. The controller51of the agricultural work assistance apparatus50causes the travel control screen D11to display the temporary stop of the automatic steering (not illustrated).

For example, after the traveling vehicle body3makes a turn as illustrated inFIG.19B, the user causes the traveling vehicle body3to travel rearward along the next straight portion L2sby operating the steering handle30and/or a forward/rearward traveling switching lever and the accelerator, etc. included in the operation unit62. Then, by operating the brake, the user causes the traveling vehicle body3to stop at the start point of the next straight portion L1sas illustrated inFIG.19B. With this, the orientation of the traveling vehicle body3is brought into alignment with the traveling direction of the next straight portion L2s, and the multi-point turn of the traveling vehicle body3ends. After that, for example, when the user performs a predetermined operation on the mode switch65to resume automatic steering, the automatic controller61causes the raising/lowering device8to lower the working device2to put the working device2into the state in which ground work can be performed by the working device2.

In contrast, assume that, for example, the user, before causing the traveling vehicle body3to travel rearward along the next straight portion L2s, performs a predetermined operation on the mode switch65to resume automatic steering. In this case, when the user causes the traveling vehicle body3to travel rearward by operating the accelerator, etc. without operating the steering handle30, the automatic controller61performs, based on the next straight portion L2sand the position of the traveling vehicle body3, automatic steering of the traveling vehicle body3(resumption of automatic steering). Then, when the traveling vehicle body3stops at the start point of the next straight portion L2s, the automatic controller61causes the raising/lowering device8to lower the working device2to put the working device2into the state in which ground work can be performed by the working device2.

This makes it unnecessary for the user to steer the traveling vehicle body3by operating the steering handle30when the traveling vehicle body3travels rearward and makes it easier to bring the orientation of the traveling vehicle body3into alignment with the traveling direction of the next straight portion L2s. Moreover, also when the user thereafter causes the traveling vehicle body3to travel forward by operating the steering handle30and the accelerator, etc., the automatic controller61performs automatic steering of the traveling vehicle body3and, therefore, the user does not need to resume automatic steering by performing a predetermined operation on the mode switch65.

As another example, the automatic controller61may resume automatic steering of the traveling vehicle body3when, for example, the user causes the traveling vehicle body3to travel forward by a predetermined distance from the start point of the next straight portion L2sby operating the accelerator, etc., without operating the steering handle30. With this, automatic steering of the traveling vehicle body3is resumed without having to perform a predetermined operation on the mode switch65.

The procedure for a multi-point turn of the traveling vehicle body3and behaviors at the time of the multi-point turn of the traveling vehicle body3are not limited to those described above. For example, there may be cases in which, depending on the user's skill of driving the agricultural machine1, the positional relationship between one straight portion L2sand the next straight portion L2s, and/or the like, the user causes the traveling vehicle body3to turn many times and/or travel rearward/forward many times by operating the steering handle30or the accelerator, etc., when performing a multi-point turn of the traveling vehicle body3manually. Also in such a case, the automatic controller61performs automatic steering of the traveling vehicle body3when the traveling vehicle body3travels rearward or forward along the automatic steering route L2s.

On the other hand, there may be cases in which the traveling vehicle body3and the working device2keep traveling straight and thus pass through the multi-point turn spot Px as illustrated inFIG.19Dbecause the user did not perform a multi-point turn of the traveling vehicle body3by manual operation. To address this, for example, after a predetermined time (or after the traveling vehicle body3travels a predetermined distance) without manual operation of the steering handle30after the traveling vehicle body3passes through the multi-point turn spot Px, the automatic controller61causes the brake6(FIG.1) to stop the traveling vehicle body3forcibly. In so doing, the notifier51gmay cause the display operation interface52to display a message, etc. indicating the traveling vehicle body3was force stopped because a multi-point turn of the traveling vehicle body3was not performed manually.

For example, as illustrated inFIGS.19A to19C, the user performs a multi-point turn of the traveling vehicle body3manually, performs a predetermined operation on the mode switch65to resume automatic steering, and thereafter operates the accelerator to cause the traveling vehicle body3to travel. Upon this, based on the straight portion L2sof the travel route L2and the position of the traveling vehicle body3, the automatic controller61performs automatic steering of the traveling vehicle body3and causes the working device2to resume ground work. The controller51of the agricultural work assistance apparatus50causes the travel control screen D11to display an indication that automatic steering is active.

After that, as described above, automatic steering of the traveling vehicle body3while the traveling vehicle body3travels along the straight portion L2sof the travel route L2by manual operation, and a multi-point turn of the traveling vehicle body3along the turning portion L2rand the straight portion L2sby manual operation, are repeated alternately. With this, the traveling vehicle body3travels along the headland E2band ground work is performed by the working device2in the headland E2b, and then the traveling vehicle body3travels along the headland E2cand ground work is performed by the working device2in the headland E2c.

Next, when the working device2reaches the goal position Pg and the ground work performed by the working device2in the headland E2cfinishes, the automatic controller61ends automatic steering of the traveling vehicle body3, and the automatic steering work mode also ends. The controller51of the agricultural work assistance apparatus50causes the travel control screen D11to display that automatic steering ended. Furthermore, in a case where the work track key B15in the travel control screen D11is selected, as illustrated inFIG.20, the actual work track J2during automatic operation is displayed at a region corresponding to the central area C1and the innermost headland E2ain the agricultural field map MP2, and the actual work track J5during automatic steering is displayed in the headlands E2band E2c(seeFIG.14B, etc.) located outward of the headland E2a.

On the other hand, there may be cases in which the automatic controller61stops (cancels) automatic operation of the traveling vehicle body3during the automatic traveling work mode on the agricultural machine1due to operation of the mode switch65by the user or some trouble, etc. In such cases, for example, as illustrated inFIG.21, the notifier51g(FIG.1) of the agricultural work assistance apparatus50causes a notification U7including the message “Automatic operation has been canceled. You can continue work by manual operation. To end or suspend work, press ‘Next’ key.” to appear on the travel control screen D11. That is, the user is notified by the notifier51gand the display operation interface52that automatic operation of the agricultural machine1has been canceled, the agricultural machine1can perform the ground work by manual operation, and the user can select whether to end or suspend the ground work performed by the agricultural machine1. The user can know the status of the agricultural machine1from the notification U7.

There may be cases in which the automatic controller61stops automatic steering of the traveling vehicle body3also during the automatic steering work mode on the agricultural machine1. In such cases, for example, the notifier51gof the agricultural work assistance apparatus50causes a notification including the message “Automatic steering has been canceled. You can continue work by manual operation. To end or suspend work, press ‘Next’ key.” to appear on the travel control screen D11(not illustrated). That is, the user is notified by the notifier51gand the display operation interface52that automatic steering of the agricultural machine1has been canceled, the agricultural machine1can perform the ground work by manual operation, and the user can select whether to end or suspend the ground work performed by the agricultural machine1. The user can know the status of the agricultural machine1from the notification.

In the preferred embodiment described above, an example in which, as illustrated inFIGS.14B,14D, and20, etc., the travel route L2for the automatic steering work mode is created in the headland area E1of the agricultural field map MP2has been discussed. However, for example, as illustrated inFIG.22, the travel route L2may be created in the central area C1.

In the example illustrated inFIG.22, on the agricultural field map MP2included in the third route creation screen D10, a travel route L1afor the automatic traveling work mode (automatic operation route) is created in substantially the right half of the central area C1, and the travel route L2for the automatic steering work mode is created in substantially the left half of the central area C1. The travel route L2in the central area C1includes a straight route portion L2aand a turning route portion L2b. The straight route portion L2aand the turning route portion L2bhave shapes similar to those of the straight route portion L1aand the turning route portion L1bof the travel route L1, respectively. Each of the straight route portions L1aand L2ais a work route portion. The straight route portion L2ais an automatic steering route.

Among the plurality of headlands E2a, E2b, and E2csurrounding the central area C1, the manual operation route L3for the manual operation work mode is created in the innermost headland E2a, and the travel route L2for the automatic steering work mode is created in the other headlands E2band E2c. The manual operation route L3in the headland E2aincludes straight portions L3sand turning portions L3r. The travel route L2in the headlands E2band E2cincludes straight portions L2sand turning portions L2r. Each of the straight portions L3s, L2sis a work route portion. The straight portion L2sis an automatic steering route.

As described above, the work route portion L1a, L2a, L2s, L3sincluded in each route L1, L2, L3is set as an automatic operation route, an automatic steering route, or a manual operation route and can be changed to an automatic operation route, an automatic steering route, or a manual operation route by performing a predetermined operation on the third route creation screen D10and the route change key B21.

When ground work is performed based on the routes L1, L2, and L3created in the agricultural field map MP2as illustrated inFIG.22by the agricultural machine1, as one of the automatic operation route and the automatic steering route changes to the other, the automatic controller61performs switching between automatic operation and automatic steering of the traveling vehicle body3automatically. Additionally or alternatively, when one of the automatic traveling work mode, the automatic steering work mode, and the manual operation work mode switches to another, the notifier51gmay cause the display operation interface52to display a notification indicating the content of this switching of modes or a message, etc. that prompts the user to operate the operation unit62.

In the preferred embodiment described above, an example in which the route creator51cchanges the work route portion L1a, L1s, L2a, L2s, L3sincluded in each route L1, L2, L3created in the agricultural field map MP2to the automatic operation route, the automatic steering route, or the manual operation route in accordance with the operation of the route change key B21has been discussed. However, the route creator51cmay change a portion other than the work route portion included in each route L1, L2, L3(the turning route portion L1b, L2b, the turning portion L1r, L2r, etc.) to the automatic operation route, the automatic steering route, or the manual operation route in accordance with the operation of the route change key B21.

In the preferred embodiment described above, an example in which the travel route L2for the automatic steering work mode is added after creation of the travel route L1for the automatic traveling work mode in the agricultural field map MP2has been discussed. However, for example, by selection of the automatic steering key B2bincluded in the home screen D1illustrated inFIG.3before selection of the automatic operation key B2a, on the third route creation screen D10displayed on the display operation interface52, the travel route L2may be created in the agricultural field map MP2before the travel route L1, or the travel route L2alone may be created in the central area C1and the headland area E1. After that, each portion L2s, L2r, L2a, L2bof the travel route L2for the automatic steering work mode created in the agricultural field map MP2may be changed in a portion L1s, L1r, L1a, L1bof the travel route L1for the automatic traveling work mode or to a portion L3s, L3rof the manual operation route L3for the manual operation work mode.

Although the route change key B21for changing the use and/or the manner of display of a route is provided in the third route creation screen D10in the preferred embodiment described above, additionally or alternatively, the route change key B21may be provided also in, for example, the travel control screen DI1, D8, or the second route creation screen D7. Providing the route change key B21in the travel control screen D11, D8makes it possible to change the automatic operation route, the automatic steering route, and the manual operation route to a route of another use by operating the route change key B21during the automatic traveling work mode, the automatic steering work mode, or the manual operation work mode of the agricultural machine1. Providing the route change key B21in the second route creation screen D7makes it possible to change the automatic operation route to the automatic steering route or the manual operation route by operating the route change key B21when creating the automatic operation route.

In the preferred embodiment described above, an example in which, on the third route creation screen D10illustrated inFIG.14B, etc., the travel route L1is set as an automatic operation route and the straight portions L2sof the travel route L2are set as an automatic steering route has been discussed. However, for example, without setting the use of each portion of travel routes during display of screens for route creation (the screens D7and D10) or at the time of creation of travel routes, at least a portion of the travel routes may be set to the automatic steering route, the automatic operation route, or the manual operation route in accordance with the operation of the display operation interface52thereafter during display of a travel control screen (screens D8and D11).

Alternatively, during display of the travel control screen D8, D11, in accordance with the operation of the mode switch65, at least a portion of the travel route may be set to the automatic steering route, the automatic operation route, or the manual operation route, and also the automatic steering work mode, the automatic traveling work mode, or the manual operation work mode may be performed. In such a case, for example, among the travel routes created in the central area C1and/or the headland area E1, all portion(s) where agricultural work is to be performed may be set to the automatic steering route or the automatic operation route.

The AS headland work key B47may be provided in the travel control screen D8, D11(FIG.12,FIG.16, etc.) instead of providing the AS headland work key B47in the third route creation screen D10(FIG.14, etc.) Alternatively or additionally, during display of the travel control screen D8, D11, at the point in time at which manual operation of the agricultural machine1(the timing of display of the notification U4inFIG.17A, etc.) is performed upon completion or suspension of automatic traveling of the agricultural machine1, the AS headland work key B47may be displayed in the form of a dialog on the travel control screen D8, D11.

That is, at the point in time at which the agricultural machine1switches from automatic traveling to manual operation, whether to perform work using the working device2while performing automatic steering of the agricultural machine1in the headland E1may be selectable via the AS headland work key B47. Then, if “Yes” is selected using the AS headland work key B47, that is, if performing work by the working device2while performing automatic steering of the agricultural machine1in the headland E1is selected, the route creator51c(FIG.1) may create the travel route L2in the headland E1, and the controller51may cause the travel route L2to be displayed on the travel control screen D8, D11. In this case, in accordance with the creation of the travel route L2, the route creator51cmay make the settings of the goal position Pg again and/or set the straight portions L2sof the travel route L2to the automatic steering route.

Additionally or alternatively, the route creator51cmay create the travel route L2in the headland E1before the AS headland work key B47is displayed on the travel control screen D8, D11. Then, the route creator51cmay set the straight portions L2sof the travel route L2to the automatic steering route when “Yes” is selected on the AS headland work key B47displayed on the travel control screen D8, D11.

An agricultural field where agricultural work is performed by the agricultural machine1is not limited to an agricultural field having a rectangular contour described above. There may be an agricultural field having an irregular contour different from a rectangle.FIGS.23A and23Bare diagrams illustrating a setting example of the areas C1and E1and the travel routes L1and L2in the agricultural field map MP2representing an agricultural field having an irregular contour H1.FIG.24is an enlarged view of the travel route L2created at a right-side portion of each of the headlands E2a, E2b, and E2cillustrated inFIGS.23A and23B.

Although the most portion of the contour H1of the agricultural field map MP2illustrated inFIGS.23A and23Bhas a rectangular shape, a portion thereof (right portion) has a zigzag shape. That is, the contour H1of the agricultural field illustrated inFIGS.23A and23Bincludes linear straight portions Hs and a zigzag portion Hj. Each of the linear straight portions Hs is represented by a single straight line. The zigzag portion Hj is represented by a plurality of connected straight lines.

The following description discusses an example case where, for such an agricultural field map MP2, areas C1and E1and a travel route L1for the automatic traveling work mode are set first on the second route creation screen D7illustrated inFIG.10A, etc., and then a travel route L2for the automatic steering work mode is set on the third route creation screen D10illustrated inFIG.14A, etc.

As described earlier, first, based on the contour H1of the agricultural field, the working width of the working device2(or the outside width of the working device2), the number of headlands inputted on the second route creation screen D7(FIG.10A, etc.), and/or the overlap for the headlands, the area setter51bsets the central area C1and the headland area E1in the agricultural field map MP2. In the example illustrated inFIG.23A, the area setter51bsets, as the central area C1, an area having the contour C1obtained by displacing the contour H1of the agricultural field inward a number of times corresponding to the number of headlands (three times), each by a width obtained by subtracting the overlap for the headlands from the working width of the working device2. The area setter51bsets the headland area E1including three headlands E2a, E2b, and E2clocated outward of the central area C1.

Next, based on the areas C1and E1, the working width of the working device2, the working direction, the overlap for the headlands, and/or the overlap for the central portion, for example, the route creator51ccreates the travel route L1including a plurality of straight route portions L1aand a plurality of turning route portions L1bthroughout the central area C1and the headland E2a. With this, as illustrated inFIG.23B, the straight route portions L1aeach of which is an automatic operation route and a work route portion are set in the central area C1.

After that, based on the areas C1and E1, the working width of the working device2, the overlap for the headlands, and/or the selection state of the AS headland work key B47in the third route creation screen D10(FIG.14A, etc.), the route creator51ccreates the travel route L2for the automatic steering work mode in the headland area E1. More particularly, the route creator51ccreates the travel route L2in the headlands E2a, E2b, and E2cthat surrounds the central area C1and that is continuous from the travel route L1.

In so doing, the route creator51ccreates, as the travel route L2, straight portions L2son the widthwise centerline of each of the headlands E2a, E2b, and E2cin parallel with the contour H1of the agricultural field. With this, as illustrated inFIG.23B, a straight portion L2s-1(represented by a solid-line arrow) that is a relatively long single line is created at each linear straight portion of each of the headlands E2a, E2b, and E2cparallel to the linear straight portions Hs of the contour H1of the agricultural field. Furthermore, a plurality of straight portions L2s-2(indicated by solid-line arrows) each of which is relatively short are created at the right-side portion of each of the headlands E2a, E2b, and E2cparallel to the zigzag portion Hj of the contour H1of the agricultural field. The straight portions L2s-2are connected in a zigzag manner in parallel to the zigzag portion Hj of the contour H1.

Next, the route creator51cdetects an angle of each of the straight portions L2screated in the headlands E2a, E2b, and E2c. In so doing, the route creator51ccalculates the angle of each of the straight portions L2swith respect to the preset coordinates (not illustrated). Next, the route creator51ccalculates a difference (angular difference) Δθ between the angle of one (a portion of the travel route L2) of straight portions L2swhich are arranged next to each other in the direction of travel of the travel route L2and which extend in different directions and the angle of the other (another portion of the travel route L2) of such straight portions L2s. Note that the angular difference Δθ is an absolute value. Moreover, the angular difference Δθ is, as illustrated inFIG.24, a smaller one of the angles each between the traveling direction of one straight portion L2sand the traveling direction of the other straight portion L2s.

Next, if the angular difference Δθ between the one straight portion L2sand the other straight portion L2sis greater than a predetermined first threshold Δθs1, the route creator51csets a multi-point turn spot Px between the one straight portion L2sand the other straight portion L2s(or a connection point). The first threshold Δθs1is set to be, for example, not greater than the upper limit of the steering angle within which the traveling vehicle body3can be automatically steered (e.g., 45°).

In so doing, for example, as shown at a top portion and a bottom portion of each headland E2a, E2b, E2cinFIG.24, if the angular difference Δθ between one straight portion L2sand the other straight portion L2sis equal to or greater than a predetermined second threshold Δθs2, the route creator51cmay set a multi-point turn spot Px at a position that is short of the distal end of the one straight portion L2sby a predetermined distance and may create a turning portion L2ralong which the traveling vehicle body3makes a turn (multi-point turn) manually from the multi-point turn spot Px toward the other straight portion L2s(see alsoFIG.23B). The second threshold Δθs2(e.g., 90°) is set to be not less than the first threshold Δθs1. The procedure for creating the turning portion L2rdescribed here may be applied to creating the turning portion L1rof the travel route L1described earlier.

As another example, the comparison of the angular difference Δθ between one straight portion L2sand the other straight portion L2swith the second threshold Δθs2may be omitted, and the multi-point turn spot Px may be set between the one straight portion L2sand the other straight portion L2sonly when the angular difference Δθ is greater than the first threshold Δθs1.

On the other hand, as illustrated inFIG.24, if the angular difference Δθ between the one straight portion L2sand the other straight portion L2sis not greater than the first threshold Δθs1, the route creator51cdoes not set a multi-point turn spot Px or a turning portion L2rbetween the one straight portion L2sand the other straight portion L2sand connect the one straight portion L2sand the other straight portion L2sto obtain a continuous portion of the automatic steering route.

With this, as illustrated inFIG.23B, a multi-point turn spot Px or a turning portion L2ris set between every adjacent straight portions having an angular difference Δθ greater than the first threshold Δθs1, among the plurality of the straight portions L2s-1and L2s-2created in the headlands E2a, E2b, and E2c. Furthermore, adjacent straight portions L2shaving an angular difference Δθ not greater than the first threshold Δθs1are set as a continuous portion of the automatic steering route. InFIG.23B, for convenience of description, only some of the multi-point turn spots are assigned “Px”, and the other multi-point turn spots are represented by filled circles.

Upon creating the travel route L2in the headlands E2a, E2b, and E2cas described above, the route creator51ccauses the storing unit53to store data of each portion (the straight route portions L1a, the turning route portions L1b, the straight portions L2s, the turning portions L2r, and connection points thereof (including the multi-point turn spots Px), etc.) of the travel routes L1and L2. Furthermore, the route creator51csets the start position Ps at one end of the travel route L1and the goal position Pg at one end of the travel route L2, and causes the storing unit53to store data indicating the positions Ps and Pg. Moreover, the route creator51ccalculates the estimated work distance over which ground work is to be performed by the working device2while the traveling vehicle body3is caused to travel based on the straight route portions L1aincluded in the travel route L1and the straight portions L2sincluded in the travel route L2, and causes the storing unit53to store the calculation result.

The controller51causes the travel routes L1and L2, the positions Ps and Pg, or the like set by the route creator51cas illustrated inFIG.23Bto be displayed on the third route creation screen D10(FIG.14B, etc.) or the travel control screen D11(FIG.16, etc.), together with the agricultural field map MP2.

After that, the automatic steering work mode is performed after the automatic traveling work mode is performed on the agricultural machine1as described earlier, and the traveling vehicle body3travels along the automatic steering route (straight portions) L2sof the travel route L2in the headlands E2a, E2b, and E2c. In so doing, based on the straight portions L2sand the position of the traveling vehicle body3, the automatic controller61causes the working device2to perform ground work while performing automatic steering of the traveling vehicle body3. At each connection point located between adjacent straight portions L2sbetween which no multi-point turn spot Px is set, based on the adjacent straight portions L2slocated on the opposite sides of the connection point located therebetween and based on the position of the traveling vehicle body3, the automatic controller61causes the working device2to continue performing ground work while continuing automatic steering of the traveling vehicle body3.

In contrast, when the traveling vehicle body3approaches a multi-point turn spot Px, the notification U6(FIG.18) suggesting that a multi-point turn of the agricultural machine1be performed is displayed on the travel control screen D11by the display operation interface52. Upon the traveling vehicle body3reaching the multi-point turn spot Px, the automatic controller61temporarily stops automatic steering of the traveling vehicle body3. At the multi-point turn spot Px, the traveling vehicle body3is caused to perform a multi-point turn by the operator's manual operation, the orientation of the traveling vehicle body3is brought into alignment with the traveling direction of the next straight portion L2s, and then the automatic controller61resumes automatic steering of the traveling vehicle body3.

In a case where a turning portion L2ris connected to the multi-point turn spot Px, when a multi-point turn of the traveling vehicle body3is performed described above, the automatic controller61causes the working device2to temporarily stop the ground work. In a case where the multi-point turn spot Px is a connection point located between adjacent straight portions L2s-2, the automatic controller61may cause the working device2to temporarily stop the ground work or may cause the working device2to continue performing the ground work.

The first threshold Δθs1for setting the multi-point turn spot Px, etc. described above may be changeable via, for example, a first threshold change key B23illustrated inFIGS.25A to25C. Specifically, for example, when the travel routes L1and L2, etc. illustrated inFIG.23Bare displayed on the third route creation screen D10(FIG.14B, etc.) or the travel control screen D11(FIG.16, etc.), after selecting (tap operation) any of the straight portion L2sof the travel route L2, the turning portion L2rthereof, and the multi-point turn spot Px, the user performs a predetermined operation (for example, a long tap operation in which the key is touched for a predetermined duration or longer, or successive-tap operation in which the key is touched a plurality of times at short interval(s)) on the route change key B21or the setting change key B20. When this user operation is notified from the display operation interface52, the controller51causes the first threshold change key B23illustrated inFIGS.25A to25Cto be displayed on the third route creation screen D10or the travel control screen D11.

The first threshold change key B23is used to change the first threshold Δθs1described above within the range from 0° to 45°, for example. The first threshold change key B23includes a cursor66that indicates the first threshold Δθs1and a meter67that shows the range within which the first threshold Δθs1is changeable. The range within which the first threshold Δθs1is changeable via the first threshold change key B23is not limited to 0° to 45°. Any other angular range, for example, from a value greater than 0° to a value less than 45°, may be used.

In a default state, an optimum value (e.g., 20°) to perform automatic steering or automatic traveling of the traveling vehicle body3is set as the first threshold Δθs1. As illustrated inFIG.25A, the cursor66of the first threshold change key B23lies at a position indicating the optimum value of the first threshold Δθs1, and a portion of the meter67from 0° to a position indicated by the cursor66is displayed in a highlighted manner as compared with the other portion. That is, in the default state, the first threshold change key B23indicates that the first threshold Δθs1is set at the optimum value and that angles from 0° to the optimum value of the meter67are valid as the steering angle to perform automatic steering. In a case where the first threshold Δθs1is set at the optimum value as described here, as illustrated inFIGS.23B and24, the straight portions L2sof the travel route L2, the turning portions L2rthereof, and the multi-point turn spots Px are created by the route creator51cin the headland E1.

For example, the user drags the cursor66of the first threshold change key B23, and, as illustrated inFIG.25B, moves the cursor66to a position indicating a value (e.g., 30°) greater than the optimum value. Upon this cursor movement, angles from 0° to this greater value of the meter67become valid as the steering angle to perform automatic steering, and the portion therebetween is displayed in a highlighted manner. The route creator51cchanges the first threshold Δθs1to this greater value pointed to by the cursor66, and, based on the first threshold Δθs1after the change, creates the straight portions L2sof the travel route L2, the turning portions L2rthereof, and the multi-point turn spots Px again. With this, for example, as illustrated inFIG.26A, on the travel route L2, the number of the multi-point turn spots Px decreases, and the distance over which automatic steering of the traveling vehicle body3is performed continuously increases.

For example, assume that, as illustrated inFIG.25C, the user moves the cursor66to a position indicating a value (e.g., 10°) less than the optimum value. With this, angles from 0° to this less value of the meter67become valid as the steering angle to perform automatic steering, and the portion therebetween is displayed in a highlighted manner. The route creator51cchanges the first threshold Δθs1to this less value pointed to by the cursor66, and, based on the first threshold Δθs1after the change, creates the straight portions L2sof the travel route L2, the turning portions L2rthereof, and the multi-point turn spots Px again. With this, for example, as illustrated inFIG.26B, on the travel route L2, the number of the multi-point turn spots Px increases, and the steering angle during automatic steering of the traveling vehicle body3is reduced, making it possible to perform automatic steering more stably.

In accordance with the change in the travel route L2by the route creator51cdescribed above, the controller51updates the manner of display of the travel route L2in the third route creation screen D10or the travel control screen D11. Moreover, if the first threshold change key B23is not operated for a certain length of time, the controller51deletes the display of the first threshold change key B23. The display operation interface52and the route creator51ccorrespond to a threshold changer that changes the first threshold Δθs1as described above.

In the preferred embodiment described above, when the first threshold Δθs1is changed, the route creator51ccreates each travel route L2again. However, as another example, when the first threshold Δθs1is changed in a state in which either the straight portion L2sof the travel route L2or the multi-point turn spot Px created by the route creator51cis selected by the user, the route creator51cmay create again the travel route L2for the selected portion and the straight portion L2sconnected thereto. A second threshold change key via which the second threshold Δθs2described above can be changed may be provided in the screen D10, D11, etc. of the display operation interface52such that the user can operate it.

In the preferred embodiment described above, as illustrated inFIG.24, if the angular difference Δθ between one straight portion L2sand the other straight portion L2sis not greater than the first threshold Δθs1, the one straight portion L2sand the other straight portion L2sare set as a continuous portion of the automatic steering route. However, besides this example, for example, as illustrated inFIGS.27A to27C, smoothing may be performed to reduce the steering angle during automatic steering on the one straight portion L2sand the other straight portion L2s.

Specifically, after calculating the angular difference Δθ between the one straight portion L2sand the other straight portion L2sconnected to each other of the travel route L2created in the headland area E1, the route creator51c, as illustrated inFIG.27A, performs smoothing on the one straight portion L2sand the other straight portion L2shaving an angular difference Δθ not greater than the first threshold Δθs1.

In the smoothing, first, as illustrated inFIG.27A, the route creator51ccreates, on the one straight portion L2s, a first intermediate point Pα1located at a predetermined distance dx from the connection point Pα located between the one straight portion L2sand the straight portion L2shaving an angular difference Δθ not greater than the first threshold Δθs1, and creates, on the other straight portion L2s, a second intermediate point Pα2at the predetermined distance dx from the connection point Pα (FIG.27B). Next, the route creator51ccreates a straight portion L2sconnecting the first intermediate point Pα1and the second intermediate point Pα2, and deletes a portion between the first intermediate point Pα1of the one straight portion L2sand the connection point P and a portion between the second intermediate point Pα2of the other straight portion L2sand the connection point Pα (FIG.27C). Note that the deleted portion of the straight portions L2screated earlier is represented by broken line inFIG.27C. Then, the route creator51cconnects the one straight portion L2s, the newly created straight portion L2s, and the other straight portion L2sto obtain a continuous portion of the automatic steering route.

With this, the two consecutive straight portions L2sillustrated inFIGS.27A and27Bturn into three consecutive straight portions L2sas illustrated inFIG.27C. Moreover, the angular difference Δθ′ between the consecutive straight portions L2sillustrated inFIG.27C(the newly created straight portion L2sand each straight portion L2screated earlier) is less than the angular difference Δθ between the connected straight portions L2sillustrated inFIG.27A(the straight portions L2screated earlier). That is, adding a straight portion L2sas described above reduces the angular difference Δθ between the consecutive straight portions L2sand reduces the degree of zigzag (a degree of curve) of the travel route L2. Therefore, in comparison with the consecutive straight portions L2sillustrated inFIG.27A, the consecutive straight portions L2sillustrated inFIG.27Cmake it possible to reduce the steering angle during automatic steering.

Even if the angular difference Δθ between one straight portion L2sand the others straight portion L2sis not greater than the first threshold Δθs1, in a case where the length of the one straight portion L2sor the other straight portion L2sis less than the predetermined distance dx, the route creator51cdoes not create a straight portion L2sbetween the one straight portion L2sor the other straight portion L2s, and connects the one straight portion L2sand the other straight portion L2sto obtain a continuous portion of the automatic steering route.

In the preferred embodiment described above, smoothing is performed on one straight portion L2sand the other straight portion L2shaving an angular difference Δθ not greater than the first threshold Δθs1. However, besides this example, for example, smoothing may be performed on one straight portion L2sand another straight portion L2shaving an angular difference Δθ not greater than the first threshold Δθs1and equal to or greater than a predetermined third threshold Δθs3. The third threshold Δθs3is set to be not greater than the first threshold Δθs1.

In the smoothing in this case, first, for one straight portion L2sand another straight portion L2shaving an angular difference Δθ not greater than the first threshold Δθs1and not less than the third threshold Δθs3, as illustrated inFIGS.27A to27C, the route creator51ccreates, on the one straight portion L2s, the first intermediate point Pα1at the predetermined distance dx from the connection point Pα between the straight portions L2s, and creates, on the other straight portion L2s, the second intermediate point Pα2located at the predetermined distance dx from the connection point Pα. Next, the route creator51ccreates a straight portion L2sconnecting the first intermediate point Pα1and the second intermediate point Pα2, and deletes a portion between the first intermediate point Pα1of the one straight portion L2sand the connection point Pα and a portion between the second intermediate point Pα2of the other straight portion L2sand the connection point Pα. Then, the route creator51cconnects the one straight portion L2s, the newly created straight portion L2s, and the other straight portion L2sto obtain a continuous portion of the automatic steering route.

Even if the angular difference Δθ between the one straight portion L2sand the other straight portion L2sis not greater than the first threshold Δθs1and is not less than the third threshold Δθs3, in a case where the length of the one straight portion L2sor the other straight portion L2sis less than the predetermined distance dx, the route creator51cdoes not create a straight portion L2sbetween the one straight portion L2sor the other straight portion L2s, and connects the one straight portion L2sand the other straight portion L2sto obtain a continuous portion of the automatic steering route. Moreover, also when the angular difference Δθ between one straight portion L2sand another straight portion L2sis less than the third threshold Δθs3, the route creator51cdoes not create a straight portion L2sbetween the one straight portion L2sor the other straight portion L2s, and connects the one straight portion L2sand the other straight portion L2sto obtain a continuous portion of the automatic steering route.

Since only relatively long straight portions L2shaving an angular difference Δθ not greater than the first threshold Δθs1and not less than the third threshold Δθs3are smoothened through the above processing, it is possible to reduce the processing burden on the route creator51c. Moreover, in the travel route L2in a case where the smoothing is performed, in comparison with the travel route L2in a case where the smoothing is not performed, the number of relatively short straight portions L2s-2increases, making it possible to reduce the steering angle during automatic steering.

As another example, a third threshold change key via which the third threshold Δθs3can be changed may be provided in the screen D10, D11, etc. of the display operation interface52such that the user can operate it. In this case, as the set value of the third threshold Δθs3decreases in relation to the first threshold Δθs1, the number of times of the smoothing performed on the straight portions L2sof the travel route L increases. Therefore, in the travel route L2, the number of relatively short straight portions L2s-2further increases, making it possible to further reduce the steering angle during automatic steering. As the set value of the third threshold Δθs3becomes equal to the first threshold Δθs1or closer to the first threshold Δθs1, the number of times of the smoothing performed on the straight portions L2sof the travel route L decreases. Therefore, the processing burden on the route creator51cis reduced, and, in the travel route L2, the number of relatively short straight portions L2s-2decreases, making it possible to increase the distance over which the traveling vehicle body3travels straight continuously during automatic steering.

In accordance with the change in the travel route L2through the smoothing by the route creator51cdescribed above, the controller51updates the display of the travel route L2in the third route creation screen D10or the travel control screen D11. Moreover, if the third threshold change key B24is not operated for a certain length of time, the controller51deletes the display of the key B24. The display operation interface52and the route creator51ccorrespond also to a threshold changer that changes the third threshold Δθs3as described above.

In the preferred embodiment described above, an example in which, in the smoothing, as illustrated inFIGS.27A to27C, a straight portion L2sis created between straight portions L2shaving an angular difference Δθ not greater than the first threshold Δθs1or the like (and not less than the third threshold Δθs3) has been discussed. However, instead of the straight portion L2s, for example, as illustrated inFIGS.28A to28C, a curved portion L2cmay be created. The curved portion L2cis a route along which the traveling vehicle body3is caused to draw a gentle curve (travel while making a turn), and is included in the travel route L2. The curved portion L2ccan be set to the automatic steering route, the automatic operation route, or the manual operation route.

Specifically, the route creator51ccreates, on one straight portion L2s, a first intermediate point Pα1at a predetermined distance dx from a connection point Pα(FIG.28A) between the one straight portion L2sand the other straight portion L2shaving an angular difference Δθ not greater than the first threshold Δθs1(or not greater than the first threshold Δθs1and not less than the third threshold Δθs3), and creates, on the other straight portion L2s, a second intermediate point Pα2at the predetermined distance dx from the connection point Pα(FIG.28B). Next, the route creator51ccreates a curved portion L2cto connect the first intermediate point Pα1and the second intermediate point Pα2, and deletes a portion between the first intermediate point Pα1of the one straight portion L2sand the connection point Pα and a portion between the second intermediate point Pα2of the other straight portion L2sand the connection point Pα(FIG.28C). Then, the route creator51cconnects the one straight portion L2s, the newly created curved portion L2c, and the other straight portion L2sto obtain a continuous portion of the automatic steering route.

The curvature radius of the curved portion L2cis set based on, for example, the angular difference Δθ between the straight portions L2s, the first threshold Δθs1(or the third threshold Δθs3), the length (distance) of each straight portion L2s, the predetermined distance dx, and/or the position of the connection point Pα by the route creator51c. The curved portion L2cshould preferably be created such that, at least, the minimum distance from the connection point Pα to the curved portion L2cis less than a predetermined separation distance (not illustrated) less than the predetermined distance dx.

A key that allows the user to select whether or not to perform the smoothing or whether or not to change the threshold Δθs1, Δθs2, Δθs3may be provided in the third route creation screen D10, etc. The above-described procedure for creating the travel route L2or the multi-point turn spot Px or for the smoothing may be applied not only to an agricultural field that includes a zigzag portion Hj on the contour H1but also to an agricultural field that includes a curved portion such as an arc curve.

In the preferred embodiment described above, an example in which the straight portion L2s, L2a(straight route portion L2a) included in the travel route L2for the automatic steering work mode and the turning portion L2r, L2b(turning route portion L2b), etc. are displayed on the screen of the display operation interface52has been discussed. However, among them, the straight portion L2s, L2a, etc. that is the automatic steering route may be displayed on the display operation interface52without displaying the turning portion L2r, L2bthat is the manual operation route on the display operation interface52.

For example, in the preferred embodiment illustrated inFIG.29, on the agricultural field map MP2included in the travel control screen D11displayed on the display operation interface52, the straight portions L2s(automatic steering route) of the travel route L2created by the route creator51c, are displayed, and the turning portions L2r(FIG.16, etc.) that are the manual operation route are not displayed. Furthermore, the straight route portions (automatic operation route) L1athat can be changed into the automatic steering route by operating the route change key B21, etc. are displayed on the agricultural field map MP2. With this, the user is able to easily recognize the portion(s) (straight portion L2s, L1a, etc.), of the travel route L1, L2, settable as the automatic steering route.

Also on the agricultural field map MP2displayed on the second route creation screen D7, the third route creation screen D10, or the travel control screen D8, the portion(s) of the travel route L1, L2, L3that is/are settable as the automatic steering route may be displayed and the portion(s) not settable as the automatic steering route (turning portion L2r, L1r, L3r, L2b, L1b) may not be displayed. In addition, an operation key for allowing the user to select whether or not to display the portion(s) not settable as the automatic steering route may be provided in the screen D7, D8, D10, D11.

In the preferred embodiment described above, an example in which the route creator51ccreates the turning portion L2r, L2bthat is the manual operation route in addition to the straight portion L2s, L2athat is the automatic steering route when creating the travel route L2for the automatic steering work mode has been discussed. However, the route creator51cmay be configured or programmed to create the straight portion(s) L2s, L2athat is/are the automatic steering route and not to create the turning portion(s) L2r, L2bthat is/are the manual operation route when creating the travel route L2. In this case, although the straight portion(s) L2s, L2acreated by the route creator51cis/are displayed on the subsequent travel control screen D8, D11, the turning portion(s) L2r, L2bthat is/are not created is/are not displayed on the travel control screen D8, D11.

In a case where the straight portion L2s, L2ais thereafter changed into the automatic operation route by operating the route change key B21, etc., it is only necessary that the route creator51ccreate turning portions connected to the such straight portions and the controller51cause all of them to be displayed on the travel control screen D8, D11of the display operation interface52.

Other Preferred Embodiments

In the preferred embodiment illustrated inFIG.18, an example in which the notification U6suggesting that a multi-point turn of the traveling vehicle body3be performed is displayed on the screen D11of the display operation interface52when the traveling vehicle body3approaches the multi-point turn spot Px in the automatic steering work mode has been discussed. However, also in the automatic traveling work mode, a notification indicating that a multi-point turn of the traveling vehicle body3will be performed automatically may be displayed on the travel control screen D8, D11of the display operation interface52when the traveling vehicle body3approaches a point where the traveling vehicle body will change its position and/or traveling direction (the termination point of the straight route portion L1aincluded in the travel route L1, the termination point of the straight portion L1sincluded in the go-around route portion L1c, or the like).

In addition, also in the manual operation work mode, a notification suggesting that a multi-point turn of the traveling vehicle body3be performed may be displayed on the screen of the display operation interface52when the traveling vehicle body3approaches a point where the traveling vehicle body3will change its position and/or traveling direction (the termination point of the straight portion L3sof the travel route L3, etc.). A multi-point turn of the traveling vehicle body3of the agricultural machine1is the action of causing the traveling vehicle body3to travel forward, travel rearward, or make a turn for the purpose of changing the position and/or traveling direction of the traveling vehicle body3and, for example, may not include one of the forward traveling and rearward traveling actions of the traveling vehicle body3not involving a turn.

In the preferred embodiment described above, the following example has been discussed. The route creator51ccreates the straight portions L2s, the turning portions L2r, and/or the multi-point turn spots Px, etc. (including the curved portions L2c) based on the angular difference Δθ between the traveling direction of one straight portion L2sand that of another straight portion L2sconnected to the one straight portion L2when creating the travel route L2on the agricultural field map MP2having an irregular contour H1as illustrated inFIGS.23A and23B, etc. However, for example, similarly, the route creator51cmay create the straight portion(s), the turning portion(s), and/or the multi-point turn spot(s), etc. based on the angular difference between one straight portion included in the travel route L2and another straight portion connected to the distal end of the one straight portion when creating the travel route L2for the automatic steering work mode on the agricultural field map MP2having a rectangular contour H1as illustrated inFIG.14B, etc. Similarly, the route creator51cmay create the straight portion(s), the turning portion(s), and/or the multi-point turn spot(s), etc. based on the angular difference between the traveling direction of one straight portion and that of another straight portion connected to the distal end of the one straight portion when creating the travel route L1for the automatic traveling work mode.

In the preferred embodiment described above, as illustrated inFIG.11A, etc., the area setter51bsets, as the central area C1, the area within the contour C1obtained by displacing the contour H1of the agricultural field inward a number of times corresponding to the number of headlands, each by the width W4, which is less than the working width W1of the working device2, and sets the area between the contour C1and the contour H1as the headland area E1. However, in consideration of, for example, the maintenance state of the area of the agricultural field that is adjacent to a footpath, work performance of the agricultural machine1, and/or the like, the headland area E1may be set to be wider. In addition, the travel route L2may be created such that the agricultural machine1will travel along a line located somewhat inward of the contour H1of the agricultural field.

Specifically, for example, after the settings key B0illustrated inFIG.3is selected, the controller51of the agricultural work assistance apparatus50causes the display operation interface52to display an agricultural field shift amount change key B25illustrated inFIG.30when a predetermined input operation is performed on the display operation interface52. Alternatively, the agricultural field shift amount change key B25may be displayed on the first route creation screen D6illustrated inFIG.9or the second route creation screen D7illustrated inFIG.10, etc. The agricultural field shift amount change key B25is used to adjust the position of the outermost traveling line on the agricultural field map MP2, that is, a shift amount W5that is a gap between the outermost traveling line and the contour H1of the agricultural field. The agricultural field shift amount change key B25includes a cursor70that indicates, and changes, the shift amount W5, and a meter71that shows a range within which the shift amount W5is adjustable. The shift amount W5is adjustable via the agricultural field shift amount change key B25within a range from, for example, 0 to 30 cm.

As illustrated inFIG.30, when the cursor70of the agricultural field shift amount change key B25is operated to set the shift amount W5, which is the gap between the outermost traveling line and the contour H1of the agricultural field, to a value greater than zero, first, as illustrated inFIG.31, the area setter51bcalculates a contour E3(first contour) obtained by displacing the contour H1of the agricultural field inward by a displacement amount obtained by adding, to the shift amount W5, the width W4, which is obtained by subtracting the overlap W2for the headlands from the working width W1of the working device2(first displacement amount=W4+W5=W1−W2+W5). Next, the area setter51bcalculates contours E31and E32(second contour) formed by displacing the contour E3a number of times obtained by subtracting one from the inputted number of headlands, each by the width W4(second displacement amount). Then, the area setter51bsets an area enclosed by the innermost one E32of the contours E31and E32(the area within the contour E32) as the central area C1, and sets the headlands E2a, E2b, and E2cthe number of which corresponds to the inputted number of headlands between the central area C1and the contour H1of the agricultural field. As a result, the width of the outermost headland E2cis equal to the displacement amount described above. The width of each of the other headlands E2band E2ais equal to the width W4and is less than the width of the headland E2c.

After the central area C1and the headland area E1are set inward of the contour H1of the agricultural field, the route creator51ccreates the travel routes L1and L2in the central area C1and the headland area E1as illustrated inFIG.32. When this is performed, for the central area C1, and for the headlands E2aand E2bother than the outermost headland E2cin the headland area E1, the route creator51ccreates the travel routes L1, L1c, and L2through the procedure having been described with reference toFIGS.11B to11DandFIG.15, etc. For the outermost headland E2cin the headland area E1, the route creator51ccreates the travel route L2on a line E4created by displacing the contour H1of the agricultural field inward by a displacement amount obtained by adding a half of the width W4to the shift amount W5(W4/2+W5).

In a case where the overlap W2for the headlands is set to zero, the width W4is equal to the working width W1(W4=W1) and, therefore, as illustrated inFIG.33, the width of the outermost headland E2cis equal to the sum of the working width W1and the gap W5, and the width of each of the other headlands E2band E2ais equal to the working width W1. Then, for the outermost headland E2c, the route creator51ccreates the travel route L2on a line E5created by displacing the contour H1of the agricultural field inward by a displacement amount obtained by adding a half of the working width W1to the shift amount W5(W1/2+W5).

The travel route L2and/or the areas C1and E1may be created in consideration of the outside width (horizontal width) of the working device2. Specifically, in a case where an outside width W6of the working device2is greater than the working width W1, for example, after the area setter51bsets the central area C1and the headland area E1as illustrated inFIGS.31to33orFIG.11A, etc., the route creator51ccreates the travel routes L1, L1c, and L2in the central area C1and the headland area E1as illustrated inFIGS.34to36. In so doing, for the central area C1, the route creator51ccreates the travel route L1through the procedure having been described with reference toFIGS.11B and11C. Furthermore, the route creator51ccalculates, as a displacement amount W7, a half of the value obtained by subtracting the working width W1from the outside width W6of the working device2(W7=(W6−W1)/2).

As illustrated inFIG.34, in a case where the width (W4+W5) of the outermost headland E2cin the headland area E1is greater than the width W4of each of the inner headlands E2aand E2b, for the outermost headland E2c, the route creator51ccreates the line E4by displacing the contour H1of the agricultural field inward once by a displacement amount obtained by adding, to the shift amount W5, a half of the width W4obtained by subtracting the overlap W2for the headlands from the working width W1of the working device2(W4/2+W5). Then, the route creator51ccreates the travel route L2on a line E4acreated by displacing the line E4inward once by the displacement amount W7.

In a case where the overlap W2for the headlands is set to zero and where, as illustrated inFIG.35, the width (W1+W5) of the outermost headland E2cin the headland area E1is greater than the width W4of each of the inner headlands E2aand E2b, the route creator51ccreates the line E5by displacing the contour H1of the agricultural field inward once by a displacement amount obtained by adding a half of the working width W1of the working device2to the shift amount W5(W1/2+W5). Then, the route creator51ccreates the travel route L2on a line E5acreated by displacing the line E5inward once by the displacement amount W7.

Alternatively, as illustrated inFIG.36, in a case where the width of each of the headlands E2a, E2b, and E2cin the headland area E1is the same value W4, for the outermost headland E2c, the route creator51ccreates a line E9aby displacing a widthwise centerline E9of the headland E2cinward once by a half of the value of the overlap W2for the headlands. Then, the route creator51ccreates the travel route L2on a line E9bcreated by displacing the line E9ainward once by the displacement amount W7.

Furthermore, in the cases illustrated inFIGS.34to36, for the inner headlands E2band E2ain the headland area E1, the route creator51ccreates the travel route L2(or the go-around route portion L1c) on the widthwise centerline of each of the headlands E2band E2a.

With the above configuration, when, based on the travel route L2created in each of the headlands E2a, E2b, and E2c, the automatic controller61thereafter causes the working device2to perform ground work while performing automatic steering of the traveling vehicle body3, the work track for the headland E2aand the work track for the headland E2boverlap by the overlap W2, whereas the work track for the headland E2band the work track for the headland E2coverlap by a width that is the sum of the overlap W2and the displacement amount W7(W2+W7).

Moreover, the gap between the travel route L2created in the outermost headland E2cand the contour H1of the agricultural field (W4/2+W5+W7inFIG.34, W1/2+W5+W7inFIG.35, W4/2+W2/2+W7inFIG.36) is set to be not less than a half of the value of the outside width W6of the working device2(inFIG.34, setting the overlap W2to be not greater than a double of the shift amount W5will work). Therefore, it is possible to prevent the working device2from protruding outward of the agricultural field when, based on the travel route L2created in the outermost headland E2c, the automatic controller61causes the working device2to perform ground work while performing automatic steering of the traveling vehicle body3.

Alternatively, inFIG.31, the areas E1and C1may be set by using the displacement amount W7instead of the shift amount W5. Specifically, the area setter51bcalculates the first contour formed by displacing the contour H1of the agricultural field inward by a displacement amount obtained by adding, to the displacement amount W7, the width W4, which is obtained by subtracting the overlap W2for the headlands from the working width W1of the working device2(first displacement amount=W4+W7=W1−W2+W7) (not illustrated). Next, the area setter51bcalculates the second contours formed by displacing the first contour a number of times obtained by subtracting one from the inputted number of headlands, each by the width W4(second displacement amount). Then, the area setter51bsets an area enclosed by the innermost one of the second contours as the central area C1, and sets the headlands E2a, E2b, and E2cthe number of which corresponds to the inputted number of headlands between the central area C1and the contour H1of the agricultural field. As a result, the width of the headland E2c, the outermost one, is equal to a sum of the first displacement amount W7and the width W4. The width of each of the other headlands E2band E2ais equal to the width W4and is less than the width of the headland E2c.

After the central area C1and the headland area E1are set inward of the contour H1of the agricultural field, the route creator51ccreates the travel routes L1, L1c, and L2in the central area C1and the headland area E1. In so doing, for the central area C1, and for the headlands E2aand E2bother than the outermost headland E2cin the headland area E1, the route creator51ccreates the travel routes L1, L1c, and L2through the procedure described earlier. For the outermost headland E2cin the headland area E1, the route creator51ccreates the travel route L2on a line created by displacing the contour H1of the agricultural field inward by a displacement amount obtained by adding a half of the width W4to the first displacement amount W7(W4/2+W7).

As described above, by creating the outermost headland E2cand the travel route L2by displacing the contour H1of the agricultural field inward, it is possible to avoid a collision with a footpath or the like from occurring due to the working device2protruding beyond the contour H1of the agricultural field when, based on the travel route L2, the automatic controller61causes the working device2to perform ground work while performing automatic steering of the agricultural machine1(the traveling vehicle body3) in the headland area E1. Especially by setting the gap W5by which the contour H1of the agricultural field is shifted (displaced) inward to a value greater zero via the agricultural field shift amount change key B25illustrated inFIG.30and, by setting the outermost headland2cand creating the travel route L2in the headland E2cin consideration of the outside width W6greater than the working width W1of the working device2, it is possible to further avoid a collision with a footpath or the like from occurring due to the working device2protruding beyond the contour H1of the agricultural field. Furthermore, by creating the inner headland E2b, E2abased on the width W4that is less than the width of the outermost headland E2c, it is possible to obtain a large central area C1where the automatic traveling work route portion is set.

In the example illustrated inFIG.30, the shift amount W5by which the contour H1of the agricultural field is shifted (displaced) inward is adjustable via the agricultural field shift amount change key B25within a range from 0 to 30 cm. However, the range within which the shift amount W5is adjustable via the agricultural field shift amount change key B25may be from the lower limit greater than zero to the upper limit greater than the lower limit. A key that allows the user to select whether or not to create the outermost headland E2cor the travel route L2by displacing the contour H1of the agricultural field inward may be provided in the screen D6, D7, etc.

As another example, the travel route L1to L3may be created at a position that is off the widthwise centerline of a unit work zone C2or a headland E2ato E2cillustrated inFIG.11B, etc.

In the preferred embodiment described above, the following example has been discussed. The automatic controller61performs the automatic traveling work mode, in which agricultural work is performed on the agricultural field by the working device2by automatic operation of the agricultural machine1, first when the agricultural work is started by the agricultural machine1and the working device2on the agricultural field corresponding to the agricultural field map MP2after creation of the travel routes in the central area C1and the headland area E1of the agricultural field map MP2. However, this does not imply any limitation. The automatic controller61may perform the automatic steering work mode, in which agricultural work is performed on the agricultural field by the working device2by automatic steering of the agricultural machine1, first when the agricultural work is started by the agricultural machine1and the working device2on the agricultural field corresponding to the agricultural field map MP2after creation of the travel routes on the agricultural field map MP2.

For example, as illustrated inFIG.37A, an automatic center work key B50is provided in addition to the automatic headland work key B43and the work type key B44, etc. in the first route creation screen D6displayed on the display operation interface52. The automatic center work key B50is used to select whether or not to perform agricultural work using the working device2while causing the agricultural machine1(traveling vehicle body3) to travel by automatic operation (automatic traveling work mode) at the central area C1set in the agricultural field map MP2. The configuration of the first route creation screen D6except for the automatic center work key B50is the same as the configuration of the first route creation screen D6illustrated inFIG.9.

On the first route creation screen D6, the user selects, via the automatic center work key B50, to perform agricultural work using the working device2while causing the agricultural machine1to travel by automatic operation at the central portion (central area C1) of the agricultural field, selects, via the automatic headland work key B43, to perform agricultural work using the working device2while causing the agricultural machine1to travel by automatic operation at the headlands (headland area E1), and thereafter selects the next key B9.

In this case, as described earlier, the controller51causes the display operation interface52to display the second route creation screen D7(FIG.10A). Then, based on the content of an input to each input field on the second route creation screen D7, the area setter51bsets the central area C1and the headland area E1in the agricultural field map MP2, and the route creator51ccreates the travel route L1in the areas C1and E1and sets the start position Ps, the goal position Pg, and the like. In addition, the route creator51csets the created travel route L1as the automatic operation route. Furthermore, the controller51causes the areas C1and E1and the travel route L1to be displayed on the agricultural field map MP2included in the second route creation screen D7(FIGS.10B and10C).

Then, when the user selects the next key B9included in the second route creation screen D7, the controller51causes the display operation interface52to display the travel control screen D8(FIG.12). Then, when the user performs a predetermined operation to perform an automatic operation of the agricultural machine1, the automatic controller61starts the automatic operation work mode, in which ground work is performed by the working device2while the agricultural machine1is caused to travel by automatic operation, based on the position of the agricultural machine1(traveling vehicle body3) detected by the positioning device40and the automatic operation route L1.

The predetermined operation performed by the user to perform an automatic operation of the agricultural machine1includes movement of the agricultural machine1to the start position Ps by manual operation, an operation of the mode switch65for entering the automatic traveling work mode, an operation for returning, to a predetermined default position, an operation member (manual operator, not illustrated) such as a transmission shift lever to switch a transmission state of the transmission5, a position lever operable to change the position of the working device2, etc.

By contrast, when agricultural work is performed by performing automatic steering of the agricultural machine1, the travel speed of the traveling vehicle body3and the position of the working device2are changed manually. Therefore, before agricultural work based on automatic steering starts, the operation member such as the transmission shift lever, the position lever, etc. may be at any arbitrary position, and there is no need to perform an operation for returning the operation member to the default position.

On the other hand, on the first route creation screen D6, as illustrated inFIG.37A, the user selects, via the automatic center work key B50, not to perform agricultural work using the working device2while causing the agricultural machine1to travel by automatic operation at the central portion of the agricultural field, selects, via the automatic headland work key B43, not to perform agricultural work using the working device2while causing the agricultural machine1to travel by automatic operation at the headlands, and thereafter selects the next key B9.

In this case, the controller51causes the display operation interface52to display the second route creation screen D7illustrated inFIG.37B. An input field for inputting the number of headlands where ground work is to be performed by automatic operation is provided in the second route creation screen D7illustrated inFIG.37B. Except for this, the illustrated configuration is the same as that of the second route creation screen D7illustrated inFIGS.10A to10C. As described earlier, the user selects, via the automatic headland work key B43, not to perform agricultural work using the working device2while causing the agricultural machine1to travel by automatic operation at the headlands. Therefore, zero has been automatically entered as the number of headlands where ground work is to be performed by automatic operation.

When the user selects the next key B9after completion of inputting to each input field on the second route creation screen D7, based on the content of an input to each input field on the second route creation screen D7, the area setter51bsets the central area C1and the headland area E1in the agricultural field map MP2. In addition, based on the content of an input to each input field on the second route creation screen D7, the route creator51ccreates the travel route L1in the areas C1and E1and sets the start position Ps, the goal position Pg, and the like. The travel route L1created here may be set as the automatic operation route by the route creator51cor yet to be set. The controller51causes the areas C1and E1and the travel route to be displayed on the agricultural field map MP2included in the second route creation screen D7and causes a selector S1illustrated inFIG.37Cto be displayed at the center of the second route creation screen D7.

The selector S1(a first portion of the display operation interface52) allows the user to select whether or not to perform agricultural work by automatic steering of the agricultural machine1. On the selector S1, the question “Do you want to perform work by automatic steering?” and a YES key B51and a NO key B52for answering the question are displayed. If the user selects the YES key B51to perform agricultural work by automatic steering, as illustrated inFIG.38, the controller51causes the display operation interface52to display the travel control screen D11. The route creator51csets the travel route L1created in the areas C1and E1as (or changes it into) the automatic steering route L2.

Then, the user moves the agricultural machine1by manual operation to the start position Ps where agricultural work by automatic steering is to be started, and performs an operation for entering the automatic steering work mode on the mode switch65. Alternatively, in a case where the agricultural machine1is located at this time at an end of the travel route (automatic steering route) L2where agricultural work should be started as illustrated inFIG.37C, the user operates the mode switch65to enter the automatic steering work mode. Upon this operation, the automatic controller61starts the automatic steering work mode, in which ground work is performed by the working device2while the agricultural machine1is steered automatically based on the position of the agricultural machine1and the automatic steering route L2. In the automatic steering work mode, the user operates the accelerator, etc. to change the travel speed of the agricultural machine1and operates the position lever, etc. to change the position of the working device2.

With this, when agricultural work is started on the agricultural field, the travel route on which the automatic controller61is based initially has been set to be the automatic steering route L2and, therefore, the automatic controller61is capable of, based on the automatic steering route L2and the position of the agricultural machine1, performing automatic steering of the agricultural machine1, and causing the working device2to start the agricultural work on the agricultural field.

In the example illustrated inFIGS.37C and38, the agricultural machine1starts agricultural work in the automatic steering work mode for the headland area E1first. However, this does not imply any limitation. For example, the user is able to cause the agricultural machine1to start agricultural work in the automatic steering work mode for the central area C1first by performing an operation for entering the automatic steering work mode on the mode switch65after positioning the agricultural machine1by manual operation at an end of the travel route (automatic steering route) L2set in the central area C1.

Also when agricultural work on the agricultural field is resumed after a pause by the agricultural machine1, the automatic steering work mode may be performed first on the agricultural machine1. In this case, before ground work on the agricultural field by the agricultural machine1and the working device2finishes up to the goal position Pg, the user performs a predetermined operation to cause the agricultural machine1and the working device2to stop, thus stopping the groundwork on the central area C1or the headland area E1. Upon the stop, the controller51causes a selector S2(a second portion of the display operation interface52) illustrated inFIG.39to be displayed.

The selector S2allows the user to select whether or not to pause the stopped agricultural work by the agricultural machine1for the purpose of resuming it later. On the selector S2, a message asking the user to instruct whether to end the agricultural work (a case where the agricultural work will not be resumed later) or to pause it (a case where the agricultural work will be resumed later), an end key B53, and a pause key B54are displayed. If the user selects the pause key B54so that the agricultural work can be continued (resumed) later by the agricultural machine1, the controller51causes the storing unit53to store a work history such as the content of the agricultural work having been done by the agricultural machine1and the working device2, the specifications of the agricultural machine1and the working device2, a work state, and the date and time of the pause of the agricultural work. On the other hand, if the user selects the end key B53so as to end (finish) the agricultural work without a later continuation by the agricultural machine1, the controller51does not cause the storing unit53to store the work history mentioned above.

In a case where the work history of the paused agricultural work is stored in the storing unit53, the controller51, when causing the display operation interface52to display the home screen D1later, causes a work resumption key B55to be displayed on the home screen D1as illustrated inFIG.40A. If the user selects the work resumption key B55, the controller51reads the work history of every paused agricultural work from the storing unit53and causes the display operation interface52to display a work selection screen D12that gives an overview of the work history as illustrated inFIG.40B.

On the work selection screen D12, the user, after selecting the agricultural work that the user wants to resume, selects a work detail key B56, and, upon this key selection, the controller51causes the display operation interface52to display a work detail screen D13illustrated inFIG.40C. On the work detail screen D13, information showing the details of the work history of the selected agricultural work, the work track of the agricultural machine1in the agricultural field map MP2, and the like are displayed. When the user selects the next key B9so as to resume the agricultural work displayed on the work detail screen D13, the controller51causes a selector S3(a third portion of the display operation interface52) illustrated inFIG.40Dto be displayed at the center of the work detail screen D13.

The selector S3allows the user to select automatic steering or automatic operation as a method for resuming the stopped agricultural work. On the selector S3, a message asking the user to select a method for resuming the paused agricultural work, an automatic steering key B57to select to resume the agricultural work by automatic steering, and an automatic operation key B58to select to resume the agricultural work by automatic operation are displayed.

When the user selects the automatic steering key B57so as to resume the agricultural work by automatic steering, as illustrated inFIG.41, the controller51causes the display operation interface52to display the travel control screen D11including the work track of the agricultural work having been performed before the pause. In addition, the route creator51csets the travel route located at the unworked portion of the area C1, E2where the agricultural machine1has not traveled yet and has not performed ground work yet as (or changes it into) the automatic steering route L2. Then, for example, the user moves the agricultural machine1by manual operation to the position where the agricultural work by automatic steering is to be resumed, performs an operation for entering the automatic steering work mode on the mode switch65, and then selects a start key B59on the travel control screen D11. Upon this operation, the automatic controller61resumes the automatic steering work mode, in which ground work is performed by the working device2while the agricultural machine1is steered automatically based on the position of the agricultural machine1and the automatic steering route L2located at the unworked portion.

On the other hand, when the user selects the automatic operation key B58on the selector S3illustrated inFIG.40Dso as to resume the agricultural work by automatic operation, the controller51causes the display operation interface52to display the travel control screen D11including the work track of the agricultural work having been performed before the pause. The route creator51csets the travel route located at the unworked portion of the area C1, E2as (or changes it into) the automatic operation route L1. Then, for example, the user moves the agricultural machine1by manual operation to the position where the agricultural work by automatic operation is to be resumed, performs an operation for entering the automatic operation work mode on the mode switch65, and then selects the start key B59on the travel control screen D11. Upon this operation, the automatic controller61resumes the automatic operation work mode, in which ground work is performed by the working device2while the agricultural machine1is driven automatically based on the position of the agricultural machine1and the automatic operation route L1located at the unworked portion.

With this, when agricultural work is resumed after a pause on the agricultural field by the agricultural machine1and the working device2, the travel route on which the automatic controller61is based initially has been set to be the automatic steering route L2and, therefore, the automatic controller61is capable of, based on the automatic steering route L2and the position of the agricultural machine1, performing automatic steering of the agricultural machine1to cause the working device2to resume the agricultural work on the agricultural field.

The controller51and the automatic controller61are capable of performing each processing described above for pausing and resuming the agricultural work on the agricultural field by the agricultural machine1and the working device2at the time of switching from one to another of the automatic operation route L1, the automatic steering route L2, and the manual operation route L3, at a termination end of a travel route, at an intermediate portion of a travel route, and the like.

The position where agricultural work is resumed by the agricultural machine1is not limited to an unworked portion of the area C1, E2where the agricultural machine1has not traveled yet and has not performed ground work yet, but also may be a worked portion of the area C1, E2where the agricultural machine1has already traveled and has already performed ground work, or any other portion. In this case, for example, when the user selects the automatic steering key B57(or the automatic operation key B58) so as to resume the agricultural work by automatic steering (or automatic operation), the route creator51csets the travel route leading to the goal position Pg from immediately ahead of the agricultural machine1in the traveling direction thereof as (or changes it into) the automatic steering route L2(or the automatic operation route L1). Then, the user performs an operation for entering the automatic steering work mode (or the automatic operation work mode) on the mode switch65and selects the start key B59, and, upon this key selection, the automatic controller61resumes the automatic steering work mode (or the automatic operation work mode), in which ground work is performed by the working device2while the agricultural machine1is steered automatically (or driven automatically) based on the position of the agricultural machine1and the automatic steering route L2(or the automatic operation route L1) set as described above. With this, it is possible to cause the agricultural machine1to resume the agricultural work by automatic steering (or automatic traveling) from a position corresponding to any arbitrary travel route in the area C1, E2.

In the preferred embodiment described above, before the route creator51ccreates the travel route in the area C1, E2, it is set via the automatic center work key B50and the automatic headland work key B43provided in the first route creation screen D6illustrated inFIG.37Awhether or not to start agricultural work by automatic operation, and, after the route creator51ccreates the travel route in the area C1, E2, it is set via the selector S1illustrated inFIG.37Cwhether or not to start agricultural work by automatic steering. However, this does not imply any limitation. The setting as to whether or not to start agricultural work by automatic operation and the setting as to whether or not to start agricultural work by automatic steering may be performed before or after the route creator51ccreates the travel route in the area C1, E2.

Alternatively or additionally, for example, in a case where the automatic operation key B2ais selected by the user on the home screen D1, every travel route created thereafter by the route creator51cmay be set as the automatic operation route L1. In this case, when agricultural work is started on the agricultural field, the automatic controller61is able to start the agricultural work on the agricultural field by performing the automatic operation work mode based on the automatic operation route L1without going through the automatic steering work mode.

Alternatively or additionally, in a case where the automatic steering key B2bis selected by the user on the home screen D1, every travel route created thereafter by the route creator51cmay be set as the automatic steering route L2. In this case, when agricultural work is started on the agricultural field, the automatic controller61is able to start the agricultural work on the agricultural field by performing the automatic steering work mode based on the automatic steering route L2without going through the automatic operation work mode.

The contour of an agricultural field is sometimes made of a structure such as a footpath. In addition, an area beyond a footpath of an agricultural field is sometimes in a condition where the user wants the agricultural machine1not to travel, for example, because there is another agricultural field, a cliff, or the like. Therefore, there is a need to avoid the agricultural machine1(and the working device2) from coming into contact with the structure such as the footpath contouring the agricultural field or from traveling outward of the agricultural field beyond the structure (crossing the border) while the agricultural machine1is traveling by automatic steering along the travel route L2created in the headland area E1(especially, the outermost headland E2c) of the agricultural field.

For a solution to the above need, the controller51of the agricultural work assistance apparatus50may issue a warning when the agricultural machine1approaches the structure such as a footpath contouring the agricultural field while the agricultural machine1is traveling by automatic steering in the headland area E1.

Specifically, for example, based on the contour H1of the agricultural field registered by the agricultural field register51a, pre-acquired neighborhood information of the agricultural field, and the like, the controller51detects the position of the structure such as the footpath of which the contour H1of the agricultural field is made. The position of the contour H1of the agricultural field is substantially the same as the position of the structure of which the contour H1is made.

While the agricultural machine1is traveling by automatic steering along the travel route L2created in the headland area E1, the controller51detects, via the positioning device40, the position of the agricultural machine1(traveling vehicle body3) in a predetermined cycle. In addition, a distance calculator51h(FIG.1) provided in the controller51calculates the distance from the position of the agricultural machine1to the structure lying ahead of the agricultural machine1in the traveling direction thereof in a predetermined cycle.

For example, as illustrated inFIG.42, when the distance da calculated by the distance calculator51hfrom the agricultural machine1to the structure has become equal to or less than a predetermined distance ds, a warner51i(FIG.1) provided in the controller51warns the user. The predetermined distance ds is a value greater than zero and is set to be great enough so that the agricultural machine1that is traveling can stop inside the agricultural field without traveling beyond the structure, due to the operation of the brake6(FIG.1) (for example, 5 to 10 m, etc.). Based on a change in the position of the agricultural machine1, the controller51may detect the travel speed of the agricultural machine1and may change the predetermined distance ds in accordance with the travel speed.

The warning issued by the warner51iis, for example, sound or light outputted by the warner63(FIG.1) such as a beeper, a speaker, or a warning lamp, etc. provided in the agricultural machine1to the user of the agricultural machine1and the neighborhood thereof. Though it is possible to perform warning display on the screen of the display operation interface52to show that the agricultural machine1is approaching the structure, it is better not to perform such warning display on the screen of the display operation interface52so that a state of work performed by the agricultural machine1will be easily visually recognizable.

Furthermore, when the distance da from the agricultural machine1to the structure has become equal to or less than the predetermined distance ds, the warner51iincreases the intensity of the warning as the distance da decreases. Specifically, for example, the volume of warning sound outputted from the buzzer, etc. is increased, or the output interval of warning beeps outputted intermittently is made shorter, as the distance da decreases. Alternatively, for example, the blinking interval of the warning lamp is made shorter, or the emission color of the warning lamp turns red from yellow, as the distance da decreases. Alternatively, the number of devices that output the warning may be increased as the distance da decreases.

During the warning by the warner51i, if the user operates the agricultural machine1to stop the agricultural machine1, or if the distance da from the agricultural machine1to the structure has become greater than the predetermined distance ds, the warning by the warner51istops.

For example, on an agricultural field having an irregular contour H1as illustrated inFIG.43, a warning is issued by the warner51iwhen the distance da from the agricultural machine1to the structure (contour H1) has become equal to or less than the predetermined distance ds while the agricultural machine1is traveling along the automatic steering route L2created in the outermost headland E2c. For example, in a state indicated by an arrow A1, the agricultural machine1is located between ends of a relatively short straight portion L2s-2of the automatic steering route L2and there is some distance to the termination end of this straight portion L2s-2. However, since the distance da from the agricultural machine1to the structure (≈contour H1) is less than the predetermined distance ds, a warning is issued by the warner51i. The warning continues until the distance da becomes greater than the predetermined distance ds. When the agricultural machine1comes to a position indicated by an arrow A2, the warning is stopped by the warner51ibecause the distance da from the agricultural machine1to the structure is greater than the predetermined distance ds.

When the distance da from the agricultural machine1to the structure has become equal to or less than a predetermined close-range distance that is less than the predetermined distance ds, the warner51imay transmit a request for stopping the agricultural machine1to the automatic controller61via the communicator54, and, upon receiving the stop request, the automatic controller61may bring the agricultural machine1to an emergency stop via the brake6.

A sensor such as a LiDAR sensor and/or an ultrasonic sensor may be provided on a front portion of the traveling vehicle body3, and, based on a sensing result of the sensor, the controller51may detect the position of the structure such as the footpath of which the contour H1of the agricultural field is made.

Also when the agricultural machine1travels rearward by automatic steering in the headland area E1, a warning may be issued by the warner51iwhen the distance to the structure lying ahead of the agricultural machine1in the traveling direction thereof has become equal to or less than a predetermined distance. However, since the user performs a visual rear check when causing the agricultural machine1to travel rearward for the purpose of performing a multi-point turn for a change in direction, the warning by the warner51imay be omitted so as to avoid complexity.

Alternatively or additionally, for example, as illustrated inFIG.44, by selecting the setting change key B20included in the travel control screen D11, display showing that the warning by the warner51iis for notification of approaching to a structure such as a footpath may be performed on the display operation interface52, and/or ON (enabled) or OFF (disabled) of the warning may be settable. This enables the user to know the meaning of the warning by the warner51iand to enable or disable the warning desirably.

In the preferred embodiment described above, the agricultural work assistance apparatus50that is a portable tablet terminal device is discussed as an example. However, besides this example, the agricultural work assistance apparatus may include an electronic device that is not mounted on the agricultural machine1, for example, a cloud server. Alternatively or additionally, the agricultural work assistance apparatus may include a portable or fixed electronic device in which application program(s) having functions equivalent to those of the agricultural work assistance apparatus50is installed. In place of the agricultural work assistance apparatus, for example, application program(s) that can be acquired from the cloud and installed on in an electronic device possessed by the user may be included in an agricultural work assistance system. In this case, travel routes, etc. may be displayed on a display provided in the electronic device in which the application program(s) is installed or on a display connected to the electronic device.

The agricultural work assistance system100, the agricultural work assistance apparatus50, and the agricultural machine1according to one or more preferred embodiments described above achieve the following effect(s).

An agricultural work assistance system100according to one or more preferred embodiments includes a display (display operation interface)52to display a map MP1, MP2representing an agricultural field, a controller51configured or programmed to define or function as an area setter51bto set a first area (headland area) E1and a second area (central area) C1located inward of the first area E1on the map MP1, MP2displayed by the display52, and a route creator51cto create, in at least one of the first area E1or the second area C1, a travel route L1, L2along which an agricultural machine1is to travel, wherein the route creator51cmay be configured or programmed to set at least a portion (straight route portion L1a, L2a, straight portion L1s, L2s, curved portion L2c) of the travel route L1, L2as an automatic steering route on which the agricultural machine1is to be steered automatically and a travel speed of the agricultural machine1is to be manually changed.

With the above configuration, when the operator of the agricultural machine1manually operates the agricultural machine1to travel based on the automatic steering route, the agricultural machine1is steered automatically. This makes it possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.

There may be cases in which, due to the influence of the degree of flatness, the degree of roughness, the contour, and/or the like of an agricultural field, it is difficult for the agricultural machine1to travel by automatic operation in some areas of the agricultural field. For example, headlands E2a, E2b, and E2c, in which the agricultural machine1travels and performs a multi-point turn more frequently than in a work area (central area) C1located at the center of an agricultural field, are more likely to be rough, and are more likely to have areas where it is difficult for the agricultural machine1to travel by automatic operation in relation to, for example, a footpath. However, setting an automatic steering route in such difficult areas and automatically steering the agricultural machine1make it possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1as compared to cases where the agricultural machine1is operated manually.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to set at least a portion of the travel route L2, L1created in the first area E1and the second area C1to the automatic steering route or an automatic operation route on which the agricultural machine1is to be steered automatically and the travel speed of the agricultural machine is to be changed automatically. This makes it possible to set a portion and another portion of the travel route L2, L1created in the first area E1and the second area C1of the agricultural field as an automatic steering route and an automatic operation route. Therefore, it is possible to further reduce the burden on the operator of the agricultural machine1, improve the efficiency of agricultural work performed by the agricultural machine1, and improve convenience.

In one or more preferred embodiments, the controller51may be configured or programmed to define or function as a route changer52,51c(display operation interface52, route creator51c) to change the automatic operation route to the automatic steering route and change the automatic steering route to the automatic operation route. This makes it possible to desirably change the use of at least a portion of the travel route L1, L2to the automatic steering route or the automatic operation route, making it possible to further improve convenience.

In one or more preferred embodiments, the route changer52,51cmay be configured or programmed to change the automatic operation route or the automatic steering route to a manual operation route on which the agricultural machine1is to be manually steered and the travel speed of the agricultural machine1is to be manually changed and to change the manual operation route to the automatic operation route or the automatic steering route. This makes it possible to desirably change the use of at least a portion of the travel route L1, L2to an automatic steering route, an automatic operation route, or a manual operation route, making it possible to further improve convenience.

In one or more preferred embodiments, the display52may be operable to display differently the automatic steering route and the automatic operation route on a screen such that the automatic steering route and the automatic operation route are visually recognizable. This makes it easier for the user to recognize the automatic steering route and the automatic operation route and change the use of these routes, making it possible to further improve convenience.

In one or more preferred embodiments, the display52may be operable to display, on a screen, at least one portion L2s, L1s, L1a, L2a, L3s, L2c(straight portion L2s, L1s, L3s, straight route portion L1a, L2a, curved portion L2c) of the travel route L2, L1, L3created in the first area E1and the second area C1that is settable as the automatic steering route. This makes it easier for the user to recognize the portion(s) L2s, L1s, L3s, L1a, L2a, L2c, of the travel route L2, L1that is/are settable as the automatic steering route and change the settings of the route, making it possible to further improve convenience.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to, if an angular difference Δθ between a first portion (straight portion) L2sof the travel route and a second portion (straight portion) L2sof the travel route adjacent to each other in a direction of travel along the travel route L2is greater than a predetermined threshold (first threshold) Δθs1, set a multi-point turn spot Px between the first portion L2sand the second portion L2ssuch that a position and a travel direction of the agricultural machine1change at the multi-point turn spot Px. The route creator51cmay be configured or programmed to, if the angular difference Δθ is not greater than the threshold Δθs1, connect the first portion L2sand the second portion L2sto obtain a continuous portion of the automatic steering route. With this, the agricultural machine1, when traveling under manual operation and automatic steering based on the travel route L2(which is an automatic steering route), does not perform impossible automatic steering at the point between the first portion L2sand the second portion L2sof the travel route L2that have a large angular difference Δθ, and it is possible to cause the operator to manually perform a multi-point turn of the agricultural machine1at the multi-point turn spot Px set between the first portion L2sand the second portion L2s. This makes it possible to ensure safety during travel or ground work by the agricultural machine1under automatic steering. Moreover, since the first portion L2sand the second portion L2sof the travel route L2that have a small angular difference Δθ are set as a continuous portion of the automatic steering route, it is possible to continue automatic steering of the agricultural machine1from the first portion L2sto the second portion L2ssafely, making it possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to create a travel route L2including straight portions L2son which the agricultural machine1is to travel straight and which are connected together. The route creator51cmay be configured or programmed to, if an angular difference Δθ between one of the connected straight portions L2sof the travel route L2that is a portion of the travel route L2and the other of the connected straight portions L2sof the travel route L2that is another portion of the travel route L2is equal to or less than a threshold Δθs1, create a travel route portion (straight portion L2sor curved portion L2c) connecting a first intermediate point Pα1of the one of the straight portions L2sand a second intermediate point Pα2of the other of the straight portions L2s, the first intermediate point Pα1and the second intermediate point Pα2each being at a predetermined distance dx from a connection point Pα between the one and the other of the straight portions L2s, and delete a portion between the first intermediate point Pα1of the one of the straight portions L2sand the connection point Pα and another portion between the second intermediate point Pα2of the other of the straight portions L2sand the connection point Pα. This makes it possible to reduce the angular difference between connected straight portions L2sor between a straight portion L2sand a curved portion L2cof the travel route L2, making it possible to reduce the steering angle of the agricultural machine1when performing automatic steering based on the travel route L2and improve the stability of the agricultural machine1.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to create, as the travel route portion, a straight portion L2salong which the agricultural machine1is to travel straight, between the one of the connected straight portions L2sof the travel route L2that is a portion of the travel route L2and the other of the connected straight portions L2sof the travel route L2that is another portion of the travel route L2, the connected straight portions L2shaving an angular difference Δθ equal to or less than the threshold Δθs1between them. This makes it possible to perform automatic steering of the agricultural machine1more stably based on the one of the connected straight portions L2s, the newly created straight portion L2s, and the other of the connected straight portions L2s.

In one or more preferred embodiments, the controller51may be configured or programmed to define or function as a threshold changer52,51c(display operation interface52, route creator51c) to change the threshold Δθs1. This makes it possible, for example, by increasing the threshold Δθs1, to reduce the number of spots Px at which a multi-point turn of the agricultural machine1is to be performed by manual operation, making it possible to increase the distance over which automatic steering of the agricultural machine1is performed. Moreover, for example, by reducing the threshold Δθs1, it is possible to increase the number of spots Px at which a multi-point turn of the agricultural machine1is performed by manual operation to reduce the frequency of automatic steering that involves turning the agricultural machine1, making it possible to improve the stability of automatic steering. That is, by changing the threshold Δθs1, it is possible to desirably adjust the distance over which and the locations at which the agricultural machine1is automatically steered to travel straight and the distance over which and the locations at which the agricultural machine1is automatically steered to make a gentle turn to the left or right, making it possible to further improve convenience.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to create a travel route L1, L2including one or more straight portions L2s, L1s, L1a, L2aon which the agricultural machine1is to travel straight and one or more turning portions L2r, L1b, L1r, L2bon which the agricultural machine1is to turn. The display52may be operable to display a position of the agricultural machine1detected by a position detector (positioning device)40on the map (agricultural field map) MP2and display, when the position of the agricultural machine1is near the multi-point turn spot Px while the agricultural machine1travels based on the travel route L2, a notification U5suggesting that a multi-point turn be performed to change the position and the travel direction of the agricultural machine1. This makes it possible, before the agricultural machine1that is being steered automatically based on the travel route L2(which is an automatic steering route) and that is being operated manually or the agricultural machine1that is traveling automatically reaches the multi-point turn spot Px, to prompt the operator to perform a multi-point turn of the agricultural machine1by manual operation. After the operator performs a multi-point turn of the agricultural machine1by manual operation, automatic steering is resumed based on the automatic steering route L2. Therefore, it is possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.

In one or more preferred embodiments, the controller51may be configured or programmed to define or function as an agricultural field register51ato register a contour H1of the agricultural field located inward of an outline of the agricultural field represented by the map MP1. The area setter51bmay be configured or programmed to set, as the second area (central area) C1, an area enclosed by another contour C1obtained by displacing the contour H1of the agricultural field inward, and sets, as the first area (headland area) E1, an area between the second area C1and the contour H1of the agricultural field. The route creator51cmay be configured or programmed to create, in the first area E1, the travel route L1c, L2which surrounds the second area C1based on a working width W1over which a working device2coupled to the agricultural machine1performs ground work or based on an outside width W6of the working device2. This makes it possible to set the contour H1of the agricultural field at a location inward of the outline of the agricultural field, set the first area E1at a location inward of the contour H1, and set the second area C1at a location inward of the first area E1. It is also possible to create the travel route L1, L2, L1cfor the agricultural machine1in the second area C1and the first area E1without allowing the travel route L1, L2, L1cto extend beyond the outline of the agricultural field.

In one or more preferred embodiments, the area setter51bmay be configured or programmed to, after obtaining a first contour E3by displacing the contour H1of the agricultural field inward once by a first displacement amount (W1−W2+W5=W4+W5, W1+W5, W4+W7=W4+(W6−W1)/2) calculated based on the working width W1of the working device2, the outside width W6of the working device2greater than the working width W1thereof, a predetermined overlap W2, and/or a predetermined shift amount W5, define one or more second contours E31, E32by displacing the first contour E3inward once or more each by a second displacement amount (W4=W1−W2) calculated based on the working width W1or based on the working width W1and the overlap W2, the second displacement amount being smaller than the first displacement amount, and set an area enclosed by the innermost one E32of the one or more second contours as the second area C1. The route creator51cmay be configured or programmed to create, in the first area E1, the travel route L2, L1cbetween the contour H1of the agricultural field and the first contour E3, between the first contour E3and one E31of the one or more second contours that is closest to the first contour E3, and between the one or more second contours E31, E32.

With the above configuration, when ground work is performed by the working device2on the agricultural machine1during automatic steering of the traveling vehicle body3based on the travel route L2in the headland area E1, it is possible to reduce the likelihood that the working device2will go beyond the contour H1of the agricultural field and collide with a footpath or the like. It is also possible, by setting the distance (shift amount) W5by which the contour H1of the agricultural field is displaced inward to a value greater than zero using an agricultural field shift amount change key B25, by creating the outermost headland E2cand creating the travel route L2in the headland E2cin consideration of the outside width W6greater than the working width W1of the working device2, to further reduce the likelihood that the working device2will go beyond the contour H1of the agricultural field and collide with a footpath or the like. Furthermore, since the inner headland(s) E2b, E2ais set based on the width W4that is less than the width of the outermost headland E2cin in the first area E1, it is possible to obtain a large central area C1where the automatic traveling work route portion is set.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to create, in the first area E1, the travel route L2, L1cthat includes a plurality of loops which surround the second area C1and which have different diameters, set a gap between an outermost loop of the travel route L2, L1cand the contour H1of the agricultural field based on the working width W1of the working device2, the outside width W6of the working device2greater than the working width W1thereof, a predetermined overlap W2, and/or a predetermined shift amount W5, and set, based on the working width W1or based on the working width W1and the overlap W2, another gap between the outermost loop and a second outermost loop, and one or more further gaps between inner loops such that the another gap and the one or more further gaps are smaller than the gap between the outermost loop and the contour H1of the agricultural field.

With the above configuration, the gap between the outermost loop L2(portion of the travel route L2created in the headland E2c) of the travel route L2, L1ccreated in the first area E1and the contour H1of the agricultural field is wide, making it possible to prevent or reduce the likelihood that, when the agricultural machine1is steered automatically based on the outermost loop L2while the working device2performs ground work, the working device2will go beyond the contour H1of the agricultural field and collide with a footpath or the like. Moreover, the gap between the outermost loop L2of the travel route L2, L1ccreated in the first area E1and its nearest inner loop L2and the gap between the inner loops L2, L1care narrow, making it possible to obtain a large central area C1. Moreover, since the route creator51ccreates travel route portions L2and L1cwhich surround the second area C1and which have different diameters such that the gap between the outermost portion L2and its nearest portion L2is smaller than the gap between inner route portions L2and L1c, it is possible, when ground work is performed by the working device2while automatic steering of the agricultural machine1is performed based on the outermost portion L2, to further reduce the likelihood that the working device2will go beyond the contour H1of the agricultural field and collide with a footpath or the like.

In one or more preferred embodiments, the agricultural work assistance system100may further include a position detector (positioning device)40configured or programmed to detect a position of the agricultural machine1, and an automatic controller61configured or programmed to perform automatic steering in which the agricultural machine1is steered automatically based on the position of the agricultural machine1and the automatic steering route, and cause a working device2coupled to the agricultural machine1to perform agricultural work on the agricultural field. This makes it possible to cause the working device2to perform agricultural work on the agricultural field while automatically steering the agricultural machine1that is being manually operated to travel, based on the position of the agricultural machine1and the automatic steering route, thus possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to set the automatic steering route at a portion of the travel route L1, L2created in the first area E1and the second area C1and sets an automatic operation route at another portion of the travel route L1, L2, the automatic operation route being a route on which the agricultural machine1is to be steered automatically and the travel speed of the agricultural machine1is to be changed automatically. The automatic controller61may be configured or programmed to perform an automatic operation in which the agricultural machine1is steered automatically and the travel speed of the agricultural machine1is changed automatically based on the position of the agricultural machine1and the automatic operation route, and switch between the automatic steering and the automatic operation of the agricultural machine1automatically as one of the automatic steering route and the automatic operation route that are connected to each other changes to the other while the agricultural machine1travels along the travel route L2, L1. This makes it unnecessary for the operator of the agricultural machine1to manually switch between the automatic operation and the automatic steering of the agricultural machine1and thus possible to further reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.

In one or more preferred embodiments, the automatic controller61may be configured or programmed to perform the automatic steering of the agricultural machine1when the agricultural machine1travels rearward along the automatic steering route as a multi-point turn to change the position and a travel direction of the agricultural machine1is performed manually. This makes it possible to reduce the burden on the operator and reduce the time taken for the multi-point turn to be performed when the agricultural machine1is manually operated to perform the multi-point turn.

In one or more preferred embodiments, the automatic controller61may be configured or programmed to, based on the automatic steering route L2, perform the automatic steering of the agricultural machine1and cause the working device2to start agricultural work on the agricultural field if the travel route based on which the agricultural work is started on the agricultural field by the agricultural machine1and the working device2is the automatic steering route L2. This makes it possible, when agricultural work is started in the agricultural field by the agricultural machine1and the working device2, to perform the automatic steering work mode without going through the automatic operation work mode to cause the working device2to start the agricultural work on the agricultural field while automatically steering the agricultural machine1. This also makes it unnecessary for the user (the operator of the agricultural machine1) to perform a troublesome operation to perform the automatic operation work mode, making it possible to improve convenience. It follows that it is possible to reduce the burden on the user and improve the efficiency of the agricultural work.

In one or more preferred embodiments, the agricultural work assistance system100may further include a first selector S1(a first portion of a display operation interface52) to select whether or not to perform agricultural work by the automatic steering. The automatic controller61may be configured or programmed to, based on the position of the agricultural machine1and the travel route, perform the automatic steering of the agricultural machine1and cause the working device2to start agricultural work on the agricultural field if performing agricultural work by the automatic steering is selected via the first selector S1. This makes it possible, when agricultural work is started in the agricultural field by the agricultural machine1and the working device2, to perform the automatic steering work mode without going through the automatic operation work mode and cause the working device2to start the agricultural work on the agricultural field while automatically steering the agricultural machine1.

In one or more preferred embodiments, the agricultural work assistance system100may further include a second selector B43, B50(a second portion B43, B50of the display operation interface52) (automatic headland work key B43, automatic center work key B50) to select whether or not to perform agricultural work by automatic operation. The automatic controller61may be configured or programmed to, based on the position of the agricultural machine1and the travel route, perform the automatic operation of the agricultural machine1and cause the working device2to start agricultural work on the agricultural field if performing agricultural work by the automatic operation is selected via the second selector B43, B50. The automatic steering is selectable via the first selector S1if not performing agricultural work by the automatic operation is selected via the second selector B43, B50. This makes it possible, when agricultural work is started in the agricultural field by the agricultural machine1and the working device2, to perform the automatic operation work mode to cause the working device2to start the agricultural work on the agricultural field while automatically operating the agricultural machine1. This also makes it possible for the user to select not to perform the automatic operation work mode and then select whether or not to perform the automatic steering work mode instead.

In one or more preferred embodiments, the agricultural work assistance system100further includes a third selector S3(a third portion S3of a display operation interface52) to select, when agricultural work on the agricultural field by the agricultural machine1and the working device2is to be resumed after a pause, whether to resume the agricultural work by the automatic steering or to resume the agricultural work by automatic operation in which the agricultural machine1is steered automatically and the travel speed of the agricultural machine1is changed automatically. The automatic controller61may be configured or programmed to, based on the position of the agricultural machine1and the travel route, perform the automatic steering of the agricultural machine1and cause the working device2to resume the agricultural work on the agricultural field if resuming the agricultural work by the automatic steering is selected via the third selector S3. The automatic controller61may be configured or programmed to, based on the position of the agricultural machine1and the travel route, perform the automatic operation of the agricultural machine1and cause the working device2to resume the agricultural work on the agricultural field if resuming the agricultural work by the automatic operation is selected via the third selector S3. This makes it possible, when agricultural work on the agricultural field by the agricultural machine1and the working device2is to be resumed after a pause, upon the user selecting to resume the agricultural work by the automatic steering via the third selector S3, to perform the automatic steering work mode without going through the automatic operation work mode to cause the working device2to start the agricultural work on the agricultural field while automatically steering the agricultural machine1. This also makes it possible, upon the user selecting to resume the agricultural work by the automatic operation via the third selector S3, to perform the automatic operation work mode to cause the working device2to start the agricultural work on the agricultural field while automatically operating the agricultural machine1.

In one or more preferred embodiments, the agricultural work assistance system100may include a distance calculator51hconfigured or programmed to, when the automatic controller61performs the automatic steering based on the position of the agricultural machine1and the automatic steering route set in the first area E1and the agricultural machine1travels in the first area E1, calculate a distance from the position of the agricultural machine1detected by the position detector (positioning device)40to a structure which lies ahead of the agricultural machine1in a direction of travel and which defines the contour H1of the agricultural field, and a warner51ito issue a warning if the distance da to the structure calculated by the distance calculator51his equal to or less than a predetermined distance ds, wherein the warner51imay be operable to increase an intensity of the warning as the distance da to the structure decreases. With this, the warner51iissues a warning when the agricultural machine1approaches a structure such as a footpath which defines the contour H1of the agricultural field while the agricultural machine1is traveling by automatic steering along the travel route L2created in the first area E1of the agricultural field, making it possible to allow the operator (user) of the agricultural machine1to perform operation to prevent or reduce the likelihood that the agricultural machine1will contact the structure or move out of the agricultural field (travel beyond the structure).

An agricultural work assistance apparatus50according to one or more preferred embodiments is an agricultural work assistance apparatus included in an agricultural work assistance system100, the agricultural work assistance apparatus50including a controller51configured or programmed to cause a display (display operation interface)52to display a map MP2representing an agricultural field, and configured or programmed to define or function as an area setter51bto set a first area E1and a second area C1located inward of the first area E1on the map MP2displayed by the display52, and a route creator51cto create, in the first area E1and the second area C1, a travel route L1, L2along which an agricultural machine1is to travel, wherein the route creator51cis configured or programmed to set at least a portion (straight route portion L1a, L2a, straight portion L1s, L2s, curved portion L2c) of the travel route L1, L2as an automatic steering route on which the agricultural machine1is to be steered automatically and a travel speed of the agricultural machine1is to be changed manually. With this configuration, when the operator of the agricultural machine1causes the agricultural machine1to travel by manual operation based on the automatic steering route, the agricultural machine1is automatically steered, making it possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.

In one or more preferred embodiments, the route creator51cmay be configured or programmed to set at least a portion of the travel route L1, L2to the automatic steering route or an automatic operation route on which the agricultural machine1is to be steered automatically and the travel speed of the agricultural machine1is to be changed automatically. The controller51may be configured or programmed to define or function as a route changer52,51cto change the automatic operation route to the automatic steering route and change the automatic steering route to the automatic operation route and is mountable on the agricultural machine1. This makes it possible to desirably change the use of at least a portion of the travel route L1, L2, L3to the automatic steering route or the automatic operation route, reduce the burden on the operator, improve the efficiency of agricultural work performed by the agricultural machine1, and improve convenience.

An agricultural machine1according to one or more preferred embodiments is an agricultural machine to perform agricultural work assisted by an agricultural work assistance system100, the agricultural machine1including a traveling vehicle body3, a coupling portion8g,8hto couple a working device2to the traveling vehicle body3, a position detector (positioning device)40configured or programmed to detect a position of the traveling vehicle body3, a display (display operation interface)52to display a map MP2representing an agricultural field, and a controller configured or programmed to define or function as an area setter51bto set a first area E1and a second area C1located inward of the first area E1on the map MP2displayed by the display52, a route creator51cto create, in the first area E1and the second area C1, a travel route L2, L1along which the traveling vehicle body3is to travel, and an automatic controller61configured or programmed to cause the working device2to perform the agricultural work on the agricultural field, wherein the route creator51cis configured or programmed to set at least a portion (straight route portion L1a, L2a, straight portion L1s, L2s, curved portion L2c) of the travel route L1, L2as an automatic steering route, and the automatic controller61is configured or programmed to automatically steer the traveling vehicle body3based on the position of the traveling vehicle body3and the automatic steering route. With this configuration, when the operator of the agricultural machine1causes the agricultural machine1to travel by manual operation based on the automatic steering route, the automatic controller61automatically steers the agricultural machine1, making it possible to reduce the burden on the operator and improve the efficiency of agricultural work performed by the agricultural machine1.