Patent Description:
A technique disclosed in Patent Document <NUM> is known as a technique to create a traveling path (work traveling line) for automatically operating a work vehicle such as a tractor. A work vehicle of Patent Document <NUM> includes an acquisition unit that acquires positional data of an outer periphery of an agricultural field, and a work setting unit that sets, in the agricultural field, a work traveling line on which a traveling machine body travels on the basis of the positional data. <CIT> describes a work vehicle provided with an acquisition part for acquiring positional data of outer peripheries of a farm field and a work setting part for setting work travel lines on which a traveling machine body runs in a field based on the position data.

A further work vehicle is known from document <CIT>.

In Patent Document <NUM>, the work vehicle can create the work traveling line and can perform work while automatically traveling along the work traveling line. However, there is a possibility that the work can be performed only on a part of a target agricultural field and cannot be performed on the other part thereof depending on the type of a working device.

In view of the above problem, an object of the present invention is to provide a work vehicle capable of accurately performing work at an intended location even when the work vehicle performs the work using a working device including a plurality of working parts while traveling, and a work assistance apparatus for the work vehicle. Preferred examples are defined in the dependent claims.

According to the present invention, even when a work vehicle performs work using a working device including a plurality of working parts while traveling, the work can be accurately performed at an intended location.

Hereinbelow, an embodiment of the present invention will be described with reference to the drawings.

<FIG> illustrates a tractor <NUM>, which is an example of a work vehicle. Although the tractor <NUM> will be described as an example of the work vehicle, the work vehicle is not limited to the tractor and may be a rice transplanter or a combine harvester.

As illustrated in <FIG>, the tractor <NUM> includes a traveling vehicle body <NUM> including a traveling device <NUM>, a prime mover <NUM>, and a transmission <NUM>. The traveling device <NUM> includes front wheels 7F and rear wheels 7R. The front wheels 7F may be ones of a wheel type device or may be ones of a crawler type device. Also, the rear wheels 7R may be ones of a wheel type device or may be ones of a crawler type device. The prime mover <NUM> is, for example, a diesel engine or an electric motor. The transmission <NUM> transmits a driving force for driving the traveling device <NUM> while speed-shifting the driving force and capable of switching the traveling of the traveling device <NUM> between forward traveling and backward traveling. The traveling vehicle body <NUM> is provided with a cabin <NUM>. An operator's seat <NUM> is provided inside the cabin <NUM>.

A coupling device is provided on a rear portion of the traveling vehicle body <NUM>. The coupling device is, for example, a swing drawbar that couples a working device <NUM> to the traveling vehicle body <NUM> and does not raise and lower the working device <NUM> or a lifting device <NUM> that is constituted of, for example, a three-point linkage mechanism and raises and lowers the working device <NUM>. The working device <NUM> is detachably attached to the coupling device. The traveling vehicle body <NUM> can tow the working device <NUM> by coupling the working device <NUM> to the coupling device. Examples of the working device <NUM> include a tiller that performs tilling, a fertilizer spreader that spreads fertilizer, a transplanter that plants seedlings, an irrigation device that performs irrigation, an agricultural chemical spraying device that sprays agricultural chemicals, a seeder that scatters seeds, a mower that mows, for example, grass, a scattering device that scatters, for example, grass, a grass collecting device that collects, for example, grass, a shaping device that shapes, for example, grass, and a composite device that performs a plurality of types of work.

<FIG> illustrates a composite device, which is an example of the working device <NUM>. The composite device illustrated in <FIG> includes a plurality of working parts <NUM>. The plurality of working parts <NUM> include a first working part 101a, a second working part 101b, a third working part 101c, a fourth working part 101d, a fifth working part 101e, and a sixth working part 101f. The first working part 101a, the second working part 101b, the third working part 101c, the fourth working part 101d, the fifth working part 101e, and the sixth working part 101f are arranged in this order from the front side to the rear side. The first working part 101a is located on the frontmost side. The sixth working part 101f is located on the rearmost side.

The first working part 101a is a fertilizer spreading nozzle that spreads or sprays a fertilizer charged into a container <NUM>. The first working part 101a is connected, through a hose <NUM>, to a feeder <NUM> that feeds the fertilizer inside the container <NUM>. The first working part 101a sprays, onto an agricultural field (ground), the fertilizer fed to the hose <NUM> by driving the feeder <NUM>. The second working part 101b is a tilling tine that tills the agricultural field. The second working part 101b is attached to a rotation shaft <NUM> rotatable by a driving mechanism <NUM>. The second working part 101b rotates along with rotation of the rotation shaft <NUM> to tilt the agricultural field by driving the driving mechanism <NUM>. The third working part 101c is a ground leveling cover disposed rearward of the second working part 101b. The third working part 101c levels the tilled ground. In the case of the composite device illustrated in <FIG>, the first working part 101a, the second working part 101b, and the third working part 101c constitute the fertilizer spreader.

The fourth working part 101d is a groove forming disc that forms a groove. The fifth working part 101e is a seeding nozzle that sows seeds charged into a container <NUM>. The fifth working part 101e is connected, through a hose <NUM>, to a feeder <NUM> that feeds the seeds inside the container <NUM>. The fifth working part 101e sows the seeds fed to the hose <NUM> by driving the feeder <NUM> into the groove formed by the fourth working part 101d. The sixth working part 101f is a compacting roller that is rotatably supported and compacts at least a part with the seeds sowed therein. In the case of the composite device illustrated in <FIG>, the fourth working part 101d, the fifth working part 101e, and the sixth working part 101f constitute the seeder.

The first working part 101a, the second working part 101b, the third working part 101c, the fourth working part 101d, the fifth working part 101e, and the sixth working part 101f are supported by a frame <NUM>, and raised or lowered by the lifting device <NUM>. That is, the fertilizer spreader and the seeder include the frame <NUM> and are supported by a lift arm 8a, a lower linkage 8b, a top linkage 8c, a lift rod 8d, and a lift cylinder 8e illustrated in <FIG> so as to be raised and lowered. The feeder <NUM>, the driving mechanism <NUM>, and the feeder <NUM> are driven (operated) by rotation of a PTO shaft projecting from the rear portion of the traveling vehicle body <NUM>.

As illustrated in <FIG>, the lifting device <NUM> includes the lift arm 8a, the lower linkage 8b, the top linkage 8c, the lift rod 8d, and the lift cylinder 8e. A front end portion of the lift arm 8a is supported swingably upward or downward on a rear upper portion of a case (transmission case) in which the transmission <NUM> is housed. The lift arm 8a swings (rises and lowers) by driving of the lift cylinder 8e. The lift cylinder 8e is constituted of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump through a control valve <NUM>. The control valve <NUM> is a solenoid valve. The control valve <NUM> extends and contracts the lift cylinder 8e.

A front end portion of the lower linkage 8b is supported swingably upward or downward on a rear lower portion of the transmission <NUM>. A front end portion of the top linkage 8c is supported swingably upward or downward on a rear portion of the transmission <NUM> above the lower linkage 8b. The lift rod 8d couples the lift arm 8a and the lower linkage 8b to each other. The working device <NUM> is coupled to a rear portion of the lower linkage 8b and a rear portion of the top linkage 8c. When the lift cylinder 8e is driven (extended or contracted), the lift arm 8a rises or lowers, and the lower linkage 8b coupled to the lift arm 8a through the lift rod 8d rises or lowers. Accordingly, the working device <NUM> swings upward or downward (lifts or lowers) about a front portion of the lower linkage 8b serving as a fulcrum.

As illustrated in <FIG>, the tractor <NUM> includes a steering device <NUM>. The steering device <NUM> includes a steering wheel <NUM>, a rotation shaft (steering shaft) <NUM> rotatable along with rotation of the steering wheel <NUM>, and an assist mechanism (power steering mechanism) <NUM> that assists steering of the steering wheel <NUM>. The assist mechanism <NUM> incudes a hydraulic pump <NUM>, a control valve <NUM> to which a hydraulic fluid ejected from the hydraulic pump <NUM> is supplied, and a steering cylinder <NUM> operable by the control valve <NUM>. The control valve <NUM> is a solenoid valve operable in accordance with a control signal. The control vale <NUM> is, for example, a <NUM>-position switching valve switchable by, for example, movement of a spool. The control valve <NUM> is also switchable by steering of the steering shaft <NUM>. The steering cylinder <NUM> is connected to an arm (knuckle arm) for changing the direction of the front wheels 7F.

Thus, when the steering wheel <NUM> is operated, a switching position and an opening degree of the control valve <NUM> are switched in response to the operation of the steering wheel <NUM>, and the steering cylinder <NUM> extends or contracts leftward or rightward according to the switching position and the opening degree of the control valve <NUM>. Accordingly, a steering direction of the front wheels 7F can be changed. The steering device <NUM> described above is merely an example, and the configuration of the steering device <NUM> is not limited to the above-described configuration.

The tractor <NUM> includes a positioning device <NUM>. The positioning device <NUM> is capable of detecting its own position (positioning information including its latitude and longitude) using a satellite positioning system (positioning satellite) such as the D-GPS, the GPS, the GLONASS, the BeiDou, the Galileo, or the QZSS. That is, the positioning device <NUM> receives a satellite signal (e.g., a position of the positioning satellite, a transmission time, or correction information) transmitted from the positioning satellite and detects the position (e.g., the latitude and longitude) of the tractor <NUM>, that is, the vehicle body position on the basis of the satellite signal. The positioning device <NUM> includes a receiver <NUM> and an inertial measurement unit (IMU) <NUM>. The receiver <NUM> includes, for example, an antenna and receives a satellite signal transmitted from the positioning satellite. The receiver <NUM> is attached to the traveling vehicle body <NUM> separately from the inertial measurement unit <NUM>. In the present embodiment, the receiver <NUM> is attached to the traveling vehicle body <NUM>, specifically, to the cabin <NUM>. An attached location of the receiver <NUM> is not limited to the location in the embodiment.

The inertial measurement unit <NUM> includes, for example, an acceleration sensor that detects an acceleration or a gyroscopic sensor that detects an angular velocity. The inertial measurement unit <NUM> is provided under the traveling vehicle body <NUM>, for example, under the operator's seat <NUM> and can detect roll, pitch, and yaw angles of the traveling vehicle body <NUM>.

As illustrated in <FIG>, the tractor <NUM> includes a display device <NUM>. The display device <NUM> includes a control unit <NUM>, a display unit <NUM>, and a storage unit <NUM>. The control unit <NUM> is constituted of, for example, a CPU or an electric or electronic circuit and performs various control operations related to the display device <NUM>. The display unit <NUM> is constituted of, for example, a liquid crystal panel, a touch panel, or another panel and display various pieces of information. The storage unit <NUM> is constituted of, for example, a nonvolatile memory. For example, an application program for assisting work of the tractor <NUM> is stored in the storage unit <NUM>. When the application program is started, the display device <NUM> functions as a work assistance apparatus that assists work. Also when the display device <NUM> functions as the work assistance apparatus, the control unit <NUM>, which is hardware, executes a process as the work assistance apparatus.

As illustrated in <FIG>, the display device (work assistance apparatus) <NUM> includes a map registration unit 51A. The map registration unit 51A registers an outline of a predetermined agricultural field, for example, a position corresponding to the outline of the predetermined agricultural field. As illustrated in <FIG>, when a predetermined operation is performed on the display device <NUM>, the map registration unit 51A displays a map registration screen M1 on the display unit <NUM>.

A map MP1 including an agricultural field, a vehicle body position VP1 of the tractor <NUM>, and agricultural field identification information such as an agricultural field name or an agricultural field management number are displayed on the map registration screen M1. Positional information such as the latitude and longitude is associated, in addition to image data representing the agricultural field, with the map MP1. When the tractor <NUM> enters the agricultural field and circles around inside the agricultural field, the current vehicle body position VP1 detected by the positioning device <NUM> when the tractor <NUM> circles around is displayed on the map registration screen M1. When a registration button <NUM> displayed on the map registration screen M1 is selected after the tractor <NUM> finishes circling around inside the agricultural field, as illustrated in <FIG>, the map registration unit 51A sets, as an outline (outer shape) H1 of the agricultural field, a traveling track K1 obtained from a plurality of vehicle body positions of the tractor <NUM> circling around and registers an agricultural field map MP2 indicated by the outline H1 together with the agricultural field identification information.

Alternatively, as illustrated in <FIG>, the map registration unit 51A may register, as the outline H1 of the agricultural field (agricultural field map MP2), an outline K2 connecting inflection points calculated from the traveling track indicated by the vehicle body positions VP1. As illustrated in <FIG>, the map registration unit 51A may register, as the outline H1 (agricultural field map MP2), an outline K3 connecting corners of the agricultural field designated by, for example, a driver using a switch provided on the tractor <NUM> when the tractor <NUM> circles around. The agricultural field registration methods described above are merely examples, and the registration method is not limited thereto. The outline of the agricultural field, that is, the agricultural field map MP2 may be data indicated by a position (latitude and longitude), data indicated by a coordinate system (X and Y axes), or data indicated by another expression.

The storage unit <NUM> stores the agricultural field map MP2 indicating the outline (outer shape) registered by the map registration unit 51A. That is, the storage unit <NUM> stores the agricultural field map MP2, that is, data indicating the outline of the agricultural field (data for representing a specified agricultural field).

As illustrated in <FIG>, the display device (work assistance apparatus) <NUM> includes an area setting unit 51D. The area setting unit 51D sets a work area A2.

As illustrated in <FIG>, when an operator (driver) performs a predetermined operation on the display device, the area setting unit 51D displays a work setting screen M2 on the display unit <NUM>. The work setting screen M2 includes an agricultural field input portion <NUM> and an agricultural field display portion <NUM>. Agricultural field identification information such as the agricultural field name or the agricultural field management number can be input to the agricultural field input portion <NUM>. The agricultural field display portion <NUM> displays the agricultural field map MP2 indicating a predetermined agricultural field corresponding to the agricultural field identification information input to the agricultural field input portion <NUM>. That is, the area setting unit 51D invokes, from the storage unit <NUM>, the agricultural field map MP2 corresponding to the agricultural field identification information input to the agricultural field input portion <NUM> and displays, on the agricultural field display portion <NUM>, the agricultural field map MP2 transmitted from the storage unit <NUM>.

On the agricultural field map MP2, when a turning width W1 is input to a turning width input portion <NUM> and a turning setting button <NUM> is selected, the area setting unit 51D displays the work area A2 except a turning area A1 on the agricultural field map MP2 displayed on the agricultural field display portion <NUM>. For example, the area setting unit 51D sets, as the work area A2, an area surrounded by an outline H2 that is offset inward by the turning width W1 from the outline H1 of the agricultural field map MP2. On the work setting screen M2, the work area A2 may be set on the agricultural field map MP2 displayed on the agricultural field display portion <NUM> by designating the position of the outline of the work area A2 on the agricultural field map MP2 using, for example, a pointer.

The storage unit <NUM> stores data of the agricultural field map MP2 with the work area A2 set thereon (data indicating the position of the work area A2).

As illustrated in <FIG>, the display device (work assistance apparatus) <NUM> includes a route creation unit 51B. The route creation unit 51B refers to the agricultural map MP2 registered in the storage unit <NUM> and creates a traveling route (planned traveling route) L1 for the traveling vehicle body <NUM> on the agricultural field map MP2.

As illustrated in <FIG>, when an operator (driver) performs a predetermined operation on the display device, the route creation unit 51B displays a route setting screen M3 on the display unit <NUM>. On the route setting screen M3, the planned traveling route L1 can be set at least in the work area A2 in the agricultural field. The route setting screen M3 includes a route display portion <NUM> that displays the planned traveling route L1 and a width input portion <NUM>. A work width W2 of the working device <NUM> is a width (a work execution width) by which the working device <NUM> performs work on the ground such as an agricultural field. In the case where the working device <NUM> spreads the material onto the agricultural field, the work width W2 is a spreading width by which the material is supplied. For example, in a case where the working device <NUM> is a fertilizer spreader, a fertilizer spreading width corresponds to the work width W2. In a case where the working device <NUM> is a chemical spraying device, a chemical spraying width corresponds to the work width W2. In a case where the working device <NUM> is a seedling transplanter, a planting width by which seedlings can be planted into the agricultural field in one operation cycle corresponds to the work width. In a case where the working device <NUM> is a seeder, a seeding width corresponds to the work width W2. Ground work means agricultural work performed on an agricultural field and a crop planted on the agricultural field. Examples of the ground work include seedling planting, irrigation, chemical spraying, fertilizer spreading (fertilizer application), scattering of seeds (seeding), compaction, soil covering, ridge forming, tilling, and groove forming.

When the route creation unit 51B acquires the work width W2, as illustrated in <FIG>, the route creation unit 51B divides the work area A2 with the work width W2 in the longitudinal or lateral direction to create, inside the work area A2, a plurality of unit work sections A3 where the working device <NUM> performs the work. That is, the route creation unit 51B creates, inside the work area A2, the plurality of unit work sections A3 each having the same width as the work width W2. As illustrated in <FIG>, the route creation unit 51B may create, inside the work area A2, a plurality of unit work sections A3 each having a width W4 obtained by subtracting an overlap width W3 from the work width W2. The overlap width W3 can be input on the route setting screen M3. That is, the route creation unit 51B sets, as the unit work section A3, a minimum unit area where the working device <NUM> performs the work on the agricultural field when the traveling vehicle body <NUM> with the working device <NUM> coupled thereto is caused to travel.

As illustrated in <FIG>, the route creation unit 51B creates, for each unit work section A3 on the agricultural field map MP2, a straight-ahead section (straight-ahead route) L1a on which the traveling vehicle body <NUM> travels straight ahead. That is, the route creation unit 51B, for example, creates the straight-ahead route L1a having a straight shape and extending between opposite ends in the longitudinal direction of the unit work section A3, that is, extending between opposite sides, in the longitudinal direction of the unit work section A3, of a boundary X1 between the turning area A1 and the work area A2, on a center in the width direction of the unit work section A3. The route creation unit 51B creates a turning section (turning rout) L1b connecting ends of straight-ahead routes L1a adjoining each other. That is, the route creation unit 51B creates the turning route L1b at least in the turning area A1.

The route creation unit 51B is capable of associating the planned traveling route L1 with the vehicle speed (moving speed) of the tractor <NUM> (traveling vehicle body <NUM>). For example, a vehicle speed input portion for inputting the vehicle speed is provided on the route setting screen M3, and the vehicle speed is input to the vehicle speed input portion. The route creation unit 51B associates the straight-ahead route L1a with the vehicle speed input to the vehicle speed input portion. The planned traveling route L1 (the straight-ahead route L1a and the turning route L1b) created by the route creation unit 51B is stored in the storage unit <NUM>.

The display device (work assistance apparatus) <NUM> includes a work setting unit <NUM>. The work setting unit <NUM> sets a work start and a work end in the working device <NUM>. As illustrated in <FIG>, the work setting unit <NUM> sets a work start position STn and a work end position ETn at the boundary X1 between the work area A2 and the turning area A1. Alternatively, the work setting unit <NUM> sets the work start position STn and the work end position ETn on the planned traveling route L1.

Specifically, in a case where the planned traveling route L1 includes straight-ahead routes L1an (n = <NUM>, <NUM>,. n, where the straight-ahead route L1a1 (n = <NUM>) is closest to a work start point, and the straight-ahead route L1an (n = n) is closest to a work finish point), as illustrated in <FIG>, the work setting unit <NUM> sets the work start position STn (n = <NUM>, <NUM>, <NUM>. ) at an end on one side (an end on the same side as the work finish point) of the even-numbered straight-ahead route L1an (n = <NUM>, <NUM>, <NUM>. The work setting unit <NUM> sets the work start position STn (n = <NUM>, <NUM>, <NUM>. ) at an end on the other side (an end on the same side as the work start point) of the odd-numbered straight-ahead route L1an (n = <NUM>, <NUM>, <NUM>.

The work setting unit <NUM> sets the work end position ETn (n = <NUM>, <NUM>, <NUM>. ) at an end on the one side (an end on the same side as the work finish point) of the odd-numbered straight-ahead route L1an (n = <NUM>, <NUM>, <NUM>. The work setting unit <NUM> sets the work end position ETn (n = <NUM>, <NUM>, <NUM>. ) at an end on the other side (an end on the same side as the work start point) of the even-numbered straight-ahead route L1an (n = <NUM>, <NUM>, <NUM>.

That is, in <FIG>, the work start positions STn and the work end positions ETn are aligned along the boundary X1. In other words, at least the work start position STn and the work end position ETn that are adjacent to each other are arranged side by side at the same position in the fore-and-aft direction of the traveling vehicle body <NUM> (working device <NUM>).

The work setting unit <NUM> can set the work start position STn and the work end position ETn on the basis of the type of the working device <NUM>. Specifically, in a case where the working device <NUM> includes a plurality of working parts <NUM>, the work set unit <NUM> sets the work start position STn and the work end position ETn adjoining each other at different positions in the fore-and-aft direction of the traveling vehicle body <NUM> (working device <NUM>) according to the plurality of working parts <NUM>.

As illustrated in <FIG>, the display device (work assistance apparatus) <NUM> includes an information acquisition unit <NUM>. The information acquisition unit 51I acquires information about the plurality of working parts <NUM> included in the working device <NUM>.

When a predetermined operation is performed on the display device (work assistance apparatus) <NUM>, as illustrated in <FIG>, the information acquisition unit <NUM> displays a machine setting screen M10 for inputting, for example, information of the working parts <NUM> of the working device <NUM>. The machine setting screen M10 includes a figure D1 representing the tractor (work vehicle) <NUM>, a figure D2 representing the working device <NUM>, a figure D3 representing the positioning device <NUM>, a figure D4 representing the working part <NUM> on the front side (front working part), and a figure D5 representing the working part <NUM> on the rear side (rear working part). For convenience of description, among the plurality of working parts <NUM>, the working part <NUM> located on the front side may be referred to as "front working part <NUM>", and the working part <NUM> located on the rear side may be referred to as "rear working part <NUM>".

The machine setting screen M10 further includes a first input portion <NUM> for inputting a first distance Y1, and a second input portion <NUM> for inputting a second distance Y2.

The distance Y1 between the positioning device <NUM> and the front working part <NUM> located on the front side of the working device <NUM> in the fore-and-aft direction (traveling direction) is input to the first input portion <NUM>. The distance Y2 between the front working part <NUM> and the rear working part <NUM> located rearward of the front working part <NUM> is input to the second input portion <NUM>. The information acquisition unit 51I acquires, as the information about the plurality of working parts <NUM>, the distance Y2 between the front working part <NUM> and the rear working part <NUM> located rearward of the front working part <NUM>.

The positioning device <NUM> or the controller <NUM> can calculate a position of the front working part <NUM> (front working part position) from the distance Y1 input to the first input portion <NUM>. Further, the positioning device <NUM> or the controller <NUM> can calculate a position of the rear working part <NUM> (rear working part position) from the distance Y1 input to the first input portion <NUM> and the distance Y2 input to the second input portion <NUM>. The working device <NUM> can be raised or lowered or driving of the working device <NUM> can be started or stopped according to the front working part position and the rear working part position.

In the working device including the plurality of working parts <NUM> such as the composite device, for example, an operator (driver) selects the front working part <NUM> and the rear working part <NUM> at least according to work and inputs the distances Y1 and Y2 respectively to the first input portion <NUM> and the second input portion <NUM> as described above according to the work. For example, of the plurality of working parts <NUM>, the first working part 101a and the fifth working part 101e, which are respectively located on the frontmost side and the rearmost side among the working parts capable of stopping work (the first working part 101a, the second working part 101b, and the fifth working part 101e), may be selected as the front working part <NUM> and the rear working part <NUM>, respectively. Further, the distance Y1 and the distance Y2 may be respectively input to the first input portion <NUM> and the second input portion <NUM> according to the positional relationship between the first working part 101a and the fifth working part 101e.

In the present embodiment, description will be made assuming that, in the composite device illustrated in <FIG>, the first working part 101a located on the frontmost side among the plurality of working parts <NUM> is selected as the front working part <NUM>, and the sixth working part 101f located on the rearmost side among the plurality of working parts <NUM> is selected as the rear working part <NUM>.

Although, in the above embodiment, the first distance Y1 between the positioning device <NUM> and the front working part <NUM> and the second distance Y2 between the front working part <NUM> and the rear working part <NUM> are respectively input to the first input portion <NUM> and the second input portion <NUM> on the machine setting screen M10, the present invention is not limited thereto. The position of the positioning device <NUM>, the position of the front working part <NUM>, and the position of the rear working part <NUM> may be designated on the machine setting screen M10 using, for example, a pointer, and the work setting unit <NUM> may obtain the first distance Y1 and the second distance Y2 from the designated positions.

As illustrated in <FIG>, when the information acquisition unit <NUM> acquires the second distance Y2, the work setting unit <NUM> sets the work start position STn and the work end position ETn at different positions on the basis of the second distance Y2. The work setting unit <NUM> shifts the work start position STn (n = <NUM>, <NUM>, <NUM>. ) located on the same side as the work finish point illustrated in <FIG> to the turning area A1 by at least the second distance Y2. The straight-ahead route L1an (n = <NUM>, <NUM>, <NUM>. ) corresponding to the shifted work start position STn (n = <NUM>, <NUM>, <NUM>. ) is extended to the shifted work start position STn (n = <NUM>, <NUM>, <NUM>.

Further, as illustrated in <FIG>, the work setting unit <NUM> shifts the work start position STn (n = <NUM>, <NUM>. ) located on the same side as the work start point illustrated in <FIG> to the turning area A1 by at least the second distance Y2. The straight-ahead route L1an (n = <NUM>, <NUM>, <NUM>. ) corresponding to the shifted work start position STn (n = <NUM>, <NUM>, <NUM>. ) is extended to the shifted work start position STn (n = <NUM>, <NUM>.

That is, the work start position STn and the work end position ETn that are adjacent to each other can be offset from each other in the traveling direction of the working device <NUM> (the fore-and-aft direction of the working device <NUM>) by the second distance Y2 between the fertilizer spreading nozzle (the first working part 101a) that sprays the fertilizer and the compacting roller (the sixth working part 101f).

In the above embodiment, the work start position STn and the work end position ETn are set on the planned traveling route L1 (straight-ahead route L1an) with the turning area A1 and the working area A2 remaining unchanged. However, as illustrated in <FIG>, the work setting unit <NUM> may shift the work area A2 with the width of the unit work section A3 to the turning area A1 by at least the second distance Y2 and may set the work start position STn and the work end position ETn on the boundary X1 between the work area A2 and the turning area A1.

Next, the automatic operation will be described in detail.

As illustrated in <FIG>, the tractor <NUM> includes a controller <NUM>. The controller <NUM> controls, for example, a traveling system and a work system of the tractor <NUM>. An operation changeover switch <NUM> is connected to the controller <NUM>. The operation changeover switch <NUM> is switchable between ON and OFF. The operation changeover switch <NUM> is capable of setting the controller <NUM> to an automatic operation mode when the operation changeover switch <NUM> is ON and capable of setting the controller <NUM> to a manual operation mode when the operation changeover switch <NUM> is OFF.

The controller <NUM> includes an automatic operation control unit <NUM>. The automatic operation control unit <NUM> is constituted of, for example, an electric or electronic circuit provided on the controller <NUM> or a program stored in a CPU.

The automatic operation control unit <NUM> controls the automatic operation of the traveling vehicle body <NUM>. The automatic operation control unit <NUM> starts the automatic operation when the controller <NUM> is in the automatic operation mode. As illustrated in <FIG>, when a deviation between the vehicle body position and the planned traveling route L1 is smaller than a threshold under the condition where the tractor <NUM> performs the automatic operation, the automatic operation control unit <NUM> maintains a rotation angle of the steering shaft (rotation shaft) <NUM>. When the deviation between the vehicle body position and the planned traveling route L1 is equal to or larger than the threshold and the tractor <NUM> is located leftward of the planned traveling route L1, the automatic operation control unit <NUM> rotates the steering shaft <NUM> so that the steering direction of the tractor <NUM> becomes the rightward direction. When the deviation between the vehicle body position and the planned traveling route L1 is equal to or larger than the threshold and the tractor <NUM> is located rightward of the planned traveling route L1, the automatic operation control unit <NUM> rotates the steering shaft <NUM> so that the steering direction of the tractor <NUM> becomes the leftward direction. In the above embodiment, the steering angle of the steering device <NUM> is changed on the basis of the deviation between the vehicle body position and the planned traveling route L1. However, when an azimuth (vehicle body azimuth) of the traveling direction of the tractor <NUM> (traveling vehicle body <NUM>) differs from an azimuth of the planned traveling route L1, that is, when an angle of the vehicle body azimuth relative to the planned traveling route L1 is equal to or larger than a threshold, the automatic operation control unit <NUM> may set the steering angle so that the angle becomes zero (the vehicle body azimuth F1 coincides with the azimuth of the planned traveling route L1). The automatic operation control unit <NUM> may set the final steering angle in the automatic operation on the basis of the steering angle obtained on the basis of the deviation (position deviation) and the steering angle obtained on the basis of the azimuth (azimuth deviation). The setting of the steering angle in the automatic operation in the above embodiment is merely an example, and the setting of the steering angle is not limited thereto.

When the planned traveling route L1 and the vehicle speed are associated with each other, the automatic operation control unit <NUM> automatically changes, for example, a speed-shift stage of the speed shifter or a rotation speed of the prime mover so that the current vehicle speed of the tractor <NUM> coincides with a vehicle speed corresponding to the planned traveling route L1.

As illustrated in <FIG> and <FIG>, when the work start position STn and the work end position ETn are set at different positions in the travelling direction (the fore-and-aft direction of the traveling vehicle body <NUM>), the lifting device <NUM> raises or lowers the working device <NUM> on the basis of the work start position STn and the work end position ETn changed by the work setting unit <NUM>. Further, the automatic operation control unit <NUM> controls the working device <NUM> on the basis of the work start position STn and the work end position ETn changed by the work setting unit <NUM>.

As illustrated in <FIG>, the automatic operation control unit <NUM> causes the lifting device <NUM> to raise the working device <NUM> when the working device <NUM> passes the work end position ETn under the condition where the tractor <NUM> travels along the straight-ahead route L1a by the automatic operation with the working device <NUM> kept lowered (under the condition where the working device <NUM> performs the ground work).

As illustrated in <FIG>, the automatic operation control unit <NUM> causes the lifting device <NUM> to lower the working device <NUM> when the working device <NUM> passes the work start position STn under the condition where the tractor <NUM> travels at least along the turning route L1b by the automatic operation with the working device <NUM> kept raised. Further, the automatic operation control unit <NUM> stops driving of the working device <NUM> when the working device <NUM> passes the work end position ETn under the condition where the ground work is performed. The automatic operation control unit <NUM> starts driving of the working device <NUM> (starts work of the working device <NUM>) when the working device <NUM> passes the work start position STn under the condition where the tractor <NUM> travels at least along the turning route L1b by the automatic operation.

More specifically, as illustrated in <FIG>, the automatic operation control unit <NUM> outputs a raising signal to the control valve <NUM> to raise the working device <NUM> at a point in time when the compacting roller (the sixth working part 101f) passes the work end position ETn (when a locus of the rear working part position crosses the work end position ETn) under the condition where the ground work is performed. Further, the automatic operation control unit <NUM> stops driving of the plurality of driving devices (the feeder <NUM>, the driving mechanism <NUM>, and the feeder <NUM>) provided on the working device <NUM> at a point in time when the compacting roller (the sixth working part 101f) passes the work end position ETn.

The automatic operation control unit <NUM> may stop driving of the plurality of driving devices (the feeder <NUM>, the driving mechanism <NUM>, and the feeder <NUM>) by outputting a stop signal to each of the driving devices or may stop the plurality of driving devices by switching a PTO clutch <NUM>, the PTO clutch <NUM> being switchable between an engaged state where power of a PTO shaft is transmitted to the working device <NUM> and a disengaged state where power of the PTO shaft is not transmitted to the working device <NUM>, from the engaged state to the disengaged state.

As illustrated in <FIG>, the automatic operation control unit <NUM> lowers the working device <NUM> at a point in time when the fertilizer spreading nozzle (the first working part 101a) passes the work start position STn (when a locus of the front working device position crosses the work start position STn) in traveling from the turning route L1b to the straight-ahead route L1a. Further, the automatic operation control unit <NUM> outputs a driving signal to the feeder <NUM> and the driving mechanism <NUM> to drive the feeder <NUM>, thereby starting tilling and fertilizer spreading, at a point in time when the fertilizer spreading nozzle (the first working device 101a) passes the work start position STn in traveling from the turning route L1b to the straight-ahead route L1a.

The automatic operation control unit <NUM> outputs a driving signal to the feeder <NUM> to drive the feeder <NUM>, thereby starting work relating to the compacting roller (the sixth working part 101f), that is, starting seeding through the seeding nozzle, at a point in time when the fertilizer spreading nozzle (the first working device 101a) advances a predetermined distance after passing the work start position STn, for example, at a point in time when the fertilizer spreading nozzle advances less than the second distance Y2 from the work start position STn.

The automatic operation control unit <NUM> may monitor the distance between the rear working part position and the work end position ETn during the automatic operation and may perform control taking the responsivity of the lifting device <NUM> into consideration so that the raising of the working device <NUM> is actually started when the rear working part <NUM> reaches the work end position ETn. Similarly, the automatic operation control unit <NUM> may monitor the distance between the front working part position and the work start position STn during the automatic operation and may perform control taking the responsivity of the lifting device <NUM> into consideration so that the lowering of the working device <NUM> is actually completed when the front working part <NUM> reaches the work start position STn.

The above embodiment describes the composite device including the plurality of working parts 101a to 101f. However, in a case where the composite device includes at least two working devices (the fertilizer spreader and the seeder) as described above, one working device (the fertilizer spreader) and the other working device (the seeder) may be regarded as working parts. In this embodiment, "fertilizer spreader <NUM>" corresponds to the front working part <NUM>, and "seeder <NUM>" corresponds to the rear working part <NUM>.

Hereinbelow, the case where the front working part <NUM> is the fertilizer spreader <NUM>, and the rear working part <NUM> is the seeder <NUM> will be described.

As illustrated in <FIG>, the first distance Y1 between the positioning device <NUM> and a front end <NUM> of the fertilizer spreader <NUM> is input to the first input portion <NUM> of the machine setting screen M10. The second distance Y2 between the front end <NUM> of the fertilizer spreader <NUM> and a rear end <NUM> of the seeder <NUM> is input to the second input portion <NUM>.

The work setting unit <NUM> sets the work start position STn and the work end position ETn on the basis of the second distance Y2 using the method described above.

As illustrated in <FIG>, the automatic operation control unit <NUM> causes the lifting device <NUM> to raise the fertilizer spreader <NUM> and the seeder <NUM> when the rear end <NUM> of the seeder <NUM> passes the work end position ETn under the condition where the tractor <NUM> travels along the straight-ahead route L1a by the automatic operation with the fertilizer spreader <NUM> and the seeder <NUM> kept lowered (under the condition where the ground work is performed). As illustrated in <FIG>, the automatic operation control unit <NUM> causes the lifting device <NUM> to lower the fertilizer spreader <NUM> and the seeder <NUM> when the front end <NUM> of the fertilizer spreader <NUM> passes the work start position STn under the condition where the tractor <NUM> travels at least along the turning route L1b by the automatic operation with the working device <NUM> kept raised. Further, the automatic operation control unit <NUM> stops driving of the fertilizer spreader <NUM> and the seeder <NUM> when the rear end of the seeder <NUM> passes the work end position ETn under the condition where the ground work is performed. The automatic operation control unit <NUM> starts driving of the fertilizer spreader <NUM> (starts work of the fertilizer spreader <NUM>) when the front end <NUM> of the fertilizer spreader <NUM> passes the work start position STn under the condition where the tractor <NUM> travels at least along the turning route L1b by the automatic operation.

The automatic operation control unit <NUM> drives the seeder <NUM> at a point in time when the front end <NUM> of the fertilizer spreader <NUM> advances a predetermined distance after passing the work start position STn, for example, at a point in time when the front end <NUM> of the fertilizer spreader <NUM> advances less than the second distance Y2 from the work start position STn.

The work vehicle <NUM> includes the traveling vehicle body <NUM>, the coupling device capable of coupling the working device <NUM> to the traveling vehicle body <NUM>, the working device <NUM> including the plurality of working parts <NUM> to the traveling vehicle body <NUM>, the automatic operation control unit <NUM> that automatically operates the traveling vehicle body <NUM> on the basis of the planned traveling route L1, and the work setting unit <NUM> that sets the work start position STn and the work end position ETn for the working device <NUM> at different positions on the basis of the plurality of working parts <NUM>.

According to this configuration, the work start position STn and the work end position ETn can be set at different positions. Thus, for example, even if the working device <NUM> is long in the fore-and-aft direction and the working parts <NUM> are thus apart from each other, it is possible to reduce the possibility of presence of a place where at least one of the working parts <NUM> has not performed work (unworked place). That is, even when the work vehicle <NUM> performs work using the working device including the plurality of working parts <NUM> while traveling, the work can be accurately performed at an intended location.

The work vehicle <NUM> includes the area setting unit 51D that sets the work area A2 where the working device <NUM> performs work and the turning area A1 where the traveling vehicle body <NUM> is turned around. The work setting unit 51D sets the work start position STn and the work end position ETn at the boundary X1 between the work area A2 and the turning area A1. This enables the plurality of working parts <NUM> to start work on the boundary X1 and to end work on the boundary X1 as accurately as possible.

The work vehicle <NUM> includes the route creation unit 51B that creates the planned traveling route L1 for the traveling vehicle body <NUM>. The work setting unit <NUM> sets the work start position STn and the work end position ETn for the working device <NUM> on the planned traveling route L1 on the basis of the plurality of working parts <NUM>. This makes it easy to perform the traveling of the tractor <NUM> (working device <NUM>) on the planned traveling route L1 set by the route creation unit 51B in conjunction with the work start at the work start position STn and the work end at the work end position ETn. Thus, the automatic operation can be efficiently performed.

The work setting unit <NUM> sets the work end position ETn according to the position of the rear working part <NUM> that is the working part <NUM> located on the rear side among the plurality of working parts <NUM>. This enables, among the plurality of working parts <NUM>, the rear working part <NUM> to perform work up to the work end position ETn set by the work setting unit <NUM>.

The work setting unit <NUM> sets the work start position STn according to the position of the front working part <NUM> that is the working part <NUM> located on the front side among the plurality of working parts <NUM>. This enables, among the plurality of working parts <NUM>, the front working part <NUM> to start work at the work start position STn set by the work setting unit <NUM>.

The coupling device is the lifting device <NUM> that raises and lowers the working device <NUM>, and raises and lowers the working device <NUM> on the basis of the work start position STn and the work end position ETn changed by the work setting unit <NUM>. Accordingly, the lifting device <NUM> can stably raise and lower the working device <NUM> even when the work start position STn and the work end positions ETn are set at different positions.

The coupling device raises the working device <NUM> when the working device <NUM> passes the work end position ETn and lowers the working device <NUM> when the working device <NUM> passes the work start position STn. Accordingly, the work can be ended by raising the working device <NUM> at the work end position ETn, and the work can be started by lowering the working device <NUM> at the work start position STn.

The work vehicle <NUM> includes the controller <NUM> that controls the working device <NUM> on the basis of the work start position STn and the work end position ETn changed by the work setting unit <NUM>. Accordingly, the controller <NUM> can stably start and end the work of the working device <NUM>.

The controller <NUM> stops work of the rear working part <NUM> that is the working part <NUM> located on the rear side among the plurality of working parts <NUM> when the rear working part <NUM> passes the work end position ETn. Accordingly, when the tractor <NUM> (working device <NUM>) advances beyond the work end position ETn, the position where the rear working part <NUM> ends the work can be made as constant as possible.

The controller <NUM> starts work of the front working part <NUM> that is the working part <NUM> located on the front side among the plurality of working parts <NUM> when the front working part <NUM> passes the work start position STn. Accordingly, in a case where the plurality of working partworking units <NUM> are present, takeover to work performed after the work of the front working part <NUM> can be smoothly performed by starting the work of the front working part <NUM> prior to the work of the rear working part <NUM>.

The work setting unit <NUM> sets the work start position STn according to the position of the front working part <NUM> that is the working part <NUM> located on the front side among the plurality of working parts <NUM> and sets the work end position ETn according to the position of the rear working part <NUM> that is the working part <NUM> located on the rear side among the plurality of working parts <NUM>. The controller <NUM> starts work of the rear working part <NUM> at a point in time when the traveling vehicle body <NUM> advances a predetermined distance after the front working part <NUM> starts work at the work start position STn. Accordingly, in a case where the working device <NUM> incudes the front working part <NUM> and the rear working part <NUM>, takeover to the work of the rear working part <NUM> can be performed after the work of the front working part <NUM> is performed. In addition, it is possible to reduce waste caused by the work of the rear working part <NUM> starting too early.

The plurality of working parts <NUM> perform different types of work on the ground. Accordingly, various types of work can be efficiently performed in a combined manner.

The work assistance apparatus for the work vehicle <NUM> includes the information acquisition unit 51I that acquires information about the plurality of working parts <NUM> included in the working device <NUM> coupled to the traveling vehicle body <NUM>, and the work setting unit <NUM> that sets the work start position STn and the work end position ETn for the working device <NUM> at different positions on the basis of the information about the plurality of working parts <NUM> acquired by the information acquisition unit 51I. Accordingly, the work start position STn and the work end position ETn can be set at different positions. Thus, for example, even if the working device <NUM> is long in the fore-and-aft direction and the working parts <NUM> are thus apart from each other, it is possible to reduce the possibility of presence of a place where at least one of the working parts <NUM> has not performed work (unworked place). That is, even when the work vehicle <NUM> performs work using the working device including the plurality of working parts <NUM> while traveling, the work can be accurately performed at an intended location.

The work assistance apparatus for the work vehicle <NUM> includes the area setting unit 51D that sets the work area A2 where the working device <NUM> performs work and the turning area A1 where the traveling vehicle body <NUM> is turned around. The work setting unit <NUM> sets the work start position STn and the work end position ETn at the boundary X1 between the work area A2 and the turning area A1. This enables the plurality of working parts <NUM> to start work on the boundary X1 and to end work on the boundary X1 as accurately as possible.

The work assistance apparatus for the work vehicle <NUM> includes the route creation unit 51B that creates the planned traveling route L1 for the traveling vehicle body <NUM>. The work setting unit <NUM> sets the work start position STn and the work end position ETn for the working device <NUM> on the planned traveling routeL1 on the basis of the plurality of working parts <NUM>. This makes it easy to perform the traveling of the tractor <NUM> (working device <NUM>) on the planned traveling route L1 set by the route creation unit 51B in conjunction with the work start at the work start position STn and the work end at the work end position ETn. Thus, the automatic operation can be efficiently performed.

The above embodiment describes the automatic operation that causes the tractor <NUM> (traveling vehicle body <NUM>) to travel while changing the vehicle speed along the planned traveling route. However, the automatic operation also includes automatic steering that automatically performs only steering of the tractor <NUM> (traveling vehicle body <NUM>) along the planned traveling route and automatic steering in which, after a traveling reference route for creating a planned traveling route is registered, a driver operates a switch to cause the tractor <NUM> to travel along the planned traveling route parallel to the traveling reference route in any manner.

Claim 1:
A work vehicle (<NUM>) comprising:
A traveling vehicle body (<NUM>);
a lifting device (<NUM>) capable of coupling a working device (<NUM>) to the traveling vehicle body (<NUM>), the working device (<NUM>) including a front working part (<NUM>) and a rear working part (<NUM>) disposed behind the front working part (<NUM>) by a predetermined distance (Y2);
a controller (<NUM>) including an automatic operation control unit (<NUM>) configured to automatically operate the traveling vehicle body (<NUM>) on the basis of a planned traveling route (L1), and to cause the lifting device (<NUM>) to raise or lower the working device (<NUM>); and
a work setting unit (<NUM>) configured to set a work start position (STn) and a work end position (ETn) for the working device (<NUM>),
the work vehicle (<NUM>) characterized in that
the automatic operation control unit (<NUM>) is configured to cause the lifting device (<NUM>), while automatically operating the traveling vehicle body (<NUM>), to start raising the working device (<NUM>) when the rear working part (<NUM>) reaches the work end position (ETn), and to complete lowering the working device (<NUM>) when the front working part (<NUM>) reaches the work start position (STn).