JP7631184B2 - Work vehicle support systems - Google Patents

Description

The present invention relates to an assistance system for a work vehicle.

Conventionally, the agricultural work machine disclosed in Patent Document 1 is known. The agricultural work machine disclosed in Patent Document 1 is equipped with a traveling body that can freely switch between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line that is set parallel to a traveling reference line, and a changeover switch that can freely switch between manual traveling and automatic traveling. In addition, in the agricultural work machine of Patent Document 1, when the right instruction button is operated while traveling along a ridge, the start point of the traveling reference line is set, and when the left instruction button is operated while traveling, the end point of the traveling reference line is set. In other words, in the agricultural work machine of Patent Document 1, the traveling reference line is set during manual traveling before automatic steering is performed.

JP 2017-123803 A

In the agricultural work machine of Patent Document 1, when the right instruction button is operated while traveling, the position of the agricultural work machine at the time of said operation is determined to be the start point of the traveling reference line, and when the left instruction button is operated, the position of the agricultural work machine at the time of said operation is determined to be the end point of the traveling reference line.
However, with the technology disclosed in the above-mentioned Patent Document 1, when the reference line was re-registered even for the same agricultural machine, or when a different agricultural machine was made to perform automatic steering, it was necessary to set the start and end points of the driving reference line again in the same field.

In view of the above problems, the present invention aims to provide a work vehicle support system that can easily utilize predefined reference lines.

An assistance system for a work vehicle according to one aspect of the present invention includes a first work vehicle having a vehicle body capable of traveling with either manual steering or automatic steering based on a reference line, and a line definition unit that defines the reference line based on traveling information of the vehicle body when the vehicle body is performing the manual steering, a server that stores a plurality of the reference lines defined by the line definition unit, a first terminal having a display unit capable of displaying the plurality of reference lines stored by the server and a selection unit that accepts selection of an arbitrary reference line from the plurality of reference lines that can be displayed on the display unit as a predetermined candidate line , and a second terminal that is separate from the first terminal and has a reception unit that accepts input of work information, wherein the server extracts from the plurality of reference lines a candidate line that is the candidate line selected by the selection unit and corresponds to the work information inputted and accepted by the reception unit, and transmits the extracted candidate line to a first communication device possessed by the first work vehicle or a second work vehicle separate from the first work vehicle,
The first work vehicle or the second work vehicle, which has the first communication device that receives the candidate line, performs automatic steering based on the candidate line .

The server also has an information acquisition unit that acquires, as the work information, work information related to the work of the first work vehicle when the vehicle body performs the manual steering, and a registration unit that associates and registers the reference line defined by the line definition unit and the work information corresponding to the reference line.

The server also has a second communication device capable of communicating with the first communication device, and transmits the extracted candidate line from the second communication device to the first communication device, and the first work vehicle or the second work vehicle having the first communication device that receives the candidate line from the second communication device performs automatic steering based on the candidate line.

In addition, the work information includes one or more of the following information: the field in which the first work vehicle and the second work vehicle are to work, information about the first work vehicle and the second work vehicle, information about the work equipment used in the work, the work content of the work equipment, and the crops to be cultivated in the field.

In addition, the first communication device of the first work vehicle transmits the reference line defined by the line definition unit to the server, and the server receives the reference line transmitted from the first communication device of the first work vehicle and stores the reference line.
In addition, the first work vehicle or the second work vehicle has an operable correction switch, the line definition unit has a correction unit that corrects and redefines the candidate line based on the operation of the correction switch and corrects the steering of the vehicle body during the automatic steering, and the server overwrites the candidate line corrected by the correction unit onto the reference line corresponding to the candidate line and stores it.

In addition, the first work vehicle has an operable registration switch, and the line definition unit acquires the start point and the end point of the reference line in the field based on the driving information when the registration switch is operated, and defines the reference line from the start point and the end point.
In addition, the first work vehicle has a first detection device that detects the position information of the first work vehicle, which is the traveling information, and the line definition unit obtains the start point and the end point from the position of the first work vehicle at the time the registration switch is operated based on the position information and the operation of the registration switch.

In addition, the first work vehicle has a first detection device that detects the position information of the first work vehicle, which is the traveling information, and an operable registration switch, and the first communication device of the first work vehicle transmits the position information detected by the first detection device to the server at a predetermined time interval, and the line definition unit defines the reference line based on the position information stored in the server and corresponding to the time when the registration switch is operated.

In addition, the first work vehicle has a second detection device that detects orientation information of the first work vehicle, which is the traveling information, and an operable registration switch, and the line definition unit defines the reference line from the orientation of the first work vehicle when the registration switch is operated based on the orientation information and the operation of the registration switch.
In addition, the first work vehicle has a second detection device that detects orientation information of the first work vehicle, which is the traveling information, and an operable registration switch, and the first communication device of the first work vehicle transmits the orientation information detected by the second detection device to the server at a predetermined time interval, and the line definition unit defines the reference line based on the orientation information stored in the server and corresponding to the time when the registration switch is operated.

The display unit is also capable of displaying at least two or more reference lines radially on a field indicating a specific farm field.

The above-mentioned work vehicle assistance system makes it easy to utilize predefined reference lines.

1 is an overall view of a support system S for a work vehicle in a first embodiment. FIG. 1 is a first diagram illustrating automatic steering. 11 is a diagram showing an example in which a line definition unit defines a reference line L1 and a planned travel line L2; FIG. 1 is a diagram showing a reference line L1 and a planned driving line L2. FIG. FIG. 13 is a flowchart showing how to perform manual steering and define a reference line L1. FIG. 13 is a flowchart showing a process of defining a planned driving line L2 and performing automatic steering. FIG. 11 is a flowchart showing how the correction unit corrects the reference line L1. 11A and 11B are diagrams illustrating correction of a planned driving line L2 and a reference line L1 by a correction unit. FIG. 2 is a diagram showing reference information and information included in the reference information. 11 is a diagram showing a flow of transmission and reception of second reference information and third reference information, and a flow of the server acquiring a reference line L1. FIG. 13 is a diagram showing an example of data (second reference information) stored in a first storage area; FIG. 13 is a diagram illustrating the definition of candidate line L3 and the transition of the screen displayed on the first terminal display unit. FIG. FIG. 13 is a diagram showing a first selection screen M1. FIG. 13 is a diagram showing a second selection screen M2. FIG. 13 is a diagram showing a presentation screen M3 in the first embodiment. FIG. 11 is a diagram showing a first presentation screen M3a in a modified example of the first embodiment. FIG. 13 is a diagram showing a second presentation screen M3b in a modified example of the first embodiment. FIG. 13 shows an operation screen M4. FIG. 13 shows a confirmation screen M5. 13 is a diagram illustrating the process of transmitting a candidate line L3 to a work vehicle and the transition of screens displayed on the second terminal display unit. FIG. FIG. 13 is a diagram showing a first reception screen M6. FIG. 13 is a diagram showing a second reception screen M7. FIG. 13 shows a call screen M8. FIG. 11 is an overall view of a support system S for a work vehicle in a second embodiment. FIG. 11 is a flowchart showing a process in which a ranking definition unit defines a priority order based on a first condition. FIG. 11 is a diagram illustrating the calculation of a first distance and a second distance. FIG. 11 is a flowchart showing a process in which the ranking definition unit defines the priority order based on a second condition. 13 is a diagram showing a flow in which the ranking definition unit defines the priority order based on a third condition. FIG. 13A and 13B are diagrams illustrating the degree of correction in a modified example. 13 is a diagram showing a flow in which the ranking definition unit defines the priority order based on a fourth condition. FIG. FIG. 13 is a flowchart showing a process in which the ranking definition unit defines the priority order based on a fifth condition. FIG. 13 is a flowchart showing a process in which the ranking definition unit defines the priority order based on a sixth condition. FIG. 13 is a flowchart showing a process in which the ranking definition unit defines the priority order based on a seventh condition. FIG. 11 is a diagram showing a third presentation screen M3c in the second embodiment. 13A to 13D are diagrams illustrating a transition to a presentation screen M3 (a third presentation screen M3c and a fourth presentation screen M3d) and the like in the second embodiment. FIG. 13 is a diagram showing a fourth presentation screen M3d in the second embodiment. FIG. 11 is a first diagram illustrating a transition to a warning screen M9 in a modified example of the second embodiment. FIG. 2 is a second diagram illustrating a transition to a warning screen M9 in a modified example of the second embodiment. FIG. 13 shows a warning screen M9. FIG. 2 is an overall view of a tractor (a first work vehicle and a second work vehicle).

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[First embodiment]
FIG. 1 shows an overall view of the work vehicle assistance system S in the first embodiment. The work vehicle assistance system S is a system in which a predetermined work vehicle 1A performs manual steering, and a reference line L1 defined by a line definition unit 40c of the work vehicle 1A is stored in a server 50. In addition, the work vehicle assistance system S can select (register) the reference line L1 stored in the server 50 as a candidate line L3 to be used for automatic steering of the work vehicles 1A and 1B. As shown in FIG. 1, the work vehicle assistance system S includes work vehicles (first work vehicle 1A, second work vehicle 1B), a server 50, and a first terminal 60.

In this embodiment, a predetermined work vehicle 1A will be referred to as a first work vehicle, and a work vehicle other than the first work vehicle 1A will be described as a second work vehicle 1B. In the following description, configurations common to the first work vehicle 1A and the second work vehicle 1B will be described together.
As shown in Fig. 36, in this embodiment, the first work vehicle 1A and the second work vehicle 1B are tractors. Note that the work vehicles 1A and 1B only need to have a vehicle body 3 that can run with either manual steering or automatic steering based on the reference line L1, and the work vehicles 1A and 1B are not limited to tractors, but may be agricultural machinery (agricultural vehicles) such as combines and transplanters, or construction machinery (construction vehicles) such as loader work machines. In other words, the present invention can be applied to cases where the first work vehicle 1A is a tractor and the second work vehicle 1B is a combine, and can also be applied to cases where the first work vehicle 1A is a rice transplanter and the second work vehicle 1B is a combine, and the combination is not limited to only tractors.

Figure 36 is a side view showing the entire work vehicle 1A, 1B. First, the tractor (work vehicle 1A, 1B) will be described using Figure 36 etc. In the description of this embodiment, the direction in which the driver seated in the driver's seat 10 of the work vehicle 1A, 1B faces (left side of Figure 36) is referred to as the forward direction, and the opposite direction (right side of Figure 36) is referred to as the rear direction. In addition, the left side of the driver (the front side of Figure 36) is referred to as the left side, and the right side of the driver (the back side of Figure 36) is referred to as the right side. Note that the direction perpendicular to the fore-and-aft direction of the vehicle body 3 is sometimes referred to as the vehicle body width direction (width direction).

As shown in Fig. 36, the work vehicles 1A, 1B include a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 has a traveling device 7 and can travel by the traveling device 7. The vehicle body 3 can travel by either manual steering or automatic steering based on a reference line L1.
The traveling device 7 is a device having front wheels 7F and rear wheels 7R. In the example shown in Fig. 36, the front wheels 7F and the rear wheels 7R are of a tire type, but may be of a crawler type.

The prime mover 4 is a diesel engine, an electric motor, or the like, and is configured as a diesel engine in this embodiment. The transmission 5 can change the propulsive force of the traveling device 7 by changing the speed stage, and can also switch between forward and reverse travel of the traveling device 7. As shown in Figure 36, the vehicle body 3 is provided with a driver's seat 10 in which a driver sits.
A coupling section 8 configured with a three-point link mechanism or the like is provided at the rear of the vehicle body 3. The working device 2 can be attached and detached to the coupling section 8. The work vehicles 1A, 1B can tow the working device 2 connected to the coupling section 8 by driving the traveling device 7. The working devices 2 include a tilling device that performs tilling work, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticide, a harvesting device that performs harvesting, a reaping device that cuts grass or the like, a spreading device that spreads grass or the like, a grass collecting device that collects grass or the like, and a shaping device that shapes grass or the like.

The working device 2 may be any device that is connected to the coupling portion 8 of the work vehicles 1A, 1B or is provided on the work vehicles 1A, 1B and performs work, and is not limited to the above-mentioned examples. For example, if the work vehicles 1A, 1B are combine harvesters, the working device 2 includes a harvesting device that harvests crops and a threshing device that threshes crops. Also, if the work vehicles 1A, 1B are rice transplanters, the working device 2 includes a planting device that plants seedlings.

As shown in FIG. 1, the work vehicles 1A, 1B are equipped with a control device 40 and a memory unit 41. The control device 40 is a device that controls the travel system and the work system in the work vehicles 1A, 1B. The control device 40 is composed of electric and electronic components, programs, etc. The control device 40 has a clock unit 40a that keeps time. The clock unit 40a keeps time (year, date, time).

The storage unit 41 is a non-volatile memory or the like, and can store various programs and various information related to the work vehicles 1A, 1B. For example, the control device 40 can associate the time measured by the timing unit 40a with other information and store the associated information in the storage unit 41.
An accelerator member (accelerator pedal, accelerator lever) 15 and a gear shift member (gear shift lever, gear shift switch) 16 provided on the vehicle body 3 are connected to the control device 40. The accelerator member 15 is a member with which the driver manually operates the travel speed of the work vehicles 1A, 1B (vehicle body 3), i.e., the vehicle speed. The control device 40 controls the travel speed of the vehicle body 3 based on an operation signal output from the accelerator member 15. Specifically, the control device 40 controls the travel speed of the vehicle body 3 based on the amount of operation of the accelerator member 15 and a control map pre-stored in a memory unit 41.

The shifting member 16 is a member with which the driver manually operates the speed stage of the transmission 5. The control device 40 changes the speed stage of the transmission 5 based on the operation signal output from the shifting member 16. Note that in this embodiment, the control device 40 changes the speed stage of the transmission 5 based on the operation of the shifting member 16, but the shifting member 16 may be configured to change the speed stage of the transmission 5 directly, without going through the control device 40.

As shown in FIG. 1, the work vehicles 1A and 1B are equipped with a first communication device 42. The first communication device 42 is capable of communicating with a server 50, which will be described later. The first communication device 42 is a device that performs wireless communication, for example, via a data communication network, a mobile phone communication network, or the like. Note that the first communication device 42 only needs to be capable of communicating with the server 50, and may be a communication device that performs wireless communication, for example, via Bluetooth (registered trademark) Low Energy in the specifications of the Bluetooth (registered trademark) communication standard IEEE802.15.1 series, or WiFi (registered trademark) communication standard IEEE802.11.n series.

As shown in FIG. 1, the work vehicles 1A and 1B are equipped with a detection device (positioning device) 40. The detection device 43 can detect its own position information (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the detection device 43 receives satellite signals (position of the positioning satellite, transmission time, etc.) transmitted from the positioning satellite, and detects position information (e.g., latitude and longitude) based on the satellite signals. The detection device 43 has a receiving device 44 and an inertial measurement unit (IMU) 45. The receiving device 44 is a device that has an antenna, etc., and receives satellite signals transmitted from the positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 45. In this embodiment, the receiving device 44 is attached to a ROPS provided on the vehicle body 3. The receiving device 44 only needs to be able to receive satellite signals transmitted from positioning satellites, and its attachment location is not limited to the ROPS.

The inertial measurement unit 45 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 45 is provided on the vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.
As shown in Fig. 1, the work vehicles 1A, 1B are equipped with a steering device 11. The steering device 11 is a device capable of performing manual steering, in which the vehicle body 3 is steered by operation by the driver, and automatic steering, in which the vehicle body 3 is steered automatically without operation by the driver.

The steering device 11 has a steering handle (steering wheel) 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. The steering device 11 also has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like, and switches in accordance with the steering direction (rotation direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheels 7F.

Therefore, when the driver grips the steering wheel 30 and operates it in a first direction or a second direction that is the opposite direction to the first direction, the switching position and opening of the control valve 34 are switched in accordance with the rotation direction of the steering wheel 30. Therefore, the steering cylinder 35 expands and contracts to the left or right according to the switching position and opening of the control valve 34, thereby changing the steering direction of the front wheels 7F. In other words, the vehicle body 3 can change its traveling direction to the left or right by manually steering the steering wheel 30.

As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position P) detected by the detection device 43. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the vehicle body position P. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating with the steering shaft 31, and a gear provided on the drive shaft of the steering motor 38 and rotating with the drive shaft. When the drive shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (turns) via the gear mechanism 39, and the steering direction of the front wheels 7F can be changed so that the vehicle body position P coincides with the planned driving line L2.

In this embodiment, the work vehicles 1A, 1B are equipped with a steering device 11 having a steering handle 30, and the steering direction is changed by changing the direction of the front wheels 7F using the steering device 11. However, the vehicle body 3 only needs to be able to change the steering direction (direction of travel) using manual steering and automatic steering, and the mechanism for changing the direction of travel is not limited to the mechanism described above.
Next, a description will be given of the control of automatic steering of the vehicle body 3. The work vehicles 1A, 1B can acquire a predetermined reference line L1 and perform automatic steering based on a planned travel line L2 that is parallel to the reference line L1. In automatic steering, the automatic steering mechanism 37 automatically steers the travel direction of the work vehicles 1A, 1B (vehicle body 3) so that the vehicle body position P measured by the detection device 43 coincides with the planned travel line L2.

1, the control device 40 has an automatic steering control unit 40b. The automatic steering control unit 40b is provided in the control device 40, and is composed of electric and electronic components provided in the control device 40, a program incorporated in a memory unit 41, etc.
2, the automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2. The automatic steering control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2. When the automatic steering control unit 40b is performing automatic steering, the driver can change the travel speed of the vehicle body 3 and the speed stage of the transmission 5 by operating the accelerator member 15 and the speed change member 16.

The control of the automatic steering mechanism 37 by the automatic steering control unit 40b will be described in detail below. As shown in Fig. 2(a), when the deviation between the vehicle body position P and the planned driving line L2 is less than a predetermined value, the automatic steering control unit 40b maintains the rotation angle of the rotation shaft of the steering motor 38.
2(b), when the deviation (position deviation) between the vehicle body position P and the planned travel line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned to the left of the planned travel line L2, the automatic steering control unit 40b rotates the rotation shaft of the steering motor 38 so that the steering direction of the work vehicles 1A, 1B is to the right. In other words, when the deviation (position deviation) between the vehicle body position P and the planned travel line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned to the left of the planned travel line L2, the automatic steering control unit 40b changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F to the right.

As shown in FIG. 2(c), when the deviation between the vehicle position P and the planned driving line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned to the right of the planned driving line L2, the automatic steering control unit 40b rotates the rotation shaft of the steering motor 38 so that the steering direction of the work vehicles 1A, 1B is to the left. In other words, when the deviation between the vehicle position P and the planned driving line L2 is equal to or greater than a predetermined value and the work vehicles 1A, 1B are positioned to the right of the planned driving line L2, the automatic steering control unit 40b changes the steering angle so that the position deviation becomes zero, and steers the front wheels 7F to the left.

2(a) to (c) described above, the steering angle of the steering device 11 is changed based on the deviation between the vehicle position P and the planned travel line L2. However, as shown in FIG. 2(d), when the orientation of the planned travel line L2 differs from the orientation (vehicle orientation) F1 of the travel direction (travel direction) of the work vehicles 1A, 1B (vehicle body 3), that is, when the angle θg of the vehicle orientation F1 relative to the planned travel line L2 is equal to or greater than a predetermined value, the automatic steering control unit 40b may define the steering angle so that the angle θg becomes zero (the vehicle orientation F1 matches the orientation of the planned travel line L2). The automatic steering control unit 40b may also define the final steering angle in automatic steering based on the steering angle calculated from the deviation (position deviation) and the steering angle calculated from the orientation (orientation deviation). The automatic steering control unit 40b may define the steering angle of automatic steering as long as it can define the steering angle of automatic steering, and the method of definition is not limited to the above-mentioned example.

As shown in FIG. 1, the work vehicles 1A and 1B are also equipped with a steering changeover switch 19. The steering changeover switch 19 is a switch that can be operated to start (set automatic steering) and end (cancel automatic steering). In this embodiment, the steering changeover switch 19 is a lever switch that can be swung as shown in FIG. 3. The steering changeover switch 19 is connected to the control device 40 and can output an operation signal to the control device 40.

The automatic steering control unit 40b controls the start or end of automatic steering based on the operation of the steering changeover switch 19. In this embodiment, the driver operates the steering changeover switch 19 (third operation) when the work vehicles 1A, 1B are to be steered automatically. In addition, the steering changeover switch 19 can be operated (fourth operation) while the automatic steering control unit 40b is performing automatic steering to cancel automatic steering. Note that the steering changeover switch 19 and the registration switch 18 described later may be configured to be operated by a common operating lever 21 as shown in FIG. 36, and the configuration is not limited to the above-mentioned configuration.

As shown in Fig. 1, the first work vehicle 1A is equipped with a line definition unit 40c. In this embodiment, the second work vehicle 1B is also equipped with a line definition unit 40c. Note that the second work vehicle 1B only needs to be equipped with an automatic steering control unit 40b and be able to perform automatic steering based on the reference line L1, and does not necessarily need to be equipped with the line definition unit 40c.
Specifically, the line definition unit 40c is provided in the control device 40, and is composed of electric and electronic components provided in the control device 40, and a program incorporated in the storage unit 41. The line definition unit 40c defines a reference line L1 based on travel information of the vehicle body 3 when the vehicle body 3 is being manually steered. The travel information of the vehicle body 3 is information detected by the detection device 43. In this embodiment, the travel information of the vehicle body 3 is position information of the vehicle body position P, and as shown in FIG. 3, the line definition unit 40c defines a predetermined start point Ps and a predetermined end point Pg when the vehicle body 3 is being manually steered, thereby defining position information of a straight line passing through the start point Ps and the end point Pg as the reference line L1. The line definition unit 40c stores the defined reference line L1 in the storage unit 41.

In addition, when the traveling information of the vehicle body 3 is position information of the vehicle body position P, the detection device 43 is required to be able to detect at least the position information (vehicle body position P) of the vehicle body 3, and does not have to be able to detect the orientation (vehicle body orientation F1) of the vehicle body 3. Hereinafter, for convenience of explanation, the detection device 43 that can detect at least the position information (vehicle body position P) of the vehicle body 3 may be referred to as the first detection device 43A.
In this embodiment, the travel information is position information of the vehicle body position P, but the travel information may be orientation information indicating the orientation (vehicle body orientation F1) of the vehicle body 3. In such a case, the line definition unit 40c defines the orientation indicated by a straight line passing through the start point Ps and the end point Pg as the reference line L1. In other words, the line definition unit 40c defines the orientation indicating the reference line L1.

In addition, when the traveling information of the vehicle body 3 is orientation information indicating the vehicle body orientation F1, the detection device 43 is only required to be able to detect at least the vehicle body orientation F1 of the vehicle body 3, and is not required to be able to detect the position information of the vehicle body 3. Hereinafter, for convenience of explanation, the detection device 43 that can detect at least the orientation information (vehicle body orientation F1) of the vehicle body 3 may be referred to as the second detection device 43B.
As shown in FIG. 1, the work vehicles 1A, 1B are equipped with a registration switch 18, and the line definition unit 40c acquires the start point Ps and the end point Pg of a reference line L1 in a field F, and defines the reference line L1 based on the acquired start point Ps and end point Pg.

The registration switch 18 is an operable switch operating tool, for example a push button switch. The registration switch 18 is also connected to the control device 40 and can output an operation signal to the control device 40. The driver operates the registration switch 18 when defining the reference line L1. The line definition unit 40c can define the start point Ps and the end point Pg based on the operation of the registration switch 18.

Specifically, when the driving information is position information, the line definition unit 40c obtains the start point Ps and the end point Pg from the position (vehicle body position P) of the work vehicles 1A, 1B when the registration switch 18 is operated, and defines the reference line L1 by registering the obtained start point Ps and end point Pg.
When the travel information is direction information, the line definition unit 40c acquires direction information and the like of the vehicle body 3 at the start point Ps and the end point Pg from the direction (direction information) of the work vehicles 1A, 1B when the registration switch 18 is operated. The line definition unit 40c calculates the average of the direction of the start point Ps and the direction of the end point Pg, and registers the direction of the reference line L1, thereby defining the reference line L1.

The relationship between the driving information acquired by the line definition unit and the operation of the registration switch 18 will be described below, taking as an example a case where the driving information is position information. Specifically, when the driver operates the registration switch 18 (first operation) while the vehicle body 3 is being manually steered, the line definition unit 40c defines the current vehicle body position P detected by the detection device 43 as the start point Ps of the reference line L1. Furthermore, when the driver operates the registration switch 18 (second operation) after the first operation, the line definition unit 40c defines the current vehicle body position P detected by the detection device 43 as the end point Pg of the reference line L1.

In detail, when the registration switch 18 is operated (first operation or second operation), the line definition unit 40c associates identification information indicating the start point Ps or end point Pg with the vehicle body position P at the time the first operation or second operation is performed and stores the association in the storage unit 41, thereby registering the start point Ps or end point Pg and defining the reference line L1. For example, the line definition unit 40c stores the position information of the start point Ps and end point Pg of the defined reference line L1 in the storage unit 41. When storing the reference line L1 in the storage unit 41, the line definition unit 40c generates first identification information, which is identification information of the reference line L1, and associates the first identification information with the reference line L1 and stores the first identification information in the storage unit 41.

In the above-described embodiment, the storage unit 41 stores the position information of the start point Ps and the end point Pg of the reference line L1 as the reference line L1, but the storage unit 41 may store data (azimuth or function) or the like indicating the reference line L1 itself as the reference line L1. Note that even when the storage unit 41 stores data (azimuth or function) or the like indicating the reference line L1 itself as the reference line L1, the storage unit 41 stores the position information of the start point Ps and the end point Pg of the defined reference line L1.

As shown in FIG. 4, the line definition unit 40c can define a planned driving line L2 parallel to the reference line L1 based on the reference line L1 stored in the memory unit 41. The line definition unit 40c defines the planned driving line L2 in response to the operation of the steering changeover switch 19 (third operation). First, in an example in which the driving information is position information and the reference line L1 is defined by the position information of the start point Ps and the end point Pg, when the driver operates the steering changeover switch 19 (third operation) in a state in which the reference line L1 is stored in the memory unit 41, the line definition unit 40c acquires the current vehicle body position P at which the steering changeover switch 19 is operated. The line definition unit 40c defines the planned driving line L2 by shifting the reference line L1 in parallel based on the start point Ps' and the start point Ps of the reference line L1, with the current vehicle body position P as the start point Ps'.

In addition, when the driving information is direction information, etc., and the reference line L1 is defined by the direction of the reference line L1 itself, the line definition unit 40c defines a planned driving line L2 indicating the same direction as the direction of the reference line L1 based on the direction of the reference line L1, using the current vehicle position P at which the steering switch 19 is operated as a reference.
The definition of the reference line L1 by the line definition unit 40c will be described below with reference to Figures 3 and 5A. When defining the reference line L1, the driver moves the work vehicles 1A, 1B (vehicle body 3) to a predetermined position (start point Ps) in the field F by manual steering before performing automatic steering. The driver moves the work vehicles 1A, 1B, for example, to the vicinity of a headland in a predetermined third direction of the field F.

5A, the line definition unit 40c checks whether the registration switch 18 has been operated (first operation) (S1). Specifically, the line definition unit 40c checks whether the first operation has been performed based on the operation signal output from the registration switch 18 to the control device 40.
When the line definition unit 40c confirms that the registration switch 18 has been operated (first operation) (S1, Yes), it defines the current vehicle body position P (position information) detected by the detection device 43, i.e., the latest position information, as the start point Ps of the reference line L1 (S2). Specifically, when the registration switch 18 is operated for the first time, the line definition unit 40c associates identification information indicating the start point Ps with the vehicle body position P detected by the detection device 43 and at the time the first operation was performed, and stores them in the storage unit 41.

When the driver operates the registration switch 18 (S1, Yes) to cause the line definition unit 40c to define the start point Ps (S2), the driver manually steers the work vehicles 1A, 1B for a predetermined distance. In detail, the driver moves the work vehicles 1A, 1B, for example, to the vicinity of the headland in the fourth direction, which is the opposite side of the field F from the third direction.
When the line definition unit 40c defines the start point Ps of the reference line L1 (S2), it checks whether the registration switch 18 has been operated (second operation) (S3). Specifically, the line definition unit 40c checks whether the second operation has been performed based on the operation signal output from the registration switch 18 to the control device 40.

When the line definition unit 40c confirms that the registration switch 18 has been operated (second operation) (S3, Yes), the detection device 43 defines the current vehicle body position P (position information), i.e., the latest position information, as the end point Pg of the reference line L1 (S4). Specifically, when the registration switch 18 is operated for the second time, the line definition unit 40c associates identification information indicating the end point Pg with the vehicle body position P detected by the detection device 43 at the time the second operation was performed, and stores them in the memory unit 41. In addition, the line definition unit 40c generates first identification information, associates the first identification information with the reference line L1, and stores the information in the memory unit 41.

Thereby, the line definition unit 40c can define the start point Ps and the end point Pg of the reference line L1, and thereby define a straight line or a direction connecting the start point Ps and the end point Pg as the reference line L1.
3 and 5B, a case will be described in which the automatic steering control unit 40b changes the steering angle of the steering device 11 based on the deviation between the vehicle body position P and the planned travel line L2, and then the line definition unit 40c defines the reference line L1 and then the work vehicles 1A, 1B are automatically steered based on the reference line L1. When automatically steering the work vehicles 1A, 1B, the driver moves the work vehicles 1A, 1B to a position (start point Ps') where the work vehicles 1A, 1B are to be automatically steered.

As shown in FIG. 5B, the line definition unit 40c checks whether the reference line L1 is stored in the memory unit 41 (S11). When the line definition unit 40c checks that the reference line L1 is stored in the memory unit 41 (S11, Yes), it acquires the reference line L1 from the memory unit 41 (S12). Specifically, the line definition unit 40c acquires, as the reference line L1, position information of a straight line connecting the start point Ps and the end point Pg, or data indicating the reference line L1 itself (orientation or function), etc.

When the line definition unit 40c acquires the reference line L1 from the storage unit 41 (S12), it checks whether the steering changeover switch 19 has been operated (third operation) or not (S13). Specifically, the line definition unit 40c checks whether the steering changeover switch 19 has been operated (third operation) or not based on the operation signal output from the steering changeover switch 19 to the control device 40.
When the line definition unit 40c confirms that the steering changeover switch 19 has been operated (S13, Yes), it defines the planned travel line L2 (S14). Specifically, the line definition unit 40c obtains, for example, the current vehicle body position P (position information), i.e., the latest position information, as a start point Ps' of the planned travel line L2, and defines the planned travel line L2 by shifting the start point Ps of the reference line L1 in parallel to the start point Ps', or defines the planned travel line L2 based on the current vehicle body position P and showing the same orientation as the reference line L1. In addition, the line definition unit 40c stores the start point Ps' in the storage unit 41.

When the line definition unit 40c defines the planned driving line L2 (S14), the automatic steering control unit 40b starts automatic steering and controls the automatic steering mechanism 37 so that the direction of travel of the work vehicles 1A, 1B (vehicle body 3) follows the planned driving line L2. Specifically, when the driving information is the vehicle body position P (position information), the automatic steering control unit 40b checks whether the deviation between the latest vehicle body position P detected by the detection device 43 and the planned driving line L2 is less than a predetermined value (S15).

When the automatic steering control unit 40b confirms that the deviation between the latest vehicle position P detected by the detection device 43 and the planned driving line L2 is less than a predetermined value (S15, Yes), it controls the automatic steering mechanism 37 to maintain the rotation angle of the rotation shaft of the steering motor 38 (S16).
When the automatic steering control unit 40b confirms that the deviation between the latest vehicle position P detected by the detection device 43 and the planned driving line L2 is greater than or equal to a predetermined value (S15, No), it confirms whether the vehicle position P is located to the left of the planned driving line L2 (S17).

When the automatic steering control unit 40b confirms that the vehicle position P is located to the left of the planned driving line L2 (S17, Yes), it controls the automatic steering mechanism 37 so that the steering direction of the work vehicles 1A, 1B is to the right, rotates the rotating shaft of the steering motor 38, changes the steering angle, and steers the front wheels 7F to the right (S18).
On the other hand, when the automatic steering control unit 40b confirms that the vehicle position P is not located on the left side of the planned driving line L2, that is, that the vehicle position P is located on the right side of the planned driving line L2 (S17, No), it controls the automatic steering mechanism 37 to rotate the rotating shaft of the steering motor 38, change the steering angle, and steer the front wheels 7F to the left so that the steering direction of the work vehicles 1A, 1B is to the left (S19).

In addition, when the automatic steering control unit 40b is performing automatic steering, the traveling speed (vehicle speed) of the work vehicles 1A, 1B (vehicle body 3) is changed by the driver manually changing the amount of operation of the accelerator member 15 (accelerator pedal, accelerator lever) or by operating the shift member 16 (shift lever, shift switch).
Furthermore, when the automatic steering control unit 40b performs automatic steering and controls the automatic steering mechanism 37 (S16, S18, S19), it checks whether the steering changeover switch 19 has been operated (fourth operation) (S20). Specifically, the line definition unit 40c checks whether the steering changeover switch 19 has been operated (fourth operation) based on the operation signal output from the steering changeover switch 19 to the control device 40.

When the automatic steering control unit 40b confirms that the steering changeover switch 19 has been operated (fourth operation) (S20, Yes), it ends automatic steering (S21). Therefore, the driver can end automatic steering by operating the steering changeover switch 19 at any time, i.e., at any position (end point Pg'), after the automatic steering control unit 40b starts automatic steering. In other words, the end point Pg' is not defined in advance for the planned travel line L2 defined by the line definition unit 40c, and the length from the start point Ps' to the end point Pg' of the planned travel line L2 can be set longer or shorter than the reference line L1. In other words, the planned travel line L2 is not associated with the length of the reference line L1, and the planned travel line L2 allows the vehicle to travel a distance longer than the length of the reference line L1 while automatically steering.

As shown in FIG. 1, the work vehicles 1A, 1B are equipped with a correction switch 20, and can correct the reference line L1 based on the operation of the correction switch 20. The correction switch 20 is an operable operating tool, and is configured, for example, as a push switch that can be pressed or a slide switch that can be slid. The correction switch 20 is also connected to the control device 40 so as to be able to communicate with it, and can output an operation signal to the control device 40.

The line definition unit 40c also has a correction unit 40c1. The correction unit 40c1 corrects and redefines the reference line L1 based on the operation of the correction switch 20, and corrects the steering of the vehicle body 3 during automatic steering. The correction unit 40c1 is composed of electric and electronic components provided in the control device 40, a program incorporated in the storage unit 41, etc.
In the present embodiment, the correction unit 40c1 corrects the planned driving line L2 and corrects the reference line L1 in response to the operation of the correction switch 20. The correction unit 40c1 corrects the planned driving line L2 and the reference line L1 stored in the memory unit 41, for example, by a correction amount h based on the operation of the correction switch 20.

Specifically, the correction unit 40c1 defines the correction amount h based on the number of times the correction switch 20 is operated. The correction unit 40c1 obtains the number of times the correction switch 20 is operated based on the operation signal output from the correction switch 20, and defines (calculates) the correction amount h. For example, the correction unit 40c1 defines the correction amount h as the product of the number of times the correction switch 20 is operated and the correction amount h per one operation.

That is, the correction unit 40c1 increases the correction amount h (degree of correction) according to the number of times the correction switch 20 is operated, and the correction amount h defined by the correction unit 40c1 is proportional to the number of times the correction switch 20 is operated. For example, the correction amount h increases by several centimeters or several tens of centimeters each time the correction switch 20 is operated.
1, the correction switch 20 includes a first push switch 20a for commanding a correction to one side in the width direction of the vehicle body 3, i.e., to the left, and a second push switch 20b for commanding a correction to the other side in the width direction of the vehicle body 3, i.e., to the right. In the following description, as shown in FIG. 7, a correction amount h indicating a correction to the left will be expressed as a positive number (h>0), and a correction amount h indicating a correction to the right will be expressed as a negative number (h<0).

In addition, the correction switch 20 is not limited to a push switch, but may be a slide switch whose operation amount is changeable. In such a case, the correction unit 40c1 defines the correction amount h based on the operation amount (displacement amount) of the slide switch.
Hereinafter, the correction of the planned travel line L2 and the reference line L1 based on the correction amount h by the correction unit 40c1 will be described with reference to FIG. 6 and FIG.

6, the correction unit 40c1 judges whether the automatic steering control unit 40b is performing automatic steering (S30). For example, when the steering changeover switch 19 is operated to the third position, or when the correction unit 40c1 confirms that a control signal is being output from the automatic steering control unit 40b to the automatic steering mechanism 37, the correction unit 40c1 judges that the automatic steering control unit 40b is performing automatic steering.
When the automatic steering control unit 40b determines that the automatic steering is being performed (S30, Yes), the correction unit 40c1 determines whether the correction switch 20 is being operated (S31). When the control device 40 has acquired an operation signal from the correction switch 20, the correction unit 40c1 determines that the correction switch 20 has been operated.

When the correction unit 40c1 determines that the correction switch 20 has been operated (S31, Yes), it corrects the planned driving line L2 in accordance with the operation of the correction switch 20 (S32). Specifically, as shown in FIG. 7, the correction unit 40c1 corrects the planned driving line L2 by shifting the planned driving line L2 in accordance with the correction amount h. In other words, the movement trajectories of the work vehicles 1A, 1B move in the width direction by the correction amount h.

After correcting the intended travel line L (S32), the correction unit 40c1 stores the correction amount h in the memory unit 41 (S33).
When the correction unit 40c1 stores the correction amount h in the memory unit 41, it judges whether or not the automatic steering control unit 40b has ended automatic steering (S33). For example, when the steering changeover switch 19 is operated to the fourth position, or when it is confirmed that a control signal is not being output from the automatic steering control unit 40b to the automatic steering mechanism 37, the correction unit 40c1 judges that the automatic steering control unit 40b has ended automatic steering.

When the automatic steering control unit 40b determines that automatic steering has ended (S33, Yes), the correction unit 40c1 corrects the reference line L1 stored in the memory unit 41 (S34). In this embodiment, as shown in FIG. 7, the correction unit 40c1 corrects the reference line L1 by redefining the end point Pgh of the corrected reference line L1', that is, by overwriting the end point Pg of the reference line L1 stored in the memory unit 41 with the end point Pgh. The correction unit 40c1 calculates the corrected end point Pgh based on the length K1 between the start point Ps and the end point Pg of the reference line L1 (length of the reference line L1, first distance), the length K3 between the start point Ps' and the end point Pgh' of the corrected planned driving line L2' (length of the corrected planned driving line L2, third distance), and the total correction amount ha, which is the sum of the correction amounts h.

As shown in FIG. 7, the ratio (K3:ha) between the third distance K3 and the total correction amount ha is equal to the ratio (K1:K4) between the first distance K1 and the fourth distance K4 (the length between the end point Pg before correction and the end point Pgh after correction). Therefore, the correction unit 40c1 calculates the ratio (K3:ha) between the third distance K3 and the total correction amount ha, and calculates the fourth distance K4 from this ratio and the first distance K1, thereby calculating the position information of the end point Pgh after correction.

Specifically, first, after S33, the correction unit 40c1 acquires the current vehicle position P (position information) when the steering changeover switch 19 is operated for the fourth time, i.e., the latest position information, as the end point Pgh' of the corrected planned driving line L2' (S34a).
When the correction unit 40c1 acquires the end point Pgh' (S34a), the correction unit 40c1 calculates the third distance K3 based on the end point Pgh' and the start point Ps' stored in the memory unit 41 (S34b). Furthermore, when the correction unit 40c1 calculates the third distance K3, the correction unit 40c1 calculates the total correction amount ha based on the correction amount h stored in the memory unit 41 (S34c).

After calculating the total correction amount ha (S34c), the correction unit 40c1 acquires the start point Ps and the end point Pg of the reference line L1 stored in the memory unit 41 (S34d). After acquiring the start point Ps and the end point Pg (S34d), the correction unit 40c1 calculates the first distance K1 from the start point Ps and the end point Pg (S34e). In this embodiment, since the position information is information expressed by latitude and longitude, the correction unit 40c1 calculates the first distance K1 from the latitude and longitude of the start point Ps and the latitude and longitude of the end point Pg.

After calculating the first distance K1 (S34e), the correction unit 40c1 calculates the ratio (K3:ha) between the third distance K3 and the total correction amount ha, and calculates the fourth distance K4 from this ratio and the first distance K1 to calculate the position information of the corrected end point Pgh (S34f).
When correcting unit 40c1 calculates the position information of the corrected end point Pgh (S34f), correcting unit 40c1 overwrites the pre-correction end point Pg stored in memory unit 41 with the corrected end point Pgh (S34g).

This allows the correction unit 40c1 to correct the planned driving line L2 and the reference line L1. Note that, even if the reference line L1 stored in the memory unit 41 is data (azimuth or function) indicating the reference line L1 itself, the correction unit 40c1 can similarly correct the data using trigonometric functions, etc. Also, the correction unit 40c1 only needs to be able to correct the reference line L1, and the correction method is not limited to the above-mentioned method.

The line definition unit 40c can also transmit the defined reference line L1 to the server 50, which will be described later, via the first communication device 42. Furthermore, the first communication device can receive the reference line L1 from the server 50. The control device 40 stores the reference line L1 received by the first communication device 42 in the storage unit 41. This allows the automatic steering control unit 40b to perform automatic steering based on the received reference line L1.

The server 50 is a fixed terminal such as a fixed computer provided outside the work vehicles 1A, 1B. The server 50 is also a fixed terminal installed, for example, at a farmer, an agricultural company, an agricultural machinery manufacturer, or an agricultural cooperative. The server 50 can receive the reference line L1 transmitted from the first communication device 42 and store the reference line L1. Therefore, the server 50 can store multiple reference lines L1.

Specifically, the server 50 has a server control device 51, a second communication device 52, and a database 53. The server control device 51 is a device that performs various controls related to the server 50, and can store (register) information received by the second communication device 52 in the database 53, for example. The server control device 51 is composed of electric and electronic components, programs, etc.

The second communication device 52 is capable of communicating with the first communication device 42 of the work vehicles 1A, 1B and the first terminal 60 described below. The second communication device 52 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, or the like. Note that the second communication device 52 only needs to be capable of communicating with the work vehicles 1A, 1B (first communication device 42) and the first terminal 60, and may be, for example, a communication device that performs wireless communication via Bluetooth (registered trademark) Low Energy in the specifications of the Bluetooth (registered trademark) communication standard IEEE802.15.1 series, WiFi (registered trademark) communication standard IEEE802.11.n series, or the like.

The database 53 is a non-volatile memory or the like capable of storing various programs and various information. Specifically, the database 53 can store the reference line L1 defined by the line definition unit 40c, and the server control device 51 stores the reference line L1 in a predetermined storage area of the database 53.
The first terminal 60 is a mobile terminal such as a smartphone (multi-function mobile phone), a tablet, or a PDA, or a fixed computer such as a personal computer. In this embodiment, the first terminal 60 is described as a mobile terminal such as a smartphone. The first terminal 60 is, for example, a terminal operated by a manager who plans work in the field F or a relatively experienced worker. The first terminal 60 has a first terminal control device 61, a third communication device 62, a first terminal storage unit 63, and a first terminal display unit 64. The first terminal control device 61 is a device that performs various controls related to the first terminal 60, and can, for example, control the first terminal display unit 64 to display various information on the first terminal display unit 64. The first terminal control device 61 is composed of electric and electronic components, programs, and the like.

The third communication device 62 is capable of communicating with the server 50 (second communication device 52). The third communication device 62 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, or the like. Note that the third communication device 62 only needs to be capable of communicating with the second communication device 52, etc., and may be, for example, a communication device that performs wireless communication via Bluetooth (registered trademark) Low Energy in the specifications of the Bluetooth (registered trademark) communication standard IEEE802.15.1 series, WiFi (registered trademark) communication standard IEEE802.11.n series, or the like.

The first terminal storage unit 63 is a non-volatile memory or the like that can store various pieces of information. The first terminal storage unit 63 can store various pieces of information related to the first terminal 60.
The first terminal display unit 64 can display various information stored in the first terminal storage unit 63 and information received by the third communication device 62. The first terminal display unit 64 can display screens such as those shown in Figs. 12 to 16, for example. The first terminal display unit 64 may also be an input device capable of accepting input of information. In such a case, the first terminal display unit 64 is of a touch panel type, and an operator or the like operates it with his/her finger to input information. The first terminal display unit 64 may also be of a non-touch panel type, and in such a case, the first terminal 60 has various switches, and can accept input of information based on the operation of the switches. In the following description, the first terminal display unit 64 may also be simply referred to as a display unit.

The second terminal 70 is a mobile terminal such as a smartphone (multi-function mobile phone), tablet, or PDA, or a fixed computer such as a personal computer. In this embodiment, the second terminal 70 is described as a mobile terminal such as a smartphone. The second terminal 70 is a terminal separate from the first terminal 60, and is, for example, a terminal operated by a worker who actually works in the field F. The second terminal 70 may also be a terminal operated by a relatively inexperienced worker. The second terminal 70 has a second terminal control device 71, a fourth communication device 72, a second terminal storage unit 73, and a second terminal display unit 74. The second terminal control device 71 is a device that performs various controls related to the second terminal 70, and can, for example, control the second terminal display unit 74 to display various information on the second terminal display unit 74. The second terminal control device 71 is composed of electric and electronic parts, programs, etc.

The fourth communication device 72 is capable of communicating with the server 50 (second communication device 52). The fourth communication device 72 is, for example, a device that performs wireless communication via a data communication network, a mobile phone communication network, or the like. Note that the fourth communication device 72 only needs to be capable of communicating with the second communication device 52, etc., and may be, for example, a communication device that performs wireless communication via Bluetooth (registered trademark) Low Energy in the specifications of the Bluetooth (registered trademark) communication standard IEEE802.15.1 series, WiFi (registered trademark) communication standard IEEE802.11.n series, or the like.

The second terminal storage unit 73 is a non-volatile memory or the like that can store various pieces of information. The second terminal storage unit 73 can store various pieces of information related to the second terminal 70.
The second terminal display unit 74 can display various information stored in the second terminal storage unit 73 and information received by the third communication device 62. The second terminal display unit 74 can display, for example, screens as shown in Figs. 18 to 20. The second terminal display unit 74 may also be an input device capable of accepting input of information. In such a case, the second terminal display unit 74 is of a touch panel type, and an operator or the like operates it with his/her finger to input information. The second terminal display unit 74 may also be of a non-touch panel type, and in such a case, the second terminal 70 has various switches, and can accept input of information based on the operation of the switches.

The method and flow of the database 53 storing the reference line L1 will be described in detail below. The server control device 51 can store the reference line L1 in association with various information including the work information described below. In the following description, an example will be described in which the server 50 receives the reference line L1 defined by the line definition unit 40c and stores the reference line L1. However, the server 50 only needs to be able to store the reference line L1, and the source of the reference line L1 is not limited to the work vehicles 1A and 1B. For example, the server control device 51 may be able to acquire the reference line L1 stored in a storage medium via a terminal or the like connected to the server 50 so as to be able to communicate with the server 50, and store the reference line L1 in the database 53.

1, the server 50 has a reference acquisition unit 51a, an information acquisition unit 51b, and a registration unit 51c. The position acquisition unit, the information acquisition unit 51b, and the registration unit 51c are provided in a server control device 51, and are composed of electric and electronic components provided in the server control device 51, programs incorporated in the server control device 51, etc.
The reference acquisition unit 51a acquires the reference line L1 defined by the line definition unit 40c. The reference acquisition unit 51a acquires the reference line L1 based on information received by the second communication device 52 from the first communication device 42. Specifically, the line definition unit 40c transmits information (reference information D) related to the reference line L1 to the server 50 via the first communication device 42 and the second communication device 52. In other words, the first communication device 42 transmits the reference information D related to the reference line L1 to the server 50 as the reference line L1.

The reference information D transmitted by the first communication device 42 is, for example, position information of the start point Ps and end point Pg of the reference line L1, data (orientation or function) indicating the reference line L1 itself, etc., and is information that can identify the reference line L1. The reference information D also includes first identification information as identification information of the reference line L1. In the following description, the information on the reference line L1 defined by the line definition unit 40c and stored in the storage unit 41 is referred to as first reference information D1. The first reference information D1 includes position information of the start point Ps and end point Pg of the reference line L1, and the first identification information. In the following description, the first reference information D1 may also be simply referred to as the reference line L1.

In this embodiment, the first communication device 42 separately transmits the vehicle position P (position information) and information that can identify the vehicle position P corresponding to the start point Ps and end point Pg of the reference line L1 from the vehicle position P, and indirectly transmits the reference line L1 to the server 50. Specifically, as shown in FIG. 9, the first communication device 42 transmits the vehicle position P (position information) detected by the detection device 43, for example, at a predetermined time interval (S1a). As shown in FIG. 8, the first communication device 42 associates the time (year, date, time) at which the vehicle position P was detected, the vehicle position P corresponding to that time, and information on the work vehicles 1A and 1B (identification information that can identify the work vehicles 1A and 1B) and transmits them to the server 50 as second reference information D2. In the following description, the identification information that can identify the work vehicles 1A and 1B may be referred to as second identification information.

When the second communication device 52 receives the second reference information D2 from the first communication device 42, it stores the second reference information D2 in one storage area (first storage area 53a) of the database 53 (S1b). The first storage area 53a is a storage area that stores the second reference information D2. That is, as shown in FIG. 10, the first storage area 53a stores the time (year, date, time) when the vehicle position P was detected, the vehicle position P corresponding to that time, and the second specific information in association with each other. Note that the server control device 51 only needs to be able to store the second reference information D2 received by the second communication device 52 for a predetermined period of time, and may be configured to delete the second reference information D2 that has been stored for a predetermined period of time.

In addition, the first communication device 42 transmits third reference information D3 to the server 50 as information that can identify the start point Ps and the end point Pg of the reference line L1. As shown in Fig. 8, the third reference information D3 includes information about the start point Ps and the end point Pg of the reference line L1.
As shown in Fig. 8, the third reference information D3 includes, for example, the time (year, date, and time) when the start point Ps and the end point Pg are defined as information about the start point Ps and the end point Pg of the reference line L1. The first communication device 42 transmits the third reference information D3 by dividing it into start point information D3a, which is information about the start point Ps, and end point information D3b, which is information about the end point Pg. Specifically, the start point information D3a is information transmitted by the first communication device 42 when the line definition unit 40c defines the start point Ps of the reference line L1. On the other hand, the end point information D3b is information transmitted by the first communication device 42 when the line definition unit 40c defines the end point Pg of the reference line L1.

In more detail, as shown in FIG. 8, the starting point information D3a is information that associates the identification information of the starting point Ps, the time (year, date, time) when the line definition unit 40c defined the starting point Ps, and the second identification information. When the registration switch 18 is operated (S1, Yes) as shown in FIG. 5A and the starting point Ps is defined (S2), the line definition unit 40c transmits the starting point information D3a to the server 50 via the first communication device 42 as shown in FIG. 9 (S2a).

As shown in FIG. 8, the end point information D3b is information that associates the identification information of the end point Pg, the time when the line definition unit 40c defined the end point Pg, and the second identification information. When the registration switch 18 is operated (S3, Yes) as shown in FIG. 5A and the end point Pg is defined (S4), the line definition unit 40c transmits the end point information D3b to the server 50 via the first communication device 42 as shown in FIG. 9 (S4a).

The identification information of the start point Ps and the identification information of the end point Pg are information that can identify the corresponding start point Ps and end point Pg, and are, for example, a serial number (n) that indicates the order in which the reference line L1 was defined by the line definition unit 40c. In other words, in the reference line L1 (n=1) defined the first time by the line definition unit 40c, the identification information of the start point Ps is information that indicates that it is the start point Ps of the first reference line L1 (n=1), and the identification information of the end point Pg is information that indicates that it is the end point Pg of the first reference line L1 (n=1).

The third reference information D3 also includes the first identification information. The first identification information is transmitted in association with, for example, the end point information D3b of the third reference information D3. The first communication device 42 may transmit the first identification information in association with the start point information D3a, and the transmission method is not limited to the above method, but may differ depending on the format in which the reference line L1 is transmitted. For example, when the first communication device 42 transmits data (direction or function) indicating the reference line L1 itself to the server 50, the first communication device 42 may transmit the data in association with the first identification information.

When the second communication device 52 receives the third reference information D3, the reference acquisition unit 51a acquires the reference line L1 based on the third reference information D3 and the second reference information D2 stored in the first storage area 53a. Specifically, the first communication device 42 transmits the starting point information D3a to the server 50 (S2a), and when the second communication device 52 receives the starting point information D3a, the reference acquisition unit 51a stores the starting point information D3a in the database 53 (S2b).

On the other hand, when the first communication device 42 transmits the end point information D3b to the server 50 (S4a), and the second communication device 52 receives the end point information D3b, the reference acquisition unit 51a executes the line definition unit 40c based on the end point information D3b (S5). Based on the time and second identification information acquired in S5, the reference acquisition unit 51a extracts the second reference information D2 corresponding to the acquired time and second identification information from the second reference information D2 stored in the first storage area 53a, and identifies the end point Pg (S6).

When the reference acquisition unit 51a identifies the end point Pg (S6), it identifies the start point Ps corresponding to the end point Pg based on the identification information of the end point Pg in the end point information D3b (S7). Specifically, the reference acquisition unit 51a extracts the start point information D3a including the identification information of the start point Ps corresponding to the identification information of the end point Pg from the start point information D3a stored in the database 53. When the reference acquisition unit 51a extracts the start point information D3a, it acquires the time (year, date, time) at which the line definition unit 40c defined the start point Ps and the second identification information based on the start point information D3a. Based on the acquired time and second identification information, the reference acquisition unit 51a extracts the second reference information D2 corresponding to the acquired time and second identification information from the second reference information D2 stored in the first storage area 53a, and identifies the start point Ps (S7).

This allows the reference acquisition unit 51a to acquire the position information of the start point Ps and the end point Pg, i.e., acquire the reference line L1 defined by the line definition unit 40c (S8). Note that the method by which the reference acquisition unit 51a acquires the reference line L1 differs depending on the information transmitted from the first communication device 42. For example, when the first communication device 42 transmits data (direction or function) indicating the reference line L1 itself to the server 50, the first communication device 42 transmits the data in association with the position information of the start point Ps and the end point Pg, and the second identification information.

In addition, when the traveling information is the direction information of the vehicle body 3, the first communication device 42 separately transmits the direction information and information from the direction information that can identify the start point Ps and end point Pg of the reference line L1, and indirectly transmits the reference line L1 to the server 50. The first communication device 42 associates the time (year, date, time) when the direction information was detected, the direction information corresponding to that time, and information on the work vehicles 1A, 1B (identification information that can identify the work vehicles 1A, 1B), and transmits them to the server 50 as second reference information D2.

When the second communication device 52 receives the second reference information D2 from the first communication device 42, the second communication device 52 stores the second reference information D2 in the first storage area 53a. That is, the first storage area 53a stores the time (year, date, time) when the direction information was detected, the direction information corresponding to the time, and the second identification information in association with each other.
In addition, the first communication device 42 transmits the third reference information D3 (start point information D3a or end point information D3b) to the server 50 as information capable of identifying the start point Ps and end point Pg of the reference line L1 (S2a, S3a).

As a result, the reference acquisition unit 51a extracts the second reference information D2 corresponding to the acquired time and second identification information from the second reference information D2 stored in the first storage area 53a based on the acquired time and second identification information, identifies the direction information corresponding to the start point Ps and the end point Pg (S6, S7), acquires the direction of the start point Ps and the direction of the end point Pg, and acquires the reference line L1 defined by the line definition unit 40c.

The information acquisition unit 51b acquires work information related to the work of the first work vehicle 1A when the vehicle body 3 is manually steered. The work information is information related to the work of the work vehicles 1A, 1B when the vehicle body 3 is manually steered, i.e., when the line definition unit 40c defines the reference line L1. The work information includes, for example, one or more of the following information: the field F in which the work vehicles 1A, 1B work, information on the work vehicles 1A, 1B, information on the work equipment 2 used in the work by the work vehicles 1A, 1B, the work content of the work equipment 2, and the crops cultivated in the field F.

The field F in which the work vehicles 1A, 1B work is, for example, the field F in which the driver manually steers the work vehicles 1A, 1B when the line definition unit 40c defines the reference line L1. The field F is indicated as work information by third identification information that can be distinguished from other fields F. The information on the work vehicles 1A, 1B is identification information (second identification information) that can identify the work vehicles 1A, 1B.

The information on the work device 2 is identification information (fourth identification information) of the work device 2 connected to the vehicle body 3 via the coupling part 8. In other words, if the work device 2 is a tillage device, the information on the work device 2 is identification information of the tillage device, and if the work device 2 is a pesticide spraying device, the information on the work device 2 is identification information of the pesticide spraying device.
The work content of the work device 2 is the type of work performed by the work device 2, and is identification information (fifth identification information) capable of identifying the type of work. For example, when the work device 2 is a tilling device, the work content is tilling work, and when the work device 2 is a pesticide spraying device, the work content is pesticide spraying work.

In addition, the crop cultivated in the field F is the type of crop cultivated or planned to be cultivated in the field F, and is identification information (sixth identification information) that can identify the type of crop.
The information acquisition unit 51b acquires work information based on information received by the second communication device 52. For example, the work information is included in third reference information D3, and the first communication device 42 of the work vehicles 1A, 1B transmits the third reference information D3 including the work information to the second communication device 52. As a result, the information acquisition unit 51b acquires the work information of the third reference information D3 received by the second communication device 52. In this embodiment, the work information is included in, for example, end point information D3b of the third reference information D3.

The work information may be included in the start point information D3a, and the method of transmitting the work information may differ depending on the format of transmitting the reference line L1. For example, when the first communication device 42 transmits data (direction or function) indicating the reference line L1 itself to the server 50, the work information may be included in the data.
Of the work information, information specific to the work vehicles 1A, 1B, such as the type of the work vehicles 1A, 1B, is pre-stored in the memory unit 41 of the work vehicles 1A, 1B. Of the work information, information other than the information specific to the work vehicles 1A, 1B, in other words information that may be changed depending on the work plan performed by the work vehicles 1A, 1B, is defined by the driver operating the input device. The work information received by the input device is stored in association with the first reference information D1 stored in the memory unit 41. The input device is a display device 25 or the like that is provided on the work vehicles 1A, 1B and communicatively connected to the control device 40, and is capable of receiving input of various information.

The display device 25 is, for example, a display device 25 that is communicatively connected to the control device 40 and is capable of displaying information. The display device 25 has a display screen such as a touch display that allows input operations, and outputs input work information to the control device 40. The control device 40 can register the work information output from the input device in a table in the memory unit 41. Note that the input device is not limited to the display device 25 provided on the work vehicles 1A, 1B, and may be, for example, a second terminal 70 carried by the driver who operates the work vehicles 1A, 1B.

This enables the first communication device 42 to transmit third reference information D3 including work information to the second communication device 52, and the information acquisition unit 51b to acquire the work information of the third reference information D3 received by the second communication device 52.
Moreover, one storage area (second storage area 53b) of the database 53 stores a table related to work information. For example, the second storage area 53b stores a table associating the work vehicles 1A, 1B with information on the work vehicles 1A, 1B (second identification information), a table associating the field F with the position information of the field F with the third identification information, a table associating the work device 2 with the fourth identification information, a table associating the work content with the fifth identification information, and a table associating the crop with the sixth identification information. Therefore, the server 50 (server control device 51) can identify each piece of information (the field F on which the work vehicles 1A, 1B work, information on the work vehicles 1A, 1B, information on the work device 2 used in the work by the work vehicles 1A, 1B, the work content of the work device 2, and the crop cultivated in the field F) based on the work information (the second identification information to the sixth identification information).

In the above embodiment, the input device is the display device 25 provided on the work vehicles 1A and 1B, but as long as the third reference information D3 received by the server 50 from the first communication device 42 contains work information, the input device that accepts the input of work information is not limited to the display device 25 and may be, for example, a mobile terminal capable of communicating with the work vehicles 1A and 1B. Furthermore, the information acquisition unit 51b may be capable of acquiring at least work information corresponding to the reference line L1 defined by the line definition unit 40c, and the acquisition method is not limited to the above configuration. For example, the second communication device 52 may receive work information from a terminal (for example, the first terminal 60 described later) before or after the reference line L1 is transmitted from the work vehicles 1A and 1B to the server 50 via the first communication device 42 and the second communication device 52, and the information acquisition unit 51b may acquire the work information.

The registration unit 51c associates and registers the reference line L1 defined by the line definition unit 40c, the first identification information corresponding to the reference line L1, and the work information. Specifically, as shown in FIG. 8, the registration unit 51c associates and registers the reference line L1, the first identification information corresponding to the reference line L1, and the work information as the fourth reference information D4 in one storage area (third storage area 53c) of the database 53. In detail, the registration unit 51c associates the reference line L1 acquired by the reference acquisition unit 51a, the first identification information acquired by the information acquisition unit 51b, and the work information. For example, the registration unit 51c associates the reference line L1 with the work information based on the second identification information, time, etc. In other words, as shown in FIG. 8, the fourth reference information D4 is information that associates the start point Ps, the end point Pg, the first identification information, the second identification information, the time when the start point Ps was defined and the time when the end point Pg was defined (the time when the reference line L1 was defined), and other work information, etc. In the following description, the start point Ps and the end point Pg included in the fourth reference information D4 may be collectively referred to simply as the reference line L1.

Furthermore, when the registration unit 51c stores the fourth reference information D4 (reference line L1) in the third storage area 53c, the registration unit 51c assigns management information to the fourth reference information D4 as shown in Fig. 8. The management information is information represented by characters, alphanumeric characters, etc., and is information set to facilitate calculation, search, organization, etc. of the reference line L1.
The server 50 may be configured to correct (overwrite) the reference line L1 stored in the third storage area 53c based on the correction by the correction unit 40c1. Specifically, the reference acquisition unit 51a acquires the reference line L1' corrected by the correction unit 40c1, and the registration unit 51c overwrites the corrected reference line L1' on the pre-correction reference line L1 corresponding to the corrected reference line L1', and registers it.

Specifically, when the correction unit 40c1 corrects the reference line L1, the first communication device 42 transmits, for example, information that associates the time (year, date, time) when the line definition unit 40c defined the corrected end point Pgh, the time (year, date, time) when the line definition unit 40c defined the uncorrected end point Pg, the first specific information, and the second specific information as sixth reference information (correction information) D5.

As a result, the reference acquisition unit 51a acquires the time (year, date, time) at which the line definition unit 40c defined the corrected end point Pgh, and the second specific information, from the sixth reference information D6 received by the second communication device 52. Based on the time (year, date, time) and the second specific information, the reference acquisition unit 51a extracts the second reference information D2 stored in the first storage area 53a, corresponding to the time at which the corrected end point Pgh was defined and the second specific information, and identifies the corrected end point Pgh.

The registration unit 51c also acquires the first identification information from the sixth reference information D6 received by the second communication device 52. The registration unit 51c extracts the reference line L1 corresponding to the first identification information, i.e., the reference line L1 before correction, from the third storage area 53c. When the registration unit 51c extracts the reference line L1 before correction from the third storage area 53c, it overwrites the end point Pg of the extracted reference line L1 before correction with the end point Pgh after correction acquired by the reference acquisition unit 51a.

The registration unit 51c only needs to be able to overwrite the pre-correction reference line L1 in the third storage area 53c with the reference line L1' corrected by the correction unit 40c1, and the sixth reference information D6 transmitted by the first communication device 42 is not limited to the information described above. For example, if the reference line L1 stored in the storage unit 41 is data (function and direction) indicating the reference line L1 itself, the first communication device 42 transmits sixth reference information D6 that associates the corrected data with the time (year, date, and time) at which the line definition unit 40c defined the end point Pg before correction, the first identification information, and the second identification information.

The first terminal 60 can accept the selection of any reference line L1 from among the reference lines L1 stored by the server 50. Specifically, the first terminal 60 registers the reference line L1 for which the selection has been accepted as a candidate line L3 that is a candidate for the reference line L1 along which the first work vehicle 1A or a second work vehicle 1B different from the first work vehicle 1A performs automatic steering. The first terminal display unit 64 (display unit) can display (present) at least one or more reference lines L1 from among the reference lines L1 stored by the server 50.

As shown in FIG. 1, the first terminal 60 has a selection unit 61a that accepts the selection of a reference line L1 displayed by the first terminal display unit 64 (display unit). The selection unit 61a accepts the selection of an arbitrary reference line L1 from the reference lines L1 displayed by the first terminal display unit 64 (display unit) as a candidate (candidate line L3) of the reference line L1 used by the work vehicles 1A, 1B as a reference for automatic steering. The selection unit 61a is composed of electric and electronic components provided in the first terminal control device 61, and a program incorporated in the first terminal storage unit 63. Also, as shown in FIG. 14A, the first terminal display unit 64 (display unit) can display at least two or more reference lines L1 radially on a field indicating a specified field F.

In this embodiment, the selection unit 61a accepts the selection of an arbitrary reference line L1 from the reference lines L1, and transmits the selected information (selection information) to the server 50 via the third communication device 62 and the second communication device 52. Upon receiving the selection information, the server 50 defines a candidate line L3 based on the selection information. In other words, in this embodiment, the first terminal 60 (selection unit 61a) indirectly defines the candidate line L3 by accepting the selection of an arbitrary reference line L1.

1, the server 50 has a first presenting unit 51d and a first setting unit 51e. The first presenting unit 51d and the first setting unit 51e are provided in the server control device 51, and are constituted by electric and electronic components provided in the server control device 51, a program incorporated in the server control device 51, and the like.
The first presentation unit 51d transmits the reference line L1 stored in the server 50 to the first terminal 60 and displays the reference line L1 on the first terminal display unit 64. The first presentation unit 51d transmits information (presentation information) of at least one of the reference lines L1 stored in the third storage area 53c of the server 50 to the first terminal control device 61 via the second communication device 52 and the third communication device 62. Specifically, the first presentation unit 51d extracts at least one piece of fourth reference information D4 from the fourth reference information D4 stored in the third storage area 53c, and transmits information of the reference line L1 corresponding to the extracted fourth reference information D4 to the first terminal control device 61 as presentation information.

In this embodiment, the selection unit 61a accepts input of work information, and the first presentation unit 51d transmits presentation information of the reference line L1 corresponding to the work information among the reference lines L1 stored in the third memory area 53c based on the work information accepted as input by the selection unit 61a.
Hereinafter, the flow of defining the candidate line L3 and the transition of the screen of the first terminal display unit 64 will be described with reference to Figs. 11 to 16. As shown in Fig. 11, when the worker or the like performs a predetermined operation on the first terminal 60, the first presenting unit 51d displays a selection screen on the first terminal display unit 64. As shown in Figs. 12 and 13, the selection screen is a screen on which work information can be selected, and the selecting unit 61a accepts input of the work information. Specifically, the first presenting unit 51d transmits information required for displaying the selection screen to the first terminal display unit 64 based on a table related to the work information stored in the second storage area 53b, and the first terminal control device 61 displays the selection screen on the display unit 64 based on the information.

The selection screen includes a screen for selecting a field F from the work information stored in the second storage area 53b. Specifically, the selection screen includes a first selection screen M1, which is a screen for selecting a field F on which the work vehicles 1A, 1B will work, as shown in FIG. 12. In addition, the selection screen displayed by the first terminal display unit 64 includes a second selection screen M2, which is a screen for inputting work information other than the field F, as shown in FIG. 13. In this embodiment, the second selection screen M2 is a screen for inputting the content (work details) of the work to be performed by the work vehicles 1A, 1B.

First, the first selection screen M1 will be described. As shown in FIG. 12, the first selection screen M1 has a first map screen 101 that displays a plurality of fields F. When the worker or the like performs a predetermined operation on the first terminal 60, the first presentation unit 51d transmits information required to display the first selection screen M1 to the first terminal control device 61 based on a table related to the field F (third specific information) stored in the second storage area 53b, and the first terminal display unit 64 displays the first selection screen M1 (S40). The first map screen 101 displays a bird's-eye view map 102 and a contour 103 of the field F displayed on the map 102. The contour 103 of the field F is a display image that can be selected by operating the first terminal 60. In addition, the contour 103 of the field F is displayed at a position on the map that corresponds to the location information of the field F in the table stored in the second storage area 53b of the server 50.

The first map screen 101 can change (zoom in or out) and move the displayed map range by having the worker or the like perform a specific operation on the first terminal 60. The contours 103 of the field F can each be selected. If the first terminal 60 is equipped with a position detection device that can detect its own position, the first map screen 101 may be able to display an icon 104 indicating the position of the first terminal 60, i.e., the position of the worker carrying the first terminal 60, based on the position information detected by the position detection device.

As shown in FIG. 11, when any of the contours 103 of field F on the first map screen 101 is operated (S41, Yes), the selection unit 61a acquires operation information of the contour 103 and accepts the selection of field F (S42). When the worker selects and operates the contour 103 of field F and the selection unit 61a accepts the selection of field F (S42), the selection unit 61a transmits the third specific information of the field F whose selection has been accepted to the server 50 (S43).

When the first terminal display unit 64 displays the first selection screen M1 and the selection unit 61a accepts the selection of the field F (S42) and transmits the third specific information of the field F for which the selection was accepted to the server 50 (S43), the first presentation unit 51d transmits information required to display the second selection screen M2 to the first terminal control device 61 based on the table relating to the work content (fifth specific information) stored in the second storage area 53b. As a result, the first terminal display unit 64 receives the information from the first presentation unit 51d (S44) and displays the second selection screen M2 (S45).

Next, the second selection screen M2 will be described. As shown in FIG. 13, the second selection screen M2 displays a first work selection section 111 that allows the selection operation (input operation) of the work content. The first work selection section 111 is a display image that allows the selection operation and is displayed in multiple numbers on the second selection screen M2. Furthermore, each of the first work selection sections 111 corresponds to a different work content. In this embodiment, as shown in the figure, the second selection screen M2 displays the first work selection sections 111 that correspond to "rotary (cultivation)", "ridge making", "towing", "puddling", "fertilization", and "ridge painting".

As shown in FIG. 11, when any of the first work selection units 111 displayed on the second selection screen M2 is operated (S46, Yes), the selection unit 61a acquires operation information of the first work selection unit 111 and accepts input of the work content (fifth specific information) associated with the first work selection unit 111 (S47). When the worker operates the first work selection unit 111 and the selection unit 61a accepts the input of the work content (S47), the selection unit 61a transmits the fifth specific information of the work content that has been accepted as input to the server 50 (S48).

As shown in FIG. 11, when the second terminal display unit 74 is displaying the second selection screen M2, the selection unit 61a accepts input of work content (S47) and transmits the fifth specific information of the accepted input work content to the server 50 (S48), the first presentation unit 51d transmits presentation information of the reference line L1 stored in the third storage area 53c that corresponds to the work information (the third specific information and the fifth specific information) accepted by the selection unit 61a.

Specifically, the first presentation unit 51d transmits information including the presentation information and necessary for the first terminal display unit 64 to display the presentation information. As a result, the first terminal display unit 64 receives the presentation information and the like from the first presentation unit 51d (S49) and displays a presentation screen M3 based on the presentation information (S50), as shown in FIG. 14A.
In this embodiment, the second selection screen M2 is a screen for inputting the content of the work (work content) to be performed by the work vehicles 1A, 1B, but the second selection screen M2 may be any screen for inputting work information other than that of the field F, and the work information may be any of information about the work vehicles 1A, 1B, information about the work device 2, and crop information, or it may be a screen from which multiple pieces of work information other than that of the field F can be selected.

In addition, the selection screen displayed by the first terminal display unit 64 may include, in addition to the first selection screen M1 and the second selection screen M2, a third selection screen (not shown) for selecting other work information, and the work information that the selection unit 61a accepts as input and the method of displaying it are not limited to the configuration described above.
Furthermore, in the embodiment described above, when the selection unit 61a accepts the selection of the field F while the first selection screen M1 is displayed, the first terminal display unit 64 displays the second selection screen M2, but if the first terminal 60 is capable of editing the information of the field F stored in the second storage area 53b of the server 50, the configuration may be such that the screen transitions to an operation screen M4 as shown in Fig. 15. The operation screen M4 has a plurality of operation keys 121, and is a screen that allows the user to select whether to define the reference line L1, that is, to transition to the second selection screen M2, or to edit the information of the field F, by using the operation keys 121.

As shown in FIG. 14A, the presentation screen M3 has a second map screen 131 that displays a farm field F, and a narrowing down section 136. The second map screen 131 displays a bird's-eye view map 132, and a contour 133 and a first virtual line 134 of the farm field F displayed on the map 132. The second map screen 131 displays, for example, the same as the first map screen 101 of the first selection screen M1, and also enlarges the farm field F that has been selected by the selection section 61a and displays it in the center of the display area.

The second map screen 131 can change (zoom in or out) and move the displayed map range by having the worker or the like perform a specified operation on the first terminal 60. If the first terminal 60 is equipped with a position detection device that can detect its own position, the second map screen 131 may be able to display an icon 135 indicating the position of the first terminal 60, i.e., the position of the worker carrying the first terminal 60, based on the position information detected by the position detection device.

The first virtual line 134 is the reference line L1 corresponding to the work information input by the selection unit 61a, among the reference lines L1 stored in the third storage area 53c, and is displayed on the field F. Specifically, the first virtual line 134 is the reference line L1 corresponding to the work information (the third specific information and the fifth specific information) input by the selection unit 61a.

In addition, when the number of reference lines L1 corresponding to the work information (third specific information and fifth specific information) that the selection unit 61a accepts as input is two or more, as shown in FIG. 14A, the second map screen 131 displays the two or more reference lines L1 (first virtual lines 134) radially on the field F. In detail, the first virtual lines 134 are arranged so that the center of the first virtual lines 134 is located at the center of the contour 133 of the field F. In other words, the first virtual lines 134 are virtual straight lines that are displayed by shifting the reference line L1 stored in the third memory area 53c to the center of the contour 133 of the field F. In addition, the first virtual lines 134 are extended from the start point Ps side and the end point Pg side of the reference line L1, respectively, and are displayed beyond the contour 133 of the field F. The first virtual lines 134 can be selected and operated individually.

As shown in FIG. 11, when an arbitrary first virtual line 134 is operated among the first virtual lines 134 on the second map screen 131 (S51, Yes), the selection unit 61a acquires operation information of the first virtual line 134 and accepts the selection of a reference line L1 corresponding to the first virtual line 134 (S52). When the worker operates the first virtual line 134 and the selection unit 61a accepts the selection of the arbitrary reference line L1 (S52), the selection unit 61a transmits selection information of the selected reference line L1 to the server 50 (S53).

When the selection unit 61a transmits the selection information of the first virtual line 134 (reference line L1) that has been selected to the server 50 (S53), the first presentation unit 51d transmits information on the reference line L1 that has been selected by the selection unit 61a, among the reference lines L1 stored in the third storage area 53c. Specifically, the first presentation unit 51d obtains the fourth reference information D4 corresponding to the reference line L1 that has been selected by the selection unit 61a from the third storage area 53c, and transmits information (confirmation information) required to display the fourth reference information D4.

As a result, the first terminal display unit 64 receives the confirmation information from the first presentation unit 51d (S54), and displays a confirmation screen M5 based on the confirmation information, as shown in FIG. 16 (S55).
Further, the narrowing-down unit 136 can select narrowing down of the first virtual line 134 displayed on the second map screen 131. The narrowing-down unit 136 can select work information, and the selection unit 61a can acquire operation information of the narrowing-down unit 136 and update the first virtual line 134 displayed on the second map screen 131 of the presentation screen M3. Specifically, as shown in FIG. 11, the narrowing-down unit 136 is operated (S56, Yes), and the selection unit 61a accepts input of work information in the narrowing-down unit 136 (S57), so that the first presentation unit 51d transmits information including presentation information of the reference line L1 corresponding to the work information accepted by the selection unit 61a in the narrowing-down unit 136. As a result, the first terminal control device 61 receives the information (S58) and can update the presentation screen M3 displayed by the first terminal display unit 64 (S59).

In this embodiment, the narrowing down unit 136 is capable of selecting the work content from among the work information. Note that the work information that the narrowing down unit 136 is capable of selecting is not limited to the work content, and as shown in FIG. 14A, information other than work information may be selectable. In the example shown in FIG. 14A, the narrowing down unit 136 is capable of inputting (selecting) the date on which the line definition unit 40c defined the reference line L1. That is, when the selection unit 61a accepts the input of the date in the narrowing down unit 136, the first presentation unit 51d extracts the reference line L1 corresponding to the date on which the selection unit 61a accepted the input in the narrowing down unit 136 from the third storage area 53c, and transmits information including the presentation information of the reference line L1.

When the number of reference lines L1 corresponding to the work information (third specific information and fifth specific information) received by the selection unit 61a is two or more, the presentation screen is not limited to a screen that displays two or more reference lines L1 (first virtual lines 134) radially on the field F, as in the screen M3 shown in FIG. 14A, but may be configured to display the reference lines L1 in a list and display a single first virtual line 134 (reference line L1) on the second map screen 131. In such a case, the presentation screen may display the second map screen 131 differently depending on whether the data of the reference line L1 included in the fourth reference information D4 is data (orientation or function) indicating the reference line L1 itself without including the position information of the start point Ps and the end point Pg, or data including the position information of the start point Ps and the end point Pg.

The following describes the presentation screen in the modified example with reference to Figures 14B and 14C. For ease of explanation, the presentation screen when the data of the first virtual line 134 displayed on the second map screen 131 is data (orientation or function) indicating the reference line L1 itself is referred to as the first presentation screen M3a, and the presentation screen when the data of the first virtual line 134 displayed on the second map screen 131 is data including the position information of the start point Ps and the end point Pg is referred to as the second presentation screen M3b. The following description focuses on the differences between the first presentation screen M3a and the second presentation screen M3b and the presentation screen M3.

As shown in Figs. 14B and 14C, the second map screen 131 on the first presentation screen M3a and the second presentation screen M3b displays a direction guide section 132a that shows the direction radially. The direction guide section 132a displays the direction as an angle. In addition, the narrowing down section 136 on the first presentation screen M3a and the second presentation screen M3b displays, for example, the narrowing down section 136 in Fig. 14A as a pop-up display, or accepts a transition to a screen for selecting work information.

In addition, a single first virtual line 134 is displayed on the second map screen 131 of the first presentation screen M3a. The first virtual line 134 is positioned so that its center is located at the center of the contour 133 of the field F, similar to the example shown in FIG. 14A. In this modified example, the second map screen 131 initially displays, for example, the first virtual line 134 that has been defined most recently.

Also, as shown in FIG. 14C, unlike the second map screen 131 of the first presentation screen M3a, the second map screen 131 of the second presentation screen M3b displays icons 132b and 132c at positions corresponding to the start point Ps and the end point Pg of the reference line L1, respectively. The icons 132b and 132c are displayed at corresponding positions on the field F based on the start point Ps and the end point Pg included in the fourth reference information D4. The icons 132b and 132c are circular display images, and respectively indicate the start point Ps and the end point Pg of the reference line L1. The icon 132b indicating the start point Ps of the reference line L1 is labeled "A," and the icon 132c indicating the end point Pg of the reference line L1 is labeled "B."

As shown in FIG. 14B and FIG. 14C, the first presentation screen M3a and the second presentation screen M3b have a candidate list 137 in addition to the second map screen 131 and the narrowing down section 136. The candidate list 137 displays a list of reference lines L1 corresponding to the work information (third specific information and fifth specific information) that the selection section 61a has accepted as input. The candidate list 137 displays information contained in the fourth reference information D4, such as the orientation of the reference line L1 and the date on which the reference line L1 was defined. In the example shown in FIG. 14B and FIG. 14C, the candidate list 137 shows a state in which two reference lines L1 are displayed in a list, but the number of reference lines L1 displayed by the candidate list 137 is not limited to two and may be three or four. In addition, the candidate list 137 may be scrolled up and down or left and right to display other reference lines L1.

In addition, when work information is selected using the narrowing-down unit 136, the candidate list 137 displays a list of reference lines L1 corresponding to the work information selected using the narrowing-down unit 136, from among the reference lines L1 corresponding to the work information accepted as input by the selection unit 61a.
Selection keys 137a are arranged near (for example, to the left of) each of the reference lines L1 in the candidate list 137. The selection keys 137a are operable display images, and each of the selection keys 137a corresponds to the reference line L1 (first virtual line 134).

The selection key 137a can be operated to select the associated reference line L1, and the selection unit 61a can obtain operation information of the selection key 137a and update the first virtual line 134 (reference line L1) displayed on the second map screen 131 of the first presentation screen M3a. Therefore, by operating the selection key 137a to select the reference line L1, the first presentation unit 51d can switch the display of the first terminal display unit 64 to the first presentation screen M3a or the second presentation screen M3b when the data of the reference line L1 is data (direction or function) indicating the reference line L1 itself, and when the data of the reference line L1 is data including position information of the start point Ps and the end point Pg. In the initial state, the selection key 137a of the first virtual line 134 with the most recent defined date is selected.

As shown in FIG. 14B and FIG. 14C, the candidate list 137 has a forward key 137b. The forward key 137b is an operable display image, and the selection unit 61a accepts the operation (selection) of the forward key 137b. By accepting the operation of the forward key 137b, the selection unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 (the first virtual line 134 corresponding to the operated selection key 137a) displayed on the second map screen 131. In other words, when the worker selects and operates the forward key 137b and the selection unit 61a accepts the selection of an arbitrary reference line L1 (S52), the selection unit 61a proceeds to S53 and transmits the selection information of the reference line L1 whose selection has been accepted to the server 50.

This allows the display to be different on the first presentation screen M3a shown in FIG. 14B and the second presentation screen M3b shown in FIG. 14C depending on whether the data of the first virtual line 134 displayed on the second map screen 131 is data (orientation or function) indicating the reference line L1 itself or whether the data of the first virtual line 134 is data including the position information of the start point Ps and the end point Pg. In other words, even if the source of the reference line L1 of the server 50 is a terminal or the like communicably connected to the server 50 or the work vehicles 1A and 1B and the information included in the fourth reference information D4 is different, it is possible to display it on a relatively unified screen as shown in FIG. 14B and FIG. 14C.

In addition, if the data for the first virtual line 134 includes position information for the start point Ps and the end point Pg, the second presentation screen M3b can be displayed and icons 132b, 132c can be displayed separately from the first virtual line 134 to indicate the start point Ps and the end point Pg of the reference line L1. Therefore, when defining a candidate line L3, the worker can refer to the actual positions of the start point Ps and the end point Pg while referring to the orientation of the reference line L1. This allows the worker to know which side of the contour of the field F the reference line L1 is defined based on, particularly when performing ridge painting work.

In addition, the configuration of the presentation screen M3 in Fig. 14A and the configurations of the first presentation screen M3a in Fig. 14B and the second presentation screen M3b in Fig. 14C may be arbitrarily combined with each other. For example, the map 132 on the presentation screen M3 may be configured to display an orientation guide portion 132a.
16, the confirmation screen M5 has a third map screen 141 displaying a field F, a first detail display section 147, and a first enter key 148. The third map screen 141 displays a bird's-eye view map 142, and a contour 143 and a second virtual line 144 of the field F displayed on the map. The third map screen 141 displays, for example, the same as the first map screen 101 of the first selection screen M1 and the second map screen 131 of the presentation screen M3, and also enlarges the field F selected by the selection section 61a and displays it in the center of the display area.

The third map screen 141 can change (zoom in or out) and move the displayed map range by having the worker or the like perform a specified operation on the first terminal 60. If the first terminal 60 is equipped with a position detection device that can detect its own position, the third map screen 141 may be able to display an icon 145 indicating the position of the first terminal 60, i.e., the position of the worker carrying the first terminal 60, based on the position information detected by the position detection device.

As shown in FIG. 16, the second virtual line 144 is an arbitrary reference line L1 selected by the selection unit 61a and is displayed on the field F. Specifically, the second virtual line 144 is disposed at the actual position of the second virtual line 144, unlike the first virtual line 134 on the presentation screen M3. The second virtual line 144 extends from the start point Ps side and the end point Pg side of the reference line L1, and is displayed beyond the contour 143 of the field F. Furthermore, an orientation display unit 144a is displayed near the second virtual line 144, displaying the orientation of the second virtual line 144 (reference line L1) in degrees.

In addition, icons 146a and 146b are displayed on the second virtual line 144 at positions corresponding to the start point Ps and end point Pg of the reference line L1, respectively. The icons 146a and 146b are displayed at corresponding positions on the field F based on the start point Ps and end point Pg included in the fourth reference information D4. The icons 146a and 146b are balloon-shaped display images, and indicate the start point Ps and end point Pg of the reference line L1, respectively. The icon 146a indicating the start point Ps of the reference line L1 is labeled "A," and the icon 146b indicating the end point Pg of the reference line L1 is labeled "B."

The first detail display unit 147 is an area that displays information about the reference line L1 selected by the selection unit 61a. The first detail display unit 147 displays the time (year, date, time) at which the end point Pg included in the fourth reference information D4 was defined, and work information. As shown in FIG. 16, the first detail display unit 147 displays, for example, the time (year, date, time) at which the end point Pg was defined, and the field F and work content as work information. The first detail display unit 147 may also display the reference line L1 in a direction. When the first detail display unit 147 displays the reference line L1 in a direction, it displays the direction in degrees. When the work information includes detailed information about the work device 2, such as the work machine width or the lap width of the work, the first detail display unit 147 may be able to display the information.

The first detail display unit 147 may also be operable. The first detail display unit 147 may be slid, for example, left or right on the screen. The first detail display unit 147 can be operated to select a reference line L1 different from the reference line L1 displayed by the first detail display unit 147 by operating it. That is, as shown in FIG. 11, when the first detail display unit 147 is operated (S60, Yes), the selection unit 61a acquires operation information of the first detail display unit 147 and accepts the selection of the reference line L1 (S61).

When the selection unit 61a receives the selection of the reference line L1 in the first detail display portion 147 (S61), the selection unit 61a transmits selection information of the reference line L1 that has been received to the server 50 (S62).
When the selection unit 61a transmits the selection information of the first virtual line 134 (reference line L1) selected by the server 50 (S62), the first presentation unit 51d acquires the fourth reference information D4 corresponding to the reference line L1 selected by the selection unit 61a from the third storage area 53c and transmits information (confirmation information) required to display the fourth reference information D4. This enables the first terminal control device 61 to receive the information (confirmation information) (S63) and update the confirmation screen M5 displayed by the first terminal display unit 64 (S64).

As shown in FIG. 16, the first decision key 148 is an operable display image. The first decision key 148 is a key for deciding the selection of the reference line L1 displayed on the confirmation screen M5. In detail, as shown in FIG. 11, when the first decision key 148 is operated (S65, Yes), the selection unit 61a acquires operation information of the first decision key 148 and accepts the decision to select the reference line L1 (S66). When the worker operates the first decision key 148 and the selection unit 61a accepts the operation of the first decision key 148, i.e., the decision to select the reference line L1 (S66), the selection unit 61a transmits decision information of the reference line L1 for which the decision to select has been accepted to the server 50 (S67).

As a result, when the server 50 receives the determination information for the reference line L1, the first setting unit 51e registers (sets) the reference line L1 for which the selection unit 61a has accepted the selection determination from among the reference lines L1 stored in the third memory area 53c as a candidate line L3.
Specifically, the first setting unit 51e rewrites the information of the fourth reference information D4 corresponding to the selected reference line L1, thereby registering the reference line L1 as a candidate line L3. In more detail, the first setting unit 51e adds or rewrites an arbitrary character string to the management information assigned to the fourth reference information D4 corresponding to the reference line L1, thereby registering the reference line L1 as a candidate line L3.

In addition, the method of registering (setting) the candidate line L3 by the first setting unit 51e is not limited to the method described above. For example, the candidate line L3 may be registered by storing the fourth reference information D4 corresponding to the reference line L1 for which the selection unit 61a has accepted the selection decision in a memory area (fourth memory area 53d) other than the third memory area 53c.
The second terminal 70 can define that the first work vehicle 1A or the second work vehicle 1B performs automatic steering based on the candidate line L3 registered by the first terminal 60. Specifically, the second terminal 70 accepts the input of work information and extracts the candidate line L3 corresponding to the work information from the server 50, thereby accepting the selection of the candidate line L3.

More specifically, the second terminal 70 has a reception unit 71a that receives input of work information. The reception unit 71a receives the input of work information by acquiring the work information inputted into the second terminal display unit 74. The reception unit 71a is composed of electric and electronic components provided in the second terminal control device 71, a program incorporated in the second terminal storage unit 73, etc.
In this embodiment, the reception unit 71a receives input of work information and transmits the received work information (input information) to the server 50 via the third communication device 62 and the second communication device 52. The server 50 also selects a candidate line L3 by extracting a candidate line L3 corresponding to the input information. In other words, the second terminal 70 receives input of work information and has the server 50 extract the candidate line L3, thereby indirectly receiving the selection of the candidate line L3.

1, the server 50 has a second presentation unit 51f and a second setting unit 51g. The second presentation unit 51f and the second setting unit 51g are provided in the server control device 51, and are constituted by electric and electronic components provided in the server control device 51, programs incorporated in the server control device 51, etc.
The second presentation unit 51f transmits the candidate line L3 stored in the server 50 to the second terminal 70, and displays the candidate line L3 on the second terminal display unit 74. The second presentation unit 51f transmits information (candidate information) of the candidate line L3 stored in the third storage area 53c of the server 50, which corresponds to the work information inputted and accepted by the acceptance unit 71a, to the second terminal control device 71 via the second communication device 52 and the fourth communication device 72.

Below, using Figures 17 to 20, we will explain the process of accepting the selection of a candidate line L3 and transmitting the selected candidate line L3 to the work vehicles 1A, 1B, as well as the screen transitions of the second terminal display unit 74.
As shown in Fig. 17, when a worker or the like performs a predetermined operation on the second terminal 70, the second presenting unit 51f displays a reception screen on the second terminal display unit 74 (S70). As shown in Fig. 18 and Fig. 19, the reception screen is a screen on which work information can be input, and the reception unit 71a accepts the input of the work information. Specifically, the second presenting unit 51f transmits information required to display the reception screen to the second terminal display unit 74 based on a table related to the work information stored in the second storage area 53b, and the second terminal control device 71 displays the reception screen on the second terminal display unit 74 based on the information.

The reception screen includes a screen for selecting at least the field F on which the work vehicles 1A, 1B will work from the work information stored in the second storage area 53b. Specifically, the selection screen includes a first reception screen M6, which is a screen for selecting the field F on which the work vehicles 1A, 1B will work. Also, as shown in FIG. 19, the reception screen displayed by the second terminal display unit 74 includes a second reception screen M7, which is a screen for inputting work information other than the field F. In this embodiment, the second reception screen M7 is a screen for inputting the content of the work (work content) to be performed by the work vehicles 1A, 1B.

First, the first reception screen M6 will be described. As shown in FIG. 18, the first reception screen M6 has a fourth map screen 151 that displays a plurality of fields F. When a worker or the like performs a predetermined operation on the second terminal 70, the second presentation unit 51f transmits information required to display the first reception screen M6 to the second terminal control device 71 based on a table related to the field F (third specific information) stored in the second storage area 53b, and the second terminal display unit 74 displays the first reception screen M6 (S70).

The fourth map screen 151 displays a bird's-eye view map 152 and an outline 153 of field F displayed on the map. The outline 153 of field F is a display image that can be selected by operating the second terminal 70. Furthermore, the outline 153 of field F is displayed at a position on the map that corresponds to the location information of field F in a table stored in the second storage area 53b of the server 50.

The fourth map screen 151 can change (zoom in or out) and move the displayed map range by having the worker or the like perform a specified operation on the second terminal 70. The contours 153 of the field F can each be selected. If the second terminal 70 is equipped with a position detection device that can detect its own position, the fourth map screen 151 may be able to display an icon 154 indicating the position of the second terminal 70, i.e., the position of the worker carrying the second terminal 70, based on the position information detected by the position detection device.

When any of the contours 153 of the field F on the fourth map screen 151 is operated (S71, Yes), the reception unit 71a acquires operation information of the contour 153 and accepts the selection of the field F (S72). When the worker selects and operates the contour 153 of the field F and the reception unit 71a accepts the selection of the field F (S72), the reception unit 71a transmits the third specific information of the field F whose selection has been accepted to the server 50 (S73).

As shown in FIG. 17, when the second terminal display unit 74 is displaying the first reception screen M6, when the reception unit 71a transmits the third specific information of the field F for which the selection has been received to the server 50 (S73), the second presentation unit 51f transmits information required to display the second reception screen M7 to the second terminal control device 71 based on the table related to the work content (fifth specific information) stored in the second storage area 53b. As a result, the second terminal display unit 74 receives the information (S74) and displays the second reception screen M7 shown in FIG. 19 (S75). Note that the second reception screen M7 displays a second work selection unit 161 that allows the selection operation of the same work information as the work information that can be selected on the second selection screen M2.

Next, the second reception screen M7 will be described. As shown in FIG. 19, the second reception screen M7 displays a second work selection section 161 that allows the input operation (selection operation) of work content. The second work selection section 161 is a display image that allows selection operation and is displayed in multiple parts on the second reception screen M7. Furthermore, each second work selection section 161 corresponds to a different work content. In this embodiment, as shown in FIG. 19, the second selection screen M2 displays second work selection sections 161 that correspond to "rotary (cultivation)", "ridge making", "towing", "puddling", "fertilization", and "ridge painting".

As shown in FIG. 17, when any of the second work selection units 161 displayed on the second reception screen M7 is operated (S76, Yes), the reception unit 71a acquires operation information of the second work selection unit 161 and receives input of the work content (fifth specific information) associated with the second work selection unit 161 (S77). When the worker selects and operates the second work selection unit 161 and the reception unit 71a receives the input of the work content (S77), the reception unit 71a transmits the fifth specific information of the work content that has been received to the server 50 (S78).

When the second terminal display unit 74 is displaying the second selection screen M2, if the reception unit 71a transmits the fifth specific information of the work content received by the reception unit 71a to the server 50 (S78), the second presentation unit 51f transmits candidate information of the candidate line L3 corresponding to the work information (third specific information and fifth specific information) received by the reception unit 71a from among the candidate lines L3 stored in the third storage area 53c. Specifically, the second presentation unit 51f transmits information including the candidate information and necessary for the second terminal display unit 74 to display the candidate information. As a result, the second terminal display unit 74 receives the information (S79), and when it receives the candidate information etc. from the second presentation unit 51f, it displays the call screen M8 based on the candidate information as shown in FIG. 20 (S80).

In this embodiment, the second reception screen M7 is a screen for inputting the contents of the work (work contents) to be performed by the work vehicles 1A, 1B, but the second reception screen M7 may be a screen for inputting work information other than that of the field F, and the work information may be any of information on the work vehicles 1A, 1B, information on the work device 2, and crop information, or may be a screen on which multiple pieces of work information other than that of the field F can be selected. Furthermore, the selection screen displayed by the second terminal display unit 74 may include, in addition to the first reception screen M6 and the second reception screen M7, a third reception screen (not shown) for selecting other work information, and the work information that the reception unit 71a accepts as input and the method of displaying it are not limited to the configuration described above.

As shown in FIG. 20, the call screen M8 has a fifth map screen 171 that displays the field F, a second detailed display section 177, and a second enter key 178. The fifth map screen 171 displays a bird's-eye view map 172, an outline 173 of the field F displayed on the map 172, and a third virtual line 174. The fifth map screen 171 displays, for example, the same as the fourth map screen 151 of the first reception screen M6, and also enlarges the field F that has been selected and received by the reception section 71a, and displays it in the center of the display area.

The fifth map screen 171 can change (zoom in or out) and move the displayed map range by having the worker or the like perform a specified operation on the second terminal 70. If the second terminal 70 is equipped with a position detection device that can detect its own position, the fifth map screen 171 may be able to display an icon 175 indicating the position of the second terminal 70, i.e., the position of the worker carrying the second terminal 70, based on the position information detected by the position detection device.

The third virtual line 174 is the candidate line L3 corresponding to the work information (third specific information and fifth specific information) received by the reception unit 71a, i.e., the candidate line L3 selected and received by the reception unit 71a, and is displayed on the field F. In detail, the third virtual line 174 is disposed at the actual position of the third virtual line 174. The third virtual line 174 is displayed by extending the start point Ps side and the end point Pg side of the candidate line L3, beyond the contour 173 of the field F. Furthermore, a direction display section 174a is displayed near the third virtual line 174, displaying the direction of the third virtual line 174 (candidate line L3) in degrees.

In addition, icons 176a and 176b are displayed on the third virtual line 174 at positions corresponding to the start point Ps and end point Pg of the candidate line L3, respectively. The icons 176a and 176b are displayed at corresponding positions on the field F based on the start point Ps and end point Pg included in the fourth reference information D4. The icons 176a and 176b are balloon-shaped display images, and indicate the start point Ps and end point Pg of the candidate line L3, respectively. The icon 176a indicating the start point Ps of the candidate line L3 is labeled "A," and the icon 176b indicating the end point Pg of the candidate line L3 is labeled "B."

The second detail display unit 177 is an area that displays information about the candidate line L3 selected and accepted by the accepting unit 71a. The second detail display unit 177 displays the time (year, date, time) when the end point Pg included in the fourth reference information D4 was defined, and work information. As shown in FIG. 20, the second detail display unit 177 displays, for example, the time (year, date, time) when the end point Pg was defined, and the field F and work content as work information. The second detail display unit 177 may also display the candidate line L3 in a direction. When the second detail display unit 177 displays the candidate line L3 in a direction, it displays the direction in degrees. When the work information includes detailed information about the work device 2, such as the work machine width and the lap width of the work, the second detail display unit 177 may be able to display the information.

The second decision key 178 is an operable display image. The second decision key 178 is a key for operating to confirm the selection of the candidate line L3 displayed on the call screen M8. In detail, as shown in FIG. 17, when the second decision key 178 is operated (S81, Yes), the reception unit 71a acquires operation information of the second decision key 178 and accepts the decision to select the candidate line L3 (S82). When the worker operates the second decision key 178 and the reception unit 71a accepts the operation of the second decision key 178, i.e., the decision to select the candidate line L3 (S82), the reception unit 71a transmits decision information of the candidate line L3 for which the decision to select has been accepted to the server 50 (S83).

As a result, when the server 50 receives the decision information of the candidate line L3, the second setting unit 51g transmits the candidate line L3 for which the reception unit 71a has accepted the selection decision from among the candidate lines L3 stored in the third storage area 53c to the work vehicles 1A and 1B. Specifically, the second communication device 52 transmits the candidate line L3 to the work vehicles 1A and 1B associated with the second terminal 70 via the second communication device 52 and the first communication device 42. In more detail, the second setting unit 51g acquires the fourth reference information D4 corresponding to the candidate line L3 for which the reception unit 71a has accepted the selection decision, and acquires the start point Ps and the end point Pg of the candidate line L3 from the fourth reference information D4. The second setting unit 51g outputs the fifth reference information D5 including the position information of the start point Ps and the end point Pg of the candidate line L3 as the candidate line L3 to the second communication device 52.

As shown in FIG. 8, the fifth reference information D5 includes position information of the start point Ps and end point Pg of the candidate line L3, the first identification information, and work information. The work information of the fifth reference information D5 is the work information (the third identification information and the fifth identification information) that the reception unit 71a has received as input. As a result, the second communication device 52 transmits the fifth reference information D5 output from the second setting unit 51g to the work vehicles 1A and 1B.

The fifth reference information D5 is not limited to the position information of the start point Ps and end point Pg of the candidate line L3, and may include, for example, data indicating the reference line L1 itself (direction or function).
After S83, when the first communication device 42 receives the candidate line L3 (fifth reference information D5) from the second communication device 52, the line definition unit 40c associates the position information of the start point Ps and end point Pg of the candidate line L3 with the first identification information and the work information, and stores them as the first reference information D1 (reference line L1) in the storage unit 41. In other words, when the storage unit 41 has already stored the first reference information D1 (reference line L1), it stores the candidate line L3 (fifth reference information D5) as the first reference information D1 instead of the first reference information D1.

As a result, the work vehicle 1A, 1B (the first work vehicle 1A or the second work vehicle 1B) to which the candidate line L3 has been transmitted from the second communication device 52 can perform automatic steering based on the transmitted candidate line L3.
The above-mentioned work vehicle assistance system S includes a first work vehicle 1A having a vehicle body 3 capable of traveling by either manual steering or automatic steering based on a reference line L1, a line definition unit 40c that defines the reference line L1 based on traveling information of the vehicle body 3 when the vehicle body 3 is being manually steered, a server 50 that stores the reference line L1 defined by the line definition unit 40c, and a first terminal 60 that accepts the selection of an arbitrary reference line L1 from the reference lines L1 stored by the server 50, and the first terminal 60 registers the reference line L1 that has been selected as a candidate line L3 that is a candidate for the reference line L1 on which the first work vehicle 1A or a second work vehicle 1B different from the first work vehicle 1A performs automatic steering. According to the above configuration, the first work vehicle 1A performs manual steering, and the reference line L1 defined by the line definition unit 40c can be accumulated in the server 50. Furthermore, by registering the reference line L1 accumulated by the server 50 as a candidate line L3, the reference line L1 can be utilized for the first work vehicle 1A or the second work vehicle 1B, thereby reducing the effort required to register the reference line L1 each time work is performed.

The first work vehicle 1A also has a first communication device 42 capable of communicating with the server 50, and the first communication device 42 transmits the reference line L1 defined by the line definition unit 40c to the server 50, and the server 50 receives the reference line L1 transmitted from the first communication device 42 and stores the reference line L1. According to the above configuration, the server 50 can directly communicate with the first work vehicle 1A, and the line definition unit 40c of the first work vehicle 1A can transmit the reference line L1 directly to the server 50. Therefore, even if the reference line L1 is not stored in the first work vehicle 1A, the server 50 can store the reference line L1 each time the line definition unit 40c defines the reference line L1. In other words, the reference line L1 can be stored externally regardless of the size of the memory area of the first work vehicle 1A.

The work vehicle assistance system S also includes a second terminal 70, which is a terminal separate from the first terminal 60 and accepts the selection of a candidate line L3 registered by the first terminal 60, and defines the first work vehicle 1A or the second work vehicle 1B to perform automatic steering based on the selected candidate line L3. According to the above configuration, by selecting the candidate line L3 in advance in the first terminal 60, it is possible to limit the candidates for the reference line L1 used by the first work vehicle 1A or the second work vehicle 1B for automatic steering. Therefore, in the second terminal 70, the operation of selecting a candidate reference line L1 from the multiple reference lines L1 stored in the server 50 can be omitted.

The server 50 also has an information acquisition unit 51b that acquires work information related to the work of the first work vehicle 1A when the vehicle body 3 is manually steered, and a registration unit 51c that associates and registers the reference line L1 defined by the line definition unit 40c and the work information corresponding to the reference line L1, and the second terminal 70 accepts the input of the work information and extracts the candidate line L3 corresponding to the work information from the server 50, thereby accepting the selection of the candidate line L3. According to the above configuration, the worker operating the second terminal 70 can simply select the reference line L1 used by the first work vehicle 1A or the second work vehicle 1B for automatic steering by simply inputting the work information. Therefore, the efficiency and accuracy of work can be improved by setting roles according to the capabilities of the worker who uses the first terminal 60 to select the candidate line L3 in advance and the worker who uses the second terminal 70 to operate the first work vehicle 1A or the second work vehicle 1B.

The server 50 also has a second communication device 52 capable of communicating with the first work vehicle 1A or the second work vehicle 1B, and the second communication device 52 transmits the candidate line L3 selected by the second terminal 70 to the first work vehicle 1A or the second work vehicle 1B, and the first work vehicle 1A or the second work vehicle 1B that has received the candidate line L3 from the second communication device 52 performs automatic steering based on the transmitted candidate line L3. According to the above configuration, the first work vehicle 1A or the second work vehicle 1B can perform automatic steering based on the candidate line L3 transmitted from the server 50. Therefore, even if the reference line L1 is not stored in the first work vehicle 1A, automatic steering can be performed based on the candidate line L3 selected by the first terminal 60. In other words, even if the size of the memory area of the first work vehicle 1A is relatively small, automatic steering can be performed based on the candidate line L3, which is a more appropriate reference line L1.

In addition, the information acquisition unit 51b includes, as work information, one or more of the following information: the field F on which the first work vehicle 1A and the second work vehicle 1B work, information on the first work vehicle 1A and the second work vehicle 1B, information on the work device 2 used in the work, the work content of the work device 2, and the crops cultivated in the field F. According to the above configuration, the worker or the like who operates the second terminal 70 can easily select the reference line L1 to be used for automatic steering by the first work vehicle 1A or the second work vehicle 1B by simply inputting information related to the work, such as the field F, the work vehicles 1A, 1B, the work device 2 possessed by the work vehicles 1A, 1B, the work content of the work device 2, and the crops cultivated in the field F. Therefore, the worker who operates the first work vehicle 1A or the second work vehicle 1B using the second terminal 70 can select an appropriate candidate line L3 with a simpler operation.

The first work vehicle 1A or the second work vehicle 1B has an operable correction switch 20, and the line definition unit 40c has a correction unit 40c1 that corrects and redefines the candidate line L3 based on the operation of the correction switch 20 and corrects the steering of the vehicle body 3 during automatic steering, and the server 50 overwrites the candidate line L3 corrected by the correction unit 40c1 onto the reference line L1 corresponding to the candidate line L3 and stores it. According to the above configuration, the server 50 can accumulate a more optimized reference line L1 based on the candidate line L3 redefined by operating the correction switch 20.

The first work vehicle 1A also has an operable registration switch 18, and the line definition unit 40c acquires the start point Ps and end point Pg of the reference line L1 in the field F based on the travel information when the registration switch 18 is operated, and defines the reference line L1 from the start point Ps and end point Pg. With the above configuration, the worker can easily define the reference line L1 by operating the registration switch 18.

The first work vehicle 1A also has a first detection device 43A that detects the position information of the first work vehicle 1A, which is travel information, and the line definition unit 40c acquires the start point Ps and end point Pg from the position of the first work vehicle 1A when the registration switch 18 is operated, based on the position information and the operation of the registration switch 18. With the above configuration, the line definition unit 40c can acquire the start point Ps and end point Pg when the first work vehicle 1A is actually traveled in the field F. This allows the server 50 to accumulate a more accurate reference line L1.

The first work vehicle 1A also has a first detection device 43A that detects the position information of the first work vehicle 1A, which is driving information, and transmits the position information to the server 50 at a predetermined time interval, and an operable registration switch 18, and the first detection device 43A transmits the position information to the server 50 at a predetermined time interval, and the line definition unit 40c transmits the time when the registration switch 18 is operated to the server 50, and defines the reference line L1 based on the position information stored in the server 50 and corresponding to the time when the registration switch 18 is operated. According to the above configuration, the server 50 is constantly receiving the position information of the first work vehicle 1A, so the line definition unit 40c can more reliably obtain the start point Ps and the end point Pg.

The first work vehicle 1A also has a second detection device 43B that detects the direction information of the first work vehicle 1A, which is driving information, and an operable registration switch 18, and the line definition unit 40c defines the reference line L1 based on the direction information and the operation of the registration switch 18, using the direction F1 of the first work vehicle 1A when the registration switch 18 is operated. With the above configuration, the worker can easily define the reference line L1 by operating the registration switch 18.

The first work vehicle 1A also has a second detection device 43B that detects the direction information of the first work vehicle 1A, which is driving information, and transmits the direction information to the server 50 at a predetermined time interval, and the first work vehicle 1A has an operable registration switch 18, and the second detection device 43B transmits the direction information to the server 50 at a predetermined time interval, and the line definition unit 40c transmits the time when the registration switch 18 is operated to the server 50, and defines the reference line L1 based on the direction information stored in the server 50 and corresponding to the time when the registration switch 18 is operated. According to the above configuration, the server 50 is constantly receiving the position information of the first work vehicle 1A, so the line definition unit 40c can more reliably obtain the direction information.

Moreover, the first terminal 60 has a display unit capable of displaying at least two or more reference lines L1 out of the reference lines L1 stored in the server 50, and a selection unit 61a that accepts selection of the reference line L1 displayed by the display unit, and the display unit is capable of displaying at least two or more reference lines L1 radially on a field indicating a predetermined field F. According to the above configuration, the worker operating the first terminal 60 can easily grasp the angle of the reference line L1 with respect to the field F and the difference in angle with other reference lines L1, etc. Therefore, the worker can select a more appropriate candidate line L3 by checking the reference line L1 displayed on the field.
[Second embodiment]
21 shows an overall view of the work vehicle assistance system S in the second embodiment. In the first embodiment, the first presenter 51d transmits the reference line L1 stored in the server 50 to the first terminal 60 and causes the first terminal display unit 64 to display the reference line L1, but in the second embodiment, the first presenter 51d causes the first terminal display unit 64 to display (present) the reference line L1 in a predetermined priority order. Note that the same reference symbols are used for configurations similar to those in the first embodiment, and descriptions thereof will be omitted.

21, the server 50 has a ranking definition unit 51h. The ranking definition unit 51h defines priorities for a plurality of reference lines L1 stored in the server 50 based on at least one condition. The first terminal display unit 64 (display unit) presents the reference lines L1 based on the priorities defined by the ranking definition unit 51h.
The priority definition unit 51h is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and programs and the like incorporated in the server control device 51. The priority definition unit 51h defines the priority order based on conditions such as the length of the reference line L1 and the usage history of the reference line L1. The conditions for defining the priority order by the priority definition unit 51h will be described in detail below.

The ranking definition unit 51h includes conditions (first and second conditions) that define the priority order based on the first distance K1 between the start point Ps and end point Pg of the reference line L1. First, the first condition will be described in detail. The first condition is a condition that defines a reference line L1 with a longer first distance K1 as having a higher priority order than a reference line L1 with a shorter first distance K1. Specifically, the server 50 has a calculation unit 51i that calculates the first distance K1, and the ranking definition unit 51h defines the priority order in the first condition based on the first distance K1 calculated by the calculation unit 51i.

The calculation unit 51i can calculate the first distance K1. The calculation unit 51i is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and a program incorporated in the server control device 51. Specifically, as shown in FIG. 22, the calculation unit 51i acquires the fourth reference information D4 stored in the third storage area 53c (S100), and calculates the first distance K1 based on the fourth reference information D4 (S101). The calculation unit 51i acquires position information of the start point Ps and the end point Pg from the fourth reference information D4, and calculates the straight-line distance between the start point Ps and the end point Pg as the first distance K1. In this embodiment, the position information is information represented by latitude and longitude, so as shown in FIG. 23, the calculation unit 51i calculates the first distance K1 from the latitude and longitude of the start point Ps and the latitude and longitude of the end point Pg.

The first distance K1 calculated by the calculation unit 51i in S101 is registered by the registration unit 51c in the management information of the reference line L1 (fourth reference information D4) corresponding to the first distance K1 (S102). Therefore, the priority definition unit 51h can refer to the first distance K1 of each of the reference lines L1 stored in the third storage area 53c from the management information of the fourth reference information D4 stored in the third storage area 53c (S103). As a result, the priority definition unit 51h can refer to the first distance K1 of each of the reference lines L1 in the first condition (S103) and define the priority of the reference line L1 with a longer first distance K1 as higher than the reference line L1 with a shorter first distance K1 (S104).

Next, the second condition will be described in detail. The second condition defines a higher priority for a reference line L1 having a larger ratio of the first distance K1 to the second distance K2 between the intersection X of a straight line (extension of the reference line L1) L4 passing through the start point Ps and the end point Pg and the outline (contour) C of the field F than for a reference line L1 having a smaller ratio. Specifically, as shown in FIG. 23, the calculation unit 51i calculates the second distance K2 between the intersection X of the extension L4 of the reference line L1 and the outline C of the field F. In other words, the server 50 has a calculation unit 51i that calculates the second distance K2 between the intersection X of the extension L4 of the reference line L1 and the outline C of the field F.

In the following, for convenience of explanation, the ratio of the first distance K1 to the second distance K2 may be described as the travel rate of the work vehicles 1A, 1B travelling through the field F.
24, the calculation unit 51i acquires position information of the start point Ps and the end point Pg from the fourth reference information D4 (S111), and calculates a function R of an extension line L4 of the reference line L1 from the position information of the start point Ps and the end point Pg (S112). Specifically, in this embodiment, the position information is information represented by latitude and longitude, so the calculation unit 51i calculates the function R from the position information of the start point Ps and the end point Pg.

When the calculation unit 51i calculates the function R of the extension line L4 of the reference line L1 (S112), it acquires information on the field F for which the reference line L1 is defined from the second storage area 53b based on the third specific information among the work information included in the fourth reference information D4 (S113). Specifically, the calculation unit 51i acquires position information on the outline C of the field F (S113), and calculates position information on the intersection X between the extension line L4 of the reference line L1 and the outline C of the field F based on the acquired position information on the outline C and the function R (S114). The calculation unit 51i calculates the second distance K2 from the latitude and longitude of the first intersection X1 on the start point Ps side and the latitude and longitude of the second intersection X2 on the end point Pg side calculated in S114 (S115).

The calculation unit 51i calculates the ratio (travel rate) of the first distance K1 to the two distances from the first distance K1 corresponding to the reference line L1 and the second distance K2 corresponding to the reference line L1 (S116). In other words, the calculation unit 51i calculates the ratio (travel rate) by dividing the first distance K1 corresponding to the reference line L1 by the second distance K2 corresponding to the reference line L1.

The second distance K2 and the travel rate calculated by the calculation unit 51i are registered by the registration unit 51c in the management information of the reference line L1 (fourth reference information D4) corresponding to the second distance K2 and the travel rate (S117). Therefore, the ranking definition unit 51h can refer to the travel rate of each of the reference lines L1 stored in the third storage area 53c from the management information of the fourth reference information D4 stored in the third storage area 53c (S118). As a result, the ranking definition unit 51h can refer to the travel rate of each of the reference lines L1 (S118) in the second condition, and define the priority of the reference line L1 with a high travel rate as higher than that of the reference line L1 with a low travel rate (S119).

The ranking definition section 51h includes conditions (third to seventh conditions) that define the priority order based on the usage history. The database 53 stores the correction degree of the reference line L1, the number of uses, and the work history as the usage history. Specifically, the third storage area 53c stores the reference line L1 (fourth reference information D4) in association with the correction degree, the number of uses, and the work history. The correction degree is the degree to which the correction section 40c1 corrected the reference line L1. The number of uses is the number of times the work vehicles 1A, 1B used the reference line L1. And the work history is the history of the work content in which the work vehicles 1A, 1B performed automatic steering using the reference line L1.

Specifically, the server 50 has a record acquisition unit 51j that acquires information (usage information) related to the usage record of the reference line L1. The record acquisition unit 51j is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and programs and the like incorporated in the server control device 51. The registration unit 51c registers the usage record in the management information of the reference line L1 (fourth reference information D4) stored in the third storage area 53c, based on the information acquired by the record acquisition unit 51j.

Hereinafter, a condition will be described in which the result acquisition unit 51j acquires the correction degree as the usage result, and the priority definition unit 51h defines the priority order according to the correction degree. For convenience of explanation, the correction degree may be simply referred to as the degree. In addition, a case where the correction switch 20 is a push switch will be described as an example.
First, the third condition will be described in detail. The third condition is a condition that defines the priority of the reference line L1 with a small degree (correction degree) as higher than that of the reference line L1 with a large degree (correction degree). As described in the first embodiment, when the correction switch 20 is a push switch, the correction unit 40c1 increases the degree (correction amount h) according to the number of times the correction switch 20 is operated. In other words, the third condition is a condition that defines the priority of the reference line L1 with a small number of operations as higher than that of the reference line L1 with a large number of operations. The third condition is a condition in which the server 50 does not correct (overwrite) the reference line L1 stored in the third storage area 53c based on the correction by the correction unit 40c1. Hereinafter, the third condition will be described using as an example a case in which the server 50 does not overwrite the reference line L1 based on the correction by the correction unit 40c1.

The record acquisition unit 51j acquires the number of times the correction switch 20 has been operated (degree of correction) as usage information via the first communication device 42 and the second communication device 52. Specifically, as shown in FIG. 25, the control device 40 acquires an operation signal of the correction switch 20 (S130), and transmits information (correction signal) including information indicating that the correction switch 20 has been operated and the first specific information to the second communication device 52 via the first communication device 42 (S131). Note that the control device 40 transmits the correction signal to the second communication device 52 each time it acquires an operation signal output from the correction switch 20.

When the second communication device 52 receives the correction signal, the result acquisition unit 51j acquires the correction signal (S132). As a result, the result acquisition unit 51j counts the acquired correction signals to acquire the number of times the correction switch 20 has been operated relative to the reference line L1 corresponding to the first identification information as usage information (S133).
The usage information (correction degree) acquired by the result acquisition unit 51j is registered by the registration unit 51c in the management information of the reference line L1 (fourth reference information D4) corrected by the correction unit 40c1 based on the operation of the correction switch 20 (S134). In detail, the registration unit 51c stores, for each reference line L1, the total number of times the correction switch 20 has been operated (correction degree) as a usage history based on the usage information acquired by the result acquisition unit 51j and past usage information, in association with the reference line L1.

The priority definition unit 51h can therefore refer to the degree of correction for each of the reference lines L1 stored in the third storage area 53c from the management information of the fourth reference information D4 stored in the third storage area 53c (S135). This allows the priority definition unit 51h to refer to the degree of correction for each of the reference lines L1 in the third condition (S135) and define a higher priority for the reference line L1 with a smaller total number of operations of the correction switch 20 than for the reference line L1 with a larger total number of operations of the correction switch 20 (S136).

In the above embodiment, the database 53 stores the total number of times the correction switch 20 was operated as the usage record for each reference line L1 in association with the reference line L1, but the database 53 only needs to be able to store the degree of correction by the correction unit 40c1 in association with each reference line L1, and the degree of correction is not limited to the total number of times the correction switch 20 was operated. For example, the order definition unit 51h may define, in the third condition, a reference line L1 with a smaller maximum or average number of times the correction switch 20 was operated as having a higher priority than a reference line L1 with a larger maximum or average number of times the correction switch 20 was operated.

Specifically, the database 53 stores, in association with each reference line L1, the maximum or average value of the number of operations in a series of tasks in which the work vehicles 1A, 1B performed automatic steering. The series of tasks refers to one work process or the like that is determined in advance in a work plan or the like and that the work vehicles 1A, 1B perform from the third direction to the fourth direction of the field F.
The track record acquisition unit 51j determines the start and end of a series of tasks based on information transmitted from the work vehicles 1A, 1B (control device 40). For example, when the prime mover 4 is started, the control device 40 transmits start information indicating the start of the prime mover 4 to the second communication device 52 via the first communication device 42. When the prime mover 4 is stopped, the control device 40 transmits stop information indicating the stop of the prime mover 4 to the second communication device 52 via the first communication device 42. The track record acquisition unit 51j determines the start and end of a series of tasks based on the start information, stop information, etc.

This enables the performance acquisition unit 51j to determine the start and end of a series of tasks, and acquire the number of times the correction switch 20 is operated in the series of tasks as usage information based on the correction signal acquired between the start and end of the series of tasks.
Therefore, the registration unit 51c can store the maximum or average number of times the correction switch 20 is operated in association with the reference line L1 (fourth reference information D4) based on the usage information acquired by the performance acquisition unit 51j (the number of times the correction switch 20 was operated in a series of tasks).

In the above-described embodiment, the result acquisition unit 51j acquires the number of times the correction switch 20 is operated (degree of correction) as usage information, but it is sufficient if the degree of correction can be acquired as usage information, and the information indicating the degree of correction is not limited to the number of times the correction switch 20 is operated. For example, the calculation unit 51i may calculate the difference between the initial reference line L1 defined by the line definition unit 40c and the corrected reference line L1' as the degree of correction, and the result acquisition unit 51j may acquire the degree of correction as usage information.

The calculation unit 51i calculates the difference between the original reference line L1 (reference line L1 before correction) defined by the line definition unit 40c and the corrected reference line L1'. For example, when the fourth reference information D4 stores the position information of the start point Ps and end point Pg of the reference line L1, the calculation unit 51i calculates the distance K4 (the distance between the end point Pg of the reference line L1 before correction and the end point Pgh of the reference line L1' after correction) as shown in FIG. 26 based on the end point Pg of the reference line L1 before correction and the end point Pgh of the reference line L1' after correction as the difference between the reference line L1 before correction and the reference line L1' after correction.

In addition, the result acquisition unit 51j may acquire the total correction amount ha as the correction degree. For example, when the reference line L1 is data (function and direction) indicating the reference line L1 itself, the angle θh formed by the reference line L1 before correction and the reference line L1′ after correction is calculated as the total correction amount ha.
Therefore, the registration unit 51c can store the usage information (degree of correction) acquired by the result acquisition unit 51j in association with the reference line L1 (fourth reference information D4).

Next, the fourth condition will be described in detail. The fourth condition is a condition that defines a higher priority for a reference line L1 with a higher degree (degree of correction) than a reference line L1 with a lower degree (degree of correction). As described above, the third condition is a condition in which the server 50 does not correct (overwrite) the reference line L1 stored in the third storage area 53c based on the correction by the correction unit 40c1, but the fourth condition is a condition that can be adopted in which the server 50 overwrites the reference line L1.

The acquisition of the correction degree by the result acquisition unit 51j and the storage of the usage information by the registration unit 51c are the same as when the order definition unit 51h defines the priority based on the third condition, and only S137 is different, so detailed explanation will be omitted. In other words, as shown in FIG. 27, in the fourth condition, the order definition unit 51h refers to the correction degree of each reference line L1 (S135) and can define a higher priority for a reference line L1 with a larger total number of operations of the correction switch 20 than for a reference line L1 with a smaller total number of operations of the correction switch 20 (S137).

The following describes a condition (fifth condition) when the record acquisition unit 51j acquires the number of times the reference line L1 has been used as the usage record, and the ranking definition unit 51h defines the priority order according to the number of times it has been used. The fifth condition is a condition that defines a higher priority order for a reference line L1 that has been used more frequently than a reference line L1 that has been used less frequently. The database 53 stores the number of times the work vehicles 1A, 1B have used the reference line L1 as the usage record, in association with the reference line L1.

The result acquisition unit 51j acquires the number of times the reference line L1 has been used, for example, based on the start and end of a series of tasks and the operation of the steering changeover switch 19. When the steering changeover switch 19 is operated during the period from the start of a series of tasks to the end of the series of tasks, the result acquisition unit 51j determines that the reference line L1 has been used once.
Specifically, the result acquisition unit 51j judges the start and end of a series of tasks and the operation of the steering change-over switch 19 based on information (start information, stop information, and switching information) transmitted from the work vehicles 1A, 1B (controller 40) via the first communication device 42 and the second communication device 52. The switching information is information indicating that the steering change-over switch 19 has been operated, and is information transmitted by the work vehicles 1A, 1B to the server 50 when the steering change-over switch 19 is operated. Specifically, when the steering change-over switch 19 is operated (fourth operation), the controller 40 transmits the switching information to the result acquisition unit 51j via the first communication device 42 and the second communication device 52. The switching information includes the first identification information of the reference line L1 stored in the memory unit 41. Furthermore, in this embodiment, the control device 40 transmits switching information when the steering changeover switch 19 is operated (fourth operation), but the performance acquisition unit 51j only needs to acquire the number of times the reference line L1 is used, and the control device 40 may be configured to transmit switching information when the steering changeover switch 19 is operated (third operation), and the method of acquisition is not limited to the method described above.

The flow in which the record acquisition unit 51j acquires the number of uses of the reference line L1 will be described below with reference to FIG. 28. As shown in FIG. 28, the record acquisition unit 51j checks whether startup information has been received (S140). When the record acquisition unit 51j checks that the second communication device 52 has received startup information (S140, Yes), it checks whether switching information has been received (S141).

When the result acquisition unit 51j confirms that the second communication device 52 has received the switching information (S141, Yes), it acquires the switching information and identifies the reference line L1 from the first identification information included in the switching information (S142).
When the result acquisition unit 51j identifies the reference line L1 from the first identification information (S142), it checks whether the stop information has been received (S143). When the result acquisition unit 51j checks that the second communication device 52 has received the stop information (S143, Yes), it determines that the reference line L1 corresponding to the switching information has been used once, and the registration unit 51c can store the usage information (the number of times the reference line L1 has been used) acquired by the result acquisition unit 51j in association with the reference line L1 (the fourth reference information D4) (S144). In detail, the registration unit 51c registers the usage information (the number of times the reference line L1 has been used) acquired by the result acquisition unit 51j in the management information of the reference line L1 (the fourth reference information D4) corresponding to the first identification information included in the switching information.

As a result, the performance acquisition unit 51j acquires the number of times the reference line L1 is used based on the start and end of a series of tasks and the operation of the steering switch 19, and the registration unit 51c can register the number of times the reference line L1 is used in the management information of the reference line L1 (fourth reference information D4) stored in the third memory area 53c.
Therefore, in the fifth condition, the priority definition unit 51h can refer to the number of times each reference line L1 is used (S145) and define a higher priority for a reference line L1 that is used more frequently than a reference line L1 that is used less frequently (S146).

Next, conditions (sixth and seventh conditions) will be described when the record acquiring unit 51j acquires, as the usage record, the work record in which the work vehicles 1A, 1B performed automatic steering, and the priority defining unit 51h defines the priority order in accordance with the work record. First, the sixth condition will be described.
The sixth condition is a condition that defines a reference line L1 having a large variety of work results as having a higher priority than a reference line L1 having a small variety of work results. The database 53 stores, as usage records, the work results of a series of works for which the work vehicles 1A, 1B performed automatic steering for each reference line L1 in association with each other.

The track record acquisition unit 51j acquires the work track record of the reference line L1 based on, for example, the work information included in the first reference information D1 in the memory unit 41, the start and end of a series of work tasks, and the operation of the steering changeover switch 19. Specifically, the track record acquisition unit 51j acquires the number of times the reference line L1 has been used for a specific work task as the work track record of the reference line L1. The track record acquisition unit 51j identifies the content of the series of work tasks based on the fifth specific information of the work information in the first reference information D1, and determines that the reference line L1 has been used once if the steering changeover switch 19 is operated between the start of the series of work tasks and the end of the series of work tasks.

The performance acquisition unit 51j determines the specific work content, the start and end of a series of work, and the operation of the steering changeover switch 19 based on the information (start information, stop information, and switching information) transmitted from the work vehicles 1A, 1B (control device 40) via the first communication device 42 and the second communication device 52. In such a case, the switching information includes the fifth specific information in addition to the first specific information of the reference line L1 stored in the memory unit 41.

As shown in FIG. 29, when the ranking definition unit 51h defines the priority order based on the sixth condition, the flow of the result acquisition unit 51j acquiring the usage history is the same as that in FIG. 28 (S140 to S144). In other words, the result acquisition unit 51j acquires the work content and the number of times the reference line L1 was used by the work content based on the start and end of a series of work and the operation of the steering changeover switch 19 (S140 to S143).

Therefore, the registration unit 51c can store the usage information acquired by the result acquisition unit 51j (the number of times the reference line L1 was used depending on the work content) in association with the reference line L1 (fourth reference information D4) (S144). In detail, the registration unit 51c registers the usage information acquired by the result acquisition unit 51j (the number of times the reference line L1 was used depending on the work content) in the management information of the reference line L1 (fourth reference information D4) corresponding to the first specific information included in the switching information. In other words, the registration unit 51c stores the work results in association with the reference line L1 (fourth reference information D4).

As described above, in the sixth condition, the priority definition unit 51h can refer to the types of work performance of each reference line L1 (S147) and define a higher priority for a reference line L1 with a larger number of types of work performance than for a reference line L1 with a smaller number of types of work performance (S148).
Next, the seventh condition will be described. The seventh condition is a condition that defines a higher priority for a reference line L1 that is related to the work content input by the selection unit 61a than for a reference line L1 that is not related to the work content of the work record. The priority definition unit 51h acquires the work content input by the selection unit 61a (fifth identification information), and extracts a reference line L1 that has work records of work content related to the fifth identification information from the reference lines L1 stored in the third storage area 53c.

Regarding related work contents, for example, in the case of cultivating crops in field F, the priority definition unit 51h determines the relationship between one work content and another work content based on the work plan for cultivating the crop. In other words, when cultivating rice in field F, if the work content inputted and accepted by the selection unit 61a is harvesting, the reference line L1 that has a track record of work such as rice planting, top dressing, and pest control is extracted from the reference line L1 stored in the third memory area 53c, and the priority of the extracted reference line L1 is defined as higher than that of the other reference lines L1.

As shown in Figure 30, when the ranking definition unit 51h defines the priority order based on the seventh condition, the flow by which the history acquisition unit 51j acquires usage history can be defined in the same manner as in Figures 28 and 29 (S140 to S144).
Therefore, in the seventh condition, the priority definition unit 51h refers to the work content of each work performance of the reference line L1 (S149) and can define a higher priority for the reference line L1 that is related to the work content inputted by the selection unit 61a and the work content of the work performance than for the reference line L1 that is not related to the work content inputted by the selection unit 61a and the work content of the work performance (S150).

In the above-described embodiment, the first condition to the seventh condition have been described as examples of conditions, but the priority definition unit 51h need only define the priority based on at least one or more of the multiple conditions (the first condition to the seventh condition), and is not limited to defining the priority based on all of the conditions, and the combination of conditions may be arbitrarily selected.
To explain an example of a combination of conditions, for example, a first condition may be a higher-level condition and a lower-level condition may be a second condition. By combining the first condition and the second condition, for example, even if the reference lines L1 stored in the third storage area 53c have the same first distance K1, the order definition unit 51h can define a more detailed order of priority based on the second condition.

The fifth condition can be set as a higher-level condition and the lower-level condition can be set as a sixth condition. By combining the fifth condition and the sixth condition, for example, even if the third storage area 53c stores reference lines L1 with the same number of uses, the ranking definition unit 51h can define a more detailed priority order based on the sixth condition.

Hereinafter, a screen on which the first presentation unit 51d displays the reference line L1 on the first terminal display unit 64 based on the priority order will be described. In this embodiment, as shown in FIG. 31 , the presentation screen M3 has an input unit 138 in addition to the second map screen 131 and the narrowing down unit 136.
The input unit 138 accepts the selection of at least one of the conditions. The first terminal display unit 64 (display unit) presents the reference line L1 based on the priority order corresponding to the condition accepted by the input unit 138 among the priorities defined by the order definition unit 51h. By accepting the selection of the condition, the input unit 138 can select a change in the display of the first virtual line 134 displayed on the second map screen 131 based on the priority order defined by the order definition unit 51h. Specifically, the input unit 138 can select a condition, and the selection unit 61a can accept operation information (conditions) of the input unit 138 and update the first virtual line 134 displayed on the second map screen 131 of the presentation screen M3.

Fig. 32 is a diagram for explaining the parts (S191 to S204) that are different between the first and second embodiments in the flowchart shown in Fig. 11. For this reason, Fig. 32 describes S50 and onwards, and omits the parts before S49 and S54 and onwards.
As shown in FIG. 32, when the input unit 138 accepts a selection of conditions (S191, Yes), the selection unit 61a accepts the conditions (S192), and the first presentation unit 51d transmits ranking presentation information for the reference line L1 based on the priority order corresponding to the conditions selected and accepted by the selection unit 61a on the input unit 138.

As a result, when the first terminal control device 61 receives the ranking presentation information (S193), as shown in FIG. 33, instead of the input unit 138, the display of the first virtual line 134 displayed on the second map screen 131 is changed, and the ranking list 139 is displayed (S194). Hereinafter, for convenience of explanation, the presentation screen M3 that displays the input unit 138 among the presentation screens M3 may be referred to as the third presentation screen M3c, and the presentation screen M3 that displays the ranking list 139 among the presentation screens M3 may be referred to as the fourth presentation screen M3d. Note that the third presentation screen M3c shown in FIG. 31 and the fourth presentation screen M3d shown in FIG. 33 are merely examples, and the configurations of the first presentation screen M3a in FIG. 14B and the second presentation screen M3b in FIG. 14C may be combined as appropriate. For example, the map 132 of the third presentation screen M3c and the fourth presentation screen M3d may be configured to display the orientation guide section 132a.

When the first terminal control device 61 receives the ranking presentation information, it displays a single first virtual line 134 (reference line L1) on the second map screen 131 based on the ranking presentation information, as shown in the fourth presentation screen M3d of FIG. 33. The second map screen 131 displays the first virtual line 134 with the highest priority in the priority order defined by the ranking definition unit 51h. Note that in the example shown in FIG. 33, the second map screen 131 displays only the first virtual line 134 with the highest priority, but as long as the first virtual line 134 with the highest priority can be distinguished from the other first virtual lines 134, the first virtual line 134 with the highest priority may be highlighted.

As shown in FIG. 33, the ranking list 139 displays a list of reference lines L1 in the order of priority based on the priority defined by the ranking definition unit 51h. Specifically, the ranking list 139 displays the reference lines L1 in the order of priority based on the ranking presentation information. In the ranking list 139, a selection key 139a is disposed near (for example, to the left of) each reference line L1. The selection keys 139a are operable display images, and each is associated with a reference line L1 (first virtual line 134).

In addition, the selection key 139a can be operated to select the associated reference line L1, and the selection unit 61a can acquire operation information of the selection key 139a and update the first virtual line 134 (reference line L1) displayed on the second map screen 131 of the fourth presentation screen M3d.
Specifically, as shown in Fig. 32, when the selection key 139a is operated (S195, Yes) and the selection unit 61a accepts the selection of the selection key 139a in the ranking list 139 (S196), the first presentation unit 51d transmits ranking presentation information of the reference line L1 corresponding to the selection key 139a selected by the selection unit 61a in the ranking list 139. As a result, when the first terminal control device 61 receives the ranking presentation information (S197), it changes the first virtual line 134 displayed on the second map screen 131 to the reference line L1 (first virtual line 134) corresponding to the selection key 139a selected by the selection unit 61a in the ranking list 139 (S198). Note that in the initial state, the selection key 139a with the highest priority in the priority order defined by the ranking definition unit 51h is selected.

The display unit (first terminal display unit 64) may display the number of times the correction switch 20 is operated when presenting the reference line L1 based on the priority defined by the order definition unit 51h. As shown in FIG. 33, the order list 139 displays the number of times the correction switch 20 is operated. The number of times the operation is displayed near (for example, to the right of) the reference line L1 displayed by the order list 139. Note that the number of times the operation is displayed based on the management information of the fourth reference information D4 stored in the third storage area 53c.

32, the ranking list 139 has a back key 139b and a forward key 139c. The back key 139b and the forward key 139c are operable display images, and the selection unit 61a accepts the operation (selection) of the back key 139b and the forward key 139c. The back key 139b is a key that can be operated to transition the screen displayed by the first terminal display unit 64 from the fourth presentation screen M3d to the third presentation screen M3c. Specifically, when the back key 139b is operated (S199, Yes) and the selection unit 61a accepts the operation of the back key 139b (S200), the first presentation unit 51d transmits information required to display the third presentation screen M3c to the first terminal control device 61. As a result, the first terminal control device 61 receives the information (S201) and can transition the screen displayed by the first terminal display unit 64 from the fourth presentation screen M3d to the third presentation screen M3c (S50).

By accepting the operation of the forward key 139c, the selection unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 (the first virtual line 134 corresponding to the operated selection key 139a) displayed on the second map screen 131. Specifically, when the forward key 139c is operated (S202, Yes) and the selection unit 61a accepts the selection of an arbitrary reference line L1 (S203), the selection unit 61a transmits selection information of the selected reference line L1 to the server 50 (S204).

When the first terminal display unit 64 is displaying the fourth presentation screen M3d, if the selection unit 61a transmits the selection information of the reference line L1 selected and accepted by the selection unit 61a to the server 50 (S204), the first presentation unit 51d acquires the fourth reference information D4 corresponding to the reference line L1 selected and accepted by the selection unit 61a from the third storage area 53c, and transmits the information (confirmation information) required to display the confirmation screen M5. This allows the first terminal display unit 64 to receive the information (S54) and display the confirmation screen M5 displaying the reference line L1 selected and accepted by the selection unit 61a (S55).

In the second embodiment described above, the selection unit 61a accepts the selection of the reference line L1 corresponding to the first virtual line 134 displayed on the second map screen 131 by accepting the operation of the forward key 139c, but the first terminal display unit 64 (display unit) may be configured to display a warning when a reference line L1 for which the first distance K1 is less than a threshold value is selected.

Specifically, as shown in FIG. 21, the server 50 has a judgment unit 51k. The judgment unit 51k judges whether the first distance K1 of the reference line L1 is less than a predetermined threshold value. The judgment unit 51k is provided in the server control device 51, and is composed of electric and electronic components provided in the server control device 51, and a program incorporated in the server control device 51, etc. When the forward key 139c is operated, the judgment unit 51k obtains the operation information from the selection unit 61a, and obtains management information of the fourth reference information D4 (reference line L1) corresponding to the first virtual line 134 displayed on the second map screen 131 from the third memory area 53c.

Specifically, when the forward key 139c is operated (S202, Yes) and the selection unit 61a accepts the selection of an arbitrary reference line L1 (S203), the selection unit 61a transmits selection information of the reference line L1 whose selection has been accepted to the server 50 (S204), and the server 50 receives the selection information (S205), as shown in FIG. 34A.
The determination unit 51k identifies the selected reference line L1 based on the selection information received by the server 50 in S205 (S206). As a result, the determination unit 51k acquires management information of the fourth reference information D4 corresponding to the selected reference line L1 from the third storage area 53c (S207).

The determination unit 51k also determines whether the first distance K1 is less than a predetermined threshold based on the first distance K1 registered in the management information acquired in S205 (S208). If the determination unit 51k determines that the first distance K1 of the selected reference line L1 is less than the predetermined threshold (S208, Yes), the first presentation unit 51d instructs the selection unit 61a to discontinue the selection of the reference line L1 whose first distance K1 is less than the predetermined threshold, and transmits information (warning information) required to display the warning screen M9 (S209).

As shown in Figure 34B, when the first terminal display unit 64 receives warning information (S220, Yes), it displays a warning screen M9 as shown in Figure 35 based on the warning information (S221). Note that Figure 34B is a diagram explaining the parts of the flowchart shown in Figure 32 that differ from Figure 32 (S220 to S225). For this reason, Figure 32 describes S202 and onwards, and omits steps before S201 and steps after S204.

As shown in FIG. 35, the warning screen M9 has a warning display section 180, a back key 181, and a continue key 182. The warning display section 180 is a display image that warns that the first distance K1 of the reference line L1 is less than a threshold value. The back key 181 and the continue key 182 are operable display images, and the selection section 61a accepts the operation (selection) of the back key 181 and the continue key 182.

The back key 181 is a key that can be operated to transition the screen displayed by the first terminal display unit 64 from the fourth presentation screen M3d to the third presentation screen M3c. Specifically, as shown in FIG. 34B, the back key 181 is operated (S222, Yes) and the selection unit 61a accepts the operation of the back key 181 (S223), and the first presentation unit 51d transmits information required to display the fourth presentation screen M3d to the first terminal control device 61. As a result, the first terminal control device 61 receives the information (S223) and can transition the screen displayed by the first terminal display unit 64 from the warning screen M9 to the fourth presentation screen M3d (S194). As a result, when the first distance K1 of the selected reference line L1 is less than the threshold value, the first terminal display unit 64 can recognize that the first distance K1 is less than the threshold value and cancel the selection of the reference line L1.

In addition, the continue key 182 is operated, and the selection unit 61a accepts the operation of the continue key 182, thereby accepting the continuation of the selection of the reference line L1 corresponding to the first virtual line 134 displayed on the second map screen 131. In other words, when the worker operates the continue key 182 (S224, Yes) and the selection unit 61a accepts the continuation of the selection of the reference line L1 (S225), the selection unit 61a transmits selection information of the reference line L1 for which the continuation of the selection has been accepted to the server 50 (S226).

When the first terminal display unit 64 is displaying the warning screen M9, if the selection unit 61a transmits to the server 50 the selection information of the reference line L1 for which the selection unit 61a has accepted the continuation of the selection (S226), the first presentation unit 51d acquires from the third storage area 53c the fourth reference information D4 corresponding to the reference line L1 for which the selection unit 61a has accepted the selection, and transmits the information (confirmation information) required to display the confirmation screen M5. As a result, even if the first distance K1 of the selected reference line L1 is less than the threshold value, the first terminal display unit 64 can receive the confirmation information (S205) regardless of the display of the warning screen M9, and display the confirmation screen M5 displaying the reference line L1 for which the selection unit 61a has accepted the selection, i.e., transition to registration as a candidate line L3 (S206).

The threshold value may be a predetermined length and may be arbitrarily changeable by operating a terminal communicatively connected to the server 50, such as the first terminal.
The above-mentioned work vehicle assistance system S includes work vehicles 1A, 1B that can travel by either manual steering or automatic steering based on a reference line L1, a server 50 that stores a plurality of reference lines L1, a display unit that presents at least one of the plurality of reference lines L1 stored in the server 50, and a first terminal 60 having a selection unit 61a that accepts the selection of an arbitrary reference line L1 from the reference lines L1 presented by the display unit (first terminal display unit 64) as a candidate line L3 to be used by the work vehicles 1A, 1B as a reference for automatic steering. According to the above configuration, the worker can check the reference line L1 displayed on the display unit 64 and select the candidate line L3 to be used for automatic steering of the work vehicles 1A, 1B. Therefore, the worker can select an appropriate candidate line L3 depending on the situation of the field F, the work content, etc.

The server 50 also has a priority definition unit 51h that defines the priority of the multiple reference lines L1 stored in the server 50 based on at least one condition, and the display unit 64 presents the reference lines L1 based on the priority defined by the priority definition unit 51h. With the above configuration, the worker can understand the priority by checking the reference lines L1 displayed on the display unit 64, and can therefore more easily select an appropriate candidate line L3.

The work vehicles 1A and 1B also have a detection device 43 that detects an arbitrary start point Ps and end point Pg in the field F during manual steering, and a line definition unit 40c that defines a reference line L1 based on the start point Ps and end point Pg detected by the detection device 43. The server 50 stores a plurality of reference lines L1 defined by the line definition unit 40c, and the order definition unit 51h includes a condition that defines a priority order based on a first distance K1 between the start point Ps and end point Pg of the reference line L1. According to the above configuration, the display unit 64 can present the reference lines L1 in an order according to the distance that the work vehicles 1A and 1B actually traveled in the field F. Therefore, the operator can select a more appropriate candidate line L3 based on the distance.

The priority definition unit 51h also includes a first condition that defines a reference line L1 with a long first distance K1 as having a higher priority than a reference line L1 with a short first distance K1. With the above configuration, when defining the reference line L1, the display unit 64 can present a high priority for a reference line L1 with a long travel distance of the work vehicles 1A, 1B. This allows the worker to select a relatively stable reference line L1 with a long travel distance as the candidate line L3.

The server 50 also has a calculation unit 51i that calculates the second distance K2 between the intersection X of the straight line L4 passing through the start point Ps and the end point Pg and the contour C of the field F, and the priority definition unit 51h includes a second condition that defines a higher priority for a reference line L1 having a larger ratio of the first distance K1 to the second distance K2 than for a reference line L1 having a smaller ratio. According to the above configuration, depending on the shape of the field F, a reference line L1 having a longer first distance K1 is not necessarily more accurate than a reference line L1 having a shorter first distance K1. Therefore, by defining the priority based on the second condition, the priority definition unit 51h can maintain the accuracy of the priority regardless of the size of the field F.

The server 50 also has a determination unit 51k that determines whether the first distance K1 is less than a predetermined threshold, and the display unit 64 displays a warning when the determination unit 51k determines that the first distance K1 is less than the threshold for the reference line L1 selected by the selection unit 61a. With the above configuration, it is possible to prevent a reference line L1 that is expected to have a relatively short travel distance (first distance K1) of the work vehicles 1A, 1B and is not highly accurate from being selected as a candidate line L3.

The server 50 also has a database 53 that stores the reference line L1 in association with the usage history of the reference line L1, and the ranking definition unit 51h includes conditions for defining the priority order based on the usage history. According to the above configuration, the ranking definition unit 51h can define the priority order based on the actual performance of the work vehicles 1A, 1B performing automatic steering and work. Therefore, the more the reference line L1 (candidate line L3) is utilized, the more the accuracy of selecting the candidate line L3 can be improved.

In addition, the work vehicles 1A, 1B have a first communication device 42 capable of communicating with the server 50 and receiving from the server 50 a reference line L1 to be used for automatic steering, an operable correction switch 20, and a correction unit 40c1 that corrects and redefines the reference line L1 received by the first communication device 42 based on the operation of the correction switch 20, and corrects the steering during automatic steering. The server 50 has a second communication device 52 capable of communicating with the work vehicles 1A, 1B, and the database 53 stores the degree to which the correction unit 40c1 corrected the reference line L1 as a usage history via the first communication device 42 and the second communication device 52, and the ranking definition unit 51h includes a third condition that defines a higher priority for a reference line L1 with a lower degree than a reference line L1 with a higher degree. According to the above configuration, the reference line L1 with a small degree of correction is relatively reliable with respect to the conditions of the field F, work, etc., so the worker can check the reference line L1 presented by the display unit 64 and select the more reliable and accurate reference line L1 as the candidate line L3.

The correction unit 40c1 also increases the degree according to the number of times the correction switch 20 is operated, and the third condition defines a higher priority for a reference line L1 with fewer operations than a reference line L1 with more operations. According to the above configuration, a reference line L1 with fewer operations of the correction switch 20 is relatively reliable with respect to the conditions of the field F, work, etc., so that the worker can check the reference line L1 presented by the display unit 64 and select a more reliable and accurate reference line L1 as the candidate line L3.

The database 53 also associates and stores, for each reference line L1, the maximum or average number of operations in a series of tasks in which the work vehicles 1A, 1B performed automatic steering, as a usage history. With the above configuration, the history acquisition unit 51j acquires usage history based on the number of operations of the correction switch 20 for each series of tasks, so that factors such as the number of times the reference line L1 was used can be eliminated. This allows the ranking definition unit 51h to further improve the accuracy of the priority order.

In addition, the work vehicles 1A, 1B have a first communication device 42 capable of communicating with the server 50 and receiving from the server 50 a reference line L1 to be used for automatic steering, an operable correction switch 20, and a correction unit 40c1 that corrects and redefines the reference line L1 received by the first communication device 42 based on the operation of the correction switch 20, and corrects the steering during automatic steering; the server 50 has a second communication device 52 capable of communicating with the work vehicles 1A, 1B; the database 53 overwrites the reference line L1 corrected by the correction unit 40c1 and stores the correction degree of the corrected reference line L1' as a usage history; and the ranking definition unit 51h includes a fourth condition that defines a higher priority for a reference line L1 with a higher degree than a reference line L1 with a lower degree. According to the above configuration, the corrected reference line L1 is optimized for the conditions of the field F and work, etc., by operating the correction switch 20, and its accuracy is improved, so that the worker can check the reference line L1 presented by the display unit 64 and select the more accurate reference line L1 as the candidate line L3.

The correction unit 40c1 also increases the degree according to the number of times the correction switch 20 is operated, and the fourth condition defines a higher priority for a reference line L1 with a greater number of operations than a reference line L1 with a smaller number of operations. With the above configuration, the corrected reference line L1 is optimized for the conditions of the field F and work, etc., and has improved accuracy, so that the worker can select a reference line L1 with a greater number of operations of the correction switch 20, i.e., a more accurate reference line L1, as the candidate line L3 by checking the reference line L1 presented by the display unit 64.

The display unit 64 also displays the number of operations when presenting the reference line L1 based on the priority defined by the order definition unit 51h. With the above configuration, the worker can select the candidate line L3 after checking not only the priority presented on the display unit 64 but also the number of operations of the correction switch 20. Therefore, the worker can select the more accurate reference line L1 as the candidate line L3 without being limited to the priority defined by the order definition unit 51h.

The database 53 also stores the number of times the work vehicles 1A, 1B have used the reference line L1 as a usage record, in association with the reference line L1, and the ranking definition unit 51h includes a fifth condition that defines a reference line L1 that has been used more frequently as having a higher priority than a reference line L1 that has been used less frequently. According to the above configuration, a reference line L1 that has been used more frequently is a line that has accumulated trust, so the worker can check the reference line L1 presented by the display unit 64 and select the more trustworthy reference line L1 as the candidate line L3.

The database 53 also stores, as usage records, work records, which are records of work content in a series of tasks in which the work vehicles 1A, 1B performed automatic steering, in association with each reference line L1, and the priority definition unit 51h includes, as a condition, a sixth condition that defines a higher priority for a reference line L1 with a larger variety of work records than a reference line L1 with a smaller variety of work records. According to the above configuration, a reference line L1 that is used for different tasks and has a larger variety of work records is a line that has accumulated trust, so the worker can check the reference line L1 presented by the display unit 64 and select a more reliable reference line L1 as a candidate line L3.

When the selection unit 61a accepts the selection of an arbitrary reference line L1 as the candidate line L3, the selection unit 61a accepts the input of the work content of a series of work in which the work vehicles 1A and 1B perform automatic steering using the reference line L1, and the database 53 stores, as the usage record, the work results, which are the results of the work content in the series of work in which the work vehicles 1A and 1B performed automatic steering, in association with each reference line L1, and the ranking definition unit 51h includes, as a condition, a seventh condition that defines a higher priority for the reference line L1 that is related to the work content accepted by the selection unit 61a than the reference line L1 that is not related to the work content of the work results. According to the above configuration, the worker can select the candidate line L3 according to the relevance of the work content by checking the reference line L1 presented by the display unit 64. Therefore, for example, if the work content accepted by the selection unit 61a is harvesting, and the database 53 stores the reference line L1 when the work vehicles 1A and 1B performed rice planting, the worker selects the reference line L1 for that rice planting, and the work vehicles 1A and 1B can utilize the past work results (rice planting work results).

The first terminal 60 also has an input unit 138 that accepts the selection of at least one of the conditions, and the display unit 64 presents the reference line L1 based on the priority corresponding to the condition accepted by the input unit 138 among the priorities defined by the ranking definition unit 51h. With the above configuration, the worker can select any condition and select a more appropriate reference line L1 as the candidate line L3 depending on the work for which the work vehicles 1A, 1B are to perform automatic steering.

The present invention has been described above, but the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

1A Work vehicle (first work vehicle, tractor)
1B Work vehicle (second work vehicle, tractor)
2 Working device 3 Vehicle body 18 Registration switch 20 Correction switch 40c Line definition unit 40c1 Correction unit 42 First communication device 43A First detection device 43B Second detection device 50 Server 51 Server control device 51b Information acquisition unit 51c Registration unit 52 Second communication device 60 First terminal 61a Selection unit 70 Second terminal F Farm field L1 Reference line L3 Candidate line Ps Start point Pg End point S Support system

Claims (12)

a first work vehicle having a vehicle body capable of traveling by either manual steering or automatic steering based on a reference line, and a line definition unit that defines the reference line based on traveling information of the vehicle body when the vehicle body is being manually steered;
a server that stores a plurality of the reference lines defined by the line definition unit;
a first terminal having a display unit capable of displaying the plurality of reference lines stored in the server, and a selection unit configured to accept a selection of an arbitrary reference line as a predetermined candidate line from the plurality of reference lines displayable on the display unit;
a second terminal which is a terminal different from the first terminal and has a reception unit which receives input of work information;
Equipped with
the server extracts from the plurality of reference lines a candidate line that is the candidate line selected by the selection unit and corresponds to work information whose input has been accepted by the acceptance unit, and transmits the extracted candidate line to a first communication device possessed by the first work vehicle or a second work vehicle different from the first work vehicle;
The first work vehicle or the second work vehicle having the first communication device that receives the candidate line performs automatic steering based on the candidate line, in a work vehicle assistance system. The server,
an information acquisition unit that acquires , as the work information, work information related to a work performed by the first work vehicle when the vehicle body performs the manual steering;
a registration unit that registers the reference line defined by the line definition unit and the work information corresponding to the reference line in association with each other;
2. The work vehicle assistance system according to claim 1 , further comprising : the server has a second communication device capable of communicating with the first communication device, and transmits the extracted candidate line from the second communication device to the first communication device;
The work vehicle assistance system according to claim 2 , wherein the first work vehicle or the second work vehicle having the first communication device that receives the candidate line from the second communication device performs automatic steering based on the candidate line. The work vehicle assistance system according to any one of claims 1 to 3, wherein the work information includes one or more of the following information: a field in which the first work vehicle and the second work vehicle work, information about the first work vehicle and the second work vehicle, information about a work device used in the work, work content of the work device, and crops grown in the field. The first communication device of the first work vehicle transmits the reference line defined by the line definition unit to the server,
The work vehicle assistance system according to any one of claims 1 to 4, wherein the server receives the reference line transmitted from the first communication device of the first work vehicle and stores the reference line. The first work vehicle or the second work vehicle has an operable correction switch,
the line definition unit has a correction unit that corrects and redefines the candidate line based on an operation of the correction switch, and corrects steering of the vehicle body during the automatic steering,
6. The work vehicle assistance system according to claim 1 , wherein the server overwrites the candidate line corrected by the correction unit onto the reference line corresponding to the candidate line and stores the corrected candidate line. The first work vehicle has an operable registration switch,
The work vehicle assistance system according to any one of claims 1 to 6, wherein the line definition unit acquires a start point and an end point of the reference line in a field based on the traveling information when the registration switch is operated, and defines the reference line from the start point and the end point. The first work vehicle has a first detection device that detects position information of the first work vehicle, which is the travel information,
The work vehicle assistance system according to claim 7 , wherein the line definition unit obtains the start point and the end point from the position of the first work vehicle at the time the registration switch was operated, based on the position information and the operation of the registration switch. The first work vehicle is
A first detection device that detects position information of the first work vehicle, which is the travel information;
an operable registration switch;
having
the first communication device of the first work vehicle transmits the position information detected by the first detection device to the server at a predetermined time interval;
The work vehicle assistance system according to any one of claims 1 to 6 , wherein the line definition unit defines the reference line based on the position information stored in the server and corresponding to the time when the registration switch was operated. The first work vehicle is
A second detection device that detects orientation information of the first work vehicle, which is the travel information;
an operable registration switch;
having
The work vehicle assistance system according to any one of claims 1 to 6 , wherein the line definition unit defines the reference line from the orientation of the first work vehicle when the registration switch is operated, based on the orientation information and the operation of the registration switch. The first work vehicle is
A second detection device that detects orientation information of the first work vehicle, which is the travel information;
an operable registration switch;
having
the first communication device of the first work vehicle transmits the orientation information detected by the second detection device to the server at predetermined time intervals;
The work vehicle assistance system according to any one of claims 1 to 6 , wherein the line definition unit defines the reference line based on the direction information stored in the server and corresponding to the time when the registration switch was operated. The work vehicle assistance system according to any one of claims 1 to 11 , wherein the display unit is capable of displaying at least two or more of the reference lines radially on a field indicating a predetermined farm field.

Images