Operation assistance method, operation assistance system, and program

Abstract

To provide a technology capable of appropriately providing operation assistance in a work vehicle that automatically performs turning travel in response to operator's operation.SOLUTION: An exemplary operation assistance method is an operation assistance method for a work vehicle that automatically performs turning travel in response to operator's operation, the method comprising displaying, on a front side in the traveling direction of the work vehicle, an indicator related to the turning travel.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to a technique for assisting an operator's operation (operation assistance) for a work vehicle that performs autonomous driving.

Background Art

[0002] Conventionally, an autonomous driving system for autonomously driving a work vehicle in a field is known (see, for example, Patent Document 1). Patent Document 1 discloses a configuration in an autonomous driving system that enables an area in which a work vehicle performs work along a straight path to be widened.

[0003] According to the configuration disclosed in Patent Document 1, after the operator stops a work vehicle traveling toward the field edge (travel in which at least steering is autonomously performed), the work vehicle reverses in response to the operator's operation or autonomously. Then, after the operator stops or autonomously stops the reversing work vehicle, and on the condition that there has been a forward movement instruction from the operator, the work vehicle is made to perform a turning movement in which at least steering is autonomously performed toward a previously specified straight path. In this configuration, the operator can give a stop instruction necessary to move to the next straight path, using the easily visible field edge as a landmark. For this reason, the operator can give a stop instruction necessary to move to the next straight path at a position right at the field edge. As a result, the area in which the work vehicle performs work along the straight path can be widened.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the case of the technology disclosed in Patent Document 1, there is a concern that the time required to switch the route for performing the work will become long. A technology that can efficiently switch the route while suppressing as much as possible the narrowing of the area where the work is performed is desired.

[0006] In view of the above points, an object of the present invention is to provide a technology that can appropriately perform operation support in a work vehicle that automatically performs turning travel according to an operator's operation.

Means for Solving the Problems

[0007] An exemplary operation support method of the present invention is an operation support method for a work vehicle that automatically performs turning travel according to an operator's operation, and displays an index related to the turning travel on the front side in the traveling direction of the work vehicle.

[0008] An exemplary operation support system of the present invention includes an operation device operated by an operator, a work vehicle that automatically performs turning travel according to an instruction from the operation device, and an index display device that displays an index related to the turning travel on the front side in the traveling direction of the work vehicle.

[0009] An exemplary program of the present invention is a program that causes a computer to execute an operation support method for a work vehicle that automatically performs turning travel according to an operator's operation, and causes the computer to function as means for displaying an index related to the turning travel on the front side in the traveling direction of the work vehicle.

Effects of the Invention

[0010] According to the exemplary present invention, operation support in a work vehicle that automatically performs turning travel according to an operator's operation can be appropriately performed.

Brief Description of the Drawings

[0011]

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Embodiments for Carrying Out the Invention

[0012] Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated unless particularly necessary.

[0013] <1. Overview of the Automatic Driving System> First, an automatic driving system to which the operation support of the present invention is applied will be described. FIG. 1 is a diagram showing a schematic configuration of an automatic driving system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automatic driving system 100 includes a work vehicle 1 and an operation device 2.

[0014] In this specification, automatic driving means that at least steering is autonomously performed by controlling a device related to driving by a control device provided in the work vehicle 1. The automatic driving may be configured such that at least one of, for example, adjustment of the vehicle speed and operation by a work implement is autonomously performed in addition to steering. In the exemplary automatic driving of the present embodiment, steering is autonomously performed, and adjustment of the vehicle speed and operation by the work implement are not autonomously performed in principle.

[0015] [1-1. Work Vehicle] The work vehicle 1 is used for performing operations such as agricultural work and construction work. As shown in FIG. 1, the work vehicle 1 includes a traveling body 11 that travels on the ground and a work implement 12 that is connected to the traveling body 11.

[0016] Here, for the convenience of the following description, the directions are defined as follows. The direction in which the traveling body 11 and the work implement 12 are aligned is defined as the front-rear direction, and it is assumed that the work implement 12 is behind when viewed from the traveling body 11. The left side when looking from the rear to the front is defined as the left side, and the right side is defined as the right side to define the left-right direction. Further, the gravitational direction perpendicular to the front-rear direction and the left-right direction is defined as the up-down direction, the upstream side of the gravitational direction is defined as the upper side, and the downstream side is defined as the lower side. In the drawings, if necessary, the front is indicated by the symbol "F", the rear by "B", the right by "R", the left by "L", the upper by "U", and the lower by "D".

[0017] In the present embodiment, the work implement 12 is disposed behind the traveling body 11, but the present invention is also applicable to a work vehicle in which the work implement is disposed in front of the traveling body.

[0018] The traveling body 11 includes a body main body 111 and a traveling unit 112 disposed below the body main body 111.

[0019] The body main body 111 includes an outer cover 111a, a traveling drive device 111b disposed on the inner front side covered by the outer cover 111a, and a work implement drive device 111c disposed on the inner rear side covered by the outer cover 111a.

[0020] The traveling drive device 111b includes a drive source and a power transmission mechanism that transmits the power from the drive source to the traveling unit 112. In this embodiment, the drive source included in the traveling drive device 111b is an electric motor. However, the drive source included in the traveling drive device 111b may be other than an electric motor, for example, an engine.

[0021] The work implement drive device 111c includes a drive source and a PTO (Power Take Off) power transmission unit that enables the power from the drive source to be transmitted to the outside of the traveling body 11. In this embodiment, the drive source included in the work implement drive device 111c is an electric motor. Note that the electric motor included in the work implement drive device 111c and the electric motor included in the traveling drive device 111b are separate motors. Also, the drive source included in the work implement drive device 111c may be other than an electric motor, for example, an engine. For example, the drive source may be shared between the traveling drive device 111b and the work implement drive device 111c.

[0022] Inside the outer cover 111a, there are also disposed a battery that supplies power to the electric motor, power electronics devices, and the like. On the outside of the outer cover 111a, as an example, a light 111d, a positioning antenna 111e, an alarm lamp 111f, and the like are disposed.

[0023] In addition, in this embodiment, no driver's seat for the operator is arranged on the traveling body 11, that is, the work vehicle 1 performs work running unmanned. However, the present invention is also applicable to a work vehicle provided with a driver's seat on the traveling body 11. That is, the traveling body 11 may have a driver's seat and instruments (such as a steering wheel and a lever) for an operator sitting on the driver's seat to operate the work vehicle.

[0024] The traveling unit 112 supports the machine body main body 111 so as to be able to travel. Specifically, the traveling unit 112 includes a pair of left and right crawlers 112a. Each of the left and right crawlers 112a includes a track frame 112b extending in the front-rear direction. Each track frame 112b is attached to the lower surface of the machine body main body 111. A drive sprocket 112c is arranged as a drive wheel at the front end of the track frame 112b. The drive sprocket 112c is transmitted with power from an electric motor via a power transmission mechanism provided in the traveling drive device 111b. A driven sprocket 112d is arranged as a driven wheel at the rear end of the track frame 112b. The driven sprocket 112d is rotatably supported by the track frame 112b. In the track frame 112b, a plurality of idler wheels 112e are rotatably supported between the drive sprocket 112c and the driven sprocket 112d. A crawler belt 112f is wound around the drive sprocket 112c, the driven sprocket 112d, and the plurality of idler wheels 112e to form the crawler 112a.

[0025] In this embodiment, each of the left and right crawlers 112a is driven by a separate electric motor provided in the traveling drive device 111b. For example, when the pair of left and right crawlers 112a are driven in the same direction at the same time, the traveling unit 112 travels straight forward or backward. Whether it is forward or backward is determined by the rotation direction of the electric motor. In addition, for example, when the pair of left and right crawlers 112a are independently driven, the traveling unit 112 makes a left turn or a right turn.

[0026] In addition, in the present embodiment, the crawler 112a has a configuration in which one drive wheel (drive sprocket 112c) and one driven wheel (driven sprocket 112d) are arranged in the front-rear direction and the crawler belt 112f is wound around them, but other configurations may also be used. For example, the crawler may be of a type in which a crawler belt is wound around one drive wheel and two driven wheels in a triangular shape. Also, in the present embodiment, the traveling unit 112 is of the crawler type, but the traveling unit may be other than the crawler type, for example, a wheel type.

[0027] The work implement 12 is attached to the traveling machine body 1 via the hitch portion 13 so as to be able to move up and down. Note that the hitch portion 13 includes the work implement drive device 111c described above. The work implement 12 is attached to the hitch portion 13 so as to be replaceable. That is, the work implement 12 can be replaced with various types. In FIG. 1, the work implement 12 is a tiller. The work implement 12 may be, for example, a plow, a fertilizer applicator, a pesticide sprayer, a harvesting device, a mowing device, a snow removal device, a landfill device, etc., in addition to the tiller. Note that in the present embodiment, the work implement 12 is provided so as to be able to move up and down, but the work implement 12 may not be able to move up and down.

[0028] The configuration of the work vehicle 1 included in the automatic driving system 100 is not limited to the configuration described above, and any configuration having a traveling machine body and a work implement may be used. As described above, the work implement included in the work vehicle may be arranged, for example, in front instead of behind the traveling machine body. The work vehicle 1 may be, for example, a tractor, a rice transplanter, a combine, a harvester for harvesting various crops, a snow removal machine, various civil engineering and construction work implements, etc.

[0029] [1-2. Operating device] The operating device 2 is a remote control device that enables an operator located at a position away from the work vehicle 1 to operate the work vehicle 1. The operating device 2 is provided to enable settings related to the manual driving of the work vehicle 1. Further, the operating device 2 is provided to enable settings related to the automatic driving of the work vehicle 1. In the present embodiment, the operating device 2 is a remote control device provided separately from the work vehicle 1, but this is merely an example. The operating device may be configured to be provided on the work vehicle itself. When the operating device is configured to be provided on the work vehicle, for example, the shape, arrangement, and type of the operating members described below may be changed as appropriate.

[0030] FIG. 2 is a plan view showing a schematic configuration of the operating device 2 according to an embodiment of the present invention. As shown in FIG. 2, the operating device 2 includes a housing 21, a power switch 22, an antenna 23, an operation lever 24, an operation switch 25, an operation knob 26, and a display unit 27.

[0031] The housing 21 constitutes the main body portion of the operating device 2. Each of the above-described power switch 22, antenna 23, operation lever 24, operation switch 25, operation knob 26, and display unit 27 is arranged at an appropriate position on the housing 21. Note that the arrangement shown in FIG. 2 is merely an example and may be changed as appropriate.

[0032] The power switch 22 is provided at the center of the front surface of the housing 21 and is provided to be able to switch between the on state and the off state of the power of the operating device 2. The power switch 22 is, for example, a toggle switch. The power of the operating device 2 is, for example, a battery or a dry battery arranged in the housing 21.

[0033] The antenna 23 is provided so as to protrude from the side surface of the housing 21 (the upper side surface in the example shown in FIG. 2), enabling wireless communication with the work vehicle 1. In other words, the work vehicle 1 is provided with an antenna 15a (see FIG. 3 described later) for performing wireless communication with the operation device 2. When the power of the operation device 2 is turned on by the power switch 22, the operation device 2 can perform wireless communication with the work vehicle 1. When the power of the operation device 2 is turned off by the power switch 22, the operation device 2 cannot communicate with the work vehicle 1. In the present embodiment, when communication with the operation device 2 becomes impossible, the work vehicle 1 that is traveling automatically stops. That is, the power switch 22 has a function as an emergency stop switch for the work vehicle 1. Note that the emergency stop switch may be provided separately from the power switch 22.

[0034] The operation lever 24 enables the operation of the work vehicle 1 and the operation of the work implement 12. In the present embodiment, the operation lever 24 includes a first operation lever 24a and a second operation lever 24b that are arranged side by side so as to sandwich the power switch 22. The first operation lever 24a (the left lever in the example shown in FIG. 2) can be tilted in two directions (the F1 - B1 direction and the L1 - R1 direction) that are orthogonal to each other and are indicated by the dashed arrows in FIG. 2. Also, while tilting to one side in the F1 - B1 direction, it can also be tilted to one side in the L1 - R1 direction. Note that the second operation lever 24b (the right lever in the example shown in FIG. 2) can also be tilted in the same directions as the first operation lever 24a. Also, the functions of the first operation lever 24a and the second operation lever 24b may be interchanged with each other.

[0035] In the present embodiment, the first operation lever 24a and the second operation lever 24b exhibit different functions depending on whether the work vehicle 1 is in the manual driving mode or the automatic driving mode.

[0036] For example, in the manual driving mode, when the first operation lever 24a is tilted in the F1 direction, the work vehicle 1 can be moved forward. In the manual driving mode, when the first operation lever 24a is tilted in the B1 direction, the work vehicle 1 can be moved backward. In the manual driving mode, when the first operation lever 24a is tilted in the L1 direction, the work vehicle 1 can be turned left. In the manual driving mode, when the first operation lever 24a is tilted in the R1 direction, the work vehicle 1 can be turned right. In addition, in the manual driving mode, by operating the second operation lever 24b, the work implement 12 can be raised or lowered.

[0037] In the automatic driving mode, the first operation lever 24a and the second operation lever 24b exhibit functions for making settings related to automatic driving. Details of this will be described later. Hereinafter, for the sake of convenience in explanation, tilting the first operation lever 24a in the F1 direction will be expressed as tilting in the forward direction F1. Also, tilting the first operation lever 24a in the B1 direction will be expressed as tilting in the backward direction B1. Also, tilting the first operation lever 24a in the L1 direction will be expressed as tilting in the left turning direction L1. Also, tilting the first operation lever 24a in the R1 direction will be expressed as tilting in the right turning direction R1.

[0038] The operation switch 25 enables various settings related to the work vehicle 1. In the present embodiment, the operation switch 25 includes three operation switches 25a to 25c arranged on the front or side surface of the housing 21. The first operation switch 25a (arranged on the upper right side surface in the example shown in FIG. 2) is composed of a momentary switch and enables a plurality of types of settings related to automatic driving. Details of this will be described later. The second operation switch 25b is composed of a three-position toggle switch and enables settings related to automatic turning. Details of this will be described later. The third operation switch 25c (arranged on the upper left front surface in the example shown in FIG. 2) is composed of a toggle switch and is provided so as to be able to switch between a state where power transmission to the work implement 12 using the above-described PTO power transmission unit is possible and a state where it is not possible.

[0039] Note that the types of the operation switches 25a to 25c described above are merely examples. The types of the operation switches 25a to 25c may be changed as appropriate.

[0040] The operation knob 26 is arranged on the front surface of the housing 21 (the upper part of the front surface in the example shown in FIG. 2), and enables adjustment of the maximum speed (the upper limit value of the speed) of the work vehicle 1. Specifically, two operation knobs 26 are provided. One of the two operation knobs 26 enables adjustment of the maximum speed during straight running of the work vehicle 1. The other of the two operation knobs 26 enables adjustment of the maximum speed during turning running of the work vehicle 1.

[0041] The display unit 27 is arranged on the front surface of the housing 21 (the lower part of the front surface in the example shown in FIG. 2), and displays various information to notify the operator. The various information includes, for example, display of the traveling route during automatic traveling and the positional relationship of the work vehicle 1. The display unit 27 is composed of, for example, a liquid crystal display device, an organic EL display device, or the like.

[0042] <2. Configuration related to automatic traveling of work vehicle> Next, details of the configuration related to the automatic traveling of the work vehicle 1 of the present embodiment will be described. FIG. 3 is a block diagram showing a schematic configuration of the work vehicle 1 according to the embodiment of the present invention. In FIG. 3, the components necessary for explaining the features (mainly the configuration related to automatic traveling) of the present embodiment are shown, and the description of general components is omitted.

[0043] As shown in FIG. 3, the work vehicle 1 includes a control device 10. In other words, the automatic traveling system 100 includes the control device 10. For example, the control device 10 controls the automatic traveling of the work vehicle 1 according to an instruction from the operation device 2.

[0044] The control device 10 is a computer device configured to include, for example, an arithmetic unit, an input / output unit, and a storage unit 101. The arithmetic unit is configured of, for example, a processor or a microprocessor. The storage unit 101 is a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 101 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs, data, etc. are stored in the storage unit 101. The arithmetic unit reads out various programs from the storage unit 101 and executes arithmetic processing according to the programs, thereby exhibiting various functions. The programs stored in the storage unit 101 may be provided, for example, by a computer-readable non-volatile recording medium. As another example, the programs may be provided from a program-providing server via a communication line such as the Internet.

[0045] By the cooperation of the above-described hardware and software, the control device 10 can operate as a reception unit 102, a route generation unit 103, a traveling mode control unit 104, a traveling control unit 105, and a work implement control unit 106. The control device 10 may be configured of one piece of hardware or may be configured of a plurality of pieces of hardware capable of communicating with each other. Some functions of the control device 10 may be included in the operation device 2.

[0046] Note that each functional unit 102 to 106 included in the control device 10 may be realized by software, that is, by causing an arithmetic unit to execute arithmetic processing according to a program as described above, but may also be realized by other methods. At least one of the functional units 102 to 106 may be realized using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. That is, at least one of the functional units 102 to 106 may be realized by hardware using a dedicated IC or the like. Further, at least one of the functional units 102 to 106 may be realized by using a combination of software and hardware. Also, the functional units 102 to 106 are conceptual components. The functions executed by one component may be distributed among a plurality of components. Also, the functions of a plurality of components may be integrated into one component.

[0047] A positioning communication unit 14, a communication processing unit 15, and a sensor 16 are connected to the control device 10. That is, the work vehicle 1 includes a positioning communication unit 14, a communication processing unit 15, and a sensor 16.

[0048] The positioning communication unit 14 includes a positioning antenna 111e (see FIG. 1), and uses the positioning signal received by the positioning antenna 111e from a positioning satellite to acquire the position of the work vehicle 1 as, for example, latitude and longitude information. The positioning communication unit 14 outputs the position information of the work vehicle 1 to the control device 10. The positioning communication unit 14 performs positioning using, for example, the known RTK-GNSS (Real Time Kinematic GNSS) method after receiving a positioning signal from a reference station (not shown) by an appropriate method. Note that the positioning communication unit 14 may perform positioning using other methods such as the DGNSS (Differential GNSS) method.

[0049] The communication processing unit 15 communicates with the operating device 2 via the communication antenna 15a. Note that the communication antenna 15a is an antenna for performing wireless communication with the operating device 2. For the wireless communication, for example, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used.

[0050] The sensor 16 detects information related to the work vehicle 1 and outputs the detected information to the control device 10. In the present embodiment, the sensor 16 includes a plurality of types of sensors. Each of the plurality of types of sensors is connected to the control device 10 so as to be able to input a signal. The plurality of types of sensors include, for example, an inertial measurement unit (IMU), an obstacle sensor, a vehicle speed sensor, and a lifting position sensor.

[0051] Note that the inertial measurement unit includes a three-axis angular velocity sensor and a three-directional acceleration sensor, and is a device capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles existing around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, a radar, or a LiDAR (Light Detection And Ranging). The vehicle speed sensor is a sensor that detects the speed of the work vehicle 1. The lifting position sensor is a sensor that detects the lifting position of the work implement 12 provided to be liftable.

[0052] The reception unit 102 provided in the control device 10 receives an instruction by the operator using the operating device 2. The instruction using the operating device 2 includes an instruction related to autonomous driving. Note that the instruction received by the reception unit 102 may also include an instruction related to manual driving, such as a driving instruction during manual driving.

[0053] The route generation unit 103 generates a travel route for causing the work vehicle 1 to perform automatic driving. In the present embodiment, the travel route includes, as an example, a plurality of routes arranged side by side. Specifically, each of the plurality of routes is a straight route. The plurality of straight routes are arranged parallel to each other side by side. A travel route including a plurality of straight routes (specifically, an automatic driving work route) is generated, for example, as follows.

[0054] When generating the travel route, first, a reference line L is set. FIG. 4 is a diagram for explaining an example of a method for setting the reference line L. Note that the method for setting the reference line L may be other than the method shown in FIG. 4.

[0055] When setting the reference line L, first, the work vehicle 1 is manually moved to an appropriate position (point A in the figure) of the work target location (the farm field in the present embodiment), and point A registration is performed using the operation device 2. In the present embodiment, the movement of the work vehicle 1 by manual driving is performed using the first operation lever 24a (see FIG. 2) of the operation device 2. Also, the registration of point A using the operation device 2 is performed using the first operation switch 25a (see FIG. 2). By operating the first operation switch 25a, the reception unit 102 receives the registration of point A. Then, the route generation unit 103 registers the position of the work vehicle 1 obtained by the positioning communication unit 14 at the time when the setting of point A registration is performed, as the position of point A.

[0056] When the registration of point A is performed, the operator causes the work vehicle 1 to travel straight by manual driving using the operation device 2 (specifically, the first operation lever 24a), and moves it to the target position (point B in the figure). Then, when the work vehicle 1 reaches the target position, the registration of point B is performed using the operation device 2. The registration of point B using the operation device 2 is performed using the first operation switch 25a. Specifically, on the premise that the registration of point A has already been performed, when the first operation switch 25a is operated in the same manner as at the time of point A registration, the reception unit 102 receives the registration of point B. Then, the route generation unit 103 registers the position of the work vehicle 1 obtained by the positioning communication unit 14 at the time when the setting of point B registration is performed, as the position of point B.

[0057] When the position registration of point A and point B is performed, a straight line passing through point A and point B is set as the reference line L. In this embodiment, the same switch (the first operation switch 25a) is used for the registration of point A and point B, but this is merely an example, and the switch for point A registration and the switch for point B registration may be provided in the operation device 2 separately. Further, the reference line may be, for example, parallel to the longitudinal direction (own vehicle orientation) of the work vehicle 1 at the time of point A registration and a straight line passing through point A. Further, the reference line may be, for example, a straight line passing through point A and parallel to the set orientation. In the case of the above-described two reference line setting methods shown as modification examples, the registration of point B is unnecessary.

[0058] When the reference line L is set, the path generation unit 103 arranges a plurality of lines parallel to the reference line L at a predetermined interval (see the dashed line in FIG. 4) to generate a travel path (a travel path for automatic travel work) including a plurality of straight paths. In this embodiment, the automatic travel work path is a straight path, but it may be a curved path.

[0059] The travel mode control unit 104 performs switching control between the manual travel mode and the automatic travel mode. In this embodiment, in the manual travel mode, the operator operates the travel of the work vehicle 1 and the operation of the work implement 12 using the operation device 2. Further, in the automatic travel mode, the steering of the work vehicle 1 is automatically performed, and for the adjustment of the vehicle speed of the work vehicle 1 and the operation of the work implement 12, the operator operates using the operation device 2.

[0060] The travel mode control unit 104 performs switching of the travel mode, for example, when the reception unit 102 receives a travel mode switching instruction using the first operation switch 25a by the operator. Specifically, when the work vehicle 1 is in the manual travel mode and the reception unit 102 receives a travel mode switching instruction, the travel mode control unit 104 switches from the manual travel mode to the automatic travel mode. Further, when the work vehicle 1 is in the automatic travel mode and the reception unit 102 receives a travel mode switching instruction, the travel mode control unit 104 switches from the automatic travel mode to the manual travel mode.

[0061] In addition, in this embodiment, the instruction for switching the traveling mode is an operation of pressing the first operation switch 25a once. As described above, the first operation switch 25a is also used for the registration instructions at points A and B. In this case, however, in order to be distinguishable from the instruction for switching the traveling mode, a double-press of continuously pressing the first operation switch 25a twice is used. That is, by double-pressing the first operation switch 25a before point A is registered, point A registration is executed, and by double-pressing the first operation switch 25a after point A is registered, point B registration is executed. However, these instruction operations are merely examples. For example, a configuration may be adopted in which the instruction for switching the traveling mode is given by double-pressing the first operation switch 25a, and the instruction for registering points A and B is given by pressing it once. Also, the switch for switching the traveling mode may be a switch different from the switch for registering points A and B.

[0062] The travel control unit 105 controls the travel system of the work vehicle 1 according to the travel mode. When the travel mode is the manual travel mode, the travel control unit 105 controls the travel system of the work vehicle 1 according to an instruction from the operation device 2. When the travel mode is the automatic travel mode, the travel control unit 105 performs automatic control on at least a part of the travel system of the work vehicle 1. In this embodiment, the travel control unit 105 performs automatic control of steering (automatic steering), for example, so that the work vehicle 1 travels along a predetermined route. During automatic control of steering, for example, the position and orientation of the work vehicle 1 are obtained based on information obtained from the positioning communication unit 14 and the inertial measurement device included in the sensor 16. Then, an operation related to automatic steering is executed according to the positional relationship between the obtained position and the like of the work vehicle 1 and a predetermined travel route for automatic travel (the travel route generated by the route generation unit 103), and steering control according to the operation result is performed.

[0063] The work machine control unit 106 controls the work system of the work vehicle 1 according to an instruction from the operation device 2. The control of the work system of the work vehicle 1 includes, for example, the lifting control of the work machine 12 and the switching control of the power transmission state to the work machine 12 using the PTO power transmission unit. Note that the work machine control unit 106 may be configured to switch the control of the work system of the work vehicle 1 according to the traveling mode. That is, in the case of the automatic traveling mode, the work machine control unit 106 may be configured to automatically control the operation of the work machine 12. An illustrative description of the configuration related to this will be described in the following description part of the modification example related to the automatic traveling method.

[0064] <3. Automatic Traveling Method> Next, the automatic traveling method of the work vehicle 1 executed by the automatic traveling system 100 of the present embodiment will be described. In the present embodiment, the automatic traveling method of the work vehicle 1 is realized by causing a computer (control device 10) to execute arithmetic processing according to a program.

[0065] FIG. 5 is a flowchart exemplifying the flow of the automatic traveling method according to the embodiment of the present invention. In the present embodiment, the process shown in FIG. 5 is executed when the work vehicle 1 and the operation device 2 are in a state where they can communicate with each other.

[0066] In step S1, the control device 10 (specifically, the route generation unit 103) sets a traveling route for causing the work vehicle 1 to perform automatic traveling. That is, the automatic traveling method of the present embodiment executes setting a traveling route for causing the work vehicle 1 to perform automatic traveling. The traveling route for causing the work vehicle 1 to perform automatic traveling is generated when there are the A-point registration instruction and the B-point registration instruction using the operation device 2 as described above, and the generated traveling route is set as the traveling route for automatic traveling. By setting the traveling route, the process proceeds to the next step S2.

[0067] In step S2, the control device 10 (specifically, the reception unit 102) monitors whether or not an instruction for automatic driving has been given by the operator. In the present embodiment, as described above, the instruction for automatic driving is given when the operator presses the first operation switch 25a of the operation device 2 once. By receiving this operation, the reception unit 102 determines that an instruction for automatic driving has been given. When an instruction for automatic driving has been given (Yes in step S2), the process proceeds to the next step S3. When there is no instruction for automatic driving (No in step S2), the process of step S2 is repeated.

[0068] In step S3, the control device 10 (specifically, the traveling mode control unit 104) switches the traveling mode to the automatic driving mode. Thereby, the automatic driving mode is started. When the automatic driving mode is started, the process proceeds to the next step S4. In the present embodiment, at the start point of the automatic driving mode, the work vehicle 1 is located at one end of one of a plurality of straight paths included in the traveling path for automatic driving. For example, the one end is the one end of a straight path adjacent to the reference line L (see FIG. 4). The work vehicle 1 is moved to the one end by manual driving using the operation device 2. For example, the movement is a turning movement that reverses the front and rear of the work vehicle 1 from point B. However, this is an example, and at the start point of the automatic driving mode, the work vehicle 1 may be at point B which is one end of the reference line L. When the work vehicle 1 is at point B, an automatic turning driving is performed before the automatic straight driving described below.

[0069] In step S4, the control device 10 (specifically, the travel control unit 105) performs automatic steering control (automatic straight-ahead control) so that the work vehicle 1 travels along a straight path set as the path for automatic travel. During the automatic straight-ahead control, the work vehicle 1 performs automatic straight-ahead travel when the first operation lever 24a of the operation device 2 is tilted in the forward direction F1 (see FIG. 2) by the operator. The travel speed of the work vehicle 1 is adjusted according to the amount of tilting of the first operation lever 24a in the forward direction F1. Note that the work implement 12 is manually operated using the operation device 2 as necessary during the automatic straight-ahead control. Also, it is preferable that the work implement 12 is lowered to a workable position by manual operation using the operation device 2 at the start point of the automatic straight-ahead control. Thereby, automatic travel work using the work implement 12 can be performed by automatic straight-ahead travel. When the automatic straight-ahead control is started, the process proceeds to the next step S5.

[0070] In step S5, the control device 10 (specifically, the reception unit 102) monitors whether an operator has given an instruction to turn. The reception unit 102 determines that an instruction to turn has been given when it receives a predetermined operation including a direction instruction from the operation device 2. In the present embodiment, the predetermined operation including a direction instruction includes tilting the first operation lever 24a in the turning directions L1, R1 (see FIG. 2). Tilting the first operation lever 24a in the turning directions L1, R1 corresponds to a direction instruction. When the first operation lever 24a is tilted in the left turning direction L1, it means that an instruction to turn to the left has been given. When the first operation lever 24a is tilted in the right turning direction R1, it means that an instruction to turn to the right has been given.

[0071] The predetermined operation including the direction instruction in the present embodiment is, specifically, an operation of tilting the first operation lever 24a in the turning directions L1 and R1 and pressing the first operation switch 25a (for example, pressing once). Note that the operation of the first operation switch 25a may not be included in the predetermined operation, and the predetermined operation may be only an operation of tilting the first operation lever 24a in the turning directions L1 and R1. However, if the predetermined operation includes other operations in addition to the operation for direction instruction as in the present embodiment, malfunction can be reduced. Also, when the turning direction instruction (instruction element) is included in pressing the first operation switch 25a, the predetermined operation may be only an operation of pressing the first operation switch 25a. That is, it is not always necessary that the direction element is included in the operation itself of the predetermined operation including the direction instruction. When it is determined that there is a turning instruction (Yes in step S5), the process proceeds to step S7. When it is determined that there is no turning instruction (No in step S5), the process proceeds to step S6.

[0072] In step S6, the control device 10 (for example, the reception unit 102, etc.) determines whether or not it is in a state of ending the automatic driving. For example, when there is an instruction to switch to manual driving using the first operation switch 25a, it is determined that it is in a state of ending the automatic driving. Also, when the communication between the work vehicle 1 and the operation device 2 is interrupted, it is determined that it is in a state of ending the automatic driving. When it is determined that it is in a state of ending the automatic driving (Yes in step S6), the flow shown in FIG. 5 ends. Note that instead of ending the flow, it may be configured to return to step S2. When it is determined that it is not in a state of ending the automatic driving (No in step S6), the process is returned to step S5.

[0073] In step S7, the control device 10 (specifically, the travel control unit 105) causes the work vehicle 1 to automatically perform a turning travel (automatic turning travel). That is, when the control device 10 receives a predetermined operation including a direction instruction in the operation device 2, it causes the work vehicle 1 to automatically perform a turning travel in the direction specified by the direction instruction. The automatic travel method of the work vehicle 1 according to the present embodiment executes causing the work vehicle 1 to automatically perform a turning travel in the direction specified by the direction instruction when receiving a predetermined operation including a direction instruction by the operator. A program for causing a computer to execute the automatic travel method causes the computer to function as means for causing the work vehicle 1 to automatically perform a turning travel in the direction specified by the direction instruction when receiving a predetermined operation including a direction instruction by the operator.

[0074] Note that the automatic turning travel refers to a state in which at least steering is autonomously performed and turning travel is performed by controlling the devices related to travel by the control device 10. The speed at the time of turning and the control of the work implement 12 may or may not be autonomously performed. The automatic turning travel in the present embodiment is a state in which only steering is autonomously performed and turning travel is performed. During the automatic turning travel, the first operation lever 24a of the operation device 2 is tilted in the forward and backward direction F1-R1 to perform the automatic turning travel. For example, when the first operation lever 24a is tilted in the forward direction F1, the work vehicle 1 performs an automatic turning travel while moving forward. Note that it is preferable that the work implement 12 is in a non-working state by manual operation at the time when the automatic turning travel is started. The non-working state includes, for example, a state in which the work implement 12 is raised to a height position where it cannot perform work or a state in which power is not transmitted to the work implement 12.

[0075] In the present embodiment, since the automatic turning travel is performed on the condition of an instruction of the turning direction by the operator, it is possible to reduce the possibility that the operator feels anxiety about the turning direction during the automatic turning. As a result, it is possible to suppress the occurrence of operations that reduce the work efficiency such as unnecessary stopping. That is, according to the present embodiment, work can be efficiently performed using the work vehicle 1 that performs automatic travel.

[0076] Specifically, when the work vehicle 1 receives a predetermined operation (including a direction indication) while automatically traveling along a travel route, the work vehicle 1 is caused to perform an automatic turning travel. More specifically, when the work vehicle 1 receives a predetermined operation while automatically steering along a straight route, the work vehicle 1 is caused to perform an automatic turning travel. The operator can move the work vehicle 1 to the next process (next straight route) with a simple operation. That is, the work load of the operator can be reduced. Also, with such a configuration, it can be expected that the work finish will be neat.

[0077] Note that the automatic turning travel may be configured to perform the turning travel along a turning route generated according to the set state of the operation device 2 or the like. However, not limited thereto, the automatic turning travel may be configured to perform the turning with a preset turning radius. The turning radius may be configured to be selectable by the operator. For example, the operator may select a setting of the turning radius (for example, "large", "medium", "small", etc.), and the automatic turning travel may be performed with the turning radius corresponding to the selected setting. In the present embodiment, the automatic turning travel is performed along the generated turning route.

[0078] Also, it may be executed to receive a return instruction from the operator during the turning travel and cause the work vehicle 1 to perform a return travel to automatically return to the starting position of the turning travel. The return instruction may be, for example, an operation of tilting the first operation lever 24a of the operation device 2 in the reverse direction B1. And the return travel may be configured to return while moving backward along the turning route that has advanced from the starting point of the return travel to the starting position of the turning travel. With such a configuration, even if the operation direction is mistaken during the turning instruction, it can be easily redone. As a result, even a person unaccustomed to operating the work vehicle 1 can operate the work vehicle 1 that performs automatic travel without stress. Note that the return instruction may be an operation of tilting the first operation lever 24a in the turning direction side opposite to the direction in which the work vehicle 1 is turning at that time. In this configuration, for example, when the work vehicle 1 is turning left, an operation of tilting the first operation lever 24a in the right turning direction R1 is performed.

[0079] As described above, in the present embodiment, the operation device 2 includes a second operation switch 25b (see FIG. 2) that enables settings related to automatic turning. Specifically, the second operation switch 25b is a switch for designating a destination in turning travel. As described above, the second operation switch 25b can be switched to any one of three positions. Depending on which of the three positions is selected, the destination in the automatic turning travel changes.

[0080] FIGS. 6A, 6B, and 6C are diagrams for explaining the function of the second operation switch 25b.

[0081] In FIG. 6A, the second operation switch 25b is at the first position P1. When the second operation switch 25b is at the first position P1, the control device 10 recognizes that the destination in the automatic turning travel is set to the adjacent straight path SP2 with respect to the currently traveling straight path SP1. In response to this recognition, the control device 10 generates and sets a turning path, and causes the work vehicle 1 to perform automatic turning travel.

[0082] In FIG. 6B, the second operation switch 25b is at the second position P2. When the second operation switch 25b is at the second position P2, the control device 10 recognizes that the destination in the automatic turning travel is set to the second adjacent straight path SP3 with respect to the currently traveling straight path SP1. In response to this recognition, the control device 10 generates and sets a turning path, and causes the work vehicle 1 to perform automatic turning travel.

[0083] In FIG. 6C, the second operation switch 25b is at the third position P3. When the second operation switch 25b is at the third position P3, the control device 10 recognizes that the destination in the automatic turning travel is set to the third adjacent straight path SP4 with respect to the currently traveling straight path SP1. In response to this recognition, the control device 10 generates and sets a turning path, and causes the work vehicle 1 to perform automatic turning travel.

[0084] From the description of the second operation switch 25b above, it can be said that the second operation switch 25b is a switch for setting the number of skips during turning travel with respect to a plurality of paths (linear paths in this example) arranged side by side. Under such an interpretation, when the second operation switch 25b is in the first position P1, it can be said that the number of skips is set to zero. Also, when the second operation switch 25b is set to the second position P2, it can be said that the number of skips is set to "1". Further, when the second operation switch 25b is set to the third position P3, it can be said that the number of skips is set to "2".

[0085] In this embodiment, the automatic turning travel is performed based on the number of skips set for a plurality of paths. Generation and setting of the turning path are performed based on the setting of the number of skips, and the automatic turning travel is performed along the set turning path. The operator can quickly specify the number of skips by switching the operation switch at hand. For this reason, it is possible to easily cope with work at various work target locations (fields in this embodiment).

[0086] Note that the relationship between the selection positions (P1 to P3) of the second operation switch 25b and the number of skips shown in FIGS. 6A, 6B, and 6C is merely illustrative, and these relationships may be changed as appropriate. Also, the number of settings for the number of skips is not limited to three, and may be two or four or more. In response to the change in the number of settings, the configuration of the second operation switch 25b may be changed, or a switch different from the second operation switch 25b may be added. The position when adding a switch is not limited to the operation device 2, and it may be added to the work vehicle 1 side. Also, the switch may be a software switch provided on the display screen.

[0087] Incidentally, the automatic turning travel is preferably performed in a turning pattern selected based on the set number of skips. In other words, it is preferable that the turning pattern of the automatic turning travel is provided so that not only one type of pattern but also a plurality of types of patterns can be selected. The turning pattern is preferably determined in consideration of not only the number of skips but also the interval between a plurality of paths and the width of the working machine 12. In the present embodiment, the turning pattern is automatically determined based on the number of skips and the working width of the working machine 12. With such a configuration, an efficient turning pattern can be automatically selected to improve the working efficiency.

[0088] FIG. 7A is a diagram for explaining a turning pattern. Note that FIG. 7A assumes the case where the number of skips is zero. When the number of skips is zero, the interval D between a plurality of straight paths SP is narrow, and when the work vehicle 1 makes an arc-shaped turn as shown in the left diagram of FIG. 7A, the turning destination may deviate from the straight path SP. For this reason, as the turning pattern, for example, a fishtail turn as shown in the right diagram of FIG. 7A is preferably provided so as to be selectable. However, the fishtail turn as the turning pattern is merely an example, and for example, a spin turn (ultra-precise turning) may be used as the turning pattern when there is no problem with the field being rough.

[0089] In the fishtail turn shown in FIG. 7A, the work vehicle 1 makes the following movements. The work vehicle 1 advances to the point KP1 while turning left and once stops. Then, after the once stop, it reverses to the point KP2, and advances while turning left from the point KP2 and enters the next straight path SP. When the fishtail turn is performed by automatic steering, the first operation lever 24a is tilted in the forward direction F1 during forward movement, and the first operation lever 24a is tilted in the reverse direction B1 during reverse movement. Since it is automatic steering, the operator does not need to give an instruction on the turning direction.

[0090] FIG. 7B is another diagram for explaining the turning pattern. Note that FIG. 7B assumes the case where the skip number is "2". When the skip number increases, if an arc-shaped turn as shown on the left side of FIG. 7B is performed, the width required for the turn becomes wider in the direction parallel to the straight path SP (front-rear direction). As a result, the range where work can be performed becomes narrower, and there is a risk of a decrease in work efficiency. For this reason, as the turning pattern, it is preferably provided so that a turn including a straight running portion extending in the direction orthogonal to the straight path SP (left-right direction) as shown in the right side diagram of FIG. 7B can be selectively provided. In the said turn, the work vehicle 1 advances to the point KP3 while turning left, and goes straight from the point KP3 to the point KP4. Then, it advances while turning left from the point KP4 and enters the next straight path SP.

[0091] Returning to FIG. 5, when the process of step S7 (the state where automatic turning travel is performed) is completed, the process proceeds to the next step S8.

[0092] In step S8, the control device 10 (specifically, the travel control unit 105) monitors whether the automatic turning travel has been completed. In the present embodiment, the completion of the automatic travel is a state where the travel on the set turning path has been completed and it has become possible to enter the next straight path. The determination of this state may be made using, for example, information obtained from the positioning communication unit 14 or the inertial measurement device. When it is determined that the automatic turning travel has been completed (Yes in step S8), the process returns to step S4 and automatic straight-ahead control is started, and the processes after step S4 described above are repeated. When it is not determined that the automatic turning travel has been completed (No in step S8), the process of step S8 is repeated.

[0093] <4. Modification Examples Related to the Automatic Travel Method> FIG. 8 is a flowchart exemplifying the flow of the automatic driving method according to the modified example. The flowchart shown in FIG. 8 is generally the same as the flowchart shown in FIG. 5. In the modified example shown in FIG. 8, the process of step S9 is added between the process of step S5 and the process of step S7 shown in FIG. 5, and further, the process of step S10 is added after the process of step S8 shown in FIG. 5. Hereinafter, the description will be focused on this difference.

[0094] The process of step S9 is performed after there is a turning instruction (a predetermined operation including a direction instruction) from the operator (refer to the process of step S5 described above).

[0095] In step S9, the control device 10 (specifically, the work implement control unit 106) automatically changes the work implement 12 that was being used during the travel on the straight path (travel during automatic straight-ahead control) to a non-operating state. That is, in the automatic driving method of the work vehicle 1 according to the modified example, after receiving a predetermined operation, the work vehicle 1 executes automatically switching the work implement 12 it has to a non-operating state. In this modified example, setting the work implement 12 to the non-operating state includes raising the work implement 12 to a height position where it cannot perform work and making the power transmission to the work implement 12 using the PTO power transmission unit impossible. By adopting such a configuration for automatic switching, the burden on the operator can be reduced. Note that the operating state and the non-operating state vary depending on the type of the work implement 12. For this reason, the control content performed when switching from the operating state to the non-operating state may be appropriately changed according to the configuration of this modified example. For example, in the case of a work implement that does not require lifting, it is not necessary to raise the work implement to make it in the non-operating state. When the process of step S9 is completed, the process proceeds to step S7, and the automatic turning travel is started.

[0096] In addition, in this modified example, "after receiving the turning instruction (predetermined operation)" means the period from when the turning instruction (predetermined operation) is received until the automatic turning travel starts. However, the switching to the non-operating state of the work implement 12 may be executed in conjunction with the start of the automatic turning travel. For this reason, "after receiving the predetermined operation" in the present invention does not mean being limited only to immediately after receiving the predetermined operation, but rather broadly includes, for example, the start timing of the subsequent automatic turning travel.

[0097] The process of step S10 is performed after it is determined that the automatic turning travel has been completed (see the process of step S8 described above).

[0098] In step S10, the control device 10 (work implement control unit 106) automatically changes the work implement 12 that was previously in the non-operating state to the operating state. That is, in the automatic travel method according to the modified example, after the turning travel ends, the work implement 12 is automatically switched to the operating state. In this modified example, setting the work implement 12 to the operating state includes lowering the work implement 12 to a workable height position and enabling power transmission to the work implement 12 using the PTO power transmission unit. By adopting such a configuration for automatic switching, the burden on the operator can be reduced. When the process of step S10 is completed, the process returns to step S4, and the work using the automatic straight-ahead control is executed.

[0099] In addition, in this modified example, "after the turning travel ends" means the period from when it is determined that the turning travel has ended until the automatic straight-ahead travel in the next straight path starts. However, the switching of the work implement 12 from the non-operating state to the operating state may be executed in conjunction with the start of the automatic straight-ahead travel. For this reason, "after the turning travel ends" in the present invention does not mean being limited only to immediately after recognizing the end of the turning travel, but rather broadly includes, for example, the start timing of the subsequent automatic straight-ahead travel.

[0100] Further, although not described in detail in FIG. 8, even when the process proceeds from step S3 to step S4, it is preferable that the work implement 12 is automatically changed from the non-working state to the working state before the start of the automatic straight running or in accordance with the start of the self-propelled straight running.

[0101] <5. Operation Support> Next, operation support for assisting the operator in operating the work vehicle 1 that performs automatic driving according to this embodiment will be described.

[0102] [5-1. Operation Support System] FIG. 9 is a block diagram showing a schematic configuration of an operation support system 200 according to an embodiment of the present invention. As shown in FIG. 9, the operation support system 200 includes an operation device 2, a work vehicle 1, and an index display device 3.

[0103] As described above, the operation device 2 is operated by the operator. Further, the operation device 2 is specifically a remote operation device. That is, in this embodiment, the operator's operation is performed remotely on the work vehicle 1. As described above, the operation device 2 may be configured to be provided on the work vehicle. In this case, the operator's operation may be performed on the work vehicle. The detailed configuration of the operation device 2 is as described above. For this reason, other detailed descriptions of the operation device 2 are omitted.

[0104] Further, as described above, the work vehicle 1 automatically performs turning travel (automatic turning travel) in response to an instruction from the operation device 2. In this embodiment, the instruction from the operation device 2 is performed using the first operation lever 24a and the first operation switch 25a (see FIG. 2). As described above, this configuration may be appropriately changed. Further, the turning travel is specifically a turning travel performed to switch a straight path for performing an automatic driving operation. The work vehicle 1 and its detailed configuration related to the automatic driving are as described above. For this reason, other detailed descriptions related to these are omitted.

[0105] The index display device 3 is a device provided for operation support of the work vehicle 1. The index display device 3 is provided on the work vehicle 1. For this reason, the index display device 3 may be regarded as a component of the work vehicle 1. That is, the index display device 3 may be a component included in the work vehicle 1. In the present embodiment, as shown in FIG. 9, the index display device 3 includes an index display control unit 3a and an index display execution unit 3b.

[0106] The index display control unit 3a is a controller that manages the operation of the index display device 3. In the present embodiment, the index display control unit 3a is constituted by the above-described control device 10. Specifically, it can be said that the index display control unit 3a is also a functional unit included in the control device 10. That is, it can be said that the index display control unit 3a is a function realized by the cooperation of the hardware and software included in the control device 10. Note that the index display control unit 3a may be constituted by a control device different from the above-described control device 10. In this case, the index display control unit 3a and the control device 10 may be provided so as to be communicable with each other, and it is sufficient that information can be exchanged between the two.

[0107] The index display execution unit 3b displays an index for operation support of the work vehicle 1 under the control of the index display control unit 3a. In the present embodiment, as an example, the index display execution unit 3b is a light-emitting device configured using LEDs (Light Emitting Diodes). The light-emitting device makes the light generated by the LEDs into thin linear or strip-shaped light. Hereinafter, the thin light may be expressed as a line light. The index display execution unit 3b is attached to the work vehicle 1 and displays a line light serving as an index for operation support of the work vehicle 1 around the work vehicle 1.

[0108] FIG. 10 is a diagram for explaining the function of the index display device 3 in the present embodiment. In FIG. 10, reference numeral 300 indicates a work target location (work site). In the present embodiment, the work site 300 is a farm field. For this reason, hereinafter, the work site 300 will be referred to as the farm field 300.

[0109] In the left figure of FIG. 10, the work vehicle 1 is performing an automatic traveling operation using the working machine 12 toward the end 301 (a detailed example is a ridge or a wall) of the farm field 300. The work vehicle 1 is automatically traveling straight along the path (straight path SP) generated by the path generation unit 103. The work vehicle 1 automatically performs a turning operation (automatic turning operation) as shown in the right figure of FIG. 10 in response to a turning instruction using the operation device 2. Note that, during the automatic turning operation, the operation using the working machine 12 is not performed.

[0110] The indicator display device 3 displays an indicator 4 related to the automatic turning operation on the front side in the traveling direction of the work vehicle 1. The operator can appropriately make an operation determination related to the automatic turning operation based on the indicator 4. Specifically, the indicator 4 is an indicator that enables the operator to determine the start position of the automatic turning operation. The operator can determine the position at which the automatic turning operation should be started based on the indicator 4 and give a turning instruction to the work vehicle 1 using the operation device 2. In the present embodiment, the operator is located at a position away from the work vehicle 1 using the remotely operable operation device 2, but even in such a position, the operator can give a turning instruction at an appropriate timing based on the indicator 4.

[0111] Note that, in the present embodiment, the indicator 4 is a line light emitted by an indicator display execution unit 3b configured as a light emitting device. Since the indicator display execution unit 3b needs to illuminate the front side in the traveling direction of the work vehicle 1 for displaying the indicator 4, it is arranged at a position where it can illuminate the front side in the traveling direction of the work vehicle 1. The indicator display execution unit 3b is arranged, for example, at a position where it can illuminate the front or rear of the work vehicle 1. Thereby, the operator can cause the indicator 4 to be displayed on the front side in the traveling direction during the forward operation or the backward operation using the working machine 12.

[0112] Specifically, the indicator 4 is provided so that the work vehicle 1 can perform an automatic turning operation without contacting (colliding with) the field end 301 (obstacle) on the front side in the traveling direction. For example, the indicator 4 may be configured to indicate the maximum distance that the work vehicle 1 reaches on the front side in the traveling direction when the work vehicle 1 starts a turning operation from the current position. When configured in this way, the operator may give an instruction to start the turning operation when the indicator 4 (line light) that moves as the work vehicle 1 performing the automatic straight traveling operation moves reaches a little in front of the field end 301. Thereby, the work vehicle 1 can be turned without contacting an obstacle such as a ridge forming the field end 301. Also, work traveling using the work implement 12 can be performed up to near the field end 301.

[0113] As another example, the indicator 4 may be configured to indicate a distance obtained by adding a predetermined distance to the maximum distance that the work vehicle 1 reaches on the front side in the traveling direction when the work vehicle 1 starts a turning operation from the current position. The predetermined distance is a margin distance for avoiding contact with the field end 301 and may be appropriately determined by experiments or the like. When configured in this way, the operator may give an instruction to start the turning operation when the indicator 4 (line light) that moves as the work vehicle 1 performing the automatic straight traveling operation moves reaches the field end 301. Thereby, the work vehicle 1 can be turned without contacting an obstacle such as a ridge forming the field end 301. Also, work traveling using the work implement 12 can be performed up to near the field end 301.

[0114] The display position of the indicator 4 is set based on the dimensional information regarding the work vehicle 1. The vehicle information specifically includes the length (front - rear direction length) of the traveling body 11, the width (left - right direction length) of the traveling body 11, the length (front - rear direction length) of the work implement 12, and the width (left - right direction length) of the work implement 12. Note that in addition to the dimensional information regarding the work vehicle 1, the turning conditions (turning radius and turning pattern) during the automatic turning operation also need to be taken into account for the display position of the indicator 4. In the descriptions in FIGS. 11 and 12 below, for the sake of easy understanding, it is assumed that the turning conditions are fixed to certain values.

[0115] FIG. 11 is a diagram for explaining an example of setting the display position of the index 4. In FIG. 11, the locus 5 indicates the locus of the outermost peripheral portion from the turning center (not shown) of the work vehicle 1 when the work vehicle 1 performs an automatic turning operation. The locus 5 is determined by the dimensions of the work vehicle 1. In the example shown in FIG. 11, the working machine 12 has a larger width (length in the left-right direction) than the traveling body 11. For this reason, when the work vehicle 1 performs an automatic turning operation, the outermost peripheral portion from the turning center of the work vehicle 1 is generated by the working machine 12. However, the width of the working machine 12 may be smaller than the width of the traveling body 11. In such a case, when the work vehicle 1 performs an automatic turning operation, the outermost peripheral portion from the turning center of the work vehicle 1 may be generated by the traveling body 11.

[0116] The display position of the index 4 is set at a position overlapping with the above-described locus 5. In the case of a configuration showing the distance obtained by adding the above-described predetermined distance, the position of the locus 5 may be shifted forward in the traveling direction by the predetermined distance, and the display position of the index 4 may be set to overlap with the shifted locus. In the example shown in FIG. 11, specifically, the display position of the line light (index) 4 having a width in the traveling direction is set such that the front end 4a in the traveling direction of the line light 4 coincides with the locus 5. In this case, the front end 4a in the traveling direction of the line light 4 coincides with the above-described maximum distance.

[0117] Incidentally, as shown in FIG. 12, the display position of the line light 4 may be set so that the rear end 4b in the traveling direction of the line light 4 coincides with the locus 5. In this case, the rear end 4b in the traveling direction of the line light 4 will coincide with the above-described maximum distance. By the way, the width in the traveling direction of the line light 4 can be changed, for example, by using different types of power consumption. When using the line light 4 of a type with a wide width in the traveling direction as shown in FIG. 12, if the configuration is such that the rear end 4b in the traveling direction of the line light 4 coincides with the locus 5, the width in the traveling direction of the line light 4 can be regarded as the margin for avoiding contact at the field end 301 described above. In the case of such a configuration, even if the addition of the predetermined distance of the above-described margin is not performed, if the operator gives a turning instruction when the front end 4a in the traveling direction of the line light 4 reaches the field end 301, the work vehicle 1 can be turned without contacting an obstacle such as a ridge constituting the field end 301.

[0118] [5-2. Operation Support Method] Next, a detailed example of the operation support method using the index display device 3 will be described. The operation support method is an operation support method for a work vehicle 1 that automatically performs turning travel in response to an operator's operation. In the present embodiment, the operation support method is realized by causing a computer (control device 10) to execute arithmetic processing according to a program.

[0119] FIG. 13 is a flowchart illustrating the flow of an operation support method executed in the operation support system 200 according to an embodiment of the present invention. The process shown in FIG. 13 is executed when the work vehicle 1 and the operation device 2 are in a state where they can communicate with each other.

[0120] In step S11, the control device 10 (specifically, the index display control unit 3a, the same applies hereinafter in the description of FIG. 13) determines whether dimension information regarding the work vehicle 1 has been input. As described above, examples of the dimension information include the length and width of the traveling body 11 and the length and width of the work implement 12. However, since the dimension information of the traveling body 11, once set, is not changed in principle, it is preferable to adopt a configuration in which the operator does not need to input it. On the other hand, since the dimension information of the work implement 12 can be replaced according to the work, it is preferable to adopt a configuration in which the operator inputs it. If the dimension information has been input (Yes in step S11), the process proceeds to step S13. If the dimension information has not been input (No in step S11), the process proceeds to step S12.

[0121] In step S12, the control device 10 requests the input of dimension information that has not been input yet. In response to the request for the input, for example, the content requesting the input of the dimension information is displayed on the display unit 27 (see FIG. 2) of the operation device 2 or the like. When the request for the input is completed, the process returns to step S11, and the processes after step S11 are performed.

[0122] The reason for confirming the input of the dimension information is to prevent the lack of information for determining the display position of the index 4. To determine the display position of the index 4, turning conditions such as the turning radius are also required. Therefore, in the case of a configuration in which the operator inputs the turning conditions, it is preferable to execute the same processes as the input confirmation of the dimension information shown in this example (the same processes as steps S11 and S12) for the turning conditions as well.

[0123] In step S13, the control device 10 determines the display position of the index 4 according to the conditions input by the operator, the information stored in the storage unit 101 in advance, and the like. The details of determining the display position of the index 4 are as described above. When the display position of the index 4 is determined, the process proceeds to the next step S14.

[0124] In step S14, the control device 10 determines whether the work vehicle 1 performing automatic driving has reached a predetermined position. In the present embodiment, the automatic driving referred to here is automatic straight driving. Whether the vehicle is performing automatic straight driving can be determined based on the information obtained from the driving mode control unit 104. The predetermined position is a position on the front side by a predetermined distance (such as 5 m) from the end position as viewed from the work vehicle 1 running toward the end position of the work set on the straight path SP for automatic straight driving. The predetermined distance is appropriately determined according to experiments and the like. Note that the end position of the work on the straight path SP for automatic straight driving is, for example, the start position of the automatic straight driving of the straight path where the work was performed in the previous step (in the case of the first straight path, the position of point A), which is obtained by shifting the start position in the arrangement direction of the plurality of straight paths SP. In other words, the obtained shifted position is the intersection of a straight line passing through the above-described start position and parallel to the arrangement direction of the plurality of straight paths SP, and the straight path SP on which the work vehicle 1 is running. Whether the vehicle has reached the predetermined position can be determined based on the position information obtained from the positioning communication unit 14 (see FIG. 3). When it is determined that the vehicle has reached the predetermined position during automatic driving (Yes in step S14), the process proceeds to the next step S15. When it is determined that the vehicle has not reached the predetermined position (No in step S14), the process of step S14 is repeated.

[0125] In step S15, the control device 10 causes the index display execution unit 3b to display an index 4 (a line light in the present embodiment). That is, in the operation support method of the present embodiment, an index 4 related to automatic turning driving is displayed on the front side in the traveling direction of the work vehicle 1. A program for causing a computer (control device 10) to execute the operation support method functions as means for causing the computer to display an index 4 related to automatic turning driving on the front side in the traveling direction of the work vehicle 1. Since the index 4 related to automatic turning driving is displayed on the ground, an operator who operates remotely can also be appropriately notified of the start timing of the automatic turning driving.

[0126] When the display of the index 4 starts, the index 4 is displayed at a position sufficiently away from the front side of the field edge 301. The above-mentioned predetermined position is determined so that the position of the index 4 is in such a state. Further, in the present embodiment, when the work vehicle 1 is automatically traveling straight along the straight path SP, in a section where the display of the index 4 is not necessary, the display of the index 4 is not performed. Thereby, wasteful consumption of the battery power can be suppressed. When the index 4 is displayed, the process proceeds to the next step S16.

[0127] In step S16, the control device 10 determines whether it is necessary to adjust the display position of the index 4. For example, when there are unevenness on the straight path SP or the straight path SP is inclined, the work vehicle 1 tilts in the pitch direction (front-rear direction). Then, when the tilt of the work vehicle 1 in the pitch direction exceeds a predetermined amount, the position of the index 4 may deviate greatly from the target position to the back side or the front side, and the meaning of the index setting may be lost. Also, when the inclination in the pitch direction becomes large, the turning radius may change. Taking these points into consideration, it is preferable to determine that it is necessary to adjust the display position of the index 4 when the tilt of the work vehicle 1 in the pitch direction exceeds a predetermined amount. The tilt of the work vehicle 1 in the pitch direction can be obtained, for example, from the information from the inertial measurement device included in the sensor 16 described above. Also, the predetermined amount may be appropriately determined by experiments or the like.

[0128] Further, for example, the ground of the field 300 may be soft, and the traveling unit 112 (see FIG. 1) of the work vehicle 1 may sink more than the assumed traveling surface. When the sinking amount of the work vehicle 1 exceeds a predetermined amount, the display position of the indicator 4 may shift significantly forward (toward the vehicle side) from the original position, rendering the indicator setting meaningless. Also, when the sinking amount increases, slipping may occur and the turning radius may change. Considering these points, it is preferably determined that adjustment of the display position of the indicator 4 is necessary when the sinking amount exceeds a predetermined amount. The sinking amount can be obtained, for example, from information from a distance measuring device such as LiDAR included in the above-described sensor 16. The distance measuring device is, for example, a distance measuring device that measures the distance from the lower surface of the traveling body 11 to the ground. Also, the predetermined amount may be appropriately determined by experiments or the like.

[0129] Further, for example, when the field 300 is muddy, the turning radius of the work vehicle 1 may become larger than the set turning radius. When the degree of mudiness exceeds a predetermined level, the turning radius may become too large compared to the predetermined turning radius, rendering the indicator setting meaningless. Considering this point, it is preferably determined that adjustment of the display position of the indicator 4 is necessary when the degree of mudiness of the field 300 exceeds a predetermined level. The degree of mudiness can be obtained, for example, from the difference between the speed of the work vehicle 1 obtained from the vehicle speed sensor included in the above-described sensor 16 and the speed of the work vehicle 1 obtained using the position information obtained from the positioning communication unit 14. The greater the difference between the two, the less the intended traveling can be achieved, indicating a greater degree of mudiness. Also, the predetermined level may be appropriately determined by experiments or the like.

[0130] When it is determined that adjustment of the display position of the indicator 4 is necessary (Yes in step S16), the process proceeds to the next step S17. When it is determined that adjustment of the display position of the indicator 4 is not necessary (No in step S16), the process proceeds to step S18.

[0131] In step S17, the control device 10 adjusts the display position of the indicator 4 and causes the indicator display execution unit 3b to display the indicator 4 with the adjusted settings. Note that the indicator display execution unit 3b is attached to the work vehicle 1 so that the display position of the indicator 4 can be changed, for example, adjustably in terms of angle. The adjustment of the display position of the indicator 4 may be performed using, for example, a table or formula for indicator position adjustment prepared for each cause (such as the inclination of the work vehicle 1 in the pitch direction, the amount of subsidence of the traveling unit 112, the degree of mud, etc.) for adjusting the display position of the indicator 4.

[0132] For example, when performing adjustment according to the inclination of the work vehicle 1 in the pitch direction, a table showing the relationship between the amount of inclination of the work vehicle 1 in the pitch direction and the adjustment value for adjusting the display position of the indicator 4 is used. Also, for example, when performing adjustment according to the amount of subsidence of the traveling unit 112, a table showing the relationship between the amount of subsidence of the traveling unit 112 and the adjustment value for adjusting the display position of the indicator 4 is used. Also, for example, when performing adjustment according to the degree of mud in the work area, a table showing the relationship between the degree of mud in the work area and the adjustment value for adjusting the display position of the indicator 4 is used. The table may be obtained by conducting experiments, simulations, etc. Also, there may be multiple causes for adjusting the display position of the indicator 4. Assuming such a case, the table for indicator position adjustment may be a multi-dimensional table such as a two-dimensional table or a three-dimensional table.

[0133] As can be seen from the above, in the present embodiment, preferably, the display position of the indicator 4 is adjusted according to the state (such as the inclination state or subsidence state) of the work vehicle 1. Also, preferably, the display position of the indicator 4 is adjusted according to the state (such as the muddy state) of the field 300 (work area) where the work vehicle 1 travels. With these configurations, the possibility that the display position of the indicator 4 is at an appropriate position is high, and the possibility of rework can be reduced. Also, since the possibility that the display position of the indicator 4 is appropriate is high, the work vehicle 1 can be made to perform work up to the very edge of the field end 301, and the work range can be widened. As a result of these, the work efficiency can be improved.

[0134] When the automatic adjustment of the index position is performed (step S17), the process proceeds to step S18.

[0135] In step S18, the control device 10 determines whether the automatic turning travel has been started based on an instruction using the operating device 2 from the operator. The instruction to start the turning travel is given using the operating device 2 when the index 4 reaches the field edge 301 or a little in front of it as described above. According to the instruction from the operating device 2, it can be determined whether the automatic turning travel has been started. When the automatic turning travel has been started (Yes in step S18), the process proceeds to the next step S19. When the automatic turning travel has not been started (No in step S18), the process returns to step S16, and the processes after step S16 are performed.

[0136] In step S19, the control device 10 ends the display of the index 4. As a result, it is not necessary to display the unnecessary index 4 that the operator does not use, and the power consumption of the battery can be suppressed. When the display of the index 4 ends, the process proceeds to the next step S20.

[0137] In step S20, the control device 10 determines whether it is in a state to end the automatic travel. For example, when there is an instruction to switch to manual travel using the first operation switch 25a, it is determined that it is in a state to end the automatic travel. Also, when the communication between the work vehicle 1 and the operating device 2 is interrupted, it is determined that it is in a state to end the automatic travel. When it is determined that it is in a state to end the automatic travel (Yes in step S20), the flow shown in FIG. 13 ends. When it is determined that it is not in a state to end the automatic travel (No in step S20), the process returns to step S14, and the processes after step S14 are performed. Note that when returning to step S14, the setting of the display position of the index 4 is the same as the setting determined in step S13 described above.

[0138] [5-3. Modification Example Regarding Operation Support] Next, a modification example regarding the operation support using the index 4 described above will be described.

[0139] (5-3-1. First Modification Example) As described above, the turning method (turning pattern) in the automatic turning travel of the work vehicle 1 is not always constant and may be changed by the operator's setting or the automatic judgment of the control device 10. If the operator can intuitively grasp what kind of pattern the turning pattern is when the work vehicle 1 that is currently automatically moving straight ahead makes an automatic turn, it is considered that it will be more convenient for the operator. Also, if the turning pattern is different, the appropriate display position of the indicator 4 may change. Considering such points, in the first modification example, at least one of the display position and the display mode of the indicator 4 is changed based on the turning method set for the work vehicle 1.

[0140] FIG. 14 is a diagram showing the relationship between the turning method and the display mode of the indicator 4. In the example shown in FIG. 14, as the turning method, "standard" for turning with a standard turning radius, "slow" for turning with a turning radius larger than "standard", and "sharp" for turning with a turning radius smaller than "standard" can be switched and set. In this case, since the turning radii are different among the three turning methods, it is necessary to set the display positions of the respective indicators 4 at different positions. That is, in the example shown in FIG. 14, the display position of the indicator 4 is changed based on the turning method set for the work vehicle 1.

[0141] Also, in the example shown in FIG. 14, the display mode of the indicator 4 is also changed based on the turning method set for the work vehicle 1. The change in the display mode is specifically a change in the color of the indicator 4 (line light). When the set turning method is "slow", the indicator 4 displayed on the ground is blue. When the set turning method is "standard", the indicator 4 displayed on the ground is green. When the set turning method is "sharp", the indicator 4 displayed on the ground is red. The operator can intuitively grasp what kind of turning method the work vehicle 1 will turn with when giving a turning instruction by the difference in the color of the indicator 4 displayed on the ground.

[0142] Note that the correspondence between the turning methods shown in FIG. 14 and the types of colors is merely an example, and the correspondence may be changed as appropriate. Further, the change in the display mode may be a change other than color. FIG. 15 is another diagram showing the relationship between the turning method and the display mode of the indicator 4. In the above-described embodiment, the case where the indicator 4 is a line light is shown, but the indicator 4 is not limited to a line light and may have other configurations. As shown in FIG. 15, the indicator 4 may be configured to display the set turning pattern or the turning path itself according to the set turning pattern. By adopting such a configuration, the operator can intuitively understand how the work vehicle 1 turns when a turning instruction is given.

[0143] Further, the types of switchable turning methods are not limited to the configurations shown in FIGS. 14 and 15. The switchable turning methods may include, for example, a normal turn in which the inner crawler 112a is decelerated during turning, a brake turn in which the inner crawler 112a is stopped during turning, and a spin turn in which the inner crawler 112a is rotated in the reverse direction during turning. Further, the switchable turning methods may include, for example, "standard" in which turning is performed with a standard turning radius, "soft" in which turning is performed more gently than "standard", and "wet field" in which turning is performed even more gently than "soft".

[0144] (5-3-2. Second Modified Example) Also, as described above, the traveling unit 112 of the work vehicle 1 may be composed of four wheels instead of the crawler 112a. The four wheels include two front wheels arranged on the left and right of the traveling body 11 and two rear wheels arranged on the left and right of the traveling body 11. When the traveling unit 112 is configured with four wheels in this way, the traveling drive mode of the work vehicle 1 may be configured to be changeable by the operator's setting or the automatic determination of the control device 10.

[0145] If the traveling drive method of the work vehicle 1 that is currently moving straight automatically is different, usually the turning radius changes. Therefore, if the operator can intuitively grasp what kind of traveling drive method the work vehicle 1 that performs automatic turning has, it is considered that it will be more convenient for the operator. Also, if the traveling drive method is different, the appropriate display position of the index 4 may change. Considering such points, in the second modification example, at least one of the display position and the display mode of the index 4 is changed based on the traveling drive method set for the work vehicle 1.

[0146] For example, the switchable traveling drive methods may include a four-wheel traveling drive method for traveling the work vehicle 1 with four-wheel drive, a two-wheel traveling drive method for traveling the work vehicle 1 with two-wheel drive, and a double-speed traveling drive method for rotating the front wheels faster than the rear wheels when performing a turning travel. In this case, since the turning radius is different among the three traveling drive methods, it is necessary to set the display positions of the respective indexes 4 at different positions. That is, in the case of this configuration, the display position of the index 4 is changed based on the traveling drive method set for the work vehicle 1.

[0147] In this modification example, as a preferred form, the display mode of the index 4 is also changed based on the traveling drive method set for the work vehicle 1. The change in the display mode may be, for example, a change in the color of the line light or a change in the shape of the index 4, similar to the case of the first modification example. For example, when the set traveling drive method is the "four-wheel traveling drive method", the index 4 (line light) displayed on the ground may be blue. When the set traveling drive method is the "two-wheel traveling drive method", the index 4 (line light) displayed on the ground may be green. When the set traveling drive method is the "double-speed traveling drive method", the index 4 (line light) displayed on the ground may be red. The operator can intuitively grasp what kind of traveling drive method the work vehicle 1 that performs a turning instruction is traveling by based on the difference in the display mode (here, the color) of the index 4 displayed on the ground.

[0148] (5-3-3. Third Modification Example) As described above, the turning radius in the automatic turning travel of the work vehicle 1 is not necessarily constant and may be changed by the operator's setting or the automatic judgment of the control device 10. If the operator can intuitively grasp what the turning radius is when the work vehicle 1, which is currently in automatic straight travel, makes an automatic turn, it is considered that it will be more convenient for the operator. Also, when the turning radius is different, the appropriate display position of the indicator 4 changes. Considering such points, in the third modification example, at least the display position among the display position and the display mode of the indicator 4 is changed based on the turning radius set for the work vehicle 1. In this modification example, as a preferable form, the display mode of the indicator 4 is also changed based on the turning radius set for the work vehicle 1.

[0149] FIG. 16 is a diagram showing an example of a turning radius setting method. In the example shown in FIG. 16, a reference value of the turning radius is determined. Adjustment to increase or decrease by a multiple of 0.2 with respect to the reference value of the turning radius is possible. Also in this modification example, the change in the display mode may be, for example, a change in the color of the line light or a change in the shape of the indicator 4, as in the case of the first modification example and the second modification example. For example, when the set turning radius is the reference value, the indicator 4 (line light) displayed on the ground may be blue. When the set turning radius is corrected to the plus side with respect to the reference value, the indicator 4 (line light) displayed on the ground may be green. When the set turning radius is corrected to the minus side with respect to the reference value, the indicator 4 (line light) displayed on the ground may be red. The operator can intuitively grasp how the turning radius is changed with respect to the reference value based on the difference in the display mode (specifically, the color) of the indicator 4 displayed on the ground.

[0150] (5-3-4. Fourth Modification Example) Also in this modification example, as in the above-described embodiment, a plurality of paths arranged side by side are generated as the travel paths for performing the automatic travel work. The plurality of paths are, as an example, a plurality of straight paths. And also in this modification example, the skip number (refer to FIGS. 6A, 6B, and 6C described above), which is the number of paths to be skipped when performing the automatic turning travel, can be set.

[0151] If the operator can intuitively grasp the number of skips during the automatic turning of the work vehicle 1 that is currently moving straight automatically, it is considered that it will be more user-friendly for the operator. Also, if the number of skips is different, the appropriate display position of the indicator 4 may change. Considering such points, in the fourth modification example, at least one of the display position and the display mode of the indicator 4 is changed based on the number of skips.

[0152] In this modification example, as a preferred form, the display mode of the indicator 4 is changed based on the number of skips. The change in the display mode may be, for example, a change in the color of the line light or a change in the shape of the indicator 4, similar to the cases of the first to third modification examples. For example, assuming that the settable number of skips is "zero", "1", and "2" as in the above-described embodiment. In such an example, when the set number of skips is zero, the indicator 4 (line light) displayed on the ground may be blue. When the set number of skips is "1", the indicator 4 (line light) displayed on the ground may be green. When the set number of skips is "2", the indicator 4 (line light) displayed on the ground may be red. The operator can intuitively grasp how the number of skips is set during the automatic turning travel by the difference in the display mode (specifically, the color) of the indicator 4 displayed on the ground.

[0153] <6. Precautions, etc.> Various technical features disclosed in this specification can be variously modified without departing from the gist of the technical creation. Also, a plurality of embodiments and modification examples shown in this specification may be implemented in combination within the possible range.

[0154] For example, in the above-described operation support technology, when the position of the end portion 301 of the farm field 300 is stored in the storage unit 101, when the indicator 4 (for example, a line light) jumps out of the farm field 300, the color of the indicator 4 may be changed. Also, instead of changing the color of the indicator 4, a configuration may be adopted in which it is notified by display or sound that automatic turning travel cannot be performed.

[0155] <7. Supplementary Note> An exemplary operation support method of the present invention is an operation support method for a work vehicle that automatically performs turning travel in response to an operator's operation, and may be configured to display an index related to the turning travel on the front side in the traveling direction of the work vehicle (first configuration).

[0156] In the operation support method of the first configuration described above, the index may be configured to enable the operator to determine the start position of the turning travel (second configuration).

[0157] In the operation support method of the first or second configuration described above, the index may be configured to indicate the maximum distance that the work vehicle reaches on the front side in the traveling direction when the work vehicle starts the turning travel from the current position, or a distance obtained by adding a predetermined distance to the maximum distance (third configuration).

[0158] In the operation support method of any one of the first to third configurations described above, the display position of the index may be configured to be set based on dimensional information regarding the work vehicle (fourth configuration).

[0159] In the operation support method of any one of the first to fourth configurations described above, the display position of the index may be configured to be adjusted according to the state of the work vehicle (fifth configuration).

[0160] In the operation support method of any one of the first to fifth configurations described above, the display position of the index may be configured to be adjusted according to the state of the work site where the work vehicle travels (sixth configuration).

[0161] In the operation support method of any one of the first to sixth configurations described above, at least one of the display position and the display mode of the index may be configured to be changed based on the turning method set for the work vehicle (seventh configuration).

[0162] In the operation support method having any one of the first to seventh configurations described above, at least one of the display position and the display mode of the index may be a configuration (eighth configuration) that is changed based on the traveling drive mode set for the work vehicle.

[0163] In the operation support method having any one of the first to eighth configurations described above, at least the display position of the display position and the display mode of the index may be a configuration (ninth configuration) that is changed based on the turning radius set for the work vehicle.

[0164] The operation support method having any one of the first to tenth configurations described above generates a plurality of paths arranged side by side, sets the number of skips, which is the number of the paths to be skipped during the turning travel, and at least one of the display position and the display mode of the index may be a configuration (tenth configuration) that is changed based on the number of skips.

[0165] In the operation support method having any one of the first to tenth configurations described above, the operation of the operator may be a configuration (eleventh configuration) that is performed remotely with respect to the work vehicle.

Explanation of Signs

[0166] 1 ··· Work vehicle 2 ··· Operating device 3 ··· Index display device 4 ··· Index 200 ··· Operation support system 300 ··· Work site SP ··· Straight path (path)

Claims

1. An operation support method for a work vehicle that automatically performs turning travel according to an operator's operation, The operation support method includes displaying an index related to the turning travel on the front side in the traveling direction of the work vehicle.

2. The index according to claim 1, wherein the index enables the operator to determine a starting position of the turning travel.

3. The operation support method according to claim 1, wherein the index indicates a maximum distance that the work vehicle reaches on the front side in the traveling direction when the work vehicle starts the turning travel from the current position, or a distance obtained by adding a predetermined distance to the maximum distance.

4. The operation support method according to any one of claims 1 to 3, wherein a display position of the index is set based on dimensional information regarding the work vehicle.

5. The operation support method according to any one of claims 1 to 3, wherein the display position of the index is adjusted according to a state of the work vehicle.

6. The operation support method according to any one of claims 1 to 3, wherein the display position of the index is adjusted according to a state of a work site where the work vehicle travels.

7. The operation support method according to any one of claims 1 to 3, wherein at least one of a display position and a display mode of the index is changed based on a turning method set for the work vehicle.

8. The operation support method according to any one of claims 1 to 3, wherein at least one of a display position and a display mode of the index is changed based on a traveling drive method set for the work vehicle.

9. The operation support method according to any one of claims 1 to 3, wherein at least the display position of the index is changed based on a turning radius set for the work vehicle.

10. Generating a plurality of paths arranged side by side, Setting a skip number that is the number of the paths to be skipped during the turning travel, The operation support method according to any one of claims 1 to 3, wherein at least one of a display position and a display mode of the index is changed based on the skip number.

11. The operation support method according to any one of claims 1 to 3, wherein the operation of the operator is performed remotely on the work vehicle.

12. An operation device operated by an operator, A work vehicle that automatically performs turning travel according to an instruction from the operation device, An indicator display device that displays an indicator related to the turning travel on the front side in the traveling direction of the work vehicle, An operation support system comprising the same.

13. A program that causes a computer to execute an operation support method for a work vehicle that automatically performs turning travel in response to an operator's operation, The computer, A program that functions as means for causing the computer to display an indicator related to the turning travel on the front side in the traveling direction of the work vehicle.

Images