Automatic travel system

Abstract

To provide an automatic travel system that is improved in convenience.SOLUTION: An automatic travel system comprises an automatic travel control part which allows a work vehicle to automatically travel along a travel route, and a display control part which lets a display part displays predetermined images. The display control part lets the display part display a travel route image showing the travel route, a vehicle body position image showing the position of the work vehicle, and an overhead view image of the work vehicle circumference.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present disclosure relates to an automatic driving system that automatically drives a work vehicle along a predetermined driving route and a display method. [Background technology]

[0002] International Publication No. 2015 / 119264 describes a system for an autonomously driven work vehicle. This system includes a work vehicle, a remote control device for remotely controlling the work vehicle, and The work vehicle uses a satellite positioning system to determine the position of the vehicle, and the remote control device The vehicle automatically travels along a preset route. The work vehicle is equipped with a camera that captures the surrounding area. The captured image is displayed on the remote control device's display, showing the view ahead. It is stated that the image displayed on the remote control device allows the user to check for obstacles. The display states that the route traveled by the work vehicle can be displayed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 119264 Summary of the Invention [Problem to be solved by the invention]

[0004] The preset driving route is designated as a route that the work vehicle will automatically travel. It is desirable that the image be displayed large on the display. It is desirable that the information be displayed large on the display in order to monitor the status of automatic driving.

[0005] However, in order to display both images on the display, both images must be displayed in reduced size. The route and camera images are small and difficult to see. The image will be displayed in a separate area, so you will not be able to see both images at the same time. , it becomes necessary to move your gaze.

[0006] The present disclosure has been made with a focus on such problems, and its purpose is to improve convenience. The object of the present invention is to provide an automated driving system that improves the driving experience. [Means for solving the problem]

[0007] The automated driving system of the present disclosure includes: an automatic driving control unit that automatically drives the work vehicle along a driving route; a display control unit that causes a predetermined image to be displayed on the display unit; The display control unit A travel route image showing the travel route, a vehicle body position image showing the position of the work vehicle, and an overhead image of the surroundings of the work vehicle are displayed on the display unit.

[0008] Because the image is a bird's-eye view looking down on the surroundings of the work vehicle, it is possible to display the image of the surroundings of the work vehicle and the travel route in one area. Therefore, compared to displaying the image of the surroundings of the work vehicle and the travel route separately in separate areas, both can be displayed larger, making it possible to provide a display that is easy to see. Furthermore, the monitor only needs to look at one display area and does not have to move their line of sight, making monitoring by the monitor easier. Therefore, it is possible to provide an automated driving system with improved convenience. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an automatic driving system. [Figure 2] FIG. 1 is a block diagram showing a schematic configuration of an automated driving system. [Figure 3] FIG. 10 is a diagram showing a splash screen displayed on the display device. [Figure 4] FIG. 10 is a diagram showing a disclaimer screen displayed on the display device. [Figure 5] FIG. 10 is a diagram showing an initial registration screen displayed on the display device. [Figure 6] FIG. 4 is a diagram showing a top screen displayed on the display device. [Figure 7] FIG. 10 is a diagram showing a field list screen displayed on the display device. [Figure 8] FIG. 10 is a diagram showing a path list screen displayed on the display device. [Figure 9] FIG. 10 is a diagram showing a path details screen displayed on the display device. [Figure 10] FIG. 10 is a diagram showing a work preparation screen displayed on the display device. [Figure 11] FIG. 4 is a diagram showing a work screen displayed on a display device. [Figure 12] FIG. 10 is a diagram showing a notification information screen displayed on the display device. [Figure 13] FIG. 4 is a diagram showing a work screen displayed on a display device. [Figure 14] FIG. 2 is an explanatory diagram showing the relationship between a travel route, an overhead image, and a current position of a vehicle. [Figure 15] FIG. 4 is a diagram showing a work screen displayed on a display device. [Figure 16] FIG. 4 is a diagram showing a work screen displayed on a display device. DETAILED DESCRIPTION OF THE INVENTION

[0010] Embodiments of the present disclosure will be described with reference to the drawings.

[0011] As shown in Figure 1, the automated driving system automatically drives a vehicle along a predetermined route. The system includes an autonomous driving work vehicle 1 and a display device 2 that can communicate with the autonomous driving work vehicle 1. The system of the embodiment further includes a reference station 4 for acquiring position information of the autonomous driving work vehicle 1. The display device 2 is capable of displaying various types of information to the autonomous driving work vehicle 1.

[0012] In FIG. 1, a tractor is shown as an example of the autonomous driving work vehicle 1, but other vehicles such as rice transplanters, In addition to ride-on work vehicles such as combine harvesters, civil engineering and construction work equipment, and snowplows, we also have walk-behind work vehicles. Applicable.

[0013] An example of a vehicle will be described below. The work vehicle 1 is provided with a body frame 10a. The front axle drive case 10b supports a pair of left and right front wheels 1 A hood 10d is mounted on the front upper portion of the body frame 10a. The engine 10e is located inside the hood 10d. A cabin 10f is mounted on the rear upper part of the body frame 10a behind the hood 10d. In the cabin 10f, seats, a steering wheel, etc. (not shown) are arranged. can be.

[0014] As shown in FIG. 1, the rear end of the body frame 10a is connected to the gear shifter 10b below the cabin 10f. The transmission 10g is connected to the transmission case of the left and right rear It supports the axle of the wheel 10h and outputs power for driving the front wheels to the front axle drive case 10b. It supports the front wheel drive shaft for powering the vehicle.

[0015] As shown in FIG. 2, the autonomous driving work vehicle 1 has a vehicle-side wireless communication unit 14, and the display device 2 The terminal-side wireless communication unit 21 is provided, and the reference station 4 is provided with a reference station-side wireless communication unit 41. The communication unit 14 and the terminal-side wireless communication unit 21 communicate wirelessly with each other to display the autonomous driving work vehicle 1. The vehicle-side wireless communication unit 14 and the reference device 2 are configured to be able to transmit and receive various information to and from the vehicle-side wireless communication unit 14 and the reference device 2. The station-side wireless communication unit 41 communicates wirelessly between the autonomous driving work vehicle 1 and the reference station 4. The display device 2 and the reference station 4 are configured to be able to transmit and receive various information. It is configured to be able to send and receive various information via the work vehicle 1. In addition, the terminal side wireless communication unit The display device 2 and the reference station 4 are automatically connected by wireless communication between the display device 2 and the reference station side wireless communication unit 41. It is also possible to configure the system so that various information can be sent and received directly without going through the mobile work vehicle 1. The frequency band used for wireless communication between the wired communication units may be a common frequency band. Alternatively, the frequency bands may be different from each other.

[0016] As shown in FIG. 2, the autonomous driving work vehicle 1 includes a positioning antenna 11, a control unit 12 (autonomous driving control unit), position information acquisition unit 13, vehicle-side wireless communication unit 14, camera 15, obstacle sensor 16 is provided, and the location information acquisition unit 13 acquires the current location information of the vehicle under the control of the control unit 12. The vehicle is configured to be able to travel automatically while acquiring information (the current position of the autonomous driving work vehicle 1).

[0017] The camera 15 captures images of the surroundings of the aircraft. The images captured by the camera 15 are displayed on the display device 2. In this embodiment, at least four cameras are used. In this embodiment, the first camera takes pictures of the front of the aircraft, the second camera takes pictures of the right side of the aircraft, and the third camera takes pictures of the front of the aircraft. The second camera, the third camera that photographs the left side of the aircraft, and the fourth camera that photographs the rear of the aircraft are arranged. Of course, if it is possible to capture the area around the aircraft, it is not limited to four cameras, but one omnidirectional camera is also possible. Mela is also fine.

[0018] The obstacle sensor 16 detects whether or not an obstacle is present within a predetermined distance around the aircraft. For example, it can be configured with an ultrasonic sensor, etc. The obstacle sensor 16 detects an obstacle at a predetermined distance around the aircraft. If an obstacle is detected within the distance, the control unit 12 stops the machine from moving. It is also possible to control it like this.

[0019] As shown in FIG. 1, the positioning antenna 11 is, for example, a GPS satellite positioning system (GNSS). The positioning antenna 11 is configured to receive signals from the positioning satellite 3. For example, it is disposed on the upper surface of the roof of the cabin 10f of the autonomous driving work vehicle 1.

[0020] As a positioning method using a satellite positioning system, as shown in Figure 1, The satellite positioning information of the autonomous driving work vehicle 1 (mobile station) is calculated based on the correction information from the reference station 4 installed in the This makes it possible to apply a positioning method that corrects the information and determines the current position of autonomous driving work vehicle 1. For example, DGPS (differential GPS positioning), RTK (real-time kinematic positioning) Various positioning methods such as time-based positioning (time-based positioning) can be applied. In some cases, stand-alone positioning may be used without the reference station 4.

[0021] In this embodiment, for example, RTK positioning is applied, and therefore, as shown in Figs. In addition to providing a positioning antenna 11 on the autonomous driving work vehicle 1, which serves as the mobile station, The reference station 4 is provided. The position information of the reference point where the reference station 4 is installed is set in advance. The reference station 4 is located near areas that may obstruct the travel of the autonomous work vehicle 1, such as around a farm field. The reference station 4 is arranged at a position (reference point) where the reference station 4 does not become a A reference station positioning antenna 42 is provided.

[0022] In RTK positioning, a reference station 4 installed at a reference point and a mobile station for which position information is sought are The carrier wave phase ( The reference station 4 measures the satellite positioning information from the positioning satellite 3. every time or every time a set period has elapsed, the satellite positioning information measured and the position information of the reference point are The reference station side wireless communication unit 41 generates correct information and transmits it to the vehicle side wireless communication unit of the autonomous driving work vehicle 1. The position information acquisition unit 13 of the autonomous driving work vehicle 1 transmits the correction information to the positioning adapter 14. The satellite positioning information measured by the antenna 11 is corrected using the correction information transmitted from the reference station 4. The position information acquisition unit 13 acquires the current position information of the autonomous driving work vehicle 1. As the current position information of the work vehicle 1, for example, latitude information and longitude information are obtained.

[0023] The display device 2 is, for example, a tablet-type personal computer having a touch panel. and the like, and various information can be displayed on the touch panel. By operating the display device 2, various information can be input. It can be carried and used outside the autonomous driving work vehicle 1, and It can also be attached to the side of the driver's seat of the work vehicle 1 and used.

[0024] As shown in FIG. 2, the display device 2 includes a terminal-side wireless communication unit 21, a display control unit 22, a route generation unit 23, a route generation unit 24, a route generation unit 25, a route generation unit 26, a route generation unit 27, a route generation unit 28, a route generation unit 29, a route generation unit 30, a route generation unit 31, a route generation unit 32, a route generation unit 33, a route generation unit 3 The display control unit 22 has a display 24 (touch panel). It is configured to display various screens on 24 display screens. When the display control unit 22 displays a predetermined screen, unless otherwise specified, The route generation unit 23 generates a route along which the autonomous driving work vehicle 1 will automatically drive. The display device 2 is configured to generate a driving route. This storage unit stores various information such as information registered by the user. It has been done.

[0025] When the autonomous driving work vehicle 1 is to be driven autonomously, the user first operates the display device 2. Thus, the route generation unit 23 generates a travel route, and information about the generated travel route, etc. Various other information is transmitted from the display device 2 to the autonomous driving work vehicle 1. After various conditions for starting the automatic driving of the work vehicle 1 are met, the user 2 to instruct the automated driving work vehicle 1 to start automated driving, The automatic driving of the work vehicle 1 starts. During the automatic driving, the control unit 12 of the automatic driving work vehicle 1 The route generating unit 23 generates a route for the autonomous work vehicle 1 to automatically travel along the route. As shown in the figure, the autonomous driving work vehicle 1 is automatically detected based on the current position information of the autonomous driving work vehicle 1 acquired by the position information acquisition unit 13. The control unit 13 controls the operating state of the dynamic working vehicle 1. The current position information of the moving work vehicle 1 is automatically updated in real time (for example, every few seconds). The information is transmitted from the traveling work vehicle 1 to the display device 2, and is automatically displayed on the display 24 of the display device 2. The current position of the traveling work vehicle 1 can be displayed.

[0026] Hereinafter, when the autonomous driving work vehicle 1 is driven automatically, the display device The control of the display screen by the display control unit 22 in the device 2 will be described below. Both of them show the display screen displayed on the display 24 of the display device 2.

[0027] The display control unit 22 is configured to After launching, the splash screen shown in Figure 3, the disclaimer screen shown in Figure 4, and the top page shown in Figure 6 are displayed. The screen will be displayed sequentially.

[0028] The splash screen shown in Figure 3 is displayed first after powering on or launching an application. The company logo and name are displayed in the center of the screen, and the user can select and operate the screen. The display control unit 22 is configured to turn on the power. After a certain period of time has passed since the application was launched, the splash screen (Fig. 3) will change to the disclaimer screen (Fig. 4). The disclaimer screen shown in Figure 4 displays the disclaimer regarding the use of the autonomous driving work vehicle 1. is displayed.

[0029] In the disclaimer screen shown in FIG. 4, an upper display area 53 at the top of the screen and a lower area below that The upper display area 53 is divided into a lower display area 54 and a lower display area 54 of the disclaimer screen. This is the same display screen for the various screens (Figures 5 to 13) that are displayed after this screen. The upper display area 53 is a fixed display area where the display content does not change. The lower display area 54 displays different display contents by the user selecting and operating the operation unit 51. The area is a non-fixed display area.

[0030] In the upper display area 53, the operation section 51 for "Go to Map" and "Help" is displayed at the left end. The "GNSS" and "MENU" operation section 51 is displayed at the right end, and the current The display contents will be displayed as shown on the screen. 51 is an operation unit for displaying map information, and the "GNSS" operation unit 51 is , longitude, GNSS status, number of satellites 3 obtaining satellite positioning information, serial number of reference station 4 In order to display detailed information on the satellite positioning system such as the number, remaining battery level of base station 4, etc. In addition, when a new travel route is generated by the route generation unit 23, the ENU" operation section 51, and various information can be displayed according to the displayed contents. By inputting the information, the route generation unit 23 generates a travel route.

[0031] On the disclaimer screen shown in Figure 4, the user checks the box for "I have read everything." By selecting and operating the operation unit 51 for "Agree and use," the display control unit 22 The disclaimer screen shown in Figure 4 is transitioned to the initial registration screen shown in Figure 5. By selecting and operating the operation section 51 of "Exit application" on the liability screen, The application is then terminated. The initial registration screen shown in FIG. 5 is This is a screen for registering various information about the autonomous driving work vehicle 1, such as the model, By operating the system, various information related to the autonomous driving work vehicle 1 is registered. The frame of the selected model will be surrounded by a thick red line, so you can easily recognize which model is selected. The display control unit 22 displays various information related to the autonomous driving work vehicle 1. 5 to the top screen shown in FIG. 6. Before transitioning from the initial registration screen to the top screen shown in Fig. 6, information about the autonomous driving work vehicle 1 is displayed. The user may go through an initial registration screen other than the information screen (for example, home address registration), etc.

[0032] Here, if various information about the autonomous driving work vehicle 1 has already been registered, The control unit 22 switches from the disclaimer screen shown in FIG. 4 to the initial registration screen shown in FIG. 5 without displaying the initial registration screen shown in FIG. The screen will transition to the top screen shown in Figure 6.

[0033] On the top screen shown in FIG. 6, a plurality of operation sections 51 (various icons in the figure) that can be selected by the user are displayed. The control panel and map information 52 are displayed, and one of the operation units 51 is When selected, the screen transitions to another screen. On the top screen shown in FIG. 6, the lower display area 54 In the center of the screen, map information 52 is displayed so that the registered fields H1 to H7 are included. By the way, when you start the program for the first time without registering any fields, the center of the map information 52 is preset. The lower display area 54 also displays the field list display operation. operation section 51a (icon indicated by "←" in the figure), previous work operation section 51b (icon indicated by "previous work" in the figure), The map information 52 is displayed on the operation unit 51. It is displayed so that it surrounds the entire area except for the top.

[0034] When displaying the map information 52, the display control unit 22 determines whether the center of the map information 52 is the same as the previous display. The display control unit 22 also displays the current position of the When the operation unit 51 of the "Map View" is operated, the center of the map information 52 becomes the current position of the autonomous driving work vehicle 1. Display it as follows.

[0035] When displaying the map information 52 on the top screen shown in FIG. 6, the display control unit 22 The previous time, the position of the autonomous driving work vehicle 1 when the autonomous driving work vehicle 1 was driving automatically The previous work position information 55 is displayed in a distinguishable manner. The pin indicates the location of the center of field H2, where autonomous vehicle 1 previously navigated. This allows the user to know when the autonomous driving work vehicle 1 was driving automatically last time. This makes it easy to recognize which field has been worked on. The position to be displayed may be any position that allows identification of which field H it is, for example, The work start position when registering the field H and the entry of the autonomous driving work vehicle 1 into the field H are The display control unit 22 can also display the previous work position 55 on the screen. This applies not only when the previous automatic driving has ended by completing the previous work, but also when the previous work is being done in the field. Even when the automatic driving is completed, the previous work position information55 is displayed in the center of the field. It's like sea urchin.

[0036] On the top screen shown in FIG. 6, the user clicks on the field list display operation unit 51a ("←" in the drawing). When the icon (indicated by ) is selected, the display control unit 22 changes the display screen from the top screen shown in FIG. This will take you to the field list screen shown in Figure 7.

[0037] In the field list screen shown in FIG. 7, the lower display area 54 is divided into a lower left display area 54a and a lower The lower left display area 54a is divided into a right display area 54b and a top display area 54c shown in FIG. The multiple operation units 51 and map information 52 that were displayed in the lower display area 54 of the screen are no longer displayed. The lower right display area 54b displays a list 56 of farm field information stored in the display device 2, and a travel history table to display a list of travel routes (paths) previously generated in a specific field. The path list display operation section 51c (the icon "Display path list for this field" in the figure) is displayed. In the list of farm field information 56, there are operation sections for sorting by "distance", "name", and "registration order". By selecting and operating 51, the data can be sorted and displayed in the order in which they were operated. As field information in the field, the distance from the current position of the autonomous driving work vehicle 1 to the field, The date of registration of the field information, field location information, etc. are displayed. When displaying the information, a predetermined mark is displayed on the field where the autonomous driving work vehicle 1 has previously driven automatically. The previous field information 57 (pin) is displayed. The field on which the automatic traveling work vehicle 1 has traveled is determined from the map information 52. The previous work position information 55 can be recognized, and the field can be identified from the field information list 56. Information about the previous field (previous field information 57) can also be recognized.

[0038] In addition, when the user selects a specific field on the field list screen shown in FIG. 7, the display control unit 22, the selected field is surrounded by a thick line and the frame color is changed (for example, a thick red line) By using the arrows (surrounding), the selected field is displayed in a manner that makes it possible to distinguish it from other fields, and the selected field is displayed in a manner that makes it possible to distinguish it from other fields. The color of the frame of the operation unit 51 is changed and it is surrounded by a thick line (for example, a thick red line). By using the above-mentioned method, the selected operation unit 51 is displayed so as to be distinguishable from the other operation units 51.

[0039] On the field list screen shown in Fig. 7, the user selects a specific field and then selects the travel route. When the list display operation section 51c is selected and operated, the display control section 22 displays the field list screen shown in FIG. The screen transitions to the path list screen shown in FIG.

[0040] On the path list screen shown in FIG. 8, an enlarged screen of the selected field is displayed in the lower left display area 54a. 58 is displayed, and previously generated path information (related to driving routes) is displayed in the lower right display area 54b. The list of information to be used for the automatic driving operation59 and the selected path information (information on the driving route) A path transfer operation unit 51d (in the figure, "Start work with this path") for transferring to the work vehicle 1 " icon will be displayed.

[0041] The enlarged screen 58 of the farm field displays the travel route 25 generated by the route generation unit 23. In FIG. 8, for example, a plurality of linear travel paths 25 are arranged at intervals in the left-right direction. It is displayed as follows.

[0042] In the list 59 of path information, the operation unit 51 allows sorting by "distance", "name", "registration order", etc. By selecting and operating, the files can be sorted and displayed in the order in which they were selected. The information includes the distance from the current position of the autonomous driving work vehicle 1 to the starting position of the path, The date of the pass, the start position information of the pass, etc. are displayed. A path detail display operation section 51e (the icon shown as "Details" in the figure) for displaying detailed information of icon) is displayed, and the selected path information and the selected operation section 51 are displayed. By changing the frame color and surrounding it with a thick line (for example, surrounding it with a thick red line), you can display other path information. The information is displayed so as to be distinguishable from other operation units 51.

[0043] On the path list screen shown in Figure 8, the path details are displayed when the user selects a specific path. When the user operates the operation section 51e for selecting the path, the display control section 22 changes the path list screen shown in FIG. 8 to the path list screen shown in FIG. This will take you to the path details screen shown below.

[0044] In the path details screen shown in FIG. 9, the path list screen shown in FIG. 8 is displayed in the lower right display area 54b The display content is changed and the path detailed information 60 is displayed. The area of the work area, the presence or absence of obstacles, the non-work area ( the width of the headland, base station information at the time of path generation, and the Information on the base station, tractor information, information on the work equipment attached to the autonomous driving work vehicle 1, pass ( The number of buses (traveling routes) and other information will be displayed.

[0045] On the path list screen shown in FIG. 8 or the path details screen shown in FIG. 9, the user performs a path transfer operation. When the operation section 51d is selected and operated, the display control section 22 displays the path list screen shown in FIG. 8 or the path list screen shown in FIG. The path details screen is switched to the work preparation screen shown in Figure 10. The information about the route is displayed by the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14. The information is then transferred from the display device 2 to the autonomous vehicle 1. The control unit 12 of the autonomous driving work vehicle 1 includes a terminal-side wireless communication unit 21 and a vehicle-side wireless communication unit 14. and the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. A wireless communication check is performed to check whether the path information acquired by the autonomous driving work vehicle 1 matches the path information. Perform the check process.

[0046] This wireless communication check process may be carried out by, for example, checking the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 22. The total amount of path information transmitted via the receiving unit 14, the terminal side wireless communication unit 21 and the vehicle side wireless communication unit The total amount of path information acquired by the autonomous driving work vehicle 1 via the unit 14 matches the total amount of path information acquired by the autonomous driving work vehicle 1. Then, a process (CRC check process) is applied to check whether the path information matches. In addition, as a wireless communication check process, instead of a CRC check process, for example, For example, individual ID information in the path information is transferred, and the ID information is checked to see if it matches. It is also possible to check whether the pass information matches, and various wireless communication check processes can be applied.

[0047] The display control unit 22 receives the information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. The path information is transmitted to the autonomous driving work vehicle via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. After confirming that the path information matches the one obtained in step 1, go to the work preparation screen shown in Figure 10. 11. As a result, the display control unit 22 When the path information is transmitted to the autonomous driving work vehicle 1 via the vehicle-side wireless communication unit 14 and the vehicle-side wireless communication unit 21, The path information transmitted from the display device 2 matches the path information acquired by the autonomous driving work vehicle 1. The work screen shown in FIG. 11 can be displayed only when the above predetermined conditions are met. .

[0048] The display control unit 22 compares the path information transmitted from the display device 2 with the path information acquired by the autonomous driving work vehicle 1. If the predetermined condition that the path information matches is not met, the work screen shown in FIG. 11 is not displayed. Instead, an error screen is displayed, or the screen returns to the path list screen shown in FIG. Although the illustration of the error screen is omitted, the error content is displayed in an identifiable manner. For example, the display screen may have different content depending on the error content, or It is possible to make a common display screen that displays the same content regardless of the content. If you want to display the error screen, you can return to the path list screen shown in Figure 8 from the error screen. I try to do this.

[0049] In the work screen shown in FIG. 11, the lower display area 54 is located at the top end in the vertical direction. a lower upper display area 54c located at the bottom, a lower lower display area 54d located at the bottom, and a lower upper display area 54e located at the bottom. a lower intermediate display area 54e located between the lower display area 54c and the lower lower display area 54d; The display area is divided into two display areas: a lower upper display area 54c and a lower lower display area 54d. The lower intermediate display area 54e cannot be switched to another screen. It is as follows.

[0050] The lower intermediate display area 54e displays the path list screen shown in FIG. 8 or the path details screen shown in FIG. In the lower left display area 54a, an enlarged screen 58 of the farm field and a plurality of operation units 51 are displayed. The display control unit 22 automatically displays the same screen as the enlarged screen 58 of the farm field. The current position 26 of the driving work vehicle 1 is displayed, and the current position of the automatic driving work vehicle 1 is displayed. The display control unit 22 then displays the enlarged screen 58 of the farm field. In this example, the route 25 on which the autonomous driving work vehicle 1 is currently traveling automatically and the route 25 on which the autonomous driving work vehicle 1 is scheduled to travel next are shown. The travel route 25 may be displayed in a different color to make it easier to distinguish between them. In addition, the display control unit 22 displays the travel route 25 on which the work has already been completed among the plurality of travel routes 25. and the travel route 25 where work has not yet been carried out are displayed in different forms, for example by changing the color. It is possible.

[0051] Incidentally, the display control unit 22 displays the expansion of the field on the display screen of the lower intermediate display area 54e. In addition to the large screen 58, it is configured to be switchable to a tractor information screen or a work command screen. Although not shown in the figure, the tractor information screen displays the actual vehicle speed, actual engine rotation speed, load factor, etc. Information showing the status of the autonomous driving work vehicle 1 is displayed. On the work command screen, vehicle speed and engine speed can be displayed. An operation section 51 for changing the gin rotation speed and the like are displayed. The lower intermediate display area 54e can be used to display caution screens, warning screens, etc. For example, the warning screen shows the conditions for starting automatic driving. This is a screen to display the conditions that are not met during automatic driving. This screen displays the reason why automatic driving is stopped when the vehicle is kept in a stable condition. Control information relating to this caution screen and warning screen is generated by the control unit 12 of the autonomous driving work vehicle 1. Therefore, the display device 2 receives the generated control information at the terminal side wireless communication unit 21. By doing so, the display control unit 22 interrupts and displays a caution screen or a warning screen. do.

[0052] The lower upper display area 54c has a start operation unit 51 at the left end that can instruct the start of automatic driving. f is located on the right side of the vehicle, and a stop operation unit 51g is located on the right side of the vehicle, which can instruct the vehicle to stop automatic driving. The lower display area 54d includes a notification information operation section 54 for checking error notification information. 1h and other operation units 51 are installed, and the work progress rate and work The remaining time is displayed.

[0053] The display control unit 22 continues to operate the start operation unit 21 until various conditions for starting the automatic driving are met. Various conditions for setting the 51f to an inactive state where it cannot be selected and operated, and for starting automatic driving When the condition is met, the start operation section 51f is set to an active state in which it can be selected and operated. For example, the control unit 22 lights up the start operation unit 51f in the inactive state and turns on the start operation unit 51f in the active state. In this state, the display form of the start operation section 51f may be changed, for example, by making the start operation section 51f blink. This allows the user to distinguish between the inactive state and the active state.

[0054] The display control unit 22 receives an instruction to start automatic driving from the start operation unit 51f, and When the vehicle 1 starts automatic driving, the start operation unit 51f can be used to instruct the vehicle 1 to temporarily stop the automatic driving. The pause operation section is changed to a pause operation section (not shown). When the pause operation is performed, the display control unit 22 changes the start operation unit 51f from the pause operation unit to the original display mode. The start operation unit 51f is provided with a display mode for instructing the start of automatic driving and a display mode for instructing the pause of automatic driving. In this way, the display control unit 22 starts By changing the display mode of the operation unit 51f, one operation unit can function as two operation units. It is also possible to check whether the automatic driving has started or stopped. This makes it easier for users to understand the status of automated driving operations.

[0055] In the display device 2, the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14 perform automatic driving operation. The current position information of the autonomous driving work vehicle 1 acquired by the position information acquisition unit 13 of the work vehicle 1 is displayed in real time. As a result, the display control unit 22 receives the current position of the autonomous driving work vehicle 1. The display device 2 acquires the location information in real time, and the terminal side wireless communication unit 21 and the display control unit The control unit 22 etc. functions as a position information acquisition unit that can acquire position information of the autonomous driving work vehicle 1. are.

[0056] In the work screen shown in FIG. 11, the notification information operation section 51 is displayed at the left end of the lower display area 54d. h (icon shown as "Details" in the figure) is placed, the display control unit 22 automatically If various conditions for starting the automatic traveling of the traveling work vehicle 1 are met, the notification information operation The left side of the operation part 51h is lit in a specific color (for example, green) for the establishment. If the various conditions for starting the automatic driving of the vehicle 1 are not satisfied, the notification information operation unit The left side of 51h is lit in a specific color (e.g., red) for non-established conditions. When the left side of the operation unit 51h is lit in a specific color (for example, red) for non-establishment, When the user selects and operates the notification information operation section 51h, the display control section 22 performs the operation shown in FIG. The business screen is transitioned to the notification information screen shown in FIG.

[0057] In the notification information screen shown in FIG. 12, the lower intermediate display area 54 The display contents of e are changed, and various conditions for starting the automatic driving of the automatic driving work vehicle 1 and Parts (steering, reverser, brake, clutch, parking brake, auxiliary gear The establishment status display screen 63 showing the equipment, vehicle speed, and UFO setting (vehicle level control setting) is displayed. The display control unit 22 displays, on the establishment state display screen 63, the conditions for each part. The parts that meet the conditions will be lit in a specific color (e.g., green) to indicate that the conditions are met. The parts that are not satisfied are lit in a specific color (for example, red) for non-success.

[0058] As shown in the work screens of FIGS. 11 and 13, the travel route 2 is displayed on the enlarged screen 58 of the field. The deviation of the position of the autonomous driving work vehicle 1 from the position of the autonomous driving work vehicle 1 is shown in Fig. 13. In this respect, the display control unit 22 displays the travel route 25 and the automatic travel operation on the enlarged screen 58 of the field. The current position 26 of the automated driving work vehicle 1 is displayed. The user can determine the current position of the autonomous driving work vehicle 1 based on its position relative to the road 25. It is possible to easily recognize in which direction and how much the position is displaced in the width direction of the travel path 25. As shown in FIG. 13, the display control unit 22 can During automatic driving, the driving route 25 and the location of the automatic driving work vehicle 1 are displayed on an enlarged screen 58 of the field. The current position 26 is displayed. This allows the automated driving work vehicle 1 to return to the automated driving start position. The user can adjust the driving route 2 not only when aligning the vehicle but also during automatic driving. It is possible to recognize how much the automated driving work vehicle 1 is misaligned in the width direction relative to the target 5. In FIG. 13, the current position 26 of the autonomous driving work vehicle 1, indicated by the dotted line, is This indicates a state where the position is shifted to the right or left of 5.

[0059] <Displaying aerial images> As shown in FIGS. 11 and 13, the automatic driving is started at least either before the automatic driving starts or during the automatic driving. At that timing, the camera 15 of the autonomous driving work vehicle 1 takes pictures of the surroundings of the vehicle. The images of the four aircraft surroundings taken by the camera 15 are transmitted to the display device 2 via the wireless communication units 14 and 21. The overhead image generating unit 20 in the display device 2 generates an overhead image based on the four images of the surroundings of the aircraft. In this embodiment, the overhead image 27 is generated by looking down on the surroundings of the aircraft. Although the configuration unit 20 is provided in the display device 2, it may also be provided in the autonomous driving work vehicle 1.

[0060] As shown in FIG. 13, the front part 27a of the aircraft body in the overhead image 27 is a photograph of the front of the aircraft body. The image taken by the first camera is used. The right part 27b of the aircraft body in the overhead view image 27 is The image taken by the second camera, which photographs the right side of the aircraft, is used. Part 27c uses an image taken by the third camera, which photographs the left side of the aircraft. The rear part 27d of the aircraft is captured using an image taken by the fourth camera that captures the rear of the aircraft. As shown in FIGS. 11 and 13, the display 24 of the display device 2 displays the travel route. A travel route image 25 showing the current position of the work vehicle 1, a vehicle position image 26 showing the current position of the work vehicle 1, and an overhead image 27 and are displayed one on top of the other.

[0061] In this embodiment, in order to make the photographing range of the camera 15 identifiable, the photographing range of the camera is The image of the shooting range is shown by solid lines or Furthermore, as shown in FIG. 14, the photographing range of the camera 15 can be identified. In order to display the route information, the route information includes in-range travel routes 25b and 25c located within the photographing range of the camera 15. The out-of-range travel routes 25a and 25d located outside the photographing range of the camera 15 are displayed in a different manner. Specifically, the travel route 25a, which is outside the photographing range and on which work has already been completed, is displayed. (Indicated by a dashed line in the figure) is displayed in green, and the work has already been completed within the shooting range. The travel route 25b (shown by a broken line in the figure) is displayed in orange, and the route that is within the photographing range and has not yet been worked on is displayed in orange. The travel route 25c (shown by a two-dot chain line in the figure) is displayed in yellow, and the route that is outside the photographing range and has not yet been photographed is displayed in yellow. The route 25d (shown by a solid line in the figure) is shown in blue. The display mode may be different in color or line type, or the display time such as lighting or blinking may be different. Good too.

[0062] In this embodiment, the travel route 25 is divided into four types and displayed in different ways. However, there should be at least two display modes, one for when the image is taken and one for when the image is not taken. The frame showing the range and the route 25 are displayed by type, but at least one By displaying this, the camera's shooting range can be identified.

[0063] As shown in Figures 11 and 13, the position of the obstacle 28 can be set in advance. The position of the obstacle 28 is displayed, but it is not clear at a glance what kind of obstacle it is. In this embodiment, as shown in FIG. 15, the camera 15 detects a preset obstacle 28. When an image is taken, an obstacle image 28 showing the photographed obstacle is displayed together with the travel route image 25 and the vehicle position. The obstacle 2 can be displayed superimposed on the overhead image 27 and the overhead image 26. The determination of whether the camera 15 has photographed the obstacle 28 is based on the fact that the position of the obstacle 28 is known and the current position of the work vehicle 1 is known. Since the shooting range of the camera 15 from the current position is also known, it may be determined only by the position coordinates. The detection result of the obstacle sensor 16 may also be used for the determination.

[0064] The overhead image 27 and the enlarged image 58 of the work operation screen shown in FIGS. There is no need to draw anything in the background of the outside field, and you can create a background image based on the generated overhead image. Alternatively, an external server may be configured to store an entire image of the field. If so, the system may be configured to display the entire image as the background. Even in this case, the overhead image is preferentially displayed in the foreground.

[0065] The work operation screens shown in Figures 11, 13, and 15 can be enlarged or reduced in size. When enlarging, the entire overhead image 27 is displayed on the display 24. It is possible to further enlarge the image, and only a part of the overhead image 27 is displayed on the display 24. At this magnification, the entire overhead image27 cannot be seen, creating blind spots, which is considered preferable from a safety perspective. When shrinking, the area must be large enough to fit the entire field, and the adjacent field must be small enough to fit the entire field. It is not displayed.

[0066] When an unregistered obstacle (person, object, etc.) is detected in the image of the camera 15, The automatic travel of the aircraft is stopped, and the presence of an unregistered obstacle is notified by a notification means. The system may be configured as follows. Examples of the notification means include a lamp or a display device provided on the aircraft. Examples of such a function include displaying the information on the display 24 of the display device 2 and sounding the information from the display device 2.

[0067] By switching the work operation screens shown in Figs. 11, 13 and 15, As shown in FIG. 16, the bird's-eye view image 27 and the driving route 25 are displayed in a reduced size, and other information is displayed. In the example of FIG. 16, a camera provided on the work vehicle 1 In the example of FIG. 16, the image 29 of the work implement of the work vehicle 1 is displayed. Although it is a rice planting machine, it is conceivable that it could display images of the rice planting device. In the case of a harvester, various sensors installed in the grain tank display information such as harvest yield. Examples include:

[0068] As described above, the automatic driving system of this embodiment drives the work vehicle 1 along the driving route 25. An automatic driving control unit 12 controls automatic driving, and a display 24 displays a predetermined image. The display control unit 22 displays a travel route 25. Image 25 and a vehicle position image showing the position of the work vehicle 1 identified using a positioning satellite system 26, and the surroundings of the work vehicle 1 generated based on an image of a camera capturing the surroundings of the work vehicle 1. The bird's-eye view image 27 is displayed superimposed on the display 24, which is the display unit.

[0069] In this way, a bird's-eye view image 27 looking down on the surroundings of the work vehicle is generated based on the image of the surroundings of the work vehicle. Therefore, it is possible to display an image of the surroundings of the work vehicle and the travel route 25 in one area. Therefore, compared to displaying an image of the surroundings of the work vehicle and the travel route 25 separately in separate areas, Both can be displayed large, making it possible to provide an easy-to-read display. Monitoring becomes easy because you only need to look at the display area and there is no need to move your line of sight. Therefore, it is possible to provide an automated driving system with improved convenience.

[0070] In this embodiment, the display control unit 22 further displays a shooting range image showing the shooting range of the camera 15. The image is superimposed on a driving route image 25, a vehicle body position image 26, and an overhead view image 27, and is displayed on a display unit. Show on Play24.

[0071] In this way, the shooting range of the camera 15 can be identified by the shooting range image. By looking at image 27, you can confirm that there are no abnormalities within the shooting range. It may be possible to make the user aware that an anomaly may exist.

[0072] In this embodiment, in the driving route image 25, the image capturing range of the camera 15 is In-range travel routes 25b and 25c are located within the range, and in-range travel routes 25a and 25b are located outside the range of the camera 15. The outside travel routes 25a and 25d are displayed in different modes.

[0073] According to this configuration, depending on the display mode of the travel route (25a, 25b, 25c, 25d), , the photographing range of the camera 15 becomes identifiable.

[0074] In this embodiment, the display control unit 22 further displays an obstacle image 28 showing an obstacle along the travel path. The road image 25, the vehicle position image 26, and the overhead image 27 are superimposed on the display 24. When the obstacle 28 is located within the shooting range of the camera 15, the display control unit 22 In this case, an obstacle image 28 is displayed using the image from the camera 15.

[0075] In this way, the observer can know what the obstacle 28 is. If the person who presets the object 28 and the person who monitors the running work vehicle 1 are different, , is valid.

[0076] Although the embodiments of the present disclosure have been described above with reference to the drawings, the specific configurations are The scope of the present disclosure should not be considered limited to the above embodiments. The invention is not limited to the description of the embodiments, but is also indicated by the scope of the claims, and is equivalent to the scope of the claims. and all changes therein within the meaning and scope of the same. [Explanation of symbols]

[0077] 1 Work vehicle 2 Display device 13 Location information acquisition section 12 Control unit (automatic driving control unit) 15 Camera 22 Display control unit 24 Display (display unit) 25 Driving Route 26 Current location 27 Bird's-eye view 28 Obstacles

Claims

[Claim 1] an automatic driving control unit that automatically drives the work vehicle along a driving route; a display control unit that causes a predetermined image to be displayed on the display unit; The display control unit An automatic driving system that displays on the display unit a driving route image showing the driving route, a vehicle position image showing the position of the work vehicle, and an overhead image of the surroundings of the work vehicle.

Images