Operation support method, operation support system, and operation support program

Abstract

To provide an operation support method capable of improving convenience of an operation terminal that displays information related to traveling of a work vehicle, an operation support system, and an operation support program.SOLUTION: A display processing unit 711 causes a work screen D1 to be displayed in an operation device 17 used for automatic traveling of a work vehicle 10. The display processing unit 711 causes a display region A0 included in the work screen D1 to display travel information G0 related to a position of the work vehicle 10. A setting processing unit 713 switches between setting of causing display regions A1 to A4 included in the work screen D1 to display travel information G0 to G4 related to a travel state of the work vehicle 10 and setting of causing the display regions A1 to A4 not to display the travel information G0 to G4.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to an operation assistance method, an operation assistance system, and an operation assistance program that assist an operator in operating an operation terminal used to operate a work vehicle. [Background technology]

[0002] BACKGROUND ART When a work vehicle travels automatically in a field, a technique is known in which guidance information, driving information, and the like relating to the automatic travel are displayed on a display device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-127119 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, the information is uniformly displayed on the display device, so what may be useful to one user (operator) may be unnecessary for another. For example, experienced operators may find it annoying to have guidance information constantly displayed. Thus, with conventional technology, there is a problem in that the convenience of the operation terminal that displays information about the travel of the work vehicle is low.

[0005] An object of the present invention is to provide an operation assistance method, an operation assistance system, and an operation assistance program that can improve the convenience of an operation terminal that displays information related to the travel of a work vehicle. [Means for solving the problem]

[0006] The operation assistance method of the present invention displays a display screen on an operation terminal used to operate a work vehicle, displays first information regarding the position of the work vehicle in a first display area included in the display screen, and switches between a setting that displays second information regarding the running status of the work vehicle in a second display area included in the display screen and a setting that does not display the second information in the second display area.

[0007] The operation assistance system according to the present invention includes a first display processing unit, a second display processing unit, and a setting processing unit. The first display processing unit displays a display screen on an operation terminal used to operate a work vehicle. The second display processing unit displays first information related to the position of the work vehicle in a first display area included in the display screen. The setting processing unit switches between a setting that displays second information related to the traveling state of the work vehicle in a second display area included in the display screen and a setting that does not display the second information in the second display area.

[0008] The operation assistance program of the present invention is an operation assistance program that causes one or more processors to execute the following operations: displaying a display screen on an operation terminal used to operate a work vehicle; displaying first information regarding the position of the work vehicle in a first display area included in the display screen; and switching between a setting that displays second information regarding the operating status of the work vehicle in a second display area included in the display screen and a setting that does not display the second information in the second display area. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an operation assistance method, an operation assistance system, and an operation assistance program that can improve the convenience of an operation terminal that displays information about the travel of a work vehicle. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of a work vehicle according to an embodiment of the present invention. [Figure 2]FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is an external view showing an example of an operating device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 5A] FIG. 5A is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 5B] FIG. 5B is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 5C] FIG. 5C is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. [Figure 6B] FIG. 6B is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing the configuration of a work screen displayed on the operating device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a work screen displayed on the operation device according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of a setting screen displayed on the operation device according to the embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 12A]FIG. 12A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 12B] FIG. 12B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 12C] FIG. 12C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 13A] FIG. 13A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 13B] FIG. 13B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 13C] FIG. 13C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart showing an example of the procedure of the operation support process executed by the operation device according to the embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 15C] FIG. 15C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of guidance information displayed on the operating device according to the embodiment of the present invention. [Figure 17A] FIG. 17A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 17B] FIG. 17B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] As shown in FIGS. 1 and 2, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a satellite 20, and a base station (not shown). In this embodiment, an example will be described in which the work vehicle 10 is a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 performs a predetermined task (e.g., plowing) while traveling along a target route R in a field F (see FIG. 4) in response to an operator's operation. Specifically, the work vehicle 10 travels straight along the target route R in response to automatic steering, and turns in response to manual steering (driving operation) by the operator. The work vehicle 10 travels through the field F and performs work by switching between automatic traveling along a straight route and manual traveling along a turning route. The target route R may be generated in advance based on an operator's operation and stored as route data. The work vehicle 10 may also be equipped with a function for automatically increasing or decreasing vehicle speed (vehicle speed control function). For example, the work vehicle 10 may automatically change its speed depending on the travel route.

[0013] The work vehicle 10 travels, for example, in a field F shown in Fig. 4, alternating between straight travel and turning travel until work is completed. The multiple straight routes are substantially parallel to each other. The target route R shown in Fig. 4 is an example, and the target route R is determined appropriately depending on the size of the work vehicle 10, the size of the work implement 14, the work content, the shape of the field F, etc.

[0014] The automated driving system 1 may also include an operation terminal (tablet terminal, smartphone, etc.) operated by an operator. The operation terminal is capable of communicating with the work vehicle 10 via a communication network such as a mobile phone network, a packet network, or a wireless LAN. For example, the operator operates the operation terminal to register various information (work vehicle information, field information, work information, etc.). Furthermore, the operator can grasp the driving status and work status of the work vehicle 10 from the driving trajectory displayed on the operation terminal while in a location away from the work vehicle 10.

[0015] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, an operation device 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning device 16, the operation device 17, etc. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. The vehicle control device 11 and the operation device 17 may also be capable of wireless communication.

[0016] The communication unit 15 is a communication interface that connects the work vehicle 10 to a communication network by wire or wirelessly, and executes data communication with an external device (such as an operation terminal) via the communication network in accordance with a predetermined communication protocol.

[0017] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded to the work vehicle 10 from a server (not shown) via a communication network and stored in the storage unit 12. The storage unit 12 may also store data for a target route R generated by the operation device 17.

[0018] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 is equipped with an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0019] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. Electrical components such as the vehicle control device 11, positioning device 16, and operating device 17 provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0020] The driving force of the engine 131 is transmitted to front wheels 132 via a transmission 134 and a front axle 135, and to rear wheels 133 via the transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). The traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0021] The work implement 14 is, for example, a tiller, a seed sower, a brush cutter, a plow, or a fertilizer applicator, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the work implements 14. FIG. 2 shows a case where the work implement 14 is a tiller. The work implement 14 may be supported in the work vehicle 10 by a lifting mechanism (not shown) so that it can be raised and lowered. The vehicle control device 11 is able to raise and lower the work implement 14 by controlling the lifting mechanism.

[0022] The handle 137 is an operating unit that is operated by an operator or the vehicle control device 11. For example, the traveling device 13 changes the angle of the front wheels 132 by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the operator or the vehicle control device 11, thereby changing the traveling direction of the work vehicle 10.

[0023] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0024] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2 , the positioning device 16 is provided above the cabin 18 in which the operator sits. The installation location of the positioning device 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0025] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a positioning control program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the positioning control program may be downloaded to the positioning device 16 from a server (not shown) via a communication network and stored in the storage unit 162.

[0026] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wirelessly, and for executing data communication with an external device such as a base station server via the communication network in accordance with a predetermined communication protocol.

[0027] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from the satellites 20.

[0028] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from the satellites 20. For example, when the work vehicle 10 is autonomously traveling in a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of the multiple satellites 20, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite 20, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GPS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position.

[0029] The operation device 17 is a device operated by an operator on board the work vehicle 10, and displays various information and accepts operations from the operator. Specifically, the operation device 17 displays various setting screens to accept various setting operations from the operator, and displays information related to the work vehicle 10 while it is traveling. The specific configuration of the operation device 17 will be described later.

[0030] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12. The vehicle control device 11 also executes various types of processing in accordance with the automatic driving program using the CPU.

[0031] Specifically, the vehicle control device 11 controls the traveling of the work vehicle 10. For example, when the traveling mode of the work vehicle 10 is manual traveling (manual traveling mode), the vehicle control device 11 manually travels the work vehicle 10 based on the operation (manual steering) of the operator. For example, the vehicle control device 11 acquires operation information corresponding to driving operations such as steering operation, gear change operation, shift operation, accelerator operation, and brake operation by the operator, and causes the traveling device 13 to perform traveling operations based on the operation information.

[0032] Furthermore, when the driving mode of the work vehicle 10 is automatic driving (automatic driving mode), the vehicle control device 11 causes the work vehicle 10 to automatically drive based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning control unit 161. For example, when the work vehicle 10 satisfies the automatic driving start conditions and receives a driving start command from the operator, the vehicle control device 11 causes the work vehicle 10 to start automatic driving based on the positioning information. Furthermore, the vehicle control device 11 causes the work vehicle 10 to automatically drive according to a target route R (straight route) generated in advance.

[0033] A specific example (first driving pattern) of automatic driving according to this embodiment will now be described with reference to Figures 5 and 6. In this embodiment, the work vehicle 10 is caused to automatically travel along a straight route in a field F shown in Figure 4.

[0034] First, the operator sets a reference line L1 for generating a straight path, which is the target route R. For example, the operator manually drives the work vehicle 10 at an arbitrary position (e.g., the outer periphery) within the field F in a direction (target direction) in which the operator wants the work vehicle 10 to travel and work. Specifically, the operator drives the work vehicle 10 straight in a direction parallel to the working direction (e.g., the plowing direction) in which the work vehicle 10 will work in the work area. Then, while manually driving the work vehicle 10 in the intended target direction, the operator operates (e.g., touches) the operation display unit 73 (see FIG. 3) twice at an arbitrary position (e.g., the front or rear end of the work area). The vehicle control device 11 registers the position (point A) of the work vehicle 10 through the operator's first operation, and registers the position (point B) of the work vehicle 10 through the operator's second operation. After acquiring the position information of points A and B, the vehicle control device 11 sets a straight line passing through points A and B as the reference line L1 (see FIG. 5A). The vehicle control device 11 may also be configured to be able to register point B when the work vehicle 10 has traveled a predetermined distance (e.g., 5 m) since registering point A. This allows for the setting of a more accurate reference line L1. The vehicle control device 11 generates a travel route (target route R) that includes the reference line L1 and multiple straight lines parallel to the reference line L1. For example, the vehicle control device 11 generates multiple parallel straight lines at equal intervals to the left and right of the reference line L1 based on a preset working width (the width of the work implement 14) and lap width (the width that overlaps with adjacent completed work areas) (see FIG. 5B). The vehicle control device 11 registers the generated target route R in the memory unit 12 and displays it on the operation device 17.

[0035] After the target route R has been generated, when the operator drives the work vehicle 10 straight ahead using automatic steering within the field F, the operator looks at the target route R displayed on the operation device 17 and moves the work vehicle 10 using manual steering so that the direction (azimuth) of the work vehicle 10 is within a predetermined range (predetermined azimuth) relative to the direction of the reference line L1 (satisfying the automatic driving start condition) (see Figure 5C).

[0036] FIG. 6A shows an operation screen (work screen) indicating that the work vehicle 10 has satisfied the automatic driving start conditions and is now in a state where it can drive automatically. When the work vehicle 10 satisfies the automatic driving start conditions, the vehicle control device 11 causes the operation display unit 73 to display the operation screen shown in FIG. 6A. When the work vehicle 10 is in a state where it can drive automatically, the operator presses an automatic driving button (not shown) on the operation display unit 73 to issue a command to start driving. When the vehicle control device 11 receives the command to start driving, it starts automatic steering of the work vehicle 10 so that the work vehicle 10 follows the straight route that is closest to the current position P0 (see FIG. 5C). As a result, the vehicle control device 11 causes the work vehicle 10 to automatically drive along the straight route by automatic steering.

[0037] Fig. 6B shows a display screen (work screen) when the work vehicle 10 is traveling automatically. When the work vehicle 10 starts traveling automatically, the vehicle control device 11 causes the operation device 17 to display the work screen shown in Fig. 6B. For example, based on information (travel information, etc.) acquired from the vehicle control device 11, the operation device 17 causes the work screen of the operation display unit 73 to display the position of the work vehicle 10, the straight route, the area where work has been completed (the work status), guidance information (described later), etc.

[0038] As described above, the first driving pattern of the automatic driving is a configuration in which the target route R is generated in advance according to the working width and lap width of the work vehicle 10, and the work vehicle 10 drives automatically. The second driving pattern of the automatic driving may be a configuration in which the target route R is generated based on the position of the work vehicle 10, and the work vehicle 10 drives automatically.

[0039] In the second driving pattern, for example, after the reference line L1 is set (see Figure 5A), when the operator moves the work vehicle 10 to a position where work will begin and presses the automatic driving button, the vehicle control device 11 automatically steers the work vehicle 10 from that position to drive straight ahead parallel to the reference line L1.

[0040] The vehicle control device 11 may apply the first driving pattern and the second driving pattern in response to a selection operation by the operator. For example, the vehicle control device 11 may cause the operation device 17 to selectably display a first route creation mode corresponding to the first driving pattern and a second route creation mode corresponding to the second driving pattern, and perform automatic driving according to the route creation mode selected by the operator.

[0041] Furthermore, in the first driving pattern and the second driving pattern, when the work vehicle 10 travels straight using automatic steering and reaches a terminal end Pe (the intersection of a perpendicular line passing through point B to the reference line L1 and the straight path (straight line)) (see FIG. 5C) corresponding to point B on the reference line L1, the vehicle control device 11 notifies the operator (by displaying a message, providing audio guidance, etc.) of information (guidance information described below) indicating that the work vehicle 10 has reached the terminal end Pe. When the work vehicle 10 reaches the terminal end Pe, the operator ends the automatic steering.

[0042] The vehicle control device 11 switches the driving mode to manual driving when the work vehicle 10 reaches the end point Pe (end point of the straight route). The vehicle control device 11 may switch the driving mode to manual driving when it determines that the work vehicle 10 has reached the end point Pe, or may switch the driving mode to manual driving in response to an operation by the operator. When the driving mode is switched to manual driving, for example, the operator manually steers the work vehicle 10 to make a turn (manual driving).

[0043] In this way, the vehicle control device 11 switches the driving mode in response to the operator's operation of the operating device 17, and causes the work vehicle 10 to automatically drive along a straight path (target path R) using automatic steering, and manually drive along a turning path using manual steering.

[0044] Conventionally, there is known a technology for supporting an operator's operation by displaying guidance information, driving information, and the like related to automated driving on a display device (corresponding to the operation device 17 of this embodiment). However, in conventional technology, the information is uniformly displayed on the display device, so that information that is useful to one user (operator) may be unnecessary for another user. For example, an experienced operator may find it annoying to have guidance information constantly displayed. Thus, conventional technology poses a problem of low convenience for the operation terminal (operation device 17) that displays information about the driving of the work vehicle. In contrast, the configuration of this embodiment makes it possible to improve the convenience of the operation terminal (operation device 17) that displays information about the driving of the work vehicle. The specific configuration of the operation device 17 is described below.

[0045] [Operation device 17] 1, the operation device 17 includes an operation control unit 71, a storage unit 72, an operation display unit 73, etc. The operation device 17 may be a device that can be attached to and detached from the work vehicle 10. The operation device 17 may also be a mobile terminal (tablet terminal, smartphone, etc.) that can be carried by the operator. The operation device 17 is also connected to the vehicle control device 11 via wire or wirelessly so as to be able to communicate with it.

[0046] The operation display unit 73 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as operation buttons or a touch panel that accepts operations. The operation display unit 73 displays various setting screens, work screens, etc. in accordance with instructions from the operation control unit 71. The operation display unit 73 also accepts operations from the operator on the setting screens and work screens.

[0047] The operation unit also includes an automatic travel button that the operator uses to instruct the work vehicle 10 to start automatic travel, an offset button that performs an offset operation (correction operation) to correct the positional deviation between the work vehicle 10 and the target route R, and a plurality of selection buttons that perform selection operations on the setting screen and the work screen (all not shown). The operation device 17 is an example of an operation terminal of the present invention.

[0048] The operating device 17 is installed near a handle 137 inside the cabin 18, as shown in, for example, FIGS.

[0049] The storage unit 72 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 72 stores control programs such as an operation assistance program for causing the operation device 17 to execute the operation assistance process (see FIG. 14 ), which will be described later. For example, the operation assistance program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 72. The operation assistance program may be downloaded to the operation device 17 from a server (not shown) via a communication network and stored in the storage unit 72. The operation assistance program may also be stored in the storage unit 12 of the work vehicle 10. The storage unit 72 may also store data for a target route R generated by the operation device 17.

[0050] The operation control unit 71 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The operation control unit 71 controls the operation device 17 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 72.

[0051] Specifically, as shown in Fig. 1, the operation control unit 71 includes various processing units such as a display processing unit 711, a reception processing unit 712, and a setting processing unit 713. The operation device 17 functions as the various processing units by executing various processes in accordance with the operation assistance program using the CPU. Some or all of the processing units may be configured with electronic circuits. The operation assistance program may be a program for causing multiple processors to function as the processing units.

[0052] The display processing unit 711 displays various types of information on the operation display unit 73. For example, the display processing unit 711 displays a setting screen (FIGS. 10 to 13, etc.) for performing various settings, a work screen D1 (FIGS. 8, 9, etc.) including travel information such as the travel status and work status of the work vehicle 10, etc. on the operation display unit 73. The display processing unit 711 is an example of the first display processing unit and second display processing unit of the present invention.

[0053] The reception processing unit 712 receives various operations from the operator. For example, the reception processing unit 712 receives an operation from the operator on the setting screen to set a display target (travel information) to be displayed on the work screen D1.

[0054] Here, a specific configuration of the work screen D1 will be described. FIG. 7 shows multiple display areas A0 to A4 set on the work screen D1. The operation control unit 71 sets the display areas A0 to A4 in advance for the display screen (work screen D1). The display area A0 is the entire area in which the position of the work vehicle 10, the target route R, etc. can be displayed. The display area A0 includes multiple display areas A1 to A4. For example, the display area A1 is located on the lower side of the display area A0, the display areas A2 and A3 are located vertically side by side on the left side of the display area A0, and the display area A4 is located on the right side of the display area A0. In this way, the display areas A1 to A4 are located so as to overlap a portion of the display area A0. The locations of the display areas A1 to A4 are not limited to the locations shown in FIG. 7. The locations and ranges of the display areas A1 to A4 may be changeable in response to an operation by the operator. The display areas A0 to A4 may also be located so as not to overlap each other.

[0055] On the work screen D1, the upper part of the display areas A0 to A4 displays text information indicating the driving status of the work vehicle 10 (for example, "Straight ahead assist driving in progress"). Also, the top display area A5 of the work screen D1 displays icon images indicating the driving status, setting status, etc. of the work vehicle 10.

[0056] For example, icon image C1 is an image that indicates whether or not the function of instructing to start automatic driving is linked to an operating tool (for example, the lift lever of the work implement 14). When icon image C1 is lit, for example, when the operator lowers the lift lever, the work vehicle 10 starts automatic driving and lowers the work implement 14 to begin work. When icon image C1 is unlit, even if the operator lowers the lift lever, the work vehicle 10 does not start automatic driving and only performs the operation of lowering the work implement 14. The operator may perform an operation (ON / OFF operation) to determine whether or not to link the automatic driving start function to an operating tool on a setting screen (not shown) or on the selection section Ks of the work screen D1.

[0057] Icon image H1 is an image that displays the correction amount (offset amount) when the operator performs an offset operation (correction operation) to correct the position deviation between the work vehicle 10 and the target route R. When the operator performs an operation on the operation display unit 73 to offset the work vehicle 10 to the right, the offset amount is displayed on the right icon image HR, and when the operator performs an operation on the operation display unit 73 to offset the work vehicle 10 to the left, the offset amount is displayed on the left icon image HL.

[0058] Icon image C2 is an image that indicates that the automatically traveling work vehicle 10 has reached the end point (terminal end Pe (see FIG. 5C)) of the straight route. Icon image C2 lights up when the work vehicle 10 approaches the end point.

[0059] Icon image C3 is an image that represents the state of the positioning accuracy (position accuracy) of the work vehicle 10. Icon image C3 is displayed in a color that corresponds to the state of the positioning accuracy, for example. That is, the display processing unit 711 may change the display mode of each icon image depending on the traveling state of the work vehicle 10.

[0060] Here, the setting processing unit 713 sets a display target (travel information) for each of the display areas A1 to A4. Specifically, when the reception processing unit 712 receives an operation from the operator to select a display target for a display area on the setting screen, the setting processing unit 713 executes a process of registering the display target selected by the operator in association with the display area. The display processing unit 711 displays the work screen D1 on the operation display unit 73 based on the setting information set (registered) by the setting processing unit 713.

[0061] 8 and 9 show an example of a work screen D1 when the work vehicle 10 is traveling automatically. In the work screen D1 shown in FIG. 8, travel information G0 including the position of the work vehicle 10 relative to the target route R (straight route), the target route R (multiple parallel lines), point B corresponding to the end point, etc. is displayed in the display area A0 (see FIG. 7), and no travel information is displayed in the display areas A1 to A4 (see FIG. 7). The display processing unit 711 displays the travel information G0 (first information) relating to the position of the work vehicle 10 in the display area A0.

[0062] 9, the display area A0 displays driving information G0 including the position of the work vehicle 10, the target route R, point B, the work-completed area, etc., the display area A1 displays driving information G1 indicating the position deviation between the work vehicle 10 and the target route R, the display area A2 displays driving information G2 indicating the speed of the work vehicle 10, the display area A3 displays driving information G3 indicating the lap width of the work vehicle 10, and the display area A4 displays driving information G4 (guide information, operation guidance information) indicating that the work vehicle 10 is approaching the end point. The display processing unit 711 displays the position deviation K0 ("16 cm" in FIG. 9) in the driving information G1 based on the position information etc. acquired from the vehicle control device 11, and displays an identification image KL according to the magnitude and direction (left side in FIG. 9) of the position deviation K0. In this way, the display processing unit 711 displays driving information G0 in the center of the work screen D1 in the display area A0, displays driving information G1 below the center of the work screen D1 in the display area A0, displays driving information G2 and driving information G3 to the left of the center of the work screen D1 in the display area A0, and displays driving information G4 to the right of the center of the work screen D1 in the display area A0.

[0063] According to the work screen D1 shown in FIG. 9, various pieces of travel information G1 to G4 are displayed in the display areas A1 to A4, which provides useful information for, for example, an inexperienced operator. This allows the operator to operate the work vehicle 10 appropriately, thereby improving work accuracy. On the other hand, according to the work screen D1 shown in FIG. 8, the travel information G1 to G4 is not displayed in the display areas A1 to A4, which reduces the annoyance felt by, for example, an experienced operator due to unnecessary information. Note that when displaying the travel information G1 to G4, the operation control unit 71 may output the content corresponding to the travel information G1 to G4 as audio (audio guidance). For example, the operation control unit 71 may output the display content of the travel information G4 as audio when the display content is switched, and may output the display content of the travel information G1 to G3 as audio when a set value is changed, when the amount of change reaches a predetermined amount or more, or when the display content is switched.

[0064] In this way, the setting processing unit 713 can switch between a setting that displays driving information G1 to G4 related to the driving state of the work vehicle 10 in the display areas A1 to A4 included in the work screen D1, and a setting that does not display the driving information G1 to G4 in the display areas A1 to A4.

[0065] In addition, the reception processing unit 712 can accept from the operator an operation (first setting operation) to set the display areas A1 to A4 to display the driving information G1 to G4, or an operation (second setting operation) to set the display areas A1 to A4 not to display the driving information G1 to G4.

[0066] In addition, the setting processing unit 713 can be configured to display driving information G0 in display area A0 and driving information G1 to G4 in display areas A1 to A4 when the first setting operation is received from the operator, and to display driving information G0 in display area A0 and not display driving information G1 to G4 in display areas A1 to A4 when the second setting operation is received from the operator.

[0067] According to the operation device 17 of this embodiment, the operator can freely customize the display content of the work screen D1, thereby improving the convenience and operability of the operation device 17. Note that the display area A0 is an example of the first display area of ​​the present invention, the display areas A1 to A4 are an example of the second display area of ​​the present invention, and the display area A5 is an example of the third display area of ​​the present invention. Also, the travel information G0 is an example of the first information of the present invention, and the travel information G1 to G4 are an example of the second information of the present invention.

[0068] [Example of how to set up] Next, a specific example of a setting method for setting the display target (travel information) for the display areas A1 to A4 of the work screen D1 will be described.

[0069] FIG. 10A shows an example of the setting screen P1. For example, when the operator selects the display setting (not shown) of the menu screen to perform a setting operation for a display target, the display processing unit 711 displays the setting screen P1. The setting screen P1 includes a setting item ("Work History") for selecting whether to display the completed area (see the travel information G0 in FIG. 9) in the display area A0 (see FIG. 7), a setting item K11 ("Displacement Amount Display") for selecting whether to display the position deviation K0 (the travel information G1 in FIG. 9) in the display area A1 (see FIG. 7), and a setting item K12 ("Operation Guidance Information") for selecting whether to display the guide information (operation guidance information) (the travel information G4 in FIG. 9) in the display area A4 (see FIG. 7). The operator can move the selection position of the setting item and the display page by pressing the operation button K1, select a setting item by pressing the decision button K2, and move the display page to the previous page by pressing the back button K3. The buttons K1 to K3 are examples of the operation section in the operation display section 73.

[0070] When the operator selects setting item K11, the display processing unit 711 displays setting screen P11 shown in FIG. 10B. On setting screen P11, the display processing unit 711 displays a selection field for selecting ON / OFF for displaying position deviation K0, and explanatory information related to position deviation K0. If the operator wishes to display traveling information G1 (see FIG. 9) related to position deviation K0 on work screen D1, the operator selects ON and presses decision button K2. On the other hand, if the operator does not wish to display traveling information G1 on work screen D1, the operator selects OFF and presses decision button K2. Note that the operation of the operator selecting ON is an example of a first setting operation of the present invention, and the operation of the operator selecting OFF is an example of a second setting operation of the present invention.

[0071] When the reception processing unit 712 receives a selection operation from the operator, the setting processing unit 713 sets the display content of the display area A1 based on the selection operation (ON / OFF operation). In the example shown in Fig. 10B, the operator selects ON, so the setting processing unit 713 associates the driving information G1 with the display area A1 and registers it.

[0072] Next, when the operator returns to the setting screen P1 (see FIG. 11A) and selects the setting item K12 corresponding to the travel information G4 (see FIG. 9) in the display area A4 (see FIG. 7), the display processing unit 711 displays the setting screen P12 shown in FIG. 11B. The display processing unit 711 displays a selection field for selecting ON / OFF for displaying the travel information G4, and explanatory information related to the travel information G4, on the setting screen P12. If the operator wishes to display the travel information G4 (see FIG. 9) on the work screen D1, the operator selects ON and presses the enter button K2. On the other hand, if the operator does not wish to display the travel information G4 on the work screen D1, the operator selects OFF and presses the enter button K2.

[0073] When the reception processing unit 712 receives a selection operation from the operator, the setting processing unit 713 sets the display content of the display area A4 based on the selection operation (ON / OFF operation). In the example shown in Fig. 11B, the operator selects ON, so the setting processing unit 713 associates the driving information G4 with the display area A4 and registers it.

[0074] Subsequently, when the operator returns to the setting screen P1 (see FIG. 10A) and presses the operation button K1 to scroll the page, the display processing unit 711 displays the setting screen P2 shown in FIG. 12A. The setting screen P2 includes a setting item K21 ("Information Display 1") for selecting whether or not to display the driving information G2 (see FIG. 9) in the display area A2 (see FIG. 7) and the display object to be displayed in the display area A2, and a setting item K22 ("Information Display 2") for selecting whether or not to display the driving information G3 (see FIG. 9) in the display area A3 (see FIG. 7) and the display object to be displayed in the display area A3.

[0075] When the operator selects the setting item K21, the display processing unit 711 displays the setting screen P21 shown in FIG. 12B. The display processing unit 711 displays, on the setting screen P21, a selection field for selecting whether to turn off the display of the travel information G2, a selection field for multiple display targets, and explanatory information corresponding to each selection field. The multiple display targets include "vehicle speed," "work width," "lap width," "route azimuth," and "vehicle azimuth" (see FIG. 12C). Note that "vehicle azimuth" is displayed on the next page (see FIG. 12C) of the display page shown in FIG. 12B. In this example, the operator selects the setting item K23 for "vehicle speed" and presses the confirm button K2. When the reception processing unit 712 accepts the operator's selection operation, the setting processing unit 713 associates the display target with the display area A2 that displays the travel information G2 and registers it. In the example shown in FIG. 12B, the operator selects "vehicle speed," so the setting processing unit 713 registers the travel information G2 for "vehicle speed" in the display area A2. The operation in which the operator selects one of the plurality of display targets is an example of the first setting operation of the present invention.

[0076] Next, when the operator returns to the setting screen P2 and selects the setting item K22 (see FIG. 9) corresponding to the travel information G3 (see FIG. 9) in the display area A3 (see FIG. 7) (see FIG. 13A), the display processing unit 711 displays the setting screen P22 shown in FIG. 13B. The display processing unit 711 displays, on the setting screen P22, a selection field for selecting whether to turn off the display of the travel information G3, a selection field for multiple display objects, and explanatory information corresponding to each selection field. The multiple display objects include "vehicle speed," "work width," "lap width," "route azimuth," and "vehicle azimuth" (see FIGS. 13B and 13C). Note that in this embodiment, the multiple selectable display objects (see FIGS. 12B and 12C) corresponding to information display 1 (display area A2) are the same as the multiple selectable display objects (see FIGS. 13B and 13C) corresponding to information display 2 (display area A3). However, in other embodiments, the multiple selectable display objects may be different in each of the display areas A2 and A3.

[0077] Here, the operator selects the setting item K24 for "lap width" and presses the confirm button K2 (see FIG. 13B). When the reception processing unit 712 receives the operator's selection operation, the setting processing unit 713 registers the display target in association with the display area A3 that displays the travel information G3. In the example shown in FIG. 13B, the operator has selected "lap width," so the setting processing unit 713 registers the travel information G3 for "lap width" in association with the display area A3.

[0078] In addition, when the operator sets the setting item for "Work History" to "ON" on the setting screen P1 (see FIG. 10A), the setting processing unit 713 registers the travel information G0 (see FIG. 9) of the completed work area (work history) in association with the display area A0.

[0079] In this way, the setting processing unit 713 sets the display content of the work screen D1 in accordance with the setting operation by the operator. When the setting processing unit 713 performs setting processing as in the example described above, the display processing unit 711 displays the work screen D1 shown in Fig. 9 on the operation display unit 73 while the work vehicle 10 is autonomously traveling. That is, the display processing unit 711 displays driving information G0 including the position of the work vehicle 10, the target route R, point B, and the worked area in the display area A0, displays driving information G1 indicating the position deviation K0 in the display area A1, displays driving information G2 indicating the speed of the work vehicle 10 in the display area A2, displays driving information G3 indicating the lap width of the work vehicle 10 in the display area A3, and displays driving information G4 indicating that the work vehicle 10 is approaching the end point in the display area A4.

[0080] In this way, the operation control unit 71 can display, in each of the multiple display areas, different pieces of driving information relating to the driving state of the work vehicle 10. Furthermore, the driving information may include information corresponding to each of multiple setting items relating to the driving state of the work vehicle 10. When the display processing unit 711 receives an operation from the operator to select one of the multiple setting items, it displays the driving information corresponding to the selected setting item in the display area.

[0081] In another embodiment, the operation control unit 71 may be configured to not accept a selection operation for a setting item (see FIG. 12B) selected for "Information Display 1" (display area A2) on the setting screen P22 (see FIG. 13B) for "Information Display 2" (display area A3), so that the display contents (see FIG. 9) of the traveling information G2 and the traveling information G3 are not the same. For example, when the operator selects "Vehicle Speed" on the setting screen P21 shown in FIG. 12B, the operation control unit 71 hides or grays out the setting item for "Vehicle Speed" on the setting screen P22 shown in FIG. 13B.

[0082] In another embodiment, the operation control unit 71 may identifiably display the setting item selected in Fig. 12B on the setting screen P22 shown in Fig. 13B. For example, when the operator selects "vehicle speed" on the setting screen P21 shown in Fig. 12B, the operation control unit 71 displays identification information (such as a message "selected") for the setting item of "vehicle speed" on the setting screen P22 shown in Fig. 13B.

[0083] [Operation support processing] An example of the operation assistance process executed by the operation control unit 71 of the operation device 17 will be described below with reference to Fig. 14. Note that the present invention may be understood as an invention of an operation assistance method in which the operation device 17 executes part or all of the operation assistance process, or as an invention of an operation assistance program for causing the operation device 17 to execute part or all of the operation assistance method. Furthermore, the operation assistance process may be executed by one or more processors.

[0084] In step S1, the operation control unit 71 determines whether or not an instruction to start a setting operation has been received from the operator. For example, the operator selects a display setting (not shown) on a menu screen when setting travel information to be displayed on the work screen D1. When the operation control unit 71 receives a selection operation for the display setting (setting start instruction) from the operator (S1: Yes), the operation control unit 71 shifts the processing to step S2. The operation control unit 71 waits until the setting start instruction is received from the operator (S1: No).

[0085] In step S2, the operation control unit 71 displays a setting screen P1. For example, the operation control unit 71 displays the setting screen P1 shown in Fig. 10A on the operation display unit 73. The setting screen P1 shown in Fig. 10A includes, for example, a setting item K11 for "display amount of deviation" corresponding to the position deviation K0, and a setting item K12 for "display operation guide" corresponding to the guide information (operation guidance information).

[0086] In step S3, the operation control unit 71 determines whether or not a selection operation of a setting item has been received from the operator. For example, the operator selects setting item K11 on the work screen D1 (see FIG. 10A). When the operation control unit 71 receives the selection operation of the setting item from the operator (S3: Yes), it shifts the processing to step S4. The operation control unit 71 waits until the selection operation of the setting item is received from the operator (S3: No).

[0087] In step S4, the operation control unit 71 displays a setting screen to be displayed. For example, when the operator selects setting item K11 on the work screen D1 (see FIG. 10A), the operation control unit 71 displays a setting screen P11 shown in FIG. 10B. The operation control unit 71 displays a selection field on the setting screen P11 for selecting ON / OFF of display of the position deviation K0.

[0088] In step S5, the operation control unit 71 determines whether or not a selection operation for a display object has been received. For example, the operation control unit 71 receives a selection operation from the operator on the setting screen P11 shown in FIG. 10B. When the operation control unit 71 receives the selection operation from the operator (S5: Yes), the operation control unit 71 transitions the process to step S6. The operation control unit 71 waits until the selection operation is received from the operator (S5: No). For example, when the operator wishes to display the travel information G1 (see FIG. 9) related to the position deviation K0 on the work screen D1, the operator selects ON and presses the decision button K2. On the other hand, when the operator does not wish to display the travel information G1 on the work screen D1, the operator selects OFF and presses the decision button K2.

[0089] In step S6, the operation control unit 71 registers the setting information. For example, when the operator selects ON on the setting screen P11 shown in Fig. 10B, the operation control unit 71 registers the travel information G1 in association with the display area A1. On the other hand, when the operator selects OFF on the setting screen P11 shown in Fig. 10B, the operation control unit 71 does not register the travel information in association with the display area A1, or registers the display area A1 in association with a non-display flag.

[0090] In step S7, the operation control unit 71 determines whether or not an instruction to end the setting operation has been received from the operator. For example, when the operator performs an operation to start automatic driving on the menu screen, the operation control unit 71 receives an instruction to end the setting operation. If the operation control unit 71 receives the end instruction from the operator (S7: Yes), it ends the operation support process. On the other hand, if the operation control unit 71 does not receive the end instruction from the operator (S7: No), it transitions the process to step S2.

[0091] For example, when the operator performs an operation to return to the setting screen P1 (S7: No), the operation control unit 71 displays the setting screen P1 (see FIG. 11A) in step S2. When the operator selects setting item K12 on the setting screen P1 (S3: Yes), the operation control unit 71 displays the setting screen P12 shown in FIG. 11B (S4) and accepts a selection operation to select ON / OFF for displaying the traveling information G4 (operation guidance information) (S5). When the operator selects ON on the setting screen P12, the operation control unit 71 associates the traveling information G4 with the display area A4 and registers it (S6).

[0092] Furthermore, when the operator performs an operation to return to the setting screen P1 or to move to the next page (S7: No), the operation control unit 71 displays the setting screen P2 (see FIG. 12A) (S2). When the operator selects the setting item K21 on the setting screen P2 (S3: Yes), the operation control unit 71 displays the setting screen P21 shown in FIG. 12B (S4) and accepts a selection operation to select a display target (S5). When the operator selects "vehicle speed" (setting item K23) on the setting screen P21, the operation control unit 71 associates the vehicle speed information (traveling information G2) with the display area A2 and registers it (S6).

[0093] Furthermore, when the operator performs an operation to return to the setting screen P2 (S7: No), the operation control unit 71 displays the setting screen P2 (see FIG. 13A) in step S2. When the operator selects the setting item K22 on the setting screen P2 (S3: Yes), the operation control unit 71 displays the setting screen P22 shown in FIG. 13B (S4) and accepts a selection operation to select a display target (S5). When the operator selects "lap width" on the setting screen P22, the operation control unit 71 associates the lap width information (traveling information G3) with the display area A3 and registers it (S6).

[0094] When the operator finishes the display setting operation for the display areas A0 to A4 (S7: Yes), the operation control unit 71 finishes the operation support process. The operation control unit 71 executes the operation support process every time it receives an instruction from the operator to start the setting operation. In addition, the operation control unit 71 can execute the operation support process even when the work vehicle 10 is autonomously traveling.

[0095] As described above, the operation device 17 according to this embodiment displays the work screen D1 on the operation device 17 used to operate the work vehicle 10 to travel, and displays travel information G0 relating to the position of the work vehicle 10 in the display area A0 included in the work screen D1. The operation device 17 also switches between a setting that displays travel information G0 to G4 relating to the travel state of the work vehicle 10 in the display areas A1 to A4 included in the work screen D1, and a setting that does not display the travel information G0 to G4 in the display areas A1 to A4.

[0096] According to the above configuration, while displaying the travel information G0 relating to the position of the work vehicle 10, it is possible to switch between displaying and hiding the travel information G1 to G4 that assists the operator in operation. For example, an inexperienced operator can check the travel information G1 to G4 while operating the work vehicle 10 by setting the travel information G1 to G4 to be displayed. Also, for example, an experienced operator can prevent unnecessary information from being displayed while operating the work vehicle 10 by setting the travel information G1 to G4 not to be displayed. This makes it possible to improve the convenience of the operation device 17. The travel information G1 to G4 includes at least one of information relating to the travel status of the work vehicle 10, information relating to the work status of the work vehicle 10, and guide information (operation guidance information).

[0097] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0098] In the above-described embodiment, as shown in Fig. 7, display areas A2 and A3 are set vertically on the left side of the work screen D1, and display objects can be individually set in the display areas A2 and A3. For example, when the operator sets "Information Display 1" (display area A2) to "Route Azimuth" and sets "Information Display 2" (display area A3) to "OFF" on the setting screen P2 of Figs. 12A and 13A, the operation control unit 71 displays driving information G2 representing the route azimuth corresponding to the current reference line L1 in the display area A2, and hides the display area A3, as shown in the work screen D1 of Fig. 15A. When the operator sets a set azimuth, the operation control unit 71 displays the set azimuth in the display area A2 as the route azimuth.

[0099] In the above configuration, nothing is displayed in the display area A3, leaving it as empty space. Therefore, as another embodiment of the present invention, when a display target is set in one of the display areas A2 and A3 and no display target is set in the other ("OFF"), the operation control unit 71 may display related information related to the display target in the other display area. For example, when the operator sets a set azimuth angle of "90 degrees," the operation control unit 71 displays driving information G2 representing the route azimuth angle of "90 degrees" in the display area A2, while displaying driving information G3 representing "270 degrees," which indicates the same direction as the route azimuth angle of "90 degrees," in the display area A3, as shown in FIG. 15B. For the set azimuth angle, the operator may set an angle "d1" or an angle "d1 + 180 degrees" relative to the reference line L1. According to the above configuration, regardless of which angle the operator sets, both route azimuth angles can be displayed. This allows the operator to see at a glance whether the settings he or she made have been reflected. In this way, the operation control unit 71 may change the display content to be displayed in the display areas depending on the number of display areas.

[0100] 15C, the operation control unit 71 may set a single display area that combines the display areas A2 and A3, and display the driving information G5 including related information in the combined display area. In this way, the operation control unit 71 may change the display content to be displayed in the display area depending on the size of the display area.

[0101] Furthermore, in the above-described embodiment, one display object (information indicating that the work vehicle 10 is approaching the end point) was exemplified as the travel information G4 (guidance information) corresponding to the display area A4 (see FIG. 11B), but the travel information G4 is not limited to this. For example, the operation control unit 71 may display each piece of guidance information shown in (a) to (h) in the display area A4, as shown in FIG. 16. For example, when the operator sets "operation guide display" to "ON" (see FIGS. 11A and 11B), the operation control unit 71 may switch the display object in the display area A4 depending on the state of the work vehicle 10.

[0102] For example, when the work vehicle 10 is traveling automatically and approaches the end point (the end of a straight route), the operation control unit 71 displays guidance information (a) in the display area A4 of the work screen D1, indicating that the work vehicle 10 will soon reach the end point.

[0103] Also, for example, when the operator generates a straight route (see FIG. 5A), the operation control unit 71 displays guidance information (b) and (c) in the display area A4 of the work screen D1 to prompt the operator to register points A and B.

[0104] Also, for example, when the work vehicle 10 satisfies the conditions for starting automatic driving (see Figure 5C), the operation control unit 71 displays guidance information (d) in the display area A4 of the work screen D1 to prompt the driver to start automatic driving (press the AUTO switch) (see Figure 6A).

[0105] For example, if the position accuracy (positioning accuracy) of the work vehicle 10 decreases while the work vehicle 10 is traveling automatically, the operation control unit 71 displays guidance information (e) in the display area A4 of the work screen D1 indicating that the position accuracy has decreased.

[0106] Furthermore, for example, when the operator is on board the work vehicle 10 but is not sitting in the driver's seat, the operation control unit 71 displays guidance information (f) encouraging the operator to take a seat in the display area A4 of the work screen D1.

[0107] For example, if the work vehicle 10 deviates from the target route R during automatic driving, the operation control unit 71 displays guidance information (g) in the display area A4 of the work screen D1, indicating that the work vehicle 10 has deviated from the target route R.

[0108] Furthermore, for example, when the vehicle speed of the work vehicle 10 exceeds a threshold value (applicable vehicle speed), the operation control unit 71 displays guidance information (h) indicating that the vehicle speed has exceeded the applicable vehicle speed range.

[0109] In this way, the operation control unit 71 may switch the display target (guidance information) in the display area A4 depending on the state (setting status, traveling status, etc.) of the work vehicle 10. In another embodiment, the operator may be able to select one of the pieces of guidance information (a) to (h) on the setting screen as the display target to be displayed in the display area A4.

[0110] When displaying the guidance information (a) to (h), the operation control unit 71 may output audio content corresponding to the guidance information (a) to (h). The operation control unit 71 may also provide only audio guidance even when the setting item K12 (see FIG. 11B) for "operation guide display" is set to OFF. The operation control unit 71 may also be able to switch audio guidance ON / OFF.

[0111] Furthermore, in the above-described embodiment, the operator selects the display target on each setting screen (see FIGS. 10 to 13). However, in another embodiment, the operator may select display areas A0 to A4 on work screen D1 shown in FIG. 16 to set the display target. For example, when the operator selects display area A2 (by touching the touch panel), the operation control unit 71 displays setting screen P21 (see FIGS. 12B and 12C) corresponding to display area A2 and accepts the operator's selection of the display target. Furthermore, when the operator selects display area A3 (by touching the touch panel), the operation control unit 71 displays setting screen P22 (see FIGS. 13B and 13C) corresponding to display area A3 and accepts the operator's selection of the display target.

[0112] 16, the operator may be able to change the position and range of each of the display areas A0 to A4. For example, the operator may be able to select and move the rectangular frame of the display area A2, or change the range of the rectangular frame. In this way, the operator may be able to customize the display position and range of the travel information G0 to G4.

[0113] Furthermore, the operation control unit 71 may change the display content to be displayed in the display area depending on the size (range) of the display area. For example, when the display area is small, the operation control unit 71 displays a simplified version (basic information) of the driving information in the display area, and when the display area is large, the operation control unit 71 displays a detailed version (basic information and related information) of the driving information in the display area.

[0114] In another embodiment of the present invention, for example, when the display areas A2 and A3 are set to hidden ("OFF"), the operation control unit 71 may display (expand) the travel information G0 in the display area A0 corresponding to the display areas A2 and A3, as shown in FIG. 17A. Also, when the display areas A1 to A4 are set to hidden ("OFF"), for example, the operation control unit 71 may display (expand) the travel information G0 in the display area A0 corresponding to the display areas A1 to A4, as shown in FIG. 17B. In this manner, the operation control unit 71 may change the display content of the travel information G0 depending on the display or non-display setting state of the display areas A1 to A4 included in the display area A0. The operation control unit 71 may always display (expand) the travel information G0 in the entire display area A0, and when a display target is set in the display areas A1 to A4, superimpose the travel information G1 to G4 on the travel information G0.

[0115] In another embodiment of the present invention, the operation control unit 71 may display guidance information corresponding to an icon image displayed in the display area A5 of the work screen D1 (see FIG. 7). For example, when the operator selects the icon image C2 (by touching the touch panel) on the work screen D1 shown in FIG. 17B, the operation control unit 71 displays the driving information G4 ((a) in FIG. 16) in the display area A4 as the guidance information corresponding to the icon image C2 (see FIG. 17A). Furthermore, when the operator selects the icon image C3 (by touching the touch panel) on the work screen D1 shown in FIG. 17B, the operation control unit 71 displays the information indicating the positioning status ((e) in FIG. 16) in the display area A4 as the guidance information corresponding to the icon image C3. Also, for example, when the operator selects (touches) icon image C1 on the work screen D1 shown in Figure 17B, the operation control unit 71 displays information indicating the status of the linkage function for the automatic driving start operation (for example, "The setting to start automatic driving in conjunction with the lowering operation of the lift lever is ON") in the display area A4 as guidance information corresponding to the icon image C1.

[0116] In another embodiment of the present invention, the operation control unit 71 may determine the driving information G1 to G4 to be displayed in the display areas A1 to A4 based on setting history information by the operator. For example, the operation control unit 71 prioritizes and displays in the display areas driving information corresponding to setting items that have been selected most frequently among setting items selected by the operator in the past. Furthermore, when the operator changes a setting item, the operation control unit 71 prioritizes and displays in the display areas driving information corresponding to the changed setting item.

[0117] Furthermore, when the setting is such that guidance information (travel information G4) is not displayed in the display area A4, the operation control unit 71 may switch to a setting that displays guidance information if the operator does not perform the required operation. For example, when the operator frequently does not issue a travel start instruction even though the automatic travel start conditions are met, the operation control unit 71 switches to a setting that displays guidance information (travel information G4) in the display area A4. Furthermore, when the operator frequently does not perform an end operation even though the work vehicle 10 during automatic travel has reached the end point, the operation control unit 71 switches to a setting that displays guidance information (travel information G4) in the display area A4.

[0118] The work vehicle 10 of the present invention may be capable of autonomous driving even when turning. In this case, the target route R includes a straight route and a turning route. Furthermore, the operator of the work vehicle 10 may be able to switch between autonomous driving and manual driving when turning. Furthermore, the work vehicle 10 may be autonomously driven along the target route R without a driver. In this case, the operator may remotely operate an operation terminal to issue instructions to start driving, etc. Furthermore, the operation terminal used for remote operation may be the operation device 17 according to this embodiment, or may be equipped with each processing unit of the operation device 17.

[0119] The operation assistance system of the present invention may be configured as a single operation device 17, or may be configured as a server equipped with each processing unit included in the operation device 17. The operation assistance system may also be configured as a work vehicle 10 equipped with the operation device 17.

[0120] [Notes on the Invention] <Appendix 1> Displaying a display screen on an operation terminal used to operate the work vehicle; Displaying first information relating to the position of the work vehicle in a first display area included in the display screen; switching between a setting in which second information related to the traveling state of the work vehicle is displayed in a second display area included in the display screen and a setting in which the second information is not displayed in the second display area; An operation support method for performing the above.

[0121] <Appendix 2> receiving, from an operator, a first setting operation for setting the second information to be displayed in the second display area or a second setting operation for setting the second information not to be displayed in the second display area; when the first setting operation is received from the operator, the first information is displayed in the first display area and the second information is displayed in the second display area, and when the second setting operation is received from the operator, the first information is displayed in the first display area and the second information is not displayed in the second display area; The operation assistance method according to claim 1, further comprising:

[0122] <Appendix 3> the second information includes information corresponding to each of a plurality of setting items related to the traveling state of the work vehicle, when the first setting operation for selecting one of the plurality of setting items is received from the operator, the second information corresponding to the selected setting item is displayed in the second display area. 10. The operation assistance method according to claim 2.

[0123] <Appendix 4> The second information includes at least one of information regarding a traveling status of the work vehicle, information regarding a work status of the work vehicle, and operation guidance information. 4. An operation assistance method according to claim 2 or 3.

[0124] <Appendix 5> the display screen includes a plurality of the second display areas, The second information relating to the traveling state of the work vehicle, which differs from one another, can be displayed in each of the plurality of second display areas. An operation assistance method according to any one of Supplementary Notes 2 to 4.

[0125] <Appendix 6> The plurality of second display regions are arranged within the first display region. 6. An operation assistance method as described in Appendix 5.

[0126] <Appendix 7> displaying the first information at the center of the display screen in the first display area; the second information is displayed on both sides of the center of the display screen in the first display area; 7. An operation assistance method as described in Appendix 6.

[0127] <Appendix 8> The display content of the second information to be displayed in the second display areas can be changed according to the number of the second display areas. An operation assistance method according to any one of Supplementary Notes 5 to 7.

[0128] <Appendix 9> displaying an icon image corresponding to the second information in a third display area included in the display screen; changing the display mode of the icon image according to the traveling state of the work vehicle; An operation assistance method according to any one of Supplementary Notes 1 to 8.

[0129] <Appendix 10> determining the second information to be displayed in the second display area based on setting history information by an operator; An operation assistance method according to any one of Supplementary Notes 1 to 9.

[0130] <Appendix 11> a first display processing unit that displays a display screen on an operation terminal used to operate the work vehicle; a second display processing unit that displays first information related to the position of the work vehicle in a first display area included in the display screen; a setting processing unit that switches between a setting that displays second information related to the traveling state of the work vehicle in a second display area included in the display screen and a setting that does not display the second information in the second display area; An operation support system comprising:

[0131] <Appendix 12> Displaying a display screen on an operation terminal used to operate the work vehicle; Displaying first information relating to the position of the work vehicle in a first display area included in the display screen; switching between a setting in which second information related to the traveling state of the work vehicle is displayed in a second display area included in the display screen and a setting in which the second information is not displayed in the second display area; An operation support program for causing one or more processors to execute the above. [Explanation of symbols]

[0132] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 17: Operation device (operation terminal) 71: Operation control section 72: Storage section 73: Operation display section 711: Display processing unit (first display processing unit, second display processing unit) 712: Reception processing unit 713: Setting processing section A0: Display area (1st display area) A1: Display area (second display area) A2: Display area (second display area) A3: Display area (second display area) A4: Display area (second display area) A5: Display area (3rd display area) C1: Icon image C2: Icon image C3: Icon image H1: Icon image D1: Work screen F: Field G: Driving information P1: Settings screen P11: Setting screen P12: Settings screen P2: Settings screen P21: Settings screen P22: Settings screen

Claims

1. Displaying a screen on the control terminal used for operating the work vehicle, A first setting, in which first information relating to the position of the work vehicle is displayed in a first display area included in the display screen, and second information relating to the work status of the work vehicle is displayed in a second display area included in the display screen; and a second setting, in which the first information is displayed in the first display area, and the second information is not displayed in the second display area; these settings are switched according to the operator's operation. A method for assisting in the execution of an operation.

2. When a first setting operation to perform the first setting is received from the operator, the first information is displayed in the first display area and the second information is displayed in the second display area; on the other hand, when a second setting operation to perform the second setting is received from the operator, the first information is displayed in the first display area and the second information is not displayed in the second display area. The operation support method according to claim 1.

3. The second information is information about the work area in the field where the work vehicle has completed work. The operation support method according to claim 1.

4. When the work vehicle meets predetermined conditions, guidance information relating to the work vehicle is displayed in the third display area included in the display screen. The operation support method according to claim 1.

5. A first display processing unit that displays a screen on an operating terminal used for driving a work vehicle, A setting processing unit switches between a first setting, which displays first information relating to the position of the work vehicle in a first display area included in the display screen, and second information relating to the work status of the work vehicle in a second display area included in the display screen, and a second setting, which displays the first information in the first display area and does not display the second information in the second display area, according to the operator's operation. An operation support system equipped with the following features.

6. Displaying a screen on the control terminal used for operating the work vehicle, A first setting, in which first information relating to the position of the work vehicle is displayed in a first display area included in the display screen, and second information relating to the work status of the work vehicle is displayed in a second display area included in the display screen; and a second setting, in which the first information is displayed in the first display area, and the second information is not displayed in the second display area; these settings are switched according to the operator's operation. A program that provides operational support for causing one or more processors to execute a task.

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