Display method, display terminal, and display program

Abstract

To provide a display method, a display terminal, and a display program capable of displaying work information corresponding to a display item suitable for a user on the display terminal.SOLUTION: A display method includes displaying map information including at least a current position of a work vehicle in a preset first display area of a display unit, displaying a display item indicating a current work status of the work vehicle in a preset second display area of the display unit, and switching the first display item indicating a first work status displayed in the second display area to a second display item indicating a second work status.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a display method, a display terminal, and a display program for displaying information about work performed by a work vehicle on a display unit of a display terminal. [Background technology]

[0002] Conventionally, systems have been known that allow a user to grasp the work status of a work vehicle traveling autonomously within a field using a display terminal. For example, Patent Document 1 discloses a system that can display on a display terminal a preset travel route (target route) of the work vehicle and the current position of the traveling work vehicle superimposed on a map, and can also display the deviation between the travel route and the current position. In this way, the display terminal can display various display items that indicate the current work status of the work vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-147161 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the display terminal may be shared by multiple different types of work vehicles, such as tractors, combine harvesters, and rice transplanters. In this case, if the display items displayed on the display terminal are set uniformly, some display items may be unnecessary for the user depending on the type of work vehicle. Furthermore, since the display area (size) of the display unit of the display terminal is finite and there is a limit to the number of display items that can be displayed, it is difficult to display all display items corresponding to all types of work vehicles on the display unit. As such, with conventional technology, it is difficult to display work information corresponding to display items appropriate for the user on the display terminal.

[0005] An object of the present invention is to provide a display method, a display terminal, and a display program that are capable of displaying task information corresponding to display items suitable for a user on a display terminal. [Means for solving the problem]

[0006] A display method according to the present invention is a display method for displaying work-related information relating to work performed by a work vehicle on a display unit of a display terminal, the display method comprising the steps of: displaying map information in a predetermined first display area of ​​the display unit; displaying a plurality of display items representing the work-related information in a juxtaposed manner in a predetermined second display area of ​​the display unit; and, when a switching operation is received from a user while the map information is displayed in the first display area and a first display item representing first work-related information is displayed in the second display area, switching the first display item in the second display area to a second display item representing second work-related information without changing the display range of the map information on the display unit.

[0007] A display terminal according to the present invention is a display terminal that displays work-related information related to work performed by a work vehicle on a display unit of the display terminal. The display terminal includes a first display processing unit, a second display processing unit, and a switching processing unit. The first display processing unit displays map information in a predetermined first display area of ​​the display unit. The second display processing unit displays multiple display items representing the work-related information in a juxtaposed manner in a predetermined second display area of ​​the display unit. When a switching operation is received from a user while the map information is displayed in the first display area and a first display item representing first work-related information is displayed in the second display area, the switching processing unit switches the first display item to a second display item representing second work-related information in the second display area without changing the display range of the map information on the display unit.

[0008] A display program according to the present invention is a display program for displaying work-related information relating to work performed by a work vehicle on a display unit of a display terminal. The display program causes one or more processors to execute the following operations: display map information in a predetermined first display area of ​​the display unit; display multiple display items representing the work-related information in a juxtaposed manner in a predetermined second display area of ​​the display unit; and, when a switching operation is received from a user while the map information is displayed in the first display area and a first display item representing first work-related information is displayed in the second display area, switch the first display item in the second display area to a second display item representing second work-related information without changing the display range of the map information on the display unit. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a display method, a display terminal, and a display program that are capable of displaying task information corresponding to display items suitable for a user on a display terminal. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing an example of a work vehicle (tractor) according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a travel route of a work vehicle according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of display item information corresponding to a tractor, which is used in the operation terminal according to the embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6B]FIG. 6B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6C] FIG. 6C is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6D] FIG. 6D is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of screen transition of display items displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of a procedure of a display process executed by the operation terminal according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of display item information corresponding to a combine harvester, which is used in the operation terminal according to the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of display item information corresponding to the rice transplanter, which is used in the operation terminal according to the embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 12A] FIG. 12A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 12B] FIG. 12B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a selection screen displayed on the operation terminal 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 Figures 1 and 2, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN. The automated driving system 1 is a system that automatically drives the work vehicle 10 within a work area (for example, field F in Figure 3).

[0013] The work vehicle of the present invention is a vehicle that performs a specific task in a work area (field F), such as a tractor, combine harvester, or rice transplanter. In this embodiment, an example will be described in which the work vehicle 10 is a tractor. Hereinafter, the work vehicle 10 will be referred to as the "tractor 10." Examples in which the work vehicle 10 is a combine harvester or rice transplanter will be described later.

[0014] The tractor 10 is a so-called robot tractor that is configured to be able to automatically (autonomously) travel along a predetermined travel route R (an inner route Ra and an outer route Rb) in a field F (see FIG. 3). For example, the tractor 10 can automatically travel along a travel route R that has been generated in advance for the field F based on position information of the current position of the tractor 10 measured by a positioning device 16.

[0015] For example, in the work area of ​​the field F shown in Fig. 3, the tractor 10 travels back and forth parallel to the inner peripheral route Ra from the work start position S, and travels in a spiral pattern on the outer peripheral route Rb toward the work end position G. The travel route R is not limited to the route shown in Fig. 3, and is set appropriately depending on the work content.

[0016] The operation terminal 20 displays various information related to work performed by the tractor 10 on the display unit, and receives operations from the user (operator) to execute processing according to the operations. For example, the user operates the operation terminal 20 to set information necessary for automatic driving, or to output an instruction to the tractor 10 to start automatic driving. The operation terminal 20 also displays information such as the work status and driving status of the tractor 10 during automatic driving on the operation display unit 23 (the display unit of the present invention). The user can grasp the work status and driving status on the operation terminal 20. The operation terminal 20 is an example of a display terminal of the present invention.

[0017] [Tractor 10] 1 and 2, the tractor 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, 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, etc. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0018] The communication unit 15 is a communication interface that connects the tractor 10 to the communication network N1 by wire or wirelessly and performs data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol.

[0019] 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 tractor 10 from a server (not shown) via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores data (route data) of a driving route R generated in the operation terminal 20.

[0020] The traveling device 13 is a drive unit that causes the tractor 10 to travel. As shown in Fig. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the tractor 10, respectively. The traveling device 13 is not limited to a wheel type that includes the front wheels 132 and the rear wheels 133, but may also be a crawler type that includes crawlers provided on the left and right sides of the tractor 10.

[0021] 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 provided 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 in the tractor 10. The battery is charged with power supplied from the generator. The vehicle control device 11, the positioning device 16, and other electrical components provided in the tractor 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0022] 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 a 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 19. When the tractor 10 performs automatic traveling, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0023] The work implement 14 is, for example, a tiller, a seed sower, a mower, a plow, or a fertilizer applicator, and is detachable from the tractor 10. This allows the tractor 10 to perform various tasks using each of the work implements 14. Figure 2 shows an example in which the work implement 14 is a tiller.

[0024] The handle 137 is an operating unit that is operated by an operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, and the traveling direction of the tractor 10 is changed.

[0025] In addition to the handlebar 137, the traveling device 13 also includes 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 tractor 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 the rear wheels 133 using an electromagnetic brake.

[0026] 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 on top of a cabin 18 in which an 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 tractor 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.

[0027] The communication unit 163 is a communication interface that connects the positioning device 16 to the communication network N1 by wire or wirelessly and performs data communication with an external device such as a base station server via the communication network N1 in accordance with a predetermined communication protocol.

[0028] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0029] 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 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 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 control program may be downloaded to the positioning device 16 from a server (not shown) via a communication network N1 and stored in the storage unit 162.

[0030] The positioning control unit 161 calculates the position (current position) of the tractor 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the tractor 10 travels autonomously within the field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites. The positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the tractor 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 tractor 10 using correction information corresponding to a base station (reference station) close to the tractor 10. In this way, the tractor 10 travels autonomously using positioning information obtained by the RTK method, for example.

[0031] 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 tractor 10 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0032] Specifically, the vehicle control device 11 causes the tractor 10 to automatically travel based on position information indicating the position of the tractor 10 measured by the positioning control unit 161. For example, when the positioning state becomes a high-precision state in which RTK positioning is possible (high-precision positioning completed) and the user presses a start button on the operation terminal 20, the operation terminal 20 outputs a work start instruction to the tractor 10. When the vehicle control device 11 receives the work start instruction from the operation terminal 20, it causes the tractor 10 to start automatic traveling based on the position information indicating the position of the tractor 10 measured by the positioning control unit 161. As a result, the tractor 10 starts automatic traveling according to the traveling route R (see FIG. 3 ) and starts work by the work implement 14. The traveling route R along which the tractor 10 travels is generated, for example, by the operation terminal 20. The tractor 10 receives route data of the traveling route R from the operation terminal 20 and automatically travels within the field F according to the traveling route R.

[0033] Furthermore, the vehicle control device 11 stops the automatic traveling of the tractor 10 when it receives a travel stop instruction from the operation terminal 20. For example, when the user presses the stop button on the operation terminal 20, the operation terminal 20 outputs a travel stop instruction to the tractor 10. When the vehicle control device 11 receives the travel stop instruction from the operation terminal 20, it stops the automatic traveling of the tractor 10. As a result, the tractor 10 stops the automatic traveling and stops work by the work implement 14.

[0034] Although not shown, the tractor 10 may further include an obstacle sensor and a camera. The obstacle sensor is a sensor that detects obstacles in a predetermined detection area using infrared rays, ultrasonic waves, or the like. For example, the obstacle sensor may be a lidar sensor (distance sensor) that can measure the distance to a measurement object (obstacle) in three dimensions using a laser, or a sonar sensor that has multiple sonars that can measure the distance to a measurement object using ultrasonic waves. The obstacle sensor is installed at the front of the body of the tractor 10 and detects obstacles ahead of the tractor 10. The obstacle sensor transmits measurement information (measured distance) to the vehicle control device 11.

[0035] The camera is a digital camera that captures images of a subject and outputs them as digital image data. The camera continuously captures images of the subject at a predetermined frame rate, generates frame images with a predetermined resolution, and transmits them to the vehicle control device 11.

[0036] The vehicle control device 11 acquires measurement information from the obstacle sensor and acquires captured images from the camera. When an obstacle is detected, the vehicle control device 11 causes the tractor 10 to avoid contact with the obstacle or stops the tractor 10. The vehicle control device 11 also outputs image data of the captured images acquired from the camera to the operation terminal 20. Upon acquiring the image data, the operation terminal 20 displays the captured images on an operation screen.

[0037] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0038] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more tractors 10 via the communication network N1.

[0039] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. An operator can operate the operation unit to set and register various information (such as work vehicle information, field information, and work information, which will be described later) on the operation screen displayed on the display unit. The user can also operate the operation unit to issue instructions to the tractor 10 to start work, stop travel, and the like. Furthermore, from a location away from the tractor 10, the user can check the travel status and work status of the tractor 10, which is automatically traveling along the travel route R within the field F, by using information displayed on the operation terminal 20. The operation display unit 23 is an example of a display unit of the present invention.

[0040] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs such as a display program that causes the operation control unit 21 to execute a display process (see FIG. 9 ), which will be described later. For example, the display 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 22. The display program may be downloaded to the operation terminal 20 from a server (not shown) via a communication network N1 and stored in the storage unit 22.

[0041] The operation control unit 21 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 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0042] Incidentally, the operation terminal 20 may be commonly used for a plurality of different types of work vehicles 10, such as tractors, combine harvesters, and rice transplanters. Conventionally, in such cases, if the display items displayed on the operation terminal 20 were set uniformly, some of the display items may be unnecessary for the user depending on the type of work vehicle 10. Furthermore, the display area (size) of the display unit of the operation terminal 20 is finite, and there is a limit to the number of display items that can be displayed, making it difficult to display a list of all display items corresponding to all types of work vehicles on the display unit. As such, with conventional technology, it is difficult to display work information corresponding to display items suitable for the user on the operation terminal 20. In contrast, the operation terminal 20 according to this embodiment is capable of displaying work information corresponding to display items suitable for the user.

[0043] Specifically, as shown in FIG. 1 , the operation control unit 21 includes various processing units such as a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a route generation processing unit 214, an output processing unit 215, a first display processing unit 216, a second display processing unit 217, a reception processing unit 218, and a switching processing unit 219. The operation control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0044] The vehicle setting processing unit 211 sets information relating to the tractor 10 (hereinafter referred to as work vehicle information). The vehicle setting processing unit 211 sets information such as the type (model) of the tractor 10, the position where the positioning antenna 164 is attached on the tractor 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the tractor 10, the vehicle speed and engine rotation speed of the tractor 10 while working, and the vehicle speed and engine rotation speed of the tractor 10 while turning, by the user performing an operation to register this information on the operation terminal 20.

[0045] For example, when the user starts the engine 131 of the tractor 10 and turns on the power of the operation terminal 20, the first display processing unit 216 causes the operation display unit 23 to display the menu screen D1 shown in Fig. 4. The user selects, for example, "Work machine registration" to register work machine information related to the work machine 14.

[0046] The field setting processing unit 212 sets information about the field F (hereinafter referred to as field information). The field setting processing unit 212 sets information such as the position and shape of the field F, the work start position S where work begins and the work end position G where work ends (see FIG. 3), and the work direction by performing an operation to register this information on the operation terminal 20. The work direction refers to the direction in which the tractor 10 travels while working with the work implement 14 in the work area, which is the area of ​​the field F excluding non-work areas such as headland and non-cultivated land. For example, the user registers the field information by selecting "Field registration" on the menu screen D1.

[0047] Information on the position and shape of the field F can be automatically acquired, for example, by a user getting on the tractor 10 and driving it around the perimeter of the field F, and recording the transition of the position information of the positioning antenna 164 at that time. The position and shape of the field F can also be acquired based on a polygon obtained by a user operating the operation terminal 20 to specify multiple points on a map displayed on the operation terminal 20. The area specified by the acquired position and shape of the field F is the area in which the tractor 10 can be driven (travel area).

[0048] The work setting processor 213 sets information relating to how work will be performed specifically (hereinafter referred to as work information). The work setting processor 213 is configured to be able to set, as work information, whether or not the tractor 10 (unmanned tractor) and the manned tractor 10 will work cooperatively, the number of skips which is the number of work paths the tractor 10 will skip when turning on the headland, the width of the headland, the width of the non-cultivated area, etc. For example, the user selects "Work area registration" on the menu screen D1 to register work information.

[0049] The route generation processing unit 214 generates a travel route R, which is a route along which the tractor 10 will automatically travel, based on the various setting information. The travel route R is, for example, a work route from a work start position S to a work end position G (see FIG. 3). The travel route R shown in FIG. 3 includes an inner circumferential route Ra along which the tractor 10 travels back and forth in parallel in an inner region of the field F, and an outer circumferential route Rb along which the tractor 10 travels in a spiral shape in an outer region of the field F. The route generation processing unit 214 can generate and store the travel route R for the tractor 10 based on the various setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. For example, the user issues an instruction to generate the travel route R by selecting "route generation" on the menu screen D1.

[0050] The route generation processing unit 214 generates a travel route R (see FIG. 3) based on the work start position S and work end position G registered in the field setting. The travel route R is not limited to the route shown in FIG. 3. When the route generation processing unit 214 generates the travel route R, the output processing unit 215 transfers the route data of the travel route R to the tractor 10.

[0051] The route data transferred from the operation terminal 20 is stored in the memory unit 12 of the tractor 10. This enables the tractor 10 to automatically travel along the travel route R while determining the current position of the tractor 10 using the positioning device 16. The current position of the tractor 10 normally coincides with the position of the positioning antenna 164.

[0052] The tractor 10 according to this embodiment travels in a substantially rectangular field F as shown in Fig. 3. The tractor 10 is configured to be able to travel automatically when its current position is located within the field F, but is configured not to be able to travel automatically when its current position is located outside the field F (such as on a public road). The tractor 10 is also configured to be able to travel automatically, for example, on the condition that its current position coincides with a work start position S.

[0053] When the current position of the tractor 10 coincides with the work start position S, and the user presses the start button on the operation terminal 20 to give an instruction to start work, the tractor 10 starts automatic driving by the vehicle control device 11, and starts work (for example, plowing work) by the work implement 14 (see FIG. 2). In other words, the tractor 10 is permitted to drive automatically on the condition that the current position coincides with the work start position S. Note that the conditions for permitting the tractor 10 to drive automatically are not limited to the above conditions.

[0054] When the automatic travel of the tractor 10 is permitted, the vehicle control device 11 automatically travels the tractor 10 from the work start position S to the work end position G based on the travel route R. Furthermore, when the tractor 10 finishes work, the vehicle control device 11 may automatically travel from the work end position G to the exit of the field F. Furthermore, while the tractor 10 is automatically traveling, the vehicle control device 11 periodically outputs various measurement values ​​(PTO rotation speed, vehicle speed, position information, etc.) to the operation terminal 20.

[0055] Here, when the tractor 10 is autonomously traveling, the operation control unit 21 causes the operation display unit 23 of the operation terminal 20 to display an operation screen D2 (see FIG. 6A, etc.). Specifically, when the route data is successfully transferred from the operation terminal 20 to the tractor 10, the operation control unit 21 causes the operation display unit 23 to display the operation screen D2. Furthermore, on the operation screen D2, the first display processing unit 216 causes map information including at least the current position of the tractor 10 to be displayed in a first display area A1 that is set in advance on the operation display unit 23. The operation screen D2 shown in FIG. 6A displays map information including the field F, the travel route R, the work start position S, the work end position G, and the current position of the tractor 10. The first display processing unit 216 may also display, on the operation screen D2, function icons such as a magnification icon for changing the map display magnification and a direction icon for changing the map direction, in addition to the map information.

[0056] Furthermore, on the operation screen D2, the second display processing unit 217 displays display items indicating the current work status of the tractor 10 in a second display area A2 that is set in advance on the operation display unit 23. The display items correspond to items such as the driving status, vehicle speed, and position of the tractor 10, and are display icons (notification icons) that display the current status of each item (measured values, etc.). For example, the operation screen D2 shown in FIG. 6A displays a display item T1 indicating the rotation speed of the PTO (Power Take Off) of the tractor 10, a display item T2 indicating the vehicle speed of the tractor 10, a display item T3 indicating the rotation speed of the engine 131 of the tractor 10, and a display item T4 indicating the height of the work implement 14. The second display processing unit 217 sets the second display area A2 at a predetermined position on the operation screen D2 and displays as many display items as can be arranged in the second display area A2. For example, the second display processing unit 217 sets the position of the second display area A2 above the first display area A1 on the operation screen D2. The second display processing unit 217 also displays four display items T1 to T4, each having a width W1 (see FIG. 7), side by side within the second display area A2. The operation control unit 21 acquires the measurement values ​​to be displayed in each display item from the vehicle control device 11 of the tractor 10.

[0057] The switching processor 219 switches the first display items, which are displayed in the second display area A2 and represent a first work status, to second display items, which represent a second work status. Specifically, the switching processor 219 displays a switching icon K1, which accepts a switching operation from the user to switch the display items (currently displayed) in the second display area A2, at a position corresponding to the second display area A2 on the operation screen D2 of the operation display unit 23. For example, as shown in FIG. 6A , the switching processor 219 displays a left-side switching icon K1, which is used to instruct the user to go back to the previous page, at a position adjacent to the left end of the second display area A2, and a right-side switching icon K1, which is used to instruct the user to go forward to the next page, at a position adjacent to the right end of the second display area A2. The switching icons K1 are function icons for accepting a switching operation from the user and executing a predetermined process. The positions of the second display area A2 and the switching icon K1 on the operation screen D2 are not limited to those shown in FIG. 6A . The switching icons K1 (right-side switching icon K1, left-side switching icon K1) are examples of the switching unit of the present invention.

[0058] For example, as shown in FIG. 6A, when the user presses the right-side switching icon K1 on the operation screen D2, the reception processing unit 218 receives the switching operation. When the reception processing unit 218 receives the switching operation, the switching processing unit 219 switches the display items displayed in the second display area A2. For example, the switching processing unit 219 switches the display items T1 to T4 in the second display area A2 to display items T5 and T6 (see FIG. 6B). The switching processing unit 219 displays two display items T5 and T6 of width W1 (see FIG. 7) side by side in the second display area A2. The display item T5 is a display icon that indicates the load factor of the engine 131 of the tractor 10, and the display item T6 is a display icon that indicates the distance from the current position of the tractor 10 to the headland. When the user presses the left switching icon K1 on the operation screen D2 shown in FIG. 6B, the switching processing unit 219 switches the display items T5 and T6 displayed in the second display area A2 to the original display items T1 to T4 (see FIG. 6A).

[0059] Furthermore, when the user presses the right-side switching icon K1 on the operation screen D2 shown in FIG. 6B, the switching processor 219 switches the display items T5 and T6 to display item T7 in the second display area A2 (see FIG. 6C). The switching processor 219 displays one display item T7 with a width W3 (see FIG. 7) in the second display area A2. The display item T7 is a display icon that indicates the amount of positional deviation (deviation) between a preset travel route R (a target route of the present invention) and the travel route (current position) on which the tractor 10 is currently traveling. Note that when the user presses the left-side switching icon K1 on the operation screen D2 shown in FIG. 6C, the switching processor 219 switches the display item T7 displayed in the second display area A2 back to the original display items T5 and T6 (see FIG. 6B).

[0060] Furthermore, when the user presses the right-side switching icon K1 on the operation screen D2 shown in FIG. 6C, the switching processing unit 219 switches the display item T7 to the display item T8 in the second display area A2 (see FIG. 6D). The switching processing unit 219 displays one display item T8 having a width W4 (see FIG. 7) in the second display area A2. The display item T8 is a setting icon for correcting the travel route on which the tractor 10 is currently traveling. The user can set the amount of correction by operating the display item T8. Note that when the user presses the left-side switching icon K1 on the operation screen D2 shown in FIG. 6D, the switching processing unit 219 switches the display item T8 displayed in the second display area A2 to the original display item T7 (see FIG. 6C). Note that when the user presses the right-side switching icon K1 on the operation screen D2 shown in FIG. 6D, the switching processing unit 219 switches the display item T8 displayed in the second display area A2 to the original display item T1 to T4 (see FIG. 6A).

[0061] In this way, by selecting the switching icon K1 on the operation screen D2, the user can switch the display content of the second display area A2 as if turning a page. That is, as shown in Fig. 7, the operation terminal 20 has page P1 including display items T1 to T4, page P2 including display items T5 and T6, page P3 including display item T7, and page P4 including display item T8, and sequentially switches between pages P1 to P4 in response to the user's selection operation of the switching icon K1 (here, the right switching icon K1). This allows the user to have the operation terminal 20 display task information for the desired display item.

[0062] Each time the user presses the right-side switching icon K1, the switching processing unit 219 switches the display items in the order of pages P1, P2, P3, P4, P1, ... (see FIG. 7), and each time the user presses the left-side switching icon K1, the switching processing unit 219 switches the display items in the order of pages P1, P4, P3, P2, P1, .... In another embodiment, the switching processing unit 219 may switch all the display items T1 to T8 so that they are scrolled in the width direction within the second display area A2. In the above embodiment, the switching processing unit 219 switches page P4 to page P1 when the user presses the right switching icon K1 while page P4 is displayed, and switches page P1 to page P4 when the user presses the left switching icon K1 while the display items of page P1 are displayed. However, in another embodiment, the switching processing unit 219 may be configured not to switch page P4 when the user presses the right switching icon K1 while page P4 is displayed, and not to switch page P1 when the user presses the left switching icon K1 while page P1 is displayed. In other words, the switching processing unit 219 may be configured to switch back and forth between pages P1 to P4 between the first page P1 and the last page P4.

[0063] To enable such display switching processing, data of display item information Dt is stored in the storage unit 22. Fig. 5 shows an example of the display item information Dt.

[0064] As shown in FIG. 5, the display item information Dt includes information such as a "display item ID," a "display item name," a "width," and a "page" for each display item. The display item ID is identification information for the display item, and the display item name is the name of the display item. The width is the width of the display icon image corresponding to the display item. The page is identification information for the page on which the display item is displayed. Image data of the display icon image corresponding to the display item is stored in the storage unit 22 in association with the display item ID.

[0065] In the example shown in FIG. 5, the display item IDs "T001" to "T008" correspond to the display items T1 to T8, respectively. Since the display item IDs "T001" to "T004" are associated with page P1, the display items T1 to T4 are displayed on the same page P1 in the second display area A2 (see FIG. 6A). Since the display item IDs "T005" and "T006" are associated with page P2, the display items T5 and T6 are displayed on the same page P2 in the second display area A2 (see FIG. 6B). Since the display item ID "T007" is associated with page P3, the display item T7 is displayed on page P3 in the second display area A2 (see FIG. 6C). Since the display item ID "T008" is associated with page P4, the display item T8 is displayed on page P4 in the second display area A2 (see FIG. 6D). The number of display items registered in the display item information Dt is not limited, and may be less than eight or may be eight or more.

[0066] Furthermore, for example, display items T1 to T6 corresponding to display item IDs "T001" to "T006" display the work state (work situation) of work vehicles, work machines, etc., display item T7 corresponding to display item ID "T0007" displays the relationship between the travel route and the work vehicle, and display item T8 corresponding to display item ID "T0008" displays items (setting items) that can be operated by the user. The display items of the present invention are not limited to the above examples, and can be set appropriately according to the type of work vehicle 10.

[0067] Here, a width is set for each display item. For example, a width W1 is set for display item IDs "T001" to "T006," a width W3 is set for display item ID "T007," and a width W4 is set for display item ID "T008." A width W0 (see FIG. 7) is set in advance for second display area A2. Here, the relationship of width W1<width W3<width W4<width W0 is satisfied. For example, when display items T1 to T4 with width W1 are arranged side by side in second display area A2, if the overall width (≈W1×4) is smaller than width W0, the operation control unit 21 associates the display items T1 to T4 with the same page. Furthermore, when display items T5 and T6 of width W1 are arranged side by side in second display area A2 and a blank area AS2 (see FIG. 7) equivalent to width W2 (≈W1×2) is generated, the operation control unit 21 may add a display item of width W1 or width W2 and associate it with the same page as display items T5 and T6. Similarly, when display item T7 of width W3 is arranged in second display area A2 and a blank area AS1 (see FIG. 7) equivalent to width W1 is generated, the operation control unit 21 may add a display item of width W1 and associate it with the same page as display item T7.

[0068] The second display processing unit 217 refers to the display item information Dt stored in the storage unit 22 and displays the display items T1 to T4 of the display item IDs "T001" to "T004" associated with the page P1 in the second display area A2 (see FIG. 6A). In this way, the second display processing unit 217 displays the number of display items that can be arranged in the width direction in the second display area A2.

[0069] Furthermore, when the user presses the right switching icon K1 on the operation screen D2 (see FIG. 6A), the switching processing unit 219 refers to the display item information Dt stored in the storage unit 22 and displays the display items T5 and T6 of the display item IDs "T005" and "T006" associated with page P2 in the second display area A2 (see FIG. 6B). In this way, the switching processing unit 219 refers to the display item information Dt and repeatedly switches the display items in the order of pages P1 to P4 (see FIG. 7). In this way, the switching processing unit 219 switches the display items currently displayed in the second display area A2 to the number of display items that can be arranged in the width direction and displays them.

[0070] The display item information Dt is set in advance by the user and stored in the storage unit 22. The user can change the display item information Dt as needed. For example, when the user performs an operation to select display items to be displayed on each page (e.g., pages P1 to P4), the operation control unit 21 may set the display item information Dt in accordance with the selection operation and store it in the storage unit 22. The user can also rearrange the display items on each page or assign desired display items to the margin areas AS1 and AS2. The display item information Dt corresponding to the tractor 10 includes at least a display item (here, display item T1) that indicates a measured value related to the PTO (e.g., rotation speed).

[0071] In this way, the operation control unit 21 stores information about the display items selected by the user in the storage unit 22, and when displaying the work status of the tractor 10, refers to the storage unit 22 and displays predetermined display items (for example, display items T1 to T4 of page P1) in the second display area A2. This allows the second display processing unit 217 to display the display items selected by the user in the second display area A2. Furthermore, the switching processing unit 219 can switch the display items in the second display area A2 to the display items selected by the user.

[0072] In another embodiment, the memory unit 22 may store a plurality of display item information Dt corresponding to the work content of the tractor 10. For example, the operation control unit 21 may set display item information Dt for each type of work implement 14 (such as a tiller, a seed drill, a brush cutter, a plow, or a fertilizer applicator) and store the set of display item information Dt in the memory unit 22. In this case, the operation control unit 21 references the display item information Dt corresponding to the type of work implement 14 selected by the user in the work implement information registration process ("Work implement registration" in FIG. 4), and displays or switches the display items in the second display area A2. For example, when the tractor 10 is equipped with a brush cutter and is performing grass cutting work, the operation control unit 21 displays display items corresponding to grass cutting work (an example of a first work content of the present invention) in the second display area A2. In this way, the display items of the present invention include a plurality of display items corresponding to the work content of a work vehicle (such as the tractor 10), and the operation control unit 21 displays the display items corresponding to the work content of the work vehicle in the second display area A2.

[0073] In another embodiment, only one switching icon K1 may be provided, as shown in Fig. 8. For example, the switching processor 219 displays the switching icon K1, with the text "Switch Display" displayed, in a position adjacent to the right end of the second display area A2. Then, the switching processor 219 switches the display items displayed in the second display area A2 each time the user presses the switching icon K1. For example, the switching processor 219 repeatedly switches the display items in the order of pages P1 to P4 each time the user presses the switching icon K1 (see Fig. 7).

[0074] As described above, the display items displayed in the second display area A2 of the operation screen D2 corresponding to the tractor 10 may include not only display items (for example, display items T1 to T4) according to the work content of the tractor 10, but also display items (for example, display items T5 to T8) according to work content common to other work vehicles 10 (for example, combine harvesters, rice transplanters, etc.). Furthermore, the display items common to multiple types of work vehicles 10 include at least a display item that indicates the deviation amount.

[0075] As described above, the operation control unit 21 can receive information such as the running status and work status of the tractor 10 from the tractor 10 and display it on the operation display unit 23.

[0076] The operation control unit 21 executes the following processes in addition to the above processes. For example, the first display processing unit 216 causes the operation display unit 23 to display a menu screen D1 (see FIG. 4), a registration screen (not shown) for registering work vehicle information, field information, work information, etc., an operation screen D2 (see FIG. 6A, etc.) that shows the driving status of automatic driving, etc.

[0077] The reception processing unit 218 also receives from the user a work start instruction to cause the tractor 10 to start work, and a travel stop instruction to stop the travel of the automatically traveling tractor 10. When the reception processing unit 218 receives each of the instructions, the output processing unit 215 outputs each of the instructions to the tractor 10.

[0078] When the vehicle control device 11 of the tractor 10 receives a work start instruction from the operation terminal 20, it starts the travel and work of the tractor 10. Furthermore, when the vehicle control device 11 receives a travel stop instruction from the operation terminal 20, it stops the travel and work of the tractor 10.

[0079] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0080] [Display Processing] An example of the display process executed by the operation control unit 21 of the operation terminal 20 will be described below with reference to Fig. 9. For example, the display process is started by the operation control unit 21 when the engine 131 of the tractor 10 starts and the power of the operation terminal 20 is turned on.

[0081] The present invention may be understood as an invention of a display method in which the operation control unit 21 executes part or all of the display processing, or an invention of a display program for causing the operation control unit 21 to execute part or all of the display method. Also, the present invention may be an invention of a display method in which one or more processors execute the display processing.

[0082] In step S1, the vehicle control device 11 of the tractor 10 starts the engine 131 of the tractor 10 in response to an engine start operation by the user. When the engine 131 starts, the positioning control unit 161 executes a direction recognition process (initialization). Furthermore, the operation control unit 21 of the operation terminal 20 turns on the power of the operation terminal 20 in response to a power-on operation by the user, and displays the menu screen D1 (see FIG. 4) on the operation display unit 23 of the operation terminal 20.

[0083] Next, in step S2, the operation control unit 21 registers various setting information. Specifically, the operation control unit 21 registers the work vehicle information, the field information, the work information, and the travel route information (travel route R) based on the setting operation by the user (see FIG. 4).

[0084] Next, in step S3, the operation control unit 21 transfers the route data of the generated travel route R to the tractor 10. The vehicle control device 11 of the tractor 10 stores the route data acquired from the operation terminal 20 in the memory unit 12.

[0085] Next, in step S4, the operation control unit 21 causes the operation display unit 23 of the operation terminal 20 to display an operation screen D2 (see FIG. 6A) that displays work information and the like. The operation control unit 21 also causes the first display area A1 of the operation screen D2 to display map information including the current position of the tractor 10, and causes the second display area A2 to display display items that show the current work status of the tractor 10. For example, the operation control unit 21 refers to the display item information Dt (see FIG. 5) in the storage unit 22 and causes the second display area A2 to display display items T1 to T4 associated with page P1 (see FIG. 6A).

[0086] For convenience, the operation screen D2 shown in FIG. 6A illustrates the state after the start of automatic driving (during automatic driving), but the operation screen D2 displayed in step S4 shows the state before the start of automatic driving, for example, the measured values ​​of each display item are at their initial values.

[0087] Next, in step S5, the operation control unit 21 determines whether or not an operation to start automatic traveling has been accepted from the user. For example, when the current position of the tractor 10 matches the work start position S, the operation control unit 21 accepts an operation to start automatic traveling from the user on the operation screen D2 (pressing the start button). When the operation control unit 21 accepts the automatic traveling start operation (S5: Yes), it outputs a work start instruction to the tractor 10. Thereafter, the processing proceeds to step S6. On the other hand, when the automatic traveling start operation has not been accepted, the operation control unit 21 waits until the automatic traveling start operation is accepted (S5: No).

[0088] In step S6, the vehicle control device 11 of the tractor 10 automatically drives the tractor 10 along the driving route R based on the position information measured by the RTK system. The vehicle control device 11 also outputs to the operation terminal 20 information on various measurement values ​​(PTO rotation speed, vehicle speed, engine rotation speed, etc.) measured during automatic driving.

[0089] Next, in step S7, the operation control unit 21 determines whether or not a switching operation to switch the display items displayed in the second display area A2 of the operation screen D2 has been accepted from the user. For example, when the user wants to check the current engine load factor of the tractor 10 or the distance from the current position of the tractor 10 to the headland, the user presses the switching icon K1 (right-side switching icon K1) on the operation screen D2 (see FIG. 6A). If the operation control unit 21 has accepted the switching operation from the user (S7: Yes), the process proceeds to step S71. On the other hand, if the operation control unit 21 has not accepted the switching operation from the user (S7: No), the process proceeds to step S8.

[0090] In step S8, the vehicle control device 11 determines whether the tractor 10 has finished working. If the tractor 10 has finished working (S8: Yes), the display process ends. On the other hand, if the tractor 10 has not finished working (S8: No), the process returns to step S6, and the tractor 10 continues automatic traveling.

[0091] In step S71, the operation control unit 21 switches the display items displayed in the second display area A2 of the operation screen D2. For example, when the user presses the switching icon K1 (right switching icon K1) on the operation screen D2 (see FIG. 6A), the operation control unit 21 switches the display items T1 to T4 corresponding to page P1 currently displayed in the second display area A2 to display items T5 and T6 corresponding to page P2 (see FIG. 5) (see FIG. 6B). Note that, for example, when the user presses the left switching icon K1 on the operation screen D2 (see FIG. 6A), the operation control unit 21 switches the display items T1 to T4 corresponding to page P1 currently displayed in the second display area A2 to display item T8 corresponding to page P4 (see FIG. 6D). Thereafter, the process returns to step S7.

[0092] Returning to step S7, when the user presses the right-side switching icon K1 again (S7: Yes), the operation control unit 21 switches the display items T5 and T6 corresponding to page P2 currently displayed in the second display area A2 to the display item T7 corresponding to page P3 (see FIG. 5) (see FIG. 6C) (S71). Furthermore, when the user presses the left-side switching icon K1 (S7: Yes), the operation control unit 21 switches the display items T5 and T6 corresponding to page P2 currently displayed in the second display area A2 to the display items T1 to T4 corresponding to the original page P1 (see FIG. 6A) (S71). In this way, from the time the tractor 10 starts autonomous traveling until the work is completed, the user can display the desired display item by switching the display items on the operation screen D2 of the operation terminal 20, thereby checking the work status, traveling status, and the like. The operation control unit 21 executes the display process as described above.

[0093] As described above, the operation terminal 20 according to this embodiment displays information related to work performed by the tractor 10 on the operation display unit 23 of the operation terminal 20. Furthermore, the operation terminal 20 displays map information including at least the current position of the tractor 10 in a first display area A1 that is set in advance on the operation display unit 23, and displays display items that represent the current work status of the tractor 10 in a second display area A2 that is set in advance on the operation display unit 23. Furthermore, the operation terminal 20 switches the first display items that represent the first work status displayed in the second display area A2 to second display items that represent the second work status.

[0094] For example, when the operation terminal 20 receives a switching operation by the user to switch the display item while displaying a first display item representing a first work status (e.g., PTO rotation speed) in the second display area A2, the operation terminal 20 switches the first display item to a second display item representing a second work status (e.g., engine load factor). Note that the operation terminal 20 displays a switching icon K1 (switching unit) that accepts the switching operation by the user on the operation display unit 23.

[0095] According to the above-described configuration, the user can check the work status, driving status, etc. by displaying desired display items on the operation terminal 20 while the tractor 10 is automatically traveling. In addition, the user can switch the display items simply by selecting the switch icon K1 displayed on the operation screen D2 of the operation terminal 20, thereby improving the operability and convenience of the operation terminal 20.

[0096] Furthermore, the user can set in advance the display items (default display items) to be displayed in the second display area A2 when autonomous driving starts, the display order (switching order) of the display items to be displayed in the second display area A2, the combination of display items when multiple items are displayed together in the second display area A2, and so on, and store the set information (display item information Dt (see FIG. 5)) in the storage unit 22. The user can also update the display item information Dt as appropriate. The operation control unit 21 can then refer to the display item information Dt to identify the display items to be displayed in the second display area A2.

[0097] [Other embodiments] The present invention is not limited to the above-described embodiment, and may be embodied in the following manner.

[0098] In the above-described embodiment, the operation control unit 21 of the operation terminal 20 switches the display item currently displayed in the second display area A2 on the condition that a switching operation by the user is received. In another embodiment, when a first display item corresponding to a first work situation is displayed in the second display area A2, the operation control unit 21 may switch the first display item to a second display item if a measurement value corresponding to the second work situation falls outside the allowable range. For example, when display items T1 to T4 are displayed in the second display area A2, the operation control unit 21 switches the display items T1 to T4 to a display item T7 representing the deviation amount if the deviation amount between the target route and the current travel route of the tractor 10 falls outside the allowable range (exceeds the threshold). In this way, when the measurement value of a display item not displayed in the second display area A2 falls outside the allowable range, the operation control unit 21 may automatically switch the display item currently displayed in the second display area A2 to the display item whose measurement value falls outside the allowable range. This can alert the user.

[0099] Furthermore, when a measurement value of a display item falls outside the allowable range, the operation control unit 21 may change the display mode of the display item on the operation screen D2. For example, the operation control unit 21 may light up or blink a display icon image of the display item whose measurement value falls outside the allowable range on the operation screen D2.

[0100] In the above embodiment, the working vehicle 10 is a tractor, but the working vehicle 10 may also be a combine harvester, a rice transplanter, or the like.

[0101] For example, if the work vehicle 10 is a combine harvester, the operation control unit 21 references the display item information Dc corresponding to the combine harvester and displays display items in the second display area A2. FIG. 10A shows an example of the display item information Dc. The display item information Dc includes information on multiple display items corresponding to the combine harvester's work content (e.g., harvesting work). For example, a combine harvester temporarily stores harvested crops in a tank mounted on the combine harvester. If the capacity of the tank exceeds a threshold, the combine harvester will be unable to continue harvesting work. For this reason, the user needs to check the work status, such as the current capacity of the tank (or the tank's free space) and the remaining reaping distance. Therefore, the display item information Dc registers, as display items corresponding to the combine harvester's work content, a display item C1 (display item ID "C001") indicating the current capacity and a display item C2 (display item ID "C002") indicating the current remaining reaping distance.

[0102] Furthermore, the display item information Dc may include display items (for example, display items C3 to C6) according to work content that is common to other work vehicles 10 (for example, tractors, rice transplanters, etc.).

[0103] FIG. 11 shows an example of the display of the operation screen D2 when the work vehicle 10 is a combine harvester. The combine harvester is equipped with a storage section for storing harvested crops. For example, when route data for the automatic travel of the combine harvester is successfully transferred from the operation terminal 20 to the combine harvester, the second display processing section 217 refers to the display item information Dc (see FIG. 10A) stored in the memory section 22, and displays the display items C1 and C5 of the display item IDs "C001" and "C005" associated with page P1 in the second display area A2 (see FIG. 11A).

[0104] When the user presses the right-side switching icon K1 on the operation screen D2 (see FIG. 11A), the switching processing unit 219 refers to the display item information Dc and displays the display items C2 and C5 of the display item IDs "C002" and "C005" associated with page P2 in the second display area A2 (see FIG. 11B). In this manner, the switching processing unit 219 refers to the display item information Dc and repeatedly switches the display items in the order of pages P1 to P4. Here, multiple "pages" may be associated with one display item, such as display item C5 (see FIG. 11A). This allows a specific display item (here, display item C5) to continue to be displayed even when the page is switched. Note that the display item information Dc corresponding to the combine harvester includes at least a display item (here, display item C1) that indicates the storage status (storage capacity) of the storage compartment. For convenience, although FIGS. 11A and 11B show the map information displayed in the first display area A1 in the same state as the map information shown in FIG. 6, in reality, map information corresponding to the combine harvester is displayed.

[0105] For example, if the work vehicle 10 is a rice transplanter, the operation control unit 21 refers to the display item information Dr corresponding to the rice transplanter and displays the display items in the second display area A2. FIG. 10B shows an example of the display item information Dr. The display item information Dr includes information on multiple display items according to the work content of the rice transplanter (e.g., rice planting work). For example, the display item information Dc has registered therein a display item R1 (display item ID "R001") that represents the remaining work area of ​​the work area.

[0106] FIG. 12 shows an example of the display of the operation screen D2 when the work vehicle 10 is a rice transplanter. The rice transplanter is equipped with a planting unit that plants seedlings. For example, when route data for the automatic travel of the rice transplanter is successfully transferred from the operation terminal 20 to the rice transplanter, the second display processing unit 217 refers to the display item information Dr (see FIG. 10B) stored in the memory unit 22, and displays the display items R1 and R4 of the display item IDs "R001" and "R004" associated with page P1 in the second display area A2 (see FIG. 12A).

[0107] When the user presses the right-side switching icon K1 on the operation screen D2 (see FIG. 12A), the switching processing unit 219 refers to the display item information Dr and displays the display items R2 and R3 of the display item IDs "R002" and "R003" associated with page P2 in the second display area A2 (see FIG. 12B). In this way, the switching processing unit 219 refers to the display item information Dr and repeatedly switches the display items in the order of pages P1 to P3. Note that the display item information Dr corresponding to the rice transplanter includes at least a display item (here, display item R1) that represents the remaining work area of ​​the work area. Also, for convenience, FIG. 12 shows the map information displayed in the first display area A1 in the same state as the map information shown in FIG. 6, but in reality, map information corresponding to the rice transplanter is displayed.

[0108] As described above, one operation terminal 20 can be used in common for multiple types of work vehicles 10. For example, when the operation terminal 20 is used for a tractor, storing a management application corresponding to the tractor in the operation terminal 20 makes it possible to operate and manage the tractor using the operation terminal 20. Also, for example, when the operation terminal 20 is used for a combine harvester, storing a management application corresponding to the combine harvester in the operation terminal 20 makes it possible to operate and manage the combine harvester using the operation terminal 20. Also, for example, when the operation terminal 20 is used for a rice transplanter, storing a management application corresponding to the rice transplanter in the operation terminal 20 makes it possible to operate and manage the rice transplanter using the operation terminal 20.

[0109] In another embodiment, the storage unit 22 of the operation terminal 20 may store management applications corresponding to multiple types of work vehicles 10. For example, the storage unit 22 of the operation terminal 20 stores a management application corresponding to a tractor, a management application corresponding to a combine harvester, and a management application corresponding to a rice transplanter. In this case, the user selects the type of work vehicle 10 to be used, for example, on a selection screen D3 shown in FIG. 13. When the user selects, for example, "tractor" on the selection screen D3, the operation control unit 21 launches the management application corresponding to the tractor stored in the storage unit 22. As a result, the operation control unit 21 displays, on the operation display unit 23, an operation screen D2 for the tractor, such as those shown in FIGS. 6A to 6D. Furthermore, when the user selects, for example, "combine harvester" on the selection screen D3, the operation control unit 21 launches the management application corresponding to the combine harvester stored in the storage unit 22. As a result, the operation control unit 21 displays, on the operation display unit 23, an operation screen D2 for the combine, such as those shown in FIGS. 11A and 11B. Furthermore, when the user selects, for example, "rice transplanter" on the selection screen D3, the operation control unit 21 starts up a management application corresponding to the rice transplanter stored in the storage unit 22. As a result, the operation control unit 21 causes the operation display unit 23 to display an operation screen D2 for the rice transplanter, such as that shown in Figures 12A and 12B.

[0110] According to this configuration, the user can easily operate and manage various work vehicles 10 using a single operation terminal 20. Therefore, even when a user introduces different types of work vehicles 10, the user can easily operate and manage the work vehicles 10 using the operation terminal 20. The operation terminal 20 may be capable of downloading a management application for the work vehicle 10 from a website. Furthermore, each management application may be stored on a web server (cloud server), and the operation terminal 20 may access the web server to execute the management application.

[0111] In another embodiment, the memory unit 22 may store a plurality of pieces of display item information corresponding to the driving mode of the work vehicle 10 (tractor, combine harvester, rice transplanter, etc.). The driving modes include a manned autonomous driving mode, an unmanned autonomous driving mode, and a straight-line driving mode with automatic steering. For example, the operation control unit 21 may set display item information for each type of driving mode and store it in the memory unit 22. In this case, the operation control unit 21 refers to the display item information corresponding to the type of driving mode selected by the user in the route generation process ("Route generation" in FIG. 4), and displays display items in the second display area A2 or switches the display items.

[0112] [Notes on the Invention] <Appendix 1> A display method for displaying information about work performed by a work vehicle on a display unit of a display terminal, comprising: Displaying map information including at least the current position of the work vehicle in a preset first display area of ​​the display unit; Displaying display items that represent the current work status of the work vehicle in a preset second display area of ​​the display unit; Switching a first display item representing a first work situation displayed in the second display area to a second display item representing a second work situation; The display method to perform.

[0113] <Appendix 2> displaying a switching unit that accepts a switching operation from a user to switch the first display item to the second display item at a position on the display unit that corresponds to the second display area; Display method as described in Appendix 1.

[0114] <Appendix 3> When the first display item is displayed in the second display area, if the measurement value corresponding to the second work situation falls outside an allowable range, the first display item is switched to the second display item. Display method as described in Appendix 1.

[0115] <Appendix 4> the display items include a plurality of display items according to the work content to be performed by the work vehicle, displaying the first display item corresponding to a first work content to be performed by the work vehicle in the second display area; A display method according to any one of Supplementary Notes 1 to 3.

[0116] <Appendix 5> displaying the first display item selected by the user in the second display area; A display method described in any one of Supplementary Notes 1 to 4.

[0117] <Appendix 6> storing information about the first display item selected by the user in a storage unit; When displaying the work status of the work vehicle, the storage unit is referenced and the first display item is displayed in the second display area. Display method as described in Appendix 5.

[0118] <Appendix 7> The second display area has a preset width, In the second display area, the first display items are displayed in as many numbers as possible in the width direction; In the second display area, the second display items are displayed in the number that can be arranged in the width direction, by switching from the first display items. A display method described in any one of Supplementary Notes 1 to 6.

[0119] <Appendix 8> When the work vehicle is a work vehicle to which a work implement can be attached, At least one of the first display item and the second display item is a display item that represents a measurement value related to PTO. A display method described in any one of Supplementary Notes 1 to 7.

[0120] <Appendix 9> When the work vehicle is a work vehicle equipped with a planting unit for planting seedlings, At least one of the first display item and the second display item is a display item that represents a remaining work area of ​​the work region. A display method described in any one of Supplementary Notes 1 to 7.

[0121] <Appendix 10> When the work vehicle is a work vehicle equipped with a storage section for storing harvested products, At least one of the first display item and the second display item is a display item that indicates the storage status of the storage unit. A display method described in any one of Supplementary Notes 1 to 7.

[0122] <Appendix 11> At least one of the first display item and the second display item is a display item that indicates the amount of deviation between a target route and a current travel route of the work vehicle, The display item representing the deviation amount is a display item common to a plurality of types of work vehicles. A display method described in any one of Supplementary Notes 1 to 7.

[0123] <Appendix 12> A display terminal that displays information about work performed by a work vehicle on a display unit, a first display processing unit that displays map information including at least the current position of the work vehicle in a preset first display area of ​​the display unit; a second display processing unit that displays display items that indicate a current work status of the work vehicle in a preset second display area of ​​the display unit; a switching processing unit that switches a first display item that represents a first work situation displayed in the second display area to a second display item that represents a second work situation; A display terminal comprising:

[0124] <Appendix 13> A display program that displays information about work performed by a work vehicle on a display unit of a display terminal, Displaying map information including at least the current position of the work vehicle in a preset first display area of ​​the display unit; Displaying display items that represent the current work status of the work vehicle in a preset second display area of ​​the display unit; Switching a first display item representing a first work situation displayed in the second display area to a second display item representing a second work situation; A display program for causing one or more processors to execute the above. [Explanation of symbols]

[0125] 1:Automated driving system 10: Work vehicles (tractors, combine harvesters, rice transplanters) 14: Work equipment 19: PTO shaft 20: Operation terminal (display terminal) 21: Operation control section 22: Storage section 23: Operation display section (display section) 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work setting processing section 214: Route generation processing unit 215: Output processing section 216: First display processing unit 217: Second display processing unit 218: Reception processing unit 219: Switching processing unit R: Travel route (target route) A1: 1st display area A2:Second display area K1: Switch icon (switch section) C1~C6:Display items R1~R4:Display items T1~T8:Display items

Claims

1. A display method for displaying work-related information relating to work performed by a work vehicle on a display unit of a display terminal, comprising: displaying map information in a first display area set in advance in the display unit; Displaying a plurality of display items representing the work-related information in a juxtaposed manner in a second display area set in advance in the display unit; when a switching operation is received from a user in a state in which the map information is displayed in the first display area and a first display item representing first work-related information is displayed in the second display area, switching the first display item to a second display item representing second work-related information in the second display area without changing a display range of the map information on the display unit; The display method to perform.

2. displaying a single switching section at a position corresponding to the second display area on the display section; When the switching operation of pressing the switching unit is received from the user, the first display item is switched to the second display item. The display method according to claim 1 .

3. switching the first display item to the second display item when the switching operation of pressing the switching unit once is received from the user; The display method according to claim 2.

4. the switching unit is an operation unit for switching a display page of the second display area, when the switching operation of pressing the switching unit is received from the user, the first display page including the first display item is switched to a second display page including the second display item; The display method according to claim 2.

5. the switching unit is an operation unit to which no specific work-related information is associated; The display method according to claim 2.

6. When the switching operation is received from the user, the first display item is switched to the second display item without changing the display range of the second display area. The display method according to any one of claims 1 to 5.

7. A display terminal that displays work-related information related to work performed by a work vehicle on a display unit of the display terminal, a first display processing unit that displays map information in a first display area that is set in advance on the display unit; a second display processing unit that displays a plurality of display items representing the work-related information in a juxtaposed manner in a second display area that is set in advance in the display unit; a switching processing unit that, when a switching operation is received from a user in a state in which the map information is displayed in the first display area and a first display item representing first work-related information is displayed in the second display area, switches the first display item in the second display area to a second display item representing second work-related information without changing a display range of the map information on the display unit; A display terminal comprising:

8. A display program that displays work-related information related to work performed by a work vehicle on a display unit of a display terminal, displaying map information in a first display area set in advance in the display unit; Displaying a plurality of display items representing the work-related information in a juxtaposed manner in a second display area set in advance in the display unit; when a switching operation is received from a user in a state in which the map information is displayed in the first display area and a first display item representing first work-related information is displayed in the second display area, switching the first display item to a second display item representing second work-related information in the second display area without changing a display range of the map information on the display unit; A display program for causing one or more processors to execute the above.

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