Method for controlling work vehicles, control program for work vehicles, control system for work vehicles, and work system

Abstract

This invention provides a control method for work vehicles, a control program for work vehicles, a control system for work vehicles, and a work system that can improve the degree of freedom in initiating specific operations on work vehicles. [Solution] The method for controlling a work vehicle includes causing the work vehicle to perform a specific operation and displaying a display screen on the display unit. The start condition for starting the specific operation includes display conditions related to the display on the display unit, and the system determines that the display conditions are met when either of the following conditions are met: the first screen (guidance screen Dp1) is being displayed as the display screen, or the second screen (interrupt screen Dp2), which is different from the first screen (guidance screen Dp1), is being displayed as the display screen and the manner of screen transitions satisfies specific conditions.

Description

Technical Field

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[0001] The present invention relates to a control method for a work vehicle that causes the work vehicle to perform a specific operation, a control program for a work vehicle, a control system for a work vehicle, and a work system.

Background Art

[0002] As related art, a control system for a work vehicle (autonomous driving system) that causes a work vehicle such as a tractor to autonomously drive (autonomous driving) along a predetermined travel route is known (see, for example, Patent Document 1). In the control system for a work vehicle according to the related art, a travel route for autonomous driving is generated by a wireless communication terminal, and the work vehicle acquires information such as the travel route from the wireless communication terminal and autonomously drives in the field according to the travel route.

[0003] In this control system for a work vehicle, after various conditions for starting the autonomous driving of the work vehicle are satisfied, the user operates the wireless communication terminal to instruct the work vehicle to start autonomous driving, thereby starting the autonomous driving of the work vehicle. Specifically, when various conditions for starting autonomous driving are satisfied, the display control unit makes the start operation unit in the work screen displayed on the wireless communication terminal selectable and operable, that is, an active state. In this state, when the start operation unit in the work screen is operated on the wireless communication terminal, the autonomous driving of the work vehicle is started.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the aforementioned related technologies, the work vehicle can only initiate a specific operation (automatic driving) when a particular display screen (work screen) is shown on the wireless communication terminal. Therefore, it may not be possible for the user to initiate the specific operation at the desired time.

[0006] The object of the present invention is to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can improve the degree of freedom in the timing of initiating a specific operation by the work vehicle. [Means for solving the problem]

[0007] A control method for a work vehicle according to one aspect of the present invention comprises causing the work vehicle to perform a specific operation and displaying a display screen on the display unit. The start condition for initiating the specific operation includes display conditions relating to the display on the display unit, and the display condition is determined to be satisfied when either of the following conditions is met: a first screen is being displayed as the display screen, or a second screen different from the first screen is being displayed as the display screen and the screen transition pattern satisfies a specific condition.

[0008] A control program for a work vehicle according to one aspect of the present invention is a program that causes one or more processors to execute a control method for the work vehicle.

[0009] A control system for a work vehicle according to one aspect of the present invention comprises an execution processing unit and a display processing unit. The execution processing unit causes the work vehicle to perform a specific operation. The display processing unit causes a display screen to be displayed on the display unit. The start conditions for the execution processing unit to start the specific operation include display conditions relating to the display on the display unit. The execution processing unit determines that the display conditions are met when either a first screen is being displayed as the display screen, or a second screen different from the first screen is being displayed as the display screen and the screen transition pattern satisfies specific conditions.

[0010] A work system according to one aspect of the present invention comprises a control system for a work vehicle and the body of the work vehicle. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can improve the degree of freedom in the timing of initiating a specific operation on the work vehicle. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a schematic side view showing the external appearance of a work vehicle according to Embodiment 1. [Figure 2] Figure 2 is a schematic block diagram of the work system according to Embodiment 1. [Figure 3] Figure 3 is a schematic diagram of the work system according to Embodiment 1. [Figure 4] Figure 4 is a schematic plan view showing an example of a target route for a work vehicle according to Embodiment 1. [Figure 5] Figure 5 is a schematic diagram showing an example of a display screen in the work system according to Embodiment 1. [Figure 6] Figure 6 is a schematic diagram showing an example of screen transitions in the display screen of the work system according to Embodiment 1. [Figure 7] Figure 7 is a schematic diagram showing an example of screen transitions in the display screen of the work system according to Embodiment 1. [Figure 8] Figure 8 is a schematic diagram showing an example of screen transitions in the display screen of the work system according to Embodiment 1. [Figure 9] Figure 9 is a schematic diagram showing an example of screen transitions in the display screen of the work system according to Embodiment 1. [Modes for carrying out the invention]

[0013] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0014] (Embodiment 1) [1] Overall Configuration First, the overall configuration of the work system 100 according to this embodiment will be described with reference to FIGS. 1 and 2. The control system 1 for a work vehicle according to this embodiment (hereinafter, also simply referred to as "control system 1") constitutes the work system 100 together with the vehicle body 11 of the work vehicle 10. A work implement 12 is mounted on the vehicle body 11. That is, the work system 100 includes the control system 1 for a work vehicle and the vehicle body 11 of the work vehicle 10.

[0015] [[ID=1十二]]In this embodiment, the control system 1 includes a control device 2 (see FIG. 2) mounted on the vehicle body 11 of the work vehicle 10 and a terminal device 3. The work vehicle 10 and the terminal device 3 can communicate with each other. "Communicable" as used in the present disclosure means that information can be exchanged directly or indirectly via a communication network (network) or a repeater or the like by an appropriate communication method of wired communication or wireless communication (communication using electric waves or light as a medium). The communication network includes, for example, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a public telephone line, a mobile phone line network, a packet line network, or a wireless LAN. The fact that the work vehicle 10 and the terminal device 3 can communicate with each other is not an essential configuration in the control system 1.

[0016] The work vehicle 10 includes a vehicle body 11. The vehicle body 11 is configured to be able to mount a work implement 12. The vehicle body 11 has a function of autonomous driving. <<0 id="18"]]

[0017] The work vehicle 10 moves within the target area F1 (see FIG. 1) and performs some work within the target area F1 by means of the work implement 12. The “work” as referred to in the present disclosure is the work that the work implement 12 performs on the target area F1, and includes, for example, various agricultural operations such as tilling, leveling, seeding, fertilizing, pesticide spraying, planting (rice transplanting), or harvesting, and various operations such as construction work. In the present embodiment, as an example, the work performed by the work vehicle 10 is assumed to be tilling work.

[0018] The work implement 12 performs work within the target area F1 while the body 11 of the work vehicle 10 moves within the target area F1. In the present embodiment, as an example, the work implement 12 is assumed to be a tilling implement such as a rotary tiller or a plow that performs tilling work.

[0019] This type of work implement 12 includes a directly mounted work implement that is directly attached to the three-point link, and a trailed work implement that is towed by the body 11. In the present embodiment, as an example, the work implement 12 is a directly mounted rotary tiller that is detachably attached to the body 11 of the work vehicle 10. Here, the work implement 12 is attached to the rear side of the body 11 (the side opposite to the forward direction of the body 11). That is, the (directly mounted) work implement 12 is connected to the rear side of the body 11 and performs work while moving forward together with the body 11 when the body 11 moves forward. In the present embodiment, the work implement 12 is included in the components of the work vehicle 10, but since the work implement 12 is detachable from the body 11, it does not necessarily have to be included in the components of the work vehicle 10.

[0020] In this disclosure, "working machinery" refers to a vehicle that performs various tasks in a target area F1 such as a field, and examples include agricultural machinery such as tractors, seeders, rice transplanters, sprayers, sprayers, transplanters, and harvesters. The working vehicle 10 may also be, for example, construction machinery. In this embodiment, unless otherwise specified, the explanation will be given using the example of a tractor equipped with a rotary tiller as the working machine 12 as the working machine. In other words, the working vehicle 10 is constructed by connecting a (directly mounted) rotary tiller as the working machine 12 to a tractor as the machine body 11. With this working vehicle 10, tilling work in the target area F1 such as a field becomes possible as the machine body 11 travels over the target area F1.

[0021] Thus, in this embodiment, the machine 11 is a type of vehicle that moves by traveling through the target area F1. Here, as shown in Figure 1, the machine 11 is equipped with steering wheels 111 consisting of a pair of left and right front wheels, and drive wheels 112 consisting of a pair of left and right rear wheels, and travels through the target area F1 using these four wheels (the pair of steering wheels 111 and the pair of drive wheels 112).

[0022] Furthermore, in this embodiment, as an example, the work vehicle 10 is an automated machine that can operate by automatic driving (autonomous driving, etc.) while still being capable of carrying a driver (operator). However, it is not limited to this, and the work vehicle 10 may be an unmanned machine that drives automatically, or it may be operated by a driver (operator) (including remote control).

[0023] In this disclosure, the "target area" refers to an area in which the work vehicle 10 performs various operations such as tilling, leveling, sowing, fertilizing, pesticide spraying, planting (rice planting), or harvesting while moving, and includes paddy fields, dry fields, orchards, and pastures. For example, if the target area F1 is a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown, the crops grown in the target area F1 are agricultural products. Furthermore, if trees are grown in a nursery, the nursery becomes the target area F1, and if trees that will become timber are grown in a forest, as in forestry, the forest becomes the target area F1. In this case, the crops grown in the target area F1 are trees or shrubs. In this embodiment, unless otherwise specified, the work vehicle 10 is used for tilling work in a field (target area F1), and the explanation will be given using the example that the target area F1 is a paddy field for growing rice. Furthermore, the target area F1 is not limited to fields; for example, if the work vehicle 10 is a construction machine, then the site where the construction machine performs its work becomes the target area F1.

[0024] Furthermore, the work vehicle 10 can move automatically not only within the target area F1 (in this case, the field) but also on roads such as off-field routes outside the target area F1. Based on the position information of the work vehicle 10's current position, which is determined by the positioning device 15, the work vehicle 10 is configured to automatically travel along pre-set target routes (including off-field routes) both within and outside the target area F1. Off-field routes are, for example, inter-field connecting roads that connect multiple target areas F1 (fields). Inter-field connecting roads may be farm roads, forest roads, public roads, private roads, or automobile roads, and may be roads exclusively for the work vehicle 10 or roads that are accessible to general vehicles (passenger cars, etc.).

[0025] Furthermore, the term "autonomous driving" as used in this disclosure includes "autonomous driving," in which the work vehicle 10 drives autonomously without operator intervention, and "semi-autonomous driving," in which only steering is automated, such as with straight-line assist.

[0026] "Autonomous driving" is a driving mode in which, for example, the steering wheels 111 are automatically steered, and the vehicle speed and other parameters are also automatically controlled, so that the work vehicle 10 travels along a target route. "Straight-line assist" is a driving mode in which, for example, the steering wheels 111 are automatically steered, and the vehicle speed and other parameters are controlled by the operator, so that the work vehicle 10 travels along a straight route parallel to a reference straight line (reference line). In other words, in "semi-autonomous driving," the work vehicle 10 cannot travel without operator input, but the burden of steering is reduced for the operator, and because it can travel along a target route such as a straight route, it leads to improved work efficiency. Furthermore, in both autonomous driving and semi-autonomous driving, the steering wheels 111 are automatically steered, so it can be said that this is a form of "automatic steering mode."

[0027] In automatic steering mode, the steering wheels 111 are automatically steered by an automatic steering mechanism including a steering motor. In other words, instead of the operator operating the steering control unit 41 (see Figure 1), automatic steering is achieved by changing the direction of the steering wheels 111 with the output of the steering motor. In short, the body 11 of the work vehicle 10 according to this embodiment has an automatic steering function that automatically steers the steering wheels 111.

[0028] In this embodiment, as an example, terminal device 3 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. Terminal device 3, which is a general-purpose terminal, has dedicated application software (program) installed on it, and by starting this application software, terminal device 3 functions as terminal device 3 of control system 1.

[0029] [2] Configuration of the work machine Next, the configuration of the work vehicle 10 according to this embodiment will be described in detail with reference to Figures 1 to 3.

[0030] In this embodiment, for the sake of explanation, the vertical direction when the work vehicle 10 is in a usable state is defined as the up-down direction D1 (see Figure 1). The forward-backward direction D2 and the left-right direction are defined based on the direction as seen from the driver (operator) sitting in the machine body 11 (driver's unit 5) of the work vehicle 10. The left side of the left-right direction refers to the left side when the machine body 11 is traveling forward (moving forward), and the right side of the left-right direction refers to the right side when the machine body 11 is traveling forward (moving forward). However, these directions are not intended to limit the direction of use (direction during use) of the work vehicle 10.

[0031] As shown in Figure 2, the work vehicle 10 is equipped with a control device 2, a traveling device 13, a steering device 14, a positioning device 15, a detection device 16, a communication device 17, and a power source 18, in addition to the main body 11 and the work machine 12. The control device 2, traveling device 13, steering device 14, positioning device 15, detection device 16, communication device 17, and power source 18 are all mounted on the main body 11.

[0032] The machine body 11 has a control room 5 (see Figure 1) on which an operator can board. The control room 5 is equipped with a steering control unit 41, an operating lever 42, and pedals 43, etc., which are part of the steering system 14. The steering control unit 41, the operating lever 42, and the pedals 43, etc., are controls operated by the operator. Therefore, the work vehicle 10 is configured to be able to be driven not only automatically but also manually by the operator.

[0033] A work implement coupling section 46, consisting of a three-point linkage mechanism, is provided at the rear of the machine body 11. A work implement 12 can be attached to the work implement coupling section 46. Power generated by the power source 18 can be transmitted to the towed work implement 12 via the transmission 44 and the power take-off shaft (PTO shaft) located at the rear of the machine body 11. Here, since the work implement 12 is detachably connected to the work implement coupling section 46, it is also possible to connect a device other than the work implement 12 to the machine body 11.

[0034] In this embodiment, the implement 12 is a directly mounted rotary tiller, so tilling can be performed on the field, which is the target area F1, when the machine body 11 is moving forward. The implement 12 has a variable relative position (relative height) in the vertical direction D1 with respect to the machine body 11. As a result, the height of the implement 12 is variable when the field surface, which is the ground surface of the target area F1, is used as a reference. For example, by raising the implement 12 to a height away from the ground surface of the target area F1, the work vehicle 10 can also travel in a non-working state without performing work with the implement 12.

[0035] As shown in Figure 1, the running gear 13 is a device that drives the work vehicle 10 by driving the drive wheels 112, which consist of a pair of rear wheels (left and right). The running gear 13 includes a transmission 44 and transmits the power generated by the power source 18 to the drive wheels 112 via the transmission 44, thereby moving the machine 11 forward or backward. Furthermore, the running gear 13 includes a brake device and can also decelerate or stop the machine 11. In this embodiment, the drive wheels 112 are ordinary wheels, but it is not limited to this, and for example, the machine 11 may be a half-crawler type with crawler tracks for the drive wheels 112.

[0036] As shown in Figure 1, the steering device 14 is a device that steers the steering wheels 111, which consist of a pair of front wheels (left and right). The steering device 14 includes a steering control unit 41 and steers the steering wheels 111 in accordance with the operator's operation of the steering control unit 41. The pair of steering wheels 111 have a reference posture in a plan view where they are facing in the front-rear direction D2, that is, a posture where the axis of rotation is aligned in the left-right direction, and the steering device 14 steers them so that they tilt to the left or right from the reference posture. In other words, the steering device 14 steers the steering wheels 111 by changing the orientation of the pair of steering wheels 111.

[0037] When the steering control unit 41 is operated clockwise from the position of the pair of steering wheels 111, the steering device 14 steers the pair of steering wheels 111 (front ends) to the right, causing the aircraft 11 to turn to the right when moving forward. On the other hand, when the steering control unit 41 is operated counterclockwise from the position of the pair of steering wheels 111, the steering device 14 steers the pair of steering wheels 111 (front ends) to the left, causing the aircraft 11 to turn to the left when moving forward. In this embodiment, the operator operates the steering control unit 41 during manual steering, but this is not limited to this, and manual steering may be performed by the operator operating, for example, an operating lever.

[0038] With the running gear 13 and steering gear 14, the aircraft 11 can move within the target area F1 in the longitudinal direction D2 and the lateral direction. For example, when the driving wheels 112 are driven by the running gear 13 and the aircraft 11 is moving forward, if the angle of the steering wheels 111 is changed by the steering gear 14, the aircraft 11 will turn in the lateral direction and the direction of travel of the aircraft 11 will be changed.

[0039] The positioning device 15 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 15 is, for example, positioned on the LOPS frame 114 and calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as GNSS (Global Navigation Satellite System). In other words, the positioning device 15 has a positioning antenna that receives positioning signals from multiple satellites 202 (see Figure 3) and calculates the current position based on the positioning signals. Furthermore, the positioning device 15 includes an inertial sensor and can also detect the attitude of the aircraft 11, such as its current bearing.

[0040] Furthermore, as shown in Figure 3, the positioning device 15 employs a relatively high-precision positioning method, such as RTK (Real Time Kinematic) positioning, which calculates the current position of the work vehicle 10 by utilizing correction information corresponding to a base station 201 (reference station) close to the work vehicle 10. The current position of the aircraft 11 may be the same as the positioning position (position of the positioning antenna), or it may be a position shifted from the positioning position, such as the center position of the aircraft 11 in a plan view. For example, a mobile phone terminal, smartphone, tablet terminal, or quantum compass may be used as the positioning device 15.

[0041] The detection device 16 detects obstacles in the detection area. The detection device 16 includes an obstacle sensor and a detection processing unit. The obstacle sensor may include various sensors such as a camera (image sensor), sonar sensor, human presence sensor, radar, or LiDAR (Light Detection and Ranging). The obstacle sensor may be a 3D sensor that measures the distance to an object (obstacle) using the TOF (Time Of Flight) method, which measures the distance to the distance measurement point based on the round-trip time it takes for light or sound to reach the distance measurement point and return. The detection processing unit detects obstacles based on the measurement information obtained from the obstacle sensor. Here, the detection processing unit may only detect the presence or absence of obstacles, or it may detect the position, shape, number, or attributes (including type, etc.) of the obstacles.

[0042] The detection results from the detection device 16 are output to the control device 2. When the detection device 16 detects an obstacle during the automatic driving of the work vehicle 10, the control device 2 outputs an alarm (including notification by sound and / or light) and performs obstacle avoidance processing (including detour, deceleration, or stopping) by controlling the driving device 13 and steering device 14. Furthermore, the control device 2 may output the location information of the obstacle and the execution history of the avoidance processing to the terminal device 3 and display it on the terminal device 3.

[0043] The communication device 17 is a communication interface for connecting the work vehicle 10 (control device 2 and positioning device 15, etc.) to an external device by wire or wireless connection and for performing data communication with the external device in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 is capable of communicating with at least the terminal device 3, which is an external device. For example, a mobile phone terminal, smartphone, or tablet terminal may be used as the communication device 17.

[0044] The power source 18 is a drive source that supplies power to at least the running gear 13. The power source 18 is located at the front of the machine body 11, covered by a bonnet 45. The power source 18 is the drive source for the work vehicle 10, and is, for example, a diesel engine. However, the power source 18 of the work vehicle 10 is not limited to a diesel engine, but may be an engine such as a gasoline engine, an electric motor, or a hybrid system of an engine and an electric motor.

[0045] Furthermore, the power source 18 drives a hydraulic pump, which supplies hydraulic fluid to the hydraulic cylinders and other components of the power steering mechanism of the steering device 14. In other words, the power source 18 is configured to also supply power to the power steering mechanism.

[0046] The transmission 44 is located behind the power source 18 and below the driver's compartment 5. The transmission 44 includes a power transmission device. The rotational power of the power source 18 is transmitted to at least one of the steering wheels 111 and the drive wheels 112 (in this embodiment, the drive wheels 112) via the power transmission device in the transmission 44.

[0047] The driver's unit 5 is located behind the power source 18 in the aircraft body 11. The driver's unit 5 includes a driver's seat and a dashboard 52, etc. The driver's seat is where the driver sits. The dashboard 52 also serves as the steering column and is located in front of the driver's seat.

[0048] The steering control unit 41 is, for example, a steering wheel operated by a driver seated in the driver's seat. The steering control unit 41 is rotatably supported by a steering shaft located within the dashboard 52. The steering control unit 41 is located in front of the driver's seat and above the dashboard 52. The aircraft 11 can change the direction (steering angle) of the steering wheels 111 by rotating the steering control unit 41.

[0049] In addition, the driver's unit 5 is equipped with, for example, an operating lever 42 and pedals 43 operated by the driver, and a meter that indicates the speed of the work vehicle 10. The operating lever 42 may include multiple types of levers, such as a main gear shift lever, a sub-gear shift lever, or a work lever. The pedals 43 may also include multiple types of pedals, such as an accelerator pedal and a brake pedal.

[0050] In this embodiment, the work vehicle 10 is equipped with a rops frame 114 behind the driver's seat. The rops frame 114 protects the driver in the event of the work vehicle 10 tipping over. The work vehicle 10 is not limited to a rops specification equipped with a rops frame 114, but may also be a cabin specification in which the driver's seat is covered by a cabin.

[0051] The control device 2 primarily consists of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, since the control device 2 primarily consists of a computer system having one or more processors, the control device 2 is realized when one or more processors execute a control program for the work machine. In this embodiment, the control device 2 is an integrated controller that controls the entire work vehicle 10, and consists of, for example, an electronic control unit (ECU). However, the control device 2 may be provided separately from the integrated controller.

[0052] The control device 2 is configured to communicate with devices provided in various parts of the machine body 11. In other words, the control device 2 is electrically connected to the work equipment 12, the travel equipment 13, the steering equipment 14, the positioning device 15, the detection device 16, the communication device 17, and the power source 18, etc. As a result, the control device 2 can control the work equipment 12, the travel equipment 13, the steering equipment 14, etc., and acquire the outputs of the positioning device 15, the detection device 16, etc. Here, the control device 2 may exchange various types of information (data) directly with each device, or it may do so indirectly via a relay or the like.

[0053] In this embodiment, the control device 2, as shown in Figure 2, includes a driving control unit 21, a steering control unit 22, a work control unit 23, and a storage unit 24.

[0054] The driving control unit 21 controls the driving device 13 and the power source 18. At least during autonomous driving, the driving control unit 21 controls the driving device 13 and the power source 18 to bring the vehicle speed, engine speed, etc., closer to target values, on behalf of the operator. The driving control unit 21 can also control the brake device of the driving device 13 to decelerate or stop the machine 11.

[0055] The steering control unit 22 controls the steering device 14. The steering control unit 22 has two operating modes: an automatic steering mode and a manual steering mode, and is configured to be switchable between the automatic steering mode and the manual steering mode. The manual steering mode is a mode in which the operator performs steering by operating the steering control unit 41. At least during autonomous or semi-autonomous driving, the steering control unit 22 operates in automatic steering mode and controls the steering device 14 to bring the steering angle of the steering wheels 111 closer to the target steering angle, on behalf of the operator.

[0056] In particular, during autonomous driving, the steering control unit 22, together with the driving control unit 21, controls the work vehicle 10 based on the current position of the vehicle 11 so that the vehicle 11 travels along the target path. The target path for autonomous driving of the work vehicle 10 is generated, for example, in the terminal device 3. That is, the work vehicle 10 obtains path data corresponding to the target path from the terminal device 3 and drives autonomously according to the target path.

[0057] The work control unit 23 controls the work machine 12. The driving control unit 21 controls the work machine 12 based on the current position of the vehicle 11 on the target path, at least during autonomous driving. Specifically, if the work vehicle 10 is traveling along a work path on the target path in which work is to be performed by the work machine 12, the work control unit 23 sets the work machine 12 to the work position and performs work with the work machine 12. On the other hand, if the work vehicle 10 is traveling along a non-work path on the target path in which work is not to be performed by the work machine 12, the work control unit 23 raises the work machine 12 to the non-work position and stops work with the work machine 12.

[0058] The memory unit 24 is a non-volatile memory that stores various data such as control programs for the work machine and target path information related to the target route. In other words, the driving control unit 21 and the steering control unit 22 can, for example, perform autonomous driving along the target route based on the target route information stored in the memory unit 24.

[0059] In addition to the above-described configuration, the work vehicle 10 is further equipped with a battery, fuel tank, and various sensors. The battery supplies power for operation to various parts of the work vehicle 10, such as the control device 2. In particular, electronic devices such as the control device 2, steering device 14, positioning device 15, detection device 16, and communication device 17 can operate even when the power source 18 is stopped, as they are powered by the battery.

[0060] [3] Configuration of terminal device Next, the configuration of the terminal device 3 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0061] In this embodiment, the terminal device 3 is capable of communicating with the work vehicle 10 as described above, and together with the control device 2 of the work vehicle 10, constitutes the control system 1. In other words, the components of the control system 1 are distributed and provided in at least the work vehicle 10 and the terminal device 3. However, the configuration is not limited to this, and for example, the functions of the control device 2 may be provided in the terminal device 3, in which case the components of the control system 1 will be realized by the terminal device 3 alone.

[0062] In this embodiment, as an example, the terminal device 3 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. The terminal device 3 is positioned in a location easily visible to the operator, such as the driver's unit 5 of the work vehicle 10. As shown in Figure 2, the terminal device 3 includes an information processing unit 31, a display unit 32, an operation unit 33, and a communication unit 34. Furthermore, the terminal device 3 also includes a sound output unit that outputs sound (including voice) to the user (operator), and a battery, etc.

[0063] The information processing unit 31 primarily consists of a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM, and performs various processes (information processing). In this embodiment, since the information processing unit 31 primarily consists of a computer system having one or more processors, the information processing unit 31 is realized when one or more processors execute a control program for the work vehicle. In other words, the control system 1 is realized through the cooperation of the control device 2 and the terminal device 3, as one or more processors of the control device 2 included in the control system 1 and one or more processors of the information processing unit 31 each execute a control program for the work vehicle.

[0064] The information processing unit 31 is configured to communicate with each part of the terminal device 3 (display unit 32, operation unit 33, and communication unit 34). In other words, the information processing unit 31 is electrically connected to the display unit 32, operation unit 33, and communication unit 34, etc. This allows the information processing unit 31 to control the display of the display unit 32 and to acquire operation inputs for the operation unit 33. Here, the information processing unit 31 may exchange various types of information (data) directly with each part, or indirectly via a relay or the like.

[0065] Such a terminal device 3 is a user interface for receiving operation input from a user (operator) and outputting various information to the user. For example, the terminal device 3 outputs various information to the user by displaying various screens on the display unit 32. Furthermore, the terminal device 3 accepts various operations from the user by outputting electrical signals corresponding to the user's operations on the operation unit 33. In this disclosure, "screen" means the image (video) displayed on the display unit 32, etc., of the terminal device 3, and includes illustrations, figures, photographs, text, and videos. The screens displayed on the terminal device 3 include not only still images but also images (videos) that change moment by moment.

[0066] The display unit 32 is a user interface equipped with a display device such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 32 displays the progress of work in the target area F1, as well as the operating status of the work vehicle 10, including the target route of the work vehicle 10, the (actual) movement trajectory, the current position and movement speed, thereby enabling remote monitoring of the work vehicle 10 during autonomous operation by the operator.

[0067] The control unit 33 is a user interface equipped with input means such as a touch panel, mouse, keyboard, mechanical switch, or encoder for receiving operations. The control unit 33 can receive instructions from the operator to start or stop the automatic driving of the work vehicle 10. The terminal device 3 can remotely control the work vehicle 10 by transmitting these start or stop instructions to the work vehicle 10. Therefore, the operator can remotely control the work vehicle 10.

[0068] In this embodiment, as an example, the display unit 32 and the operation unit 33 are integrated and constitute a touch panel display. The operator can set (register) various information by operating the operation unit 33 on the operation screen displayed on the display unit 32. This allows, for example, the operator to set automatic driving information (including target route information) related to the automatic driving of the work vehicle 10 using the terminal device 3.

[0069] The communication unit 34 is a communication interface for connecting the terminal device 3 to the work vehicle 10 by wire or wireless connection and for performing data communication with the work vehicle 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 34 can communicate with at least the work vehicle 10 (its communication device 17) via a communication network. Furthermore, since the communication unit 34 can connect to the communication network at least wirelessly, it is possible to communicate with the work vehicle 10 at any time, even when the communication unit 34 is at a sufficiently distant location from the work vehicle 10.

[0070] In this embodiment, the information processing unit 31 includes a generation processing unit 311, an execution processing unit 312, a display processing unit 313, and a storage unit 314, as shown in Figure 2. In this embodiment, as an example, the information processing unit 31 mainly consists of a computer system having one or more processors, so these multiple functional units (generation processing unit 311, etc.) are realized by one or more processors executing a control program for a work vehicle. These multiple functional units included in the information processing unit 31 may be distributed across multiple housings or may be provided in a single housing.

[0071] The memory unit 314 is a non-volatile memory that stores various data such as control programs for work vehicles and target route information related to target routes. Furthermore, the memory unit 314 can store various data such as work equipment information, work vehicle information, field information, and work information. Work equipment information is information about work equipment 12 attached to the machine body 11, and includes information such as the type of work equipment 12, identification information, model name, model number, and size (dimensions). Work vehicle information is information about the machine body 11 (vehicle body) of the work vehicle 10, and includes information such as the type of machine body 11 (e.g., half-crawler type / wheel type), identification information, model name, model number, and size (dimensions). Field information is information about the field designated as the target area F1, and includes information such as field identification information, field name, location, shape, size, work start position (travel start position) where work is started, work end position (travel end position) where work is finished, and work direction. Work information refers to information about the work performed by the work vehicle 10, and includes, for example, the type of work and how the work will be performed in detail. Furthermore, information such as whether or not coordinated work is performed by the work vehicle 10, the width of the headland, and the width of the uncultivated land may also be included in the work information.

[0072] The information stored in the memory unit 314 (target route information, implement information, work vehicle information, field information, and work information, etc.) is set (registered) by user (operator) input to the operation unit 33 or by acquisition from the work vehicle 10. For example, the type of implement 12 in the implement information may be specified by the user by operating the operation unit 33, or the work vehicle 10 may automatically identify the implement 12 attached to the machine body 11 and transmit it to the terminal device 3. The terminal device 3 may also acquire this information from external devices other than the work vehicle 10 (e.g., a server, external storage medium, or other terminal device).

[0073] The generation processing unit 311 has the function of generating a target route for the work vehicle 10 to automatically travel in the target area F1. Here, the generation processing unit 311 generates the target route based on work machine information, work vehicle information, field information, and work information, etc., which are set (registered) by user (operator) input to the operation unit 33, for example.

[0074] Specifically, the generation processing unit 311 generates a target path within the target area F1 based on the starting and ending positions of travel included in the field information. For example, the generation processing unit 311 generates a target path for moving the body 11 of the work vehicle 10 from the starting position to the ending position within the target area F1.

[0075] The execution processing unit 312 performs execution processing to cause the work vehicle 10 to perform a specific operation. The term "specific operation" as used in this disclosure refers to a specific operation performed by the work vehicle 10, and includes, for example, an operation that the work vehicle 10 automatically performs by controlling at least one of the work equipment 12, the travel device 13, and the steering device 14 in the work vehicle 10.

[0076] In this embodiment, as an example, "specific actions" include actions related to the automatic driving of the work vehicle 10, specifically, "autonomous driving" in which the work vehicle 10 drives autonomously without operator intervention, and "semi-autonomous driving" (automatic steering driving) in which only steering is automated, such as straight-line assist.

[0077] Therefore, when the operator issues a command to start automatic driving, the execution processing unit 312 transmits (outputs) route data for the target route to the work vehicle 10. Upon receiving the route data, the work vehicle 10 autonomously drives based on its current position calculated by the positioning device 15 and the target route specified in the route data.

[0078] The display processing unit 313 displays various information on the display unit 32. For example, the display processing unit 313 displays various display screens on the display unit 32, such as the display screen for generating the target route, and the display screen for displaying information related to automatic driving (such as the driving status of the work vehicle 10 and the work status) (such as the guidance screen Dp1 shown in Figure 5).

[0079] Terminal device 3 may be able to access the website (agricultural support site) of the agricultural support service provided by the server via a communication network. In this case, terminal device 3 can function as an operating terminal for the server by having a browser program executed by the information processing unit 31. The server then has the above-mentioned processing units and executes each of them.

[0080] [4] Control method for work vehicles The following describes an example of a control method for the work vehicle 10, primarily executed by the control system 1 (control device 2 and terminal device 3), with reference to Figures 3 to 9.

[0081] The control method according to this embodiment is executed by a control system 1, which mainly consists of a computer system; in other words, it is implemented by a control program for work vehicles (hereinafter simply referred to as the "control program"). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method.

[0082] Here, the control system 1 executes the following various processes related to the control method when a specific pre-set start operation is performed to run the control program. The start operation is, for example, the operation to start the application program (control program for work vehicles) on the terminal device 3. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific pre-set end operation is performed. The end operation is, for example, the operation to terminate the application program (control program for work vehicles) on the terminal device 3.

[0083] [4.1] Specific actions First, the "specific operation" that causes the work vehicle 10 to move automatically in the control system 1 according to this embodiment will be explained with reference to Figures 4 and 5. Here, as an example of a specific operation, "straight-line assist driving" will be explained, in which the work vehicle 10 moves semi-automatically (automatic steering driving) along a target path R1 generated based on a reference line in a target area F1 consisting of a field.

[0084] The generation processing unit 311 generates a target path R1 for the work vehicle 10 to automatically travel along. For example, as shown in Figure 4, the generation processing unit 311 generates a target path R1 that includes a plurality of straight paths (work paths) arranged at predetermined intervals (equal intervals) based on a reference line L1 passing through point A (first reference point) and point B (second reference point) within the target area F1.

[0085] The following describes an example of the procedure for generating the target path R1. For example, the display processing unit 313 displays an operation screen on the display unit 32 that accepts a setting operation from the operator to set the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within the target area F1 and presses the A-point registration button. For example, the operator moves the work vehicle 10 to the outer edge of the target area F1 and presses the A-point registration button. When the operator presses the A-point registration button, the generation processing unit 311 registers the current position of the work vehicle 10 as the first reference point (point A). Once the generation processing unit 311 has registered point A, the display processing unit 313 displays an operation screen on the display unit 32 that accepts an operation to register the second reference point (point B). The operator manually drives the work vehicle 10 in the direction in which they want the work vehicle 10 to travel and perform work (target direction). Specifically, the operator drives the work vehicle 10 in a straight line in a direction parallel to the working direction (e.g., tilling direction) when the work vehicle 10 is performing its work. At this time, the work vehicle 10 may perform a predetermined operation (e.g., tilling) while being manually driven. Then, the operator presses the B-point registration button at an arbitrary position (e.g., the outer edge of the target area F1). When the operator presses the B-point registration button, the generation processing unit 311 registers the current position of the work vehicle 10 as the second reference point (point B).

[0086] When the generation processing unit 311 acquires the position information of points A and B, it sets a straight line passing through points A and B as the reference line L1. The generation processing unit 311 may also be able to adjust the orientation of the created reference line L1. For example, the generation processing unit 311 displays the created reference line L1 on the operation screen and sets (registers) the reference line L1 when it receives a registration operation from the operator. On the other hand, when the generation processing unit 311 receives an operation from the operator to change the orientation of the reference line L1 (for example, a touch operation on the screen), it adjusts the orientation of the reference line L1 according to the operation. When the generation processing unit 311 receives an operation to register point B, it may display a selection screen asking whether to register or adjust the reference line L1.

[0087] The generation processing unit 311 generates a travel path (target path R1) that includes a reference line L1 and multiple straight lines parallel to the reference line L1. For example, the generation processing unit 311 generates multiple parallel straight lines at equal intervals with respect to the reference line L1, based on a preset work width (the width of the work machine 12) and overlap width (the width that overlaps with adjacent completed work areas). The generation processing unit 311 registers the generated target path R1 in the storage unit 314 and displays it on the display unit 32.

[0088] According to the above method, as shown in Figure 4, a target path R1 can be generated using a reference line L1 that passes through two points (points A and B) at both ends of the target area F1, thereby improving the work accuracy of the work vehicle 10. The generation processing unit 311 may also be configured to register point B after point A has been registered and the work vehicle 10 has traveled a predetermined distance (e.g., 5 m). This allows for the setting of a more accurate reference line L1.

[0089] The method for setting the reference line L1 is not limited to the method described above. For example, instead of registering point B, the reference line L1 may be automatically registered based on the orientation of the aircraft 11 at the time point A is registered. Alternatively, instead of registering point B, when point A is registered, the reference line L1 may be automatically registered according to the azimuth angle set (for example, by the operator).

[0090] After the target route R1 is generated, when the work vehicle 10 meets the conditions (prerequisite conditions) for starting automatic driving and becomes capable of automatic driving, the display processing unit 313 displays a guidance screen Dp1 on the display unit 32 as shown in Figure 5. Here, the "prerequisite conditions" are included in the start conditions for starting a specific operation and include, for example, the work vehicle 10 being located within a predetermined distance from the target route R1 and within a predetermined direction relative to the target route R1, the parking brake of the work vehicle 10 being released, the operator being seated in the driver's seat, and the positioning accuracy (position accuracy) of the work vehicle 10 being good. In other words, for example, if the work vehicle 10 is located within a predetermined distance from the target route R1 and within a predetermined direction relative to the target route R1, the parking brake of the work vehicle 10 is released, the operator is seated in the driver's seat, and the positioning accuracy (position accuracy) of the work vehicle 10 is good, the prerequisite conditions are met, and the display processing unit 313 displays the guidance screen Dp1. Whether or not an operator is sitting in the driver's seat can be determined, for example, from the output of a seat sensor installed in the driver's seat.

[0091] Thus, when the prerequisites are met and the work vehicle 10 becomes capable of automatic driving, the display processing unit 313 displays the guidance screen Dp1. At this time, the display processing unit 313 displays a message on the guidance screen Dp1 indicating that the work vehicle 10 has become capable of automatic driving (for example, "Straight-line assist can now be started"). The guidance screen Dp1 shown in Figure 5 is an example of a "first screen" that receives a start operation (start command) for a specific operation from the operator.

[0092] To initiate a specific operation (automatic driving), the operator performs the operation to initiate the specific operation while the guidance screen Dp1 is displayed on the display unit 32. One example of this operation is to operate (press) the automatic driving switch 191 (see Figure 1), which is provided separately from the terminal device 3. When the automatic driving switch 191 is operated (pressed) while the guidance screen Dp1 is displayed on the display unit 32 of the terminal device 3, the execution processing unit 312 starts the automatic driving (straight-line assist driving) of the work vehicle 10 so that it follows the target path R1. As a result, the work vehicle 10 performs the predetermined work while automatically driving along the work path included in the target path R1, and at the end point of the work path, it switches to manual driving and drives along the turning path with manual steering by the operator.

[0093] Furthermore, when a specific operation is initiated (operation of the automatic driving switch 191) while the guidance screen Dp1 is displayed on the display unit 32 of the terminal device 3, the display processing unit 313 displays a message on the guidance screen Dp1 indicating that the work vehicle 10 is driving automatically (for example, "Straight-line assist driving in progress"). This message indicating that the vehicle is driving automatically replaces, for example, the message indicating that it is ready for automatic driving in Figure 5 ("Straight-line assist can be started").

[0094] Furthermore, to stop a specific operation of the work vehicle 10 (in this case, automatic driving), the operator performs a stop operation for that specific operation. One example of a stop operation for a specific operation is operating (pressing) the automatic driving switch 191 while the work vehicle 10 is driving automatically. When the execution processing unit 312 receives a stop operation for a specific operation, it stops automatic driving and switches to manual driving. For example, if the operator presses the automatic driving switch 191 while the work vehicle 10 is driving automatically with the guidance screen Dp1 displayed, the vehicle control device 11 stops automatic driving, and the display processing unit 313 displays a message on the guidance screen Dp1 indicating that automatic driving has stopped (for example, "Straight-line assist stopped").

[0095] The operation to stop the automatic driving of the work vehicle 10 when it is driving automatically is not limited to stopping the specific operation described above, but may also be, for example, an operation of the steering control unit 41. Specifically, when the work vehicle 10 is driving automatically, if the operator riding in the work vehicle 10 rotates (steers) the steering control unit 41 by a predetermined angle or more, the execution processing unit 312 stops the specific operation (automatic driving).

[0096] Furthermore, if the above prerequisite conditions are no longer met while the work vehicle 10 is automatically driving, the work vehicle 10 may stop automatically driving. Specifically, if the operator riding in the work vehicle 10 stands up from the seat, or if the positioning accuracy (position accuracy) of the work vehicle 10 deteriorates while the work vehicle 10 is automatically driving, the above prerequisite conditions will no longer be met, and the execution processing unit 312 will stop the specific operation (automatic driving). The factors that cause the specific operation (automatic driving) to stop are not limited to the above factors, but include, for example, abnormal operation of the work vehicle 10. The message displayed on the guidance screen Dp1 when the specific operation (automatic driving) is stopped may include a message indicating the cause of the stop (for example, "The operator has left the seat").

[0097] [4.2] Conditions for initiating a specific operation Next, the "start conditions," which are the conditions for initiating a specific operation in the control system 1 according to this embodiment, will be explained with reference to Figures 5 to 9. Here, "straight-line assist driving" will be explained as an example of a specific operation.

[0098] When the operator performs a specific operation to start the operation (operation of the automatic driving switch 191) while the start conditions are met, the execution processing unit 312 starts the specific operation (automatic driving). In this embodiment, the start conditions include, as described above, "prerequisite conditions" such as the work vehicle 10 being located within a predetermined distance from the target route R1 and within a predetermined direction relative to the target route R1. Furthermore, in addition to such prerequisite conditions, the start conditions also include display conditions related to the display unit 32.

[0099] In other words, in the control method according to this embodiment, the start condition is only met when the display on the display unit 32 satisfies the display conditions in addition to satisfying the prerequisite conditions, and the specific operation (automatic driving) is started when the operator performs the start operation for the specific operation. To put it another way, even if the prerequisite conditions are met, if the display on the display unit 32 does not satisfy the display conditions, the start condition will not be met, and even if the operator performs the start operation for the specific operation, the specific operation (automatic driving) cannot be started.

[0100] Here, the display condition includes the fact that the first screen is being displayed on the display unit 32 as the display screen. In this embodiment, the guidance screen Dp1 shown in Figure 5 is an example of the first screen. Therefore, as described above, in addition to satisfying the prerequisites, when the guidance screen Dp1 shown in Figure 5 is displayed on the display unit 32, the display on the display unit 32 satisfies the display condition and satisfies the start condition, and the specific operation (automatic driving) is started when the operator performs the start operation for the specific operation.

[0101] However, if the display condition is simply that the first screen (guidance screen Dp1) is being displayed, then the work vehicle 10 can only start a specific operation (automatic driving) when a specific display screen (the first screen) is being displayed on the display unit 32 of the terminal device 3. Therefore, for example, if a display screen other than the first screen (guidance screen Dp1) is displayed on the display unit 32, such as the interrupt screen Dp2 shown in the lower part of Figure 6, the specific operation cannot be started. In order to start the specific operation, it is necessary to switch the display on the display unit 32 to the guidance screen Dp1. Consequently, there may be cases where the specific operation cannot be started at the timing desired by the user (operator).

[0102] Therefore, in the control method according to this embodiment, the display conditions are defined as the display of the first screen (guidance screen Dp1) as the display screen, the display of a second screen different from the first screen as the display screen, and the manner of screen transition satisfying specific conditions. In other words, the display conditions are satisfied not only when the first screen is being displayed as the display screen, but also when the display of a second screen different from the first screen as the display screen, and the manner of screen transition satisfying specific conditions.

[0103] Here, the second screen is a type of display screen shown on the display unit 32, and is a different screen from the first screen (guidance screen Dp1 in this embodiment). In this embodiment, the interrupt screen Dp2 illustrated in Figure 6 is an example of the second screen. The interrupt screen Dp2 is a display screen related to the set speed of the main gear lever included in the operation lever 42, and is automatically displayed by the display processing unit 313 when the main gear lever is operated. In other words, as shown in Figure 6, when the main gear lever is operated while the guidance screen Dp1, which is the first screen, is displayed, the display screen shown on the display unit 32 transitions from the guidance screen Dp1 to the interrupt screen Dp2, which is the second screen.

[0104] In this embodiment, as shown in Figure 6, when transitioning from the first screen (guidance screen Dp1) to a specific second screen (interrupt screen Dp2), the screen transition pattern at this time satisfies specific conditions. In other words, even if a second screen (interrupt screen Dp2) different from the first screen is displayed, if the screen transition pattern satisfies specific conditions, the display conditions will exceptionally be met. Therefore, as shown in the lower part of Figure 6, even if the interrupt screen Dp2 as the second screen is displayed, if other preceding conditions are met, when the operator performs the operation to start a specific operation (operation of the automatic driving switch 191), the execution processing unit 312 starts the specific operation (automatic driving).

[0105] As described above, the control method according to this embodiment includes causing the work vehicle 10 to perform a specific operation and displaying a display screen on the display unit 32. The start condition for initiating the specific operation includes display conditions related to the display on the display unit 32. In this control method, it is determined that the display conditions are met when either the first screen (e.g., guidance screen Dp1) is being displayed as the display screen, or the second screen (e.g., interrupt screen Dp2) different from the first screen is being displayed as the display screen and the screen transition pattern satisfies specific conditions.

[0106] Therefore, for example, even if a display screen other than the first screen (the second screen) is displayed on the display unit 32, if the screen transition pattern satisfies specific conditions, it is possible to start a specific operation without switching the display on the display unit 32 to the first screen. As a result, the degree of flexibility in the timing of starting a specific operation on the work vehicle 10 can be improved.

[0107] However, in the control method according to this embodiment, even if the second screen is being displayed, if the manner of screen transition does not satisfy specific conditions, it is determined that the display conditions are not met. For example, if the system transitions from a display screen other than the first screen (guidance screen Dp1), such as the home screen, to the interrupt screen Dp2 as the second screen, the manner of screen transition does not satisfy specific conditions while the second screen is being displayed, and therefore it is determined that the display conditions are not met. In other words, the display conditions are determined not simply by the currently displayed screen, but by considering the history of screen transitions. Therefore, even if the second screen (interrupt screen Dp2) is being displayed, the display conditions may not be met, and it may not be possible to start a specific operation.

[0108] In this way, by imposing display conditions that take screen transitions into consideration, the circumstances under which a specific action can be initiated can be limited. Therefore, it becomes easier to prevent a specific action from being initiated against the operator's intention, such as through accidental operation.

[0109] Here, the specific condition includes the transition of the display screen from the first screen to the second screen. That is, if the second screen (interrupt screen Dp2) is being displayed and the display screen transitions directly from the first screen (guidance screen Dp1) to the second screen (interrupt screen Dp2), the display condition is met. Therefore, it becomes possible to start a specific operation while a second screen, such as the interrupt screen Dp2, which is easily transitioned from the first screen, is being displayed, thereby improving the flexibility of the timing for starting a specific operation on the work vehicle 10.

[0110] Furthermore, the specific actions include actions related to the automatic driving of the work vehicle 10. In this embodiment, in particular, straight-line assist driving is used as an example of a specific action. This improves the degree of flexibility in determining the timing of initiating automatic driving of the work vehicle 10.

[0111] Furthermore, the start conditions include conditions other than the display conditions. In this embodiment, the start conditions include "prerequisite conditions" other than the display conditions, such as the work vehicle 10 being located within a predetermined distance from the target route R1 and within a predetermined direction relative to the target route R1. This makes it possible to prevent the specific operation from starting simply by satisfying the display conditions, thus making it easier to prevent the specific operation from starting against the operator's intention, such as through erroneous operation.

[0112] By the way, Figure 7 shows the guidance screen Dp1 when the prerequisite condition (in this case, "the parking brake is released") is not met. As shown in Figure 7, even if the transition from the first screen (guidance screen Dp1) to the second screen (interrupt screen Dp2) occurs when the prerequisite condition is not met, if the prerequisite condition is met while the interrupt screen Dp2 is displayed, it is determined that the start condition has been met.

[0113] In short, as shown in the middle of Figure 7, when the interrupt screen Dp2, which is the second screen, is displayed on the display unit 32 and the prerequisites are met, a message indicating that the vehicle is ready for automatic driving ("Straight-line assist can be started") is displayed on the interrupt screen Dp2, which is the second screen, as shown in the lower part of Figure 7. When the second screen (interrupt screen Dp2) in the lower part of Figure 7 is displayed, all the start conditions are met, so when the operator performs the start operation for a specific operation (operation of the automatic driving switch 191), the execution processing unit 312 starts the specific operation (automatic driving).

[0114] Thus, the control method according to this embodiment further includes issuing a notification that the system can start when the second screen (interrupt screen Dp2) is being displayed as the display screen and the start conditions are met. In short, even when the second screen (interrupt screen Dp2) is being displayed, if the screen transition pattern satisfies specific conditions (i.e., the display conditions are met) and all other conditions (preceding conditions) are met, a notification (start-ready notification) is issued indicating that the specific operation (automatic driving) can be started. This allows the operator to know that the specific operation (automatic driving) can be started, improving operability.

[0115] In particular, in this embodiment, the notification that the system is ready to start is made by a display on the second screen (interrupt screen Dp2). That is, the message ("You can start straight-line assist") included in the second screen (interrupt screen Dp2) in the lower part of Figure 7 is an example of a notification that the system is ready to start. As a result, even if the first screen (guidance screen Dp1) is not displayed on the display unit 32, the operator can know from the display on the display unit 32 that a specific operation (automatic driving) can be started.

[0116] Furthermore, a specific operation is initiated when an operating unit located outside the display screen is operated while the starting conditions are met. In this embodiment, as an example, operating (pressing) the automatic driving switch 191 (see Figure 1), which is provided separately from the terminal device 3, is the operation to initiate the specific operation. In other words, the automatic driving switch 191 is an example of an operating unit located outside the display screen.

[0117] Thus, since a specific operation is initiated only when an operation unit outside the display screen is operated, it becomes easier to prevent the specific operation from being initiated unintentionally, such as by a user error, compared to a system where the process for initiating the specific operation is completed solely on the display screen. However, the operation unit for initiating the specific operation may be included on the display screen, for example, as an icon within the display screen.

[0118] Furthermore, in this embodiment, if the operation unit (automatic driving switch 191) is operated while the display unit 313 is displaying a screen other than the first screen (guidance screen Dp1), the display unit 313 transitions the display screen to the first screen (guidance screen Dp1). In other words, as shown in Figure 8, when a specific operation is initiated while the second screen (interrupt screen Dp2) is displayed on the display unit 32, the display screen automatically transitions from the second screen to the first screen.

[0119] As a result, during the execution of a specific operation (automatic driving), a fixed display screen called the first screen (guidance screen Dp1) is displayed on the display unit 32, allowing the operator to confirm the information necessary for the specific operation on the display screen.

[0120] Furthermore, the display processing unit 313 may transition the display screen to the first screen (guidance screen Dp1) if a specific operation is initiated while a screen other than the first screen (guidance screen Dp1) is being displayed. In other words, the display screen may automatically transition from the second screen to the first screen not when the specific operation is initiated, but when the specific operation is actually initiated.

[0121] As a result, during the execution of a specific operation (automatic driving), a fixed display screen called the first screen (guidance screen Dp1) is displayed on the display unit 32, allowing the operator to confirm the information necessary for the specific operation on the display screen.

[0122] By the way, in this embodiment, the display screens are grouped. The specific condition includes the fact that the screen transitions occur within the same group. As an example, consider the screen transitions shown in Figure 9. In Figure 9, the interrupt screen Dp3 is a display screen related to the maximum engine speed and maximum vehicle speed, and is classified in the same group G1 as the interrupt screen Dp2. On the other hand, the UFO operation screen Dp4 is a display screen for setting depth control, and is classified in a different group from group G1. Both the interrupt screen Dp2 and the interrupt screen Dp3 are assumed to be "second screens".

[0123] In Figure 9, when transitioning from the first screen, guidance screen Dp1, to the second screen, interrupt screen Dp2, and then to the second screen, interrupt screen Dp3, while interrupt screen Dp3 is displayed, the transition from interrupt screen Dp2 to interrupt screen Dp3 is within the same group G1, so the manner of screen transitions satisfies the specific conditions and the display conditions. On the other hand, when transitioning from the first screen, guidance screen Dp1, to the second screen, interrupt screen Dp3, and then to the second screen, interrupt screen Dp3, while interrupt screen Dp3 is displayed, the transition from UFO operation screen Dp4 to interrupt screen Dp3 is between different groups, so the manner of screen transitions does not satisfy the specific conditions and the display conditions are not met.

[0124] In this way, by setting a wider variety of specific conditions, the degree of flexibility in determining the timing of initiating a specific action is increased.

[0125] Furthermore, the specific condition includes the fact that the elapsed time since the display screen transitioned to the second screen is within the time limit. In other words, in the example in Figure 9, if the elapsed time since the transition to the interrupt screen Dp3, which is the second screen, is within a predetermined time limit (e.g., a few seconds), the screen transition pattern satisfies the specific condition; if it exceeds the time limit, the screen transition pattern does not satisfy the specific condition. The elapsed time count may start when the transition occurs from the guidance screen Dp1 to the interrupt screen Dp2, or when the transition occurs from the interrupt screen Dp2 to the interrupt screen Dp3. By setting a time limit after a screen transition in this way, it becomes easier to prevent specific actions from being initiated against the operator's intention, such as through erroneous operation.

[0126] [5] Variant The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0127] The control system 1 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control system 1 in this disclosure are realized when the processor executes a program (a control program for work vehicles) recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control system 1 may be composed of electronic circuits.

[0128] Furthermore, it is not essential for control system 1 to have at least some of its functions integrated into a single enclosure; the components of control system 1 may be distributed across multiple enclosures. Conversely, functions that are distributed across multiple devices (e.g., control device 2 and terminal device 3) in Embodiment 1 may be integrated into a single enclosure. Moreover, at least some of the functions of control system 1 may be implemented by the cloud (cloud computing) or the like.

[0129] Furthermore, the terminal device 3 is not limited to general-purpose terminals such as tablet terminals, smartphones, or laptop computers, but may also consist of dedicated terminals. Moreover, multiple terminal devices 3 may be associated with one work vehicle 10, in which case multiple terminal devices 3 can control one work vehicle 10. Conversely, one terminal device 3 may be associated with multiple work vehicles 10, in which case one terminal device 3 can control multiple work vehicles 10.

[0130] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0131] <Note 1> To have a work vehicle perform a specific action, The display unit has the ability to display a screen, The start conditions for initiating the aforementioned specific operation include display conditions relating to the display unit, The display condition is determined to be met if either of the following conditions is met: the first screen is currently being displayed as the display screen, or the second screen, which is different from the first screen, is currently being displayed as the display screen and the manner of screen transitions satisfies specific conditions. A method for controlling work vehicles.

[0132] <Note 2> The aforementioned specific condition includes the fact that the display screen has transitioned from the first screen to the second screen. The control method for the work vehicle described in Appendix 1.

[0133] <Note 3> The aforementioned specific operation includes operations related to the automatic driving of the work vehicle. A method for controlling the work vehicle as described in Appendix 1 or 2.

[0134] <Note 4> The aforementioned start condition includes conditions other than the aforementioned display condition, A control method for the work vehicle described in any of the appendices 1 to 3.

[0135] <Note 5> The aforementioned specific operation is initiated when the operation unit located outside the display screen is operated while the aforementioned start condition is met. A control method for the work vehicle described in any of the appendices 1 to 4.

[0136] <Note 6> When the operation unit is operated while a screen other than the first screen is displayed as the display screen, the display screen is transitioned to the first screen. The control method for the work vehicle described in Appendix 5.

[0137] <Note 7> If the specified operation starts while a screen other than the first screen is being displayed, the display screen is transitioned to the first screen. A control method for the work vehicle described in any of the appendices 1 to 6.

[0138] <Note 8> The aforementioned specific condition includes the fact that the elapsed time since the display screen transitioned to the second screen is within the time limit. A control method for the work vehicle described in any of the appendices 1 to 7.

[0139] <Note 9> Even if the second screen is being displayed as the aforementioned display screen, if the manner of screen transition does not satisfy the aforementioned specific conditions, it will be determined that the display conditions are not met. A control method for the work vehicle described in any of the appendices 1 to 8.

[0140] <Note 10> The aforementioned display screens are grouped together. The aforementioned specific condition includes the fact that the screen transition is a transition within the same group. A control method for the work vehicle described in any of the appendices 1 to 9.

[0141] <Note 11> The system further includes, if the second screen is being displayed as the display screen and the start condition is met, a notification that the system can start is issued. A control method for the work vehicle described in any of the appendices 1 to 10.

[0142] <Note 12> The notification that the system can be started is made by displaying it on the second screen. The control method for the work vehicle described in Appendix 11.

[0143] <Note 13> The control method for the work vehicle described in any of the appendices 1 to 12, A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0144] 1. Control system for work vehicles 10 Work Vehicles 11 aircraft 32 Display section 100 work systems 312 Execution Processing Unit 313 Display Processing Unit 191 Automatic driving switch (operating unit) Dp1 Guidance screen (First screen) Dp2, Dp3 Interrupt screen (First screen) G1 Group

Claims

1. To have a work vehicle perform a specific action, The display unit has the ability to display a screen, The start conditions for initiating the aforementioned specific operation include display conditions relating to the display unit, The display condition is determined to be met if either of the following conditions is met: the first screen is currently being displayed as the display screen, or the second screen, which is different from the first screen, is currently being displayed as the display screen and the manner of screen transitions satisfies specific conditions. A method for controlling work vehicles.

2. The aforementioned specific condition includes the fact that the display screen has transitioned from the first screen to the second screen. A method for controlling a work vehicle according to claim 1.

3. The aforementioned specific operation includes operations related to the automatic driving of the work vehicle. A method for controlling a work vehicle according to claim 1 or 2.

4. The aforementioned start condition includes conditions other than the aforementioned display condition, A method for controlling a work vehicle according to claim 1 or 2.

5. The aforementioned specific operation is initiated when the operation unit located outside the display screen is operated while the aforementioned start condition is met. A method for controlling a work vehicle according to claim 1 or 2.

6. When the operation unit is operated while a screen other than the first screen is being displayed, the display screen is transitioned to the first screen. A method for controlling a work vehicle according to claim 5.

7. If the specified operation starts while a screen other than the first screen is being displayed, the display screen is transitioned to the first screen. A method for controlling a work vehicle according to claim 1 or 2.

8. The aforementioned specific condition includes that the elapsed time since the display screen transitioned to the second screen is within the time limit. A method for controlling a work vehicle according to claim 1 or 2.

9. Even if the second screen is being displayed as the aforementioned display screen, if the manner of screen transition does not satisfy the aforementioned specific conditions, it will be determined that the display conditions are not met. A method for controlling a work vehicle according to claim 1 or 2.

10. The aforementioned display screens are grouped together. The aforementioned specific condition includes the fact that the screen transition is a transition within the same group. A method for controlling a work vehicle according to claim 1 or 2.

11. The system further includes, if the second screen is being displayed as the display screen and the start condition is met, a notification that the system can start is issued. A method for controlling a work vehicle according to claim 1 or 2.

12. The notification that the system can be started is made by displaying it on the second screen. A method for controlling a work vehicle according to claim 11.

13. A method for controlling a work vehicle according to claim 1 or 2, A control program for a work vehicle to be executed by one or more processors.

14. An execution processing unit that causes a work vehicle to perform a specific action, The display unit comprises a display processing unit that displays a display screen, The start conditions for the execution processing unit to start the specific operation include display conditions relating to the display unit, The execution processing unit determines that the display condition is met if either of the following conditions is met: the first screen is being displayed as the display screen, or the second screen, which is different from the first screen, is being displayed as the display screen and the screen transition pattern satisfies specific conditions. Control system for work vehicles.

15. A control system for a work vehicle according to claim 14, The above-mentioned work vehicle body comprises, Work system.

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