Work support methods, work support systems, and programs

Abstract

This technology provides appropriate guidance after switching the driving mode of a work vehicle. [Solution] An exemplary work support method is a work support method that provides support for work using a work vehicle, and includes the following: switching to an automatic driving mode in which the work vehicle is driven automatically within the field; switching to a manual driving mode in which the work vehicle is driven manually when predetermined conditions are met in the automatic driving mode; and providing a switching notification to notify that the vehicle has been switched from the automatic driving mode to the manual driving mode. The form of the switching notification differs depending on the status of the work vehicle when it is switched to the manual driving mode.

Description

Technical Field

[0001] The present invention relates to a work support method, a work support system, and a program.

Background Art

[0002] Conventionally, work vehicles that automatically travel within a farm field are known (see, for example, Patent Document 1). Since there are situations that require traveling under operator operation, the work vehicle is provided to be switchable between an automatic travel mode and a manual travel mode. Patent Document 1 discloses a technique for notifying a driver of the work vehicle or a person in the vicinity of the work vehicle whether the operation mode of the work vehicle is the automatic travel mode or the manual travel mode.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] By the way, when the travel mode is switched from the automatic travel mode to the manual travel mode, the state of the work vehicle is not always the same. For example, when switching from the automatic travel mode to the manual travel mode, traveling may be continued or traveling may be stopped. Differences may arise in the subsequent operator's handling of operations between cases where traveling is continued and cases where traveling is stopped. For this reason, it is considered that there is still room for improvement in guidance after switching travel modes.

[0005] In view of the above points, an object of the present invention is to provide appropriate guidance after switching travel modes in a work vehicle and to provide a technology capable of doing so.

Means for Solving the Problem

[0006] An exemplary work support method of the present invention is a work support method for supporting work using a work vehicle, which includes: switching to an automatic driving mode in which the work vehicle is driven automatically within a field; switching to a manual driving mode in which the work vehicle is driven manually when predetermined conditions are met in the automatic driving mode; and providing a switching notification to notify that the vehicle has been switched from the automatic driving mode to the manual driving mode. The form of the switching notification differs depending on the status of the work vehicle when it is switched to the manual driving mode.

[0007] An exemplary work support system of the present invention is a work support system that provides support for work using a work vehicle, comprising: a control unit that switches the work vehicle to a manual driving mode when predetermined conditions are met while the work vehicle is in an automatic driving mode that automatically drives the work vehicle within a field; and a notification unit that provides a switching notification to notify that the work vehicle has been switched from the automatic driving mode to the manual driving mode. The manner of the switching notification differs depending on the status of the work vehicle when it is switched to the manual driving mode.

[0008] An exemplary program of the present invention is a program that causes a computer to execute a work support method for supporting work using a work vehicle, wherein the computer functions as a means for executing the following: switching the work vehicle to an automatic driving mode for automatic driving within a field; switching the work vehicle to a manual driving mode for manual driving when predetermined conditions are met in the automatic driving mode; and performing a switching notification process to notify that the vehicle has been switched from the automatic driving mode to the manual driving mode. The form of the switching notification differs depending on the status of the work vehicle when it is switched to the manual driving mode. [Effects of the Invention]

[0009] According to an exemplary example of the present invention, appropriate guidance can be provided after switching the driving mode in a work vehicle. [Brief explanation of the drawing]

[0010] [Figure 1] Block diagram showing the general configuration of the work support system [Figure 2A] Side view showing the schematic configuration of a combine harvester. [Figure 2B] Plan view showing the general configuration of a combine harvester. [Figure 3] Side view showing the schematic configuration of the tractor. [Figure 4] Side view showing the general configuration of a rice transplanter. [Figure 5] Block diagram showing the configuration of the work vehicle [Figure 6] Block diagram showing the configuration of a mobile communication terminal. [Figure 7] A flowchart illustrating an example of the process for switching from manual driving mode to automatic driving mode. [Figure 8] A flowchart illustrating an example of the process for switching from automatic driving mode to manual driving mode. [Figure 9] Schematic diagram showing the state of the main gear shift lever. [Figure 10] A schematic diagram illustrating the threshing and grain discharge process in a combine harvester. [Figure 11] Block diagram showing an example of the configuration of the control unit installed in a work vehicle. [Figure 12] A flowchart illustrating the work support process after switching to automatic driving mode. [Figure 13] A schematic diagram illustrating an example where autonomous driving starts in reverse. [Figure 14] A schematic diagram illustrating an example where autonomous driving starts in reverse. [Figure 15] A flowchart illustrating the work support process after switching to manual driving mode. [Figure 16] A schematic diagram illustrating an example where a work vehicle continues to operate when switched from automatic to manual driving mode. [Figure 17] A schematic diagram illustrating the advantages of using voice notification when work vehicle 1 continues to operate. [Figure 18] A schematic diagram illustrating the state of the main gear shift lever. [Figure 19] Figure showing an example of a setting screen for setting whether sound notification is enabled / disabled [Figure 20] Figure showing an example of a setting screen for individually setting whether sound notification is enabled / disabled [Figure 21] Figure showing an example of a setting screen for setting the volume of sound notifications [Figure 22] Figure showing an example of a setting screen for individually setting the volume of sound notifications [Figure 23] Figure showing an example of a setting screen for setting details of sound notification sounds [Figure 24] Figure showing an example of a setting screen for setting sound source data used for sound notifications [Figure 25] Flowchart illustrating an example of notification mode setting processing according to the state of a work vehicle [Figure 26A] Table illustrating an example of sound notifications commonly applied when the work vehicle included in the work support system is any one of a combine harvester, a tractor, and a rice transplanter [Figure 26B] Table illustrating an example of sound notifications commonly applied when the work vehicle included in the work support system is any one of a combine harvester, a tractor, and a rice transplanter [Figure 27] Table illustrating an example of sound notifications applied when the work vehicle included in the work support system is a combine harvester [Figure 28] Table illustrating an example of sound notifications applied when the work vehicle included in the work support system is a tractor [Figure 29] Table illustrating an example of sound notifications applied when the work vehicle included in the work support system is a rice transplanter DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiments of the present invention will be described with reference to the drawings. In this specification, directions are defined as follows: First, the direction in which the work vehicle moves during work is defined as "forward," and the opposite direction is defined as "rear." Also, the right side in the direction of travel of the work vehicle is defined as "right," and the left side is defined as "left." Furthermore, the direction perpendicular to the front-rear and left-right directions of the work vehicle is defined as the up-down direction. In this case, the direction of gravity is defined as "down," and the opposite side is defined as "up." The above directions are merely names used for explanatory purposes and are not intended to limit the actual positional relationships and directions.

[0012] <1. Overview of the work support system> Figure 1 is a block diagram illustrating the schematic configuration of a work support system 100 according to an embodiment of the present invention. As shown in Figure 1, the work support system 100 comprises a work vehicle 1, a portable communication terminal 2, and a remote control device 3. The work support system 100 is a system that provides support for work using the work vehicle 1. More specifically, the work support system 100 is a system that provides support for work using a work vehicle 1 that is capable of automatically traveling within a field. More specifically, the work support system 100 is a field work support system that provides support for field work performed using a work vehicle 1 traveling within a field.

[0013] Furthermore, the work support system 100 performs a work support method to assist with work using the work vehicle 1. The work support system 100 performs a work support method to assist with work using the work vehicle 1, which is equipped to automatically travel within the field.

[0014] [1-1. Work Vehicles] Work vehicles 1 broadly include work vehicles that travel within a field. Work vehicles 1 include, for example, combine harvesters, tractors, rice transplanters, various harvesting machines, or sprayers for applying chemical solutions. Below, a brief explanation will be given of configuration examples of combine harvester 1C, tractor 1T, and rice transplanter 1R to which the present invention is applied.

[0015] Figure 2A is a side view showing the schematic configuration of a combine harvester 1C according to an embodiment of the present invention. In Figure 2A, the symbol F indicates a field. Figure 2B is a plan view showing the schematic configuration of a combine harvester 1C according to an embodiment of the present invention. As shown in Figures 2A and 2B, the combine harvester 1C includes a machine base 1C1, an engine 1C2, a threshing device 1C3, a grain tank 1C4, an operating unit 1C5, a discharge auger 1C6, a cutting unit 1C7, and a pair of traveling units 1C8.

[0016] The machine base 1C1 is a frame that supports each part. The engine 1C2 supplies power to each part of the combine harvester 1C. The harvesting unit 1C7, which is an example of a working implement, is located at the front end of the machine base 1C1. The harvesting unit 1C7 cuts the grain stalks that have grown in the field F. A lifting cylinder (not shown) is connected to the harvesting unit 1C7 to raise and lower it. In other words, the harvesting unit 1C7 is provided to be able to move up and down.

[0017] The threshing device 1C3 threshes the grain stalks cut by the harvesting unit 1C7. The grain tank 1C4 stores the threshed grain. The discharge auger 1C6 transports the threshed grain from the grain tank 1C4 to the outside of the combine harvester 1C. The driver's section 1C5 is where the driver sits. The driver's section 1C5 includes a driver's seat 1C5a, a steering wheel 1C5b for steering the combine harvester 1C, and various controls (not shown) for operating the combine harvester 1C. A pair of running sections 1C8 are spaced apart from each other in the left-right direction. Each of the pair of running sections 1C8 is provided to receive power from the engine 1C2. Driven by the running sections 1C8, the combine harvester 1C travels across the field F.

[0018] Figure 3 is a side view showing a schematic configuration of a tractor 1T according to an embodiment of the present invention. In Figure 3, the symbol F also indicates a field. The tractor 1T comprises a traveling body 1T1 that travels within the field F, and a tiller 1T2 as an implement mounted on the rear of the traveling body 1T1. In addition to the tiller 1T2, other implements such as a plow, fertilizer spreader, mower, or seeder can be used.

[0019] The mobile machine 1T1 comprises a body section 1T3 and a pair of mobile sections 1T4 that support the body section 1T3 and are spaced apart from each other in the left-right direction. Each mobile section 1T4 includes a front wheel 1T4a and a rear wheel 1T4b. At least one of the front wheel 1T4a and the rear wheel 1T4b is provided to transmit power from an engine 1T5 located in front of the body section 1T3. Driven by the mobile sections 1T4, the mobile machine 1T1 travels across the field F. The body section 1T3 includes a driver's seat 1T6a for the driver to sit in, a steering wheel 1T6b for steering the mobile machine 1T1, and an operating section (not shown) for the driver to perform various operations.

[0020] The tiller 1T2 is connected to the rear of the machine body 1T3 via a lifting link mechanism 1T7. At the rear of the machine body 1T3 are a PTO shaft (power take-off shaft) 1T8 for outputting the driving force of the engine 1T5 to the tiller 1T2, and a pair of left and right lifting cylinders (not shown) for driving the tiller 1T2 up and down. The driving force of the engine 1T5 is transmitted to the PTO shaft 1T8 via a transmission 1T9.

[0021] Figure 4 is a side view showing a schematic configuration of a rice transplanter 1R according to an embodiment of the present invention. The rice transplanter 1R performs planting work by planting seedlings in the ground of field F while traveling within field F. The rice transplanter 1R comprises a traveling body 1R1 and a planting unit 1R2, which is a working machine positioned behind the traveling body 1R1.

[0022] The mobile machine 1R1 comprises a main body 1R3 and a pair of mobile sections 1R4 that support the main body 1R3 and are spaced apart from each other in the left-right direction. Each mobile section 1R4 includes a front wheel 1R4a and a rear wheel 1R4b. At least one of the front wheel 1R4a and the rear wheel 1R4b is provided to transmit power from an engine 1R5 located in front of the main body 1R3. Driven by the mobile sections 1R4, the mobile machine 1R1 travels across the field F. The main body 1R3 includes a driver's seat 1R6 in which the driver sits, a steering wheel 1R6b for steering the mobile machine 1R1, and an operating section (not shown) for the driver to perform various operations.

[0023] The planting unit 1R2 is connected to the rear of the machine body 1R3 via a lifting link mechanism 1R7. At the rear of the machine body 1R3 are a PTO shaft 1R8 for outputting the driving force of the engine 1R5 to the planting unit 1R2, and a lifting cylinder 1R9 for driving the planting unit 1R2 up and down. The driving force of the engine 1R5 is transmitted to the PTO shaft 1R8 via a transmission (not shown).

[0024] Figure 5 is a block diagram showing the configuration of a work vehicle 1 according to an embodiment of the present invention. The configuration shown in Figure 5 is applicable to the combine harvester 1C shown in Figures 2A and 2B, the tractor 1T shown in Figure 3, and the rice transplanter 1R shown in Figure 4.

[0025] As shown in Figure 5, the work vehicle 1 is equipped with a control unit 10. The control unit 10 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 101. The arithmetic unit is, for example, a processor or microprocessor. The storage unit 101 is a main memory device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 101 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 101. The arithmetic unit reads various programs from the storage unit 101 and executes them.

[0026] Through the cooperation of the above hardware and software, the control unit 10 can be operated as a travel mode control unit 102, a travel control unit 103, a work equipment control unit 104, and a notification control unit 105. The control unit 10 may consist of a single piece of hardware, or it may consist of multiple pieces of hardware that can communicate with each other.

[0027] Each of the functional units 102 to 105 provided by the control unit 10 may be implemented by having the arithmetic unit execute a program, i.e., by software, as described above, but may also be implemented by other methods. Each of the functional units 102 to 105 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, each of the functional units 102 to 105 may be implemented by hardware using a dedicated IC or the like. Furthermore, each of the functional units 102 to 105 may be implemented using a combination of software and hardware. Moreover, each of the functional units 102 to 105 is a conceptual component. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into one component.

[0028] The control unit 10 is connected to a positioning communication unit 11, a communication processing unit 12, a sensor 13, an operation unit 14, a display unit 15, and a sound output unit 16. In other words, the work vehicle 1 is equipped with a positioning communication unit 11, a communication processing unit 12, a sensor 13, an operation unit 14, a display unit 15, and a sound output unit 16.

[0029] The positioning communication unit 11 includes a positioning antenna (not shown), and uses positioning signals received by the positioning antenna from positioning satellites to acquire the position of the work vehicle 1 as information such as latitude and longitude. The positioning communication unit 11 outputs the position information of the work vehicle 1 to the control unit 10. The positioning communication unit 11 may, for example, receive positioning signals from a reference station (not shown) in an appropriate manner and then perform positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. Alternatively, the positioning communication unit 11 may, for example, perform positioning using a DGNSS (Differential GNSS) method.

[0030] The communication processing unit 12 transmits and receives data to and from the mobile communication terminal 2 via the communication antenna 12a. The communication antenna 12a is an antenna for wireless communication with the mobile communication terminal 2. Wireless communication may utilize Wi-Fi (registered trademark) or other wireless LAN (Local Area Network) and Bluetooth (registered trademark) or other short-range wireless communication technologies. The work vehicle 1 may also be equipped with a mobile communication antenna for communication using a mobile phone line and the internet. In this configuration, some of the information stored in the memory unit 101 of the control unit 10 can be stored on an external server. Furthermore, the control unit 10 and the server may cooperate to realize the functions of the control unit 10 described above.

[0031] Sensor 13 detects information related to the work vehicle 1 and outputs the detected information to the control unit 10. In this embodiment, sensor 13 includes multiple types of sensors. Each of the multiple types of sensors is connected to the control unit 10 so that it can input a signal. The multiple types of sensors may include, for example, an inertial measuring device, an obstacle sensor, a lifting position sensor, a lever position sensor, or an on / off sensor.

[0032] The inertial measurement device may include a 3-axis angular velocity sensor and a 3-directional acceleration sensor, and may be a device capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles present around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, radar, or LiDAR (Light Detection and Ranging). The lifting position sensor may be a sensor that detects the lifting position of a work machine that is provided to be liftable. For example, the lifting position sensor may be a sensor that detects the lifting position of the harvesting unit 1C7 (see Figure 2A, etc.), the tiller 1T2 (see Figure 3), or the planting unit 1R2 (see Figure 4) as described above. The lever position sensor may be a sensor that detects the position of the operating levers provided on the work vehicle 1. The operating levers may be, for example, a gear shift lever. If the work vehicle 1 is equipped with multiple operating levers, a lever position sensor may be provided for each operating lever. The on / off sensor may be a sensor that detects whether a switch on the work vehicle 1 is in the on state or the off state. If the work vehicle 1 has multiple switches, an on / off sensor may be provided for each switch.

[0033] The control unit 14 broadly includes the part operated by the driver who is seated in the driver's compartment of the work vehicle 1. The control unit 14 enables the driver to send commands to the control unit 10. The control unit 14 may be, for example, a button, lever, dial, or touch panel.

[0034] The display unit 15 displays information as appropriate in response to commands from the control unit 10. The display unit 15 may be, for example, a liquid crystal display or an organic EL (electroluminescence) display. The display unit 15 may have a touch panel configuration, in which case the display unit 15 may also serve as the operation unit 14 described above.

[0035] The sound output unit 16 outputs sound as appropriate in response to commands from the control unit 10. The sound may include voice and buzzer sounds. More specifically, the sound output unit 16 may be configured to include at least one of a speaker for voice output and a buzzer.

[0036] In this embodiment, the display unit 15 and the sound output unit 16 constitute a notification unit 17 that provides notification in response to commands from the control unit 10. The notification unit 17 may be composed of only one of the display unit 15 or the sound output unit 16. Furthermore, the notification unit 17 may be composed of components other than the display unit 15 and the sound output unit 16. For example, the notification unit 17 may be composed of a light-emitting means or a vibration-generating means.

[0037] The driving mode control unit 102 controls the switching between manual driving mode and automatic driving mode. Details of this switching control will be described later. Manual driving mode is a mode in which a driver (operator) is in the driver's seat of the work vehicle 1 and the driver operates the work vehicle 1. Automatic driving mode is a mode in which the work vehicle 1 is driven automatically within the field F. Here, automatic driving means that the devices related to driving are controlled by the control unit 10 of the work vehicle 1, so that at least steering is performed autonomously to follow a predetermined path. Automatic driving may also be configured in which at least one of the following is performed autonomously, in addition to steering: for example, vehicle speed and work performed by the implement.

[0038] The automatic driving modes may include at least one of the following modes: automatic straight-line mode, manned automatic driving mode, and unmanned automatic driving mode. In automatic straight-line mode, only steering operations (steering wheel operation, steering wheel operation) are controlled automatically. In automatic straight-line mode, for example, vehicle speed control, lifting and lowering of the work equipment, and on / off control of the work equipment are performed manually. In manned automatic driving mode, with the driver seated in the driver's compartment of the work vehicle 1, straight-line driving and turning are performed automatically. In manned automatic driving mode, for example, vehicle speed control and lifting and lowering of the work equipment can be switched between automatic and manual. In unmanned automatic driving mode (robot mode), the driver is not seated in the driver's compartment of the work vehicle 1, and all operations are performed automatically.

[0039] When the driving mode is set to automatic driving mode, the driving control unit 103 automatically controls at least a part of the driving system of the work vehicle 1. For example, if the automatic driving mode is set to automatic straight-line driving mode, the driving control unit 103 automatically controls the steering operation so that the work vehicle 1 travels along a predetermined path. For example, if the automatic driving mode is set to manned automatic driving mode or unmanned automatic driving mode, the driving control unit 103 automatically controls the steering operation and adjusts the vehicle speed.

[0040] The work equipment control unit 104 controls the work system of the work vehicle 1 according to the travel mode. When the travel mode is manual travel mode or automatic straight-line travel mode, the work equipment control unit 104 controls the raising and lowering of the work equipment according to the operator's operation of the operating lever provided in the driver's section of the work vehicle 1. When the travel mode is manned automatic travel mode or unmanned automatic travel mode, the work equipment control unit 104 controls the raising and lowering of the work equipment automatically.

[0041] The notification control unit 105 controls, for example, the display unit 15 and the sound output unit 16 included in the notification unit 17 to provide notification using screen display or sound when predetermined conditions are met. These predetermined conditions are met, for example, when it is necessary to alert operators such as the driver of the work vehicle 1 or operators who are around the work vehicle 1 and operating the work vehicle 1.

[0042] [1-2. Mobile communication devices] Figure 6 is a block diagram showing the configuration of a mobile communication terminal 2 according to an embodiment of the present invention. The mobile communication terminal 2 is, for example, a tablet terminal, a smartphone, or a laptop computer. As shown in Figure 6, the mobile communication terminal 2 comprises a communication processing unit 21, an operation unit 22, a display unit 23, an audio output unit 24, and a control unit 20. The communication processing unit 21, the operation unit 22, the display unit 23, and the audio output unit 24 are connected to the control unit 20.

[0043] The communication processing unit 21 transmits and receives data to and from the work vehicle 1 via the communication antenna 21a. The communication processing unit 21 outputs the data received from the work vehicle 1 to the control unit 20. The communication antenna 21a is an antenna for wireless communication with the work vehicle 1. The mobile communication terminal 2 may also be equipped with a mobile communication antenna for communication using a mobile phone line and the internet. Even if the mobile communication terminal 2 is not equipped with a mobile communication antenna, it may be configured to be able to communicate using a mobile phone line and the internet by utilizing the mobile communication antenna provided by the work vehicle 1. Conversely, even if the work vehicle 1 is not equipped with a mobile communication antenna, it may be configured to be able to communicate using a mobile phone line and the internet by utilizing the mobile communication antenna provided by the mobile communication terminal 2.

[0044] The operation unit 22 receives commands from the operator and inputs those commands to the control unit 20. The operation unit 22 includes at least one of software keys such as a touch panel or hardware keys. The touch panel is provided on the display unit 23 and may be configured to detect operation by the operator's finger or the like. The hardware keys are located on the side of the housing of the mobile communication terminal 2 or around the display unit 23 and may be configured to detect pressure applied by the operator's finger or the like.

[0045] The display unit 23 displays information as appropriate in response to commands from the control unit 20. The display unit 23 is, for example, a liquid crystal display or an organic EL display. The display unit 23 may be configured to have a touch panel, in which case the display unit 23 may also serve as the operation unit 22 described above.

[0046] The sound output unit 24 outputs sound as appropriate in response to commands from the control unit 20. The sound may include voice and buzzer sounds. More specifically, the sound output unit 24 may be configured to include at least one of a speaker for voice output and a buzzer.

[0047] In this embodiment, the display unit 23 and the sound output unit 24 constitute a notification unit 25 that provides notification in response to a command from the control unit 20. The notification unit 25 may be composed of only one of the display unit 23 or the sound output unit 24. The notification unit 25 may also be composed of components other than the display unit 23 and the sound output unit 24. For example, the notification unit 25 may be composed of a light-emitting means or a vibration-generating means. In this embodiment, notification units 17 and 25 are provided on both the work vehicle 1 and the portable communication terminal 2, but the notification unit may be provided on only one of them.

[0048] The control unit 20 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 201. The arithmetic unit is a processor or microprocessor, etc. The storage unit 201 is a main memory device such as ROM and RAM. The storage unit 201 may further include an auxiliary storage device such as an HDD or SSD. Various programs and data are stored in the storage unit 201. The arithmetic unit reads various programs from the storage unit 201 and executes them. The control unit 20 functions as an automatic driving processing unit that performs processing related to automatic driving through the cooperation of hardware and software. Processing related to automatic driving includes processing related to the start and end of automatic driving, processing for creating the route required for automatic driving, and processing for setting conditions related to automatic driving. The control unit 20 may also perform various processing related to notification, which will be described in detail later.

[0049] The functions implemented by the control unit 20 may be implemented by software, but may also be implemented by other methods. The functions implemented by the control unit 20 may also be implemented by hardware, for example, using an ASIC or FPGA. Furthermore, the functions implemented by the control unit 20 may be implemented using a combination of software and hardware.

[0050] Furthermore, in this embodiment, the mobile communication terminal 2 is equipped to perform various processes related to autonomous driving and various processes related to notification, but at least a portion of these various processes may be performed by the control unit 10 of the work vehicle 1. Conversely, at least a portion of the various processes performed by the control unit 10 of the work vehicle 1 may be performed by the control unit 20 of the mobile communication terminal 2. In addition, at least a portion of the functions of the control unit 10 of the work vehicle 1 and at least a portion of the functions of the control unit 20 of the mobile communication terminal 2 may be realized through cooperation between the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2. In addition, at least a portion of the functions of the control unit 20 of the mobile communication terminal 2 may be performed through cooperation between the control unit 20 and a server that can communicate via a network such as the Internet. Furthermore, some of the information stored in the storage unit 201 of the control unit 20 may be stored on an external server.

[0051] [1-3. Remote Control Devices] The remote control device 3 (see Figure 1) is used, for example, when someone other than the operator using the mobile communication terminal 2 is working in field F. The remote control device 3 is a simpler device that can perform fewer types of operations compared to the mobile communication terminal 2. The remote control device 3 is installed to communicate with the work vehicle 1 wirelessly. The remote control device 3 may be configured to have switches that allow a person located away from the work vehicle 1 to start, stop, or restart automatic driving operations on the work vehicle 1. Preferably, the remote control device 3 has a function to emergency stop the work vehicle 1 performing automatic driving operations. The remote control device 3 may be an emergency stop remote control.

[0052] In the example shown in Figure 1, there is one remote control device 3, but there may be multiple. Also, the remote control device 3 is not an essential component of the work support system 100 and may not be provided in some cases. Furthermore, the remote control device 3 may also be equipped with a notification unit that provides notification via at least one of display or sound.

[0053] <2. Details of work support> Next, we will explain in detail the work support (work support method) performed by the work support system 100 configured as described above.

[0054] [2-1. Support for tasks related to switching driving modes] Figure 7 is a flowchart illustrating an example of the switching process from manual driving mode to automatic driving mode performed in the work support system 100 according to an embodiment of the present invention. Note that the work vehicle 1 is normally in manual driving mode when the engine is started. Furthermore, the example shown in Figure 7 may, in more detail, represent the process of switching from manual driving mode to unmanned automatic driving mode.

[0055] In step S1, the driving mode control unit 102 (see Figure 5) monitors whether preparations for transitioning to automatic driving mode have been completed. These preparations are completed when the operator performs a predetermined operation on the work vehicle 1. In other words, in step S1, it is monitored whether the predetermined preparatory operation required to transition to automatic driving mode has been completed. The predetermined preparatory operation may be a single operation or multiple types of operations.

[0056] The prescribed preparation operations may include, for example, turning on a switch to switch to automatic driving mode. The prescribed preparation operations may also include, for example, turning on a PTO switch that switches between a state in which power is transmitted to the PTO shaft (on state) and a state in which power is not transmitted (off state). The prescribed preparation operations may also include setting the gear shift lever to a predetermined position. The predetermined position may be, for example, the neutral position or the minimum position.

[0057] If it is determined in step S1 that preparations for transitioning to automatic driving mode are complete (Yes in step S1), the process proceeds to the next step, S2.

[0058] In step S2, the driving mode control unit 102 monitors whether a command to start the automatic driving mode has been received. In this embodiment, the command to start is received by the operator operating the mobile communication terminal 2 or the remote control device 3. If a command to start is received (Yes in step S2), the driving mode control unit 102 switches the driving mode to the automatic driving mode. This starts the automatic driving.

[0059] As can be seen from the above explanation, in the example shown in Figure 7, the system does not switch from manual driving mode to automatic driving mode simply by the operator operating the automatic driving mode start switch on the mobile communication terminal 2 or the remote control device 3. The system switches from manual driving mode to automatic driving mode by operating the automatic driving mode start switch on the mobile communication terminal 2 or the remote control device 3, provided that the work vehicle 1 has performed the prescribed preparatory operations. In the work support method of this example, if the automatic driving mode start switch is operated while the prescribed preparatory operations have not been performed, a configuration may be included in which a notification is given that, for example, the prescribed preparatory operations have not been completed. Furthermore, in the work support method of this example, if the automatic driving mode start switch is operated while the prescribed preparatory operations have not been performed, a configuration may be included in which the content of the operations that have not been completed in the preparatory operations is given. The notification may be given, for example, using the display or sound of the notification units 17 and 25.

[0060] Figure 8 is a flowchart showing an example of the switching process from automatic driving mode to manual driving mode performed in the work support system 100 according to an embodiment of the present invention.

[0061] In step S11, the driving mode control unit 102 monitors whether the stop conditions for stopping the automatic driving mode have been met. The stop conditions are met, for example, when an operator issues a command to stop automatic driving using the mobile communication terminal 2 or remote control device 3. The stop conditions are also met, for example, when all the work scheduled to be performed by automatic driving has been completed. The stop conditions are also met, for example, when the work vehicle 1 reaches a predetermined location. The predetermined location is, for example, a location for discharging threshed grain from harvested stalks or a replenishment location for replenishing materials such as seedlings. The stop conditions are also met, for example, when an operator operates an operating member that is prohibited from being operated during automatic driving. If it is determined that the stop conditions have been met (Yes in step S11), the process proceeds to the next step S12.

[0062] In step S12, the driving mode control unit 102 determines whether the preparations necessary for switching to manual driving mode (manual driving preparation) have been completed. Manual driving preparation is completed when the operator performs a predetermined operation necessary for switching to manual driving mode. The predetermined operation may be one operation or multiple types of operations. The predetermined operation may be an operation established for safety reasons, for example. Details of the predetermined operation will be described later. If it is determined that manual driving preparation is complete (Yes in step S12), the system switches from automatic driving mode to manual driving mode. On the other hand, if it is determined that manual driving preparation is not complete (No in step S12), the process proceeds to step S13.

[0063] In step S13, the notification control unit 105 (see Figure 5) performs notification processing to prompt the user to perform a predetermined operation. This notification processing enables notification using at least one of the notification unit 17 of the work vehicle 1 and the notification unit 25 of the mobile communication terminal 2. It is preferable that the notification of the predetermined operation is performed using at least one of audio and display. The notification of the predetermined operation may be performed using at least one of the display unit 15 of the work vehicle 1, the sound output unit 16 of the work vehicle 1, the display unit 23 of the mobile communication terminal 2, and the sound output unit 24 of the mobile communication terminal 2. Once the processing in step S13 is completed, the process returns to step S12, and the processing from step S12 onward is repeated.

[0064] As can be seen from the above, the work support method of this embodiment performs the following actions: switching from a manual driving mode in which the work vehicle 1 is manually driven in the field to an automatic driving mode in which the work vehicle 1 is automatically driven, and notifying the operator of a predetermined operation necessary to switch back to manual driving mode when the stop conditions for stopping the automatic driving mode are met. In this embodiment, in a preferred form, notification prompting the operator to perform the predetermined operation is given if the operator has not performed the predetermined operation. However, notification of the predetermined operation may be given regardless of whether the operator has performed the predetermined operation or not.

[0065] Furthermore, the program that causes the computer to execute the work support method of this embodiment functions as a means to switch the computer from manual driving mode to automatic driving mode, and to notify the computer of predetermined operations necessary to switch back to manual driving mode when the stop conditions for stopping automatic driving mode are met. In this embodiment, the computer is the control unit 10 of the work vehicle 1, but the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

[0066] Furthermore, the work support system 100 of this embodiment includes a control unit 10 that switches from manual driving mode to automatic driving mode, and notification units 17 and 25 that notify the system of predetermined operations necessary to switch back to manual driving mode when the conditions for stopping automatic driving mode are met. In this embodiment, the control unit that switches from manual driving mode to automatic driving mode is the control unit 10 of the work vehicle 1. However, the control unit that switches from manual driving mode to automatic driving mode may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

[0067] As in this embodiment, the operator is notified of the operations (predetermined operations) necessary to switch driving modes, allowing the operator to efficiently switch driving modes.

[0068] The work support method performed by the work support system 100 may include a stop notification that alerts the operator when the automatic driving of the work vehicle 1 stops. The stop notification may be, for example, a display (screen display) or voice message such as "Automatic driving has stopped." In a configuration where a stop notification is given, notification of the predetermined operation required to switch to manual driving mode may be performed after the stop notification. With such a configuration, the operator can be informed that the automatic driving of the work vehicle 1 has stopped, while also being notified of the operation required to switch to manual driving mode. In other words, the operator can perform the necessary operation while being aware of the status of the work vehicle 1. The stop notification may also be a buzzer sound. Furthermore, the stop notification may consist of a buzzer sound and a voice message. When it consists of a buzzer sound and a voice message, for example, it may be configured to sound "buzz" followed by the voice message "Automatic driving has stopped." The order of the buzzer sound and the voice message may be reversed.

[0069] The predetermined operation required to switch to manual driving mode may include moving the gear shift control unit of the work vehicle 1 to the neutral or minimum position. The gear shift control unit may be, for example, a main gear lever. The operator can appropriately know the necessary operation of the gear shift control unit through notification and perform the operation of the gear shift control unit efficiently.

[0070] For example, the main gear shift lever may be configured to switch the direction of travel of the work vehicle 1 by switching between three positions: "forward," "neutral," and "reverse," and to change the speed of the work vehicle 1 by the amount it is tilted in the forward and reverse directions. In such a configuration, a predetermined operation may include moving the main gear shift lever to the neutral position.

[0071] Furthermore, for example, the work vehicle 1 may be configured to include a reverser lever in addition to the main gear lever, which switches between three positions: "forward," "neutral," and "reverse," to change the direction of travel. The main gear lever may be configured to change the travel speed (vehicle speed) in the direction indicated by the reverser lever. In such a configuration, a predetermined operation may include moving the main gear lever to the minimum position that minimizes the vehicle speed. In this example, since the reverser lever is in the neutral position when switching from manual driving mode to automatic driving mode, it is not necessary to operate the reverser lever to switch from automatic driving mode to manual driving mode.

[0072] The advantages of providing notification for the operation of moving the position of the gear shift control unit will be explained using the example of a case where it is necessary to move the main gear shift lever to the neutral position in order to switch to manual driving mode. Figure 9 is a schematic diagram showing the state of the main gear shift lever LV, where "F" is the "forward position", "N" is the "neutral position", and "R" is the "reverse position". In the example shown in Figure 9, the main gear shift lever LV is tilted in the forward direction. The main gear shift lever LV is located in front of the position where the amount tilted in the forward direction is at its maximum (100%).

[0073] In Figure 9, the left side of the white arrow shows the state of the main shift lever LV during automatic driving, and the right side of the white arrow shows the state of the main shift lever LV when automatic driving is interrupted (stopped). The position of the main shift lever LV is the same on both the left and right sides of the white arrow. In other words, when the vehicle goes from automatic driving to automatic driving stopped, the position of the main shift lever LV does not automatically move. As a result, when automatic driving stops, there may be a discrepancy between the actual driving state of the work vehicle 1 and the position of the main shift lever LV. In this example, automatic driving is assumed to be, for example, automatic driving using the manned automatic driving mode described above.

[0074] To switch to manual driving mode, it is necessary to eliminate any discrepancy between the actual driving state of the work vehicle 1 and the position of the main gear lever LV. In other words, the main gear lever LV must be temporarily set to the "neutral position". By notifying the operator to move the main gear lever LV to the "neutral position", it is expected that the operator will be able to efficiently perform the appropriate operation of the main gear lever LV. The notification may be at least one of voice or display, but it is preferable that it includes voice notification. In particular, by providing specific instructions such as "Please set the main gear lever to the neutral position" via voice notification, the operator can easily understand the next operation.

[0075] Figure 10 is a schematic diagram illustrating the threshing process in combine harvester 1C. In the example shown in Figure 10, combine harvester 1C travels automatically along the path indicated by the dashed arrow A to the discharge point P (or more precisely, the vicinity of discharge point P), and then stops automatic travel. Here, as shown in Figure 9, the main transmission lever LV is operated to the forward position for reasons such as increasing the vehicle speed. In this case, the manual driving mode will not return unless the main transmission lever LV is moved to the neutral position after automatic travel stops. However, because combine harvester 1C is stopped, the operator may mistakenly believe that the main transmission lever LV is in the neutral position and easily forget to move it to the neutral position.

[0076] Normally, when the combine harvester 1C reaches the discharge position P while automatically driving, the position of the discharge auger 1C6 is adjusted to the appropriate location at the discharge position P while the combine harvester 1C is reversed by manual driving, as shown by the dashed arrow B. In cases where the operator forgets that the main transmission lever LV has been operated to the forward position and mistakenly believes that the main transmission lever LV is in the neutral position, it is possible that the operator may operate the main transmission lever LV slightly toward the reverse position without specifically looking at the main transmission lever LV. In such a case, the main transmission lever LV may not return to the neutral position, and the combine harvester 1C may not start to reverse. If the combine harvester 1C does not start to reverse despite the operation of the main transmission lever LV, the operator may become confused as they do not understand why it is not reversing. In this embodiment, however, a notification is given to move the main transmission lever to the neutral position, thereby preventing the aforementioned confusion among the operator.

[0077] Figure 11 is a block diagram showing an example configuration of the operating unit 14 provided on the work vehicle 1. In the example shown in Figure 11, the operating unit 14 includes a robot mode switch 141, a PTO switch 142, and a work equipment lifting lever 143. The operating unit 14 may also include only one of the robot mode switch 141, the PTO switch 142, and the work equipment lifting lever 143, or only two of them. Furthermore, the operating unit 14 may not include any of the robot mode switch 141, the PTO switch 142, or the work equipment lifting lever 143.

[0078] The robot mode switch 141 is turned on when switching from manual driving mode to unmanned automatic driving mode, and turned off when switching from unmanned automatic driving mode to manual driving mode. The robot mode switch 141 is an example of a first on / off switch that is turned on and off when switching between manual driving mode and automatic driving mode. The robot mode switch 141 may be a physical switch such as a button, lever, or dial, or a software switch configured using a touch panel or the like.

[0079] If the control unit 14 is equipped with a first on / off switch such as a robot mode switch 141, the predetermined operation required to switch to manual driving mode may include the operation of the first on / off switch 141. Specifically, the system may be configured such that when the work vehicle 1, which was performing automatic driving in unmanned automatic driving mode, stops, it cannot be switched to manual driving mode unless the robot mode switch 141 is turned off. In such a configuration, it is preferable that when the stopping condition is met, a notification such as "Please turn off the robot mode switch" is given. This notification may be either voice or display, but it is preferable that it includes a voice notification. This reduces the possibility of forgetting to turn off the robot mode switch 141 when switching to manual driving mode, and allows the operator to switch driving modes efficiently.

[0080] The PTO switch 142 is turned on when switching from manual driving mode to automatic driving mode, and turned off when switching from automatic driving mode to manual driving mode. The PTO switch 142 is an example of a second on / off switch that is turned on and off when switching the operation and non-operation of the work equipment of the work vehicle 1. The PTO switch 142 may be a physical switch such as a button, lever, or dial, or a software switch configured using a touch panel or the like.

[0081] If the control unit 14 is equipped with a second on / off switch such as a PTO switch 142, the predetermined operation required to switch to manual driving mode may include the operation of the second on / off switch 142. More specifically, the system may be configured such that when the work vehicle 1, which was performing automatic driving in automatic driving mode, stops, the system cannot switch to manual driving mode unless the PTO switch 142 is turned off. In such a configuration, it is preferable that when the stopping condition is met, an announcement such as "Please turn off the PTO switch" is made. This announcement may be either voice or display, but it is preferable that it includes a voice announcement. This reduces the possibility of forgetting to turn off the PTO switch 142 when switching to manual driving mode, and allows the operator to switch driving modes efficiently.

[0082] The work equipment lifting lever 143 is a lever used by the operator to raise and lower the work equipment. In this embodiment, the work equipment lifting lever 143 also serves as an operating unit for switching from automatic travel mode to manual travel mode. For safety reasons, the work equipment needs to be moved to a non-working position when switching from automatic travel mode to manual travel mode. In this embodiment, the non-working position is a position where the work equipment is raised above the ground by the work equipment lifting lever 143.

[0083] If the control unit 14 is equipped with a work implement lifting lever 143, the predetermined operation required to switch to manual driving mode may include an operation to put the work implement of the work vehicle 1 into a non-working state. More specifically, if the work vehicle 1, which was driving automatically in automatic driving mode, stops, it may be configured so that it is not possible to switch to manual driving mode unless the work implement is raised using the work implement lifting lever 143. In such a configuration, it is preferable that a notification such as "Please raise the work implement" is given when the stopping condition is met. This notification may be at least one of voice and / or display, but it is preferable that it includes a voice notification. This reduces the possibility of forgetting to raise the work implement when switching to manual driving mode, and allows the operator to switch driving modes efficiently.

[0084] In the example shown in Figure 11, switching from automatic driving mode to manual driving mode requires turning off the robot mode switch 141, turning off the PTO switch 142, and raising the work implement using the work implement lifting lever 143. In other words, the predetermined operations required to switch to manual driving mode include multiple types of operations. When the predetermined operations include multiple types of operations in this way, it is preferable that notifications for the multiple types of operations be given in order according to priority. This avoids the notification of different operations being given at the same time, thereby preventing confusion for the operator.

[0085] Prioritization can be determined as appropriate, but for example, among multiple types of operations, the earlier the operator performs the action requiring the operation, the higher the priority. For example, suppose the robot mode switch 141 is turned on first, and then the PTO switch 142 is turned on. In this case, notification of the operation to turn off the robot mode switch 141, which was turned on first, may take precedence over notification of the operation to turn off the PTO switch 142, which was turned on later.

[0086] Furthermore, as an example for the manned automatic driving mode, let's consider a scenario where the automatic driving mode is first turned on, followed by an operation of the main gear lever, resulting in an emergency stop of automatic driving. In such a case, notification of the operation to turn off the automatic driving mode may take precedence over notification of the operation to move the main gear lever to the neutral or minimum position. With this configuration, the operation that is performed first and is easily forgotten when switching to manual driving mode will be notified first. As a result, it is possible to suppress the occurrence of forgetting operations when multiple types of operations are required.

[0087] [2-2. Support for operations after switching driving modes] Figure 12 is a flowchart illustrating the work support processing after switching to automatic driving mode in the work support system 100 according to an embodiment of the present invention. Figure 12 is a diagram for explaining the work support processing performed after switching from manual driving mode to automatic driving mode by the process shown in Figure 7. Note that Figure 12 is a flowchart assuming that the automatic driving mode is an unmanned automatic driving mode, and the work vehicle 1 is stopped at the time of switching to automatic driving mode.

[0088] In step S21, in response to the start of automatic driving, the notification control unit 105 (see Figure 5) performs a process (buzzer sound notification process) to emit a buzzer sound from the sound output unit 16 to indicate the start of automatic driving. The buzzer sound is blown, for example, three times. The buzzer sound is, for example, "buzz, buzz, buzz". The notification control unit 105 may emit the buzzer sound from the sound output unit 24 of the mobile communication terminal 2 via the control unit 20 of the mobile communication terminal 2, in addition to or instead of the sound output unit 16 of the work vehicle 1. Also, the buzzer sound that indicates the start of automatic driving may be different from the sound in the unmanned automatic driving mode when in manned automatic driving mode, for example, "buzz, buzz, buzz". Once the buzzer sound notification process is performed, the process proceeds to the next step S22.

[0089] In step S22, the notification control unit 105 performs a process (voice notification process) in which the sound output unit 16 emits an audio notification indicating the start of automatic driving. In other words, the work support method of this embodiment performs an automatic driving mode transition notification that notifies that the system has transitioned from manual driving mode to automatic driving mode. This notification may be, for example, an audio notification saying "Automatic driving will begin." The buzzer sound mentioned above may be interpreted as being included in the automatic driving mode transition notification. Once the voice notification process is performed, the process proceeds to the next step S23.

[0090] The notification control unit 105 may be configured to output sound from the sound output unit 24 of the mobile communication terminal 2 via the control unit 20 of the mobile communication terminal 2, in addition to or instead of the sound output unit 16 of the work vehicle 1. Alternatively, a notification using a display (screen display) may be provided in addition to or instead of voice notification. When voice notification is provided as in this embodiment, it is preferable to provide the voice notification so that it does not overlap with the buzzer sound described above. That is, it is preferable that the voice such as "Automatic driving will begin" is played after the "buzz, buzz, buzz" sound. It is preferable that the configuration so that the buzzer sound and voice do not overlap also applies to cases where other buzzer sounds and voices are used. Other buzzer sounds include, for example, the buzzer sound that sounds when the tank is full. In this embodiment, the voice is output after the buzzer sound, but the reverse is also possible. That is, the order of steps S21 and S22 may be reversed.

[0091] In step S23, the notification control unit 105 determines whether the direction of travel of the work vehicle 1 performing automatic travel is in reverse. In this example, the work vehicle 1 starts automatic travel after emitting a buzzer sound and an audible notification. The direction of travel at the start of automatic travel can be determined from the automatically traveled route which has been set in advance. If the direction of travel at the start of automatic travel is in reverse (Yes in step S23), the process proceeds to the next step S24. If the direction of travel at the start of automatic travel is not in reverse (No in step S23), the process proceeds to step S25.

[0092] Furthermore, in cases such as when the vehicle is in a manned automatic driving mode, automatic driving may start while the work vehicle 1 is in motion. In this case, a buzzer sound and voice notification may be emitted while the vehicle is in motion, and automatic driving may start. In such a configuration, the processing from step S23 onward does not need to be performed.

[0093] In step S24, the notification control unit 105 performs notification processing regarding the direction of travel of the work vehicle 1. That is, if automatic driving is started in reverse, it is notified that the work vehicle 1 will be moving in reverse. This notification may be at least one of voice and / or display, but it is preferable that it includes voice notification. This notification may be made by at least one of the work vehicle 1 and / or the mobile communication terminal 2. This notification may be, for example, "Moving in reverse. Please be careful."

[0094] In step S25, the notification control unit 105 decides not to notify the direction of travel of the work vehicle 1. That is, if automatic driving starts in forward motion, the direction of travel of the work vehicle 1 is not notified. However, even if automatic driving starts in forward motion, the direction of travel of the work vehicle 1 may be notified.

[0095] As can be seen from the above, the work support method of this embodiment performs a direction of travel notification, which notifies the direction in which the work vehicle 1 is moving, after the automatic driving mode transition notification. Persons around the work vehicle 1 may not be able to recognize whether the work vehicle 1 is moving forward or backward when automatic driving starts. In this respect, when the direction of travel is notified as in this embodiment, persons around the work vehicle 1 can recognize the direction of travel of the work vehicle 1 when automatic driving starts, thereby improving safety.

[0096] Figures 13 and 14 are schematic diagrams illustrating an example where automatic driving starts in reverse. In the example shown in Figure 13, the work vehicle 1 is stopped with its front facing the field edge FE. For example, this situation may occur when the work vehicle 1 is a rice transplanter 1R and it stops to replenish seedlings. When automatic driving starts after seedling replenishment is complete, the automatic driving starts in reverse. In such cases, a direction of travel notification may be performed to inform the driver of the direction in which the work vehicle 1 is moving.

[0097] In the example shown in Figure 14, it is assumed that work has been completed on a certain straight path S1 within field F, and the vehicle will make a left turn to proceed to the next straight path S2. Here, the distance between the two straight paths S1 and S2 is narrow, and if the vehicle simply makes a left turn, it will deviate significantly from the next straight path S2 and will not be able to enter straight path S2 properly. In this case, the work vehicle 1 will turn left and proceed to point P1, where it will stop. After stopping, it will reverse to point P2, and then turn left from point P2 and move forward to enter the next straight path S2. When performing such a fishtail turn, a direction of travel notification may be performed when the vehicle reverses after stopping, indicating the direction in which the work vehicle 1 is moving.

[0098] Figure 15 is a flowchart illustrating the work support processing performed after switching to manual driving mode in the work support system 100 according to an embodiment of the present invention. Figure 15 is a diagram for explaining the work support processing performed after switching from automatic driving mode to manual driving mode by the process shown in Figure 8.

[0099] In step S31, the notification control unit 105 determines whether the work vehicle 1 will continue to move when it switches from automatic driving mode to manual driving mode. Whether the work vehicle 1 will continue to move depends on how the above-mentioned stopping conditions (see Figure 8) are met. Details of this will be described later. If the work vehicle 1 continues to move (Yes in step S31), the process proceeds to the next step S32. On the other hand, if the work vehicle 1 stops moving (No in step S31), the process proceeds to step S33.

[0100] In step S32, the notification control unit 105 provides an audible notification that the vehicle has switched to manual driving mode. This audible notification may be, for example, "Returning to manual driving mode." The audible notification may be provided using at least one of the sound output unit 16 of the work vehicle 1 and the sound output unit 24 of the mobile communication terminal 2. In addition to the audible notification, notification may also be provided by display. However, in this case, attention must be paid to the display method. This will be discussed later. The notification by display may be provided using at least one of the display unit 15 of the work vehicle 1 and the display unit 23 of the mobile communication terminal 2.

[0101] In step S33, the notification control unit 105 notifies the user via a display that the vehicle has switched to manual driving mode. This notification via display may be, for example, "Returned to manual driving," similar to the voice notification described above. The notification via display may be performed using at least one of the display unit 15 on the work vehicle 1 and the display unit 23 on the mobile communication terminal 2. In addition to the notification via display, it is preferable that a voice notification is also provided. The voice notification may be performed using at least one of the sound output unit 16 on the work vehicle 1 and the sound output unit 24 on the mobile communication terminal 2.

[0102] As mentioned above, when automatic driving in automatic driving mode is stopped, an audio announcement saying "Automatic driving has stopped" may be made. In a configuration that employs both this configuration and a configuration that notifies when switching to manual driving mode, if the manual driving preparation (see Figure 8) is completed in a short time, there is a possibility that some of the timing of the audio announcements will overlap. That is, although the audio announcement should ideally say "Automatic driving has stopped" followed by "Returning to manual driving", there is a possibility that the timing of the audio announcements will overlap and the audio announcement will say "Automatic driving has stopped...returning to manual driving". The part indicated by "..." indicates that at least a part of the audio announcement "Returning to manual driving" overlaps with the part that says "Automatic driving has stopped".

[0103] Considering these points, if there is some overlap in the timing of multiple types of sound announcements, and it becomes necessary to output the sound of the second announcement for the next timing while the sound of the first announcement for the previous timing is still being output, it is preferable to terminate the sound of the first announcement midway, and then output the sound of the second announcement after a break in the timing. To explain this in detail using the above example, for "Automatic driving has stopped" (first announcement), it is preferable to end with "Automatic driving has stopped", and after a break in the timing, output "Returned to manual driving" (second announcement). The break in the timing may be silent, but a sound may be included. For example, if the sound is "beep", it may be "Automatic driving has stopped, beep, returned to manual driving". By configuring it in this way, it is possible to prevent sounds from overlapping and make it easier to understand the content of the voice announcements.

[0104] As can be seen from the explanation of Figure 15 above, the work support method of this embodiment performs the following actions: switching to an automatic driving mode in which the work vehicle 1 is driven automatically within the field; switching to a manual driving mode in which the work vehicle 1 is driven manually when predetermined conditions are met in the automatic driving mode; and issuing a switching notification to indicate that the system has switched from automatic driving mode to manual driving mode. The form of the switching notification differs depending on the status of the work vehicle 1 when it is switched to manual driving mode. A specific example of the switching notification is the "Returned to manual driving" message mentioned above.

[0105] Furthermore, the program that causes the computer to execute the work support method of this embodiment functions as a means to switch the computer to an automatic driving mode in which the work vehicle 1 is driven automatically within the field, to switch to a manual driving mode in which the work vehicle 1 is driven manually when predetermined conditions are met in the automatic driving mode, and to perform a switching notification process to notify that the system has switched from automatic driving mode to manual driving mode. The manner of the switching notification differs depending on the status of the work vehicle 1 when it is switched to manual driving mode. As described above, the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

[0106] Furthermore, the work support system 100 of this embodiment includes a control unit 10 that switches the work vehicle 1 to a manual driving mode when predetermined conditions are met while the work vehicle 1 is in an automatic driving mode that automatically drives the work vehicle 1 in a field, and notification units 17 and 25 that provide switching notification to inform that the system has switched from automatic driving mode to manual driving mode. The manner of the switching notification differs depending on the status of the work vehicle when it is switched to manual driving mode. As mentioned above, the control unit that switches from manual driving mode to automatic driving mode may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

[0107] As in this embodiment, by configuring the system so that the mode of notification for switching differs depending on the status of the work vehicle 1 when it is switched to manual driving mode, it is possible to provide appropriate notifications to the operator, etc., according to the status of the work vehicle 1. As a result, the operability of the operator can be improved, and work efficiency can be increased.

[0108] More specifically, differences in the manner of switching notifications may include at least one of the following: differences in the devices used for notification, or differences in the method of notification using the same device. For example, notification using a display device and notification using a sound output device have different notification manners. Also, even if the same display device is used for notification, the notification manner will differ if the method of displaying the notification using the display screen is different. Differences in display methods may include differences in display location, display color, display size, etc. Also, even if the same sound output device is used for notification, the notification manner will differ if, for example, the volume or pitch of the sound is different.

[0109] In this embodiment, a preferred configuration is that the mode switching notification differs depending on whether the work vehicle 1 continues to move when switched to manual driving mode or stops moving when switched to manual driving mode. When the work vehicle 1 continues to move when switched to manual driving mode, the mode switching notification is performed using voice. This will be explained with reference to Figures 16 and 17.

[0110] Figure 16 is a schematic diagram illustrating an example where the work vehicle 1 continues to move when switched from automatic driving mode to manual driving mode. In the example shown in Figure 16, the automatic driving mode is, in detail, a manned automatic driving mode, with a driver (operator) on board the work vehicle 1. In Figure 16, the thick solid line represents the work path. In the example shown in Figure 16, the driver is operating the steering wheel while the vehicle is in automatic driving mode to move the position of the work vehicle 1 from work path α to work path β. In such a situation, stopping the movement of the work vehicle 1 because steering operations were performed during automatic driving would actually worsen work efficiency. For this reason, the system is configured to switch from automatic driving mode to manual driving mode while the work vehicle 1 continues to move if steering operations are performed during automatic driving mode.

[0111] In other words, in this embodiment, when the work vehicle 1 continues to move after being switched to manual driving mode, it includes cases where the conditions for switching from automatic driving mode to manual driving mode (the predetermined conditions described above) are met by the operator riding in the work vehicle 1 performing steering operations. Furthermore, when the work vehicle 1 continues to move after being switched to manual driving mode, it may also include cases where, for example, the conditions for switching from automatic driving mode to manual driving mode are met by operating the reverser lever, which changes the direction of travel during automatic driving, from the neutral position to the forward position or the reverse position.

[0112] Figure 17 is a schematic diagram illustrating the advantages of using voice notification for switching notifications when the operation of the work vehicle 1 continues. In the example shown in Figure 16, the operation of the work vehicle 1 continues when it switches to manual operation mode. For this reason, if a switching notification ("Returned to manual operation") is given using a display as shown in Figure 17, there is a concern that the work paths α and β displayed on the screens of the display units 15 and 23 will be hidden for several seconds, delaying alignment to work path β. Note that the aforementioned several seconds is the period during which the switching notification is given, and this period is set as appropriate.

[0113] In this regard, as in this embodiment, if an audible notification is used for switching notification when the work vehicle 1 continues to move, the work paths α and β displayed on the screens of the display units 15 and 23 will not be obscured by the notification, so that alignment to the work path β can be performed appropriately. In other words, work can be performed efficiently. Note that as long as the work paths displayed on the screen are not obscured, the switching notification using the display may be performed using a position on the screen where the work paths α and β are not displayed.

[0114] Furthermore, in this embodiment, as a preferred configuration, when the work vehicle 1 stops moving when switched to manual driving mode, a switch notification is performed using the display. The display may be configured such that the notification content is displayed largely on the screens of the display units 15 and 23, as shown in Figure 17. This configuration takes into consideration that even if the work paths α and β displayed on the screen are obscured for a few seconds because the vehicle stops moving, it will not cause a major problem, and that a conspicuous display will make it easier for operators and others to notice the notification.

[0115] Furthermore, when the work vehicle 1 stops moving when switched to manual driving mode, it is preferable to provide a switching notification using both a display and an audible alert. This allows the operator to more reliably recognize the switch in driving mode. In both cases of continuing to drive and stopping, the switching notification may be provided using both an audible alert and a display, but in the case of continuing to drive, it is preferable that the switching notification on the display is displayed more subtly than in the case of stopping. This configuration means that the form of the switching notification differs depending on the status of the work vehicle 1.

[0116] Furthermore, when the work vehicle 1 stops moving when switched to manual driving mode, this may include cases where, for example, a malfunction occurs in the positioning communication unit 11 equipped in the work vehicle 1, and the conditions for switching from automatic driving mode to manual driving mode (the predetermined conditions described above) are met. Examples of malfunctions in the positioning communication unit 11 include cases where the positioning accuracy is reduced or where signals cannot be received from positioning satellites. Furthermore, when the work vehicle 1 stops moving when switched to manual driving mode, this may include cases where, for example, an obstacle is detected by the obstacle sensor equipped in the work vehicle 1, and the conditions for switching from automatic driving mode to manual driving mode are met. Obstacles may be moving or stationary objects, and may include, for example, people, other work vehicles, agricultural machinery, stones, etc.

[0117] When the vehicle switches from automatic driving mode to manual driving mode and continues to operate, certain situations may arise that require a warning. It is preferable that the vehicle be notified when such a situation occurs. Examples of such situations include situations where the speed of the vehicle 1 is restricted, and situations where the position of the main gear lever does not match the direction of travel of the vehicle 1. These will be explained in detail below.

[0118] First, let's explain an example of when the aforementioned speed limit occurs. When the vehicle switches from automatic driving mode to manual driving mode by steering input (see Figure 16), let's assume that the amount the main transmission lever LV is tilted in the forward direction is at its maximum (100%), as shown in Figure 18. Then, during automatic driving, we assume a situation where the vehicle travels at a speed less than 100% even when the main transmission lever is at 100%, due to a speed limit setting that is done in advance using the operation unit 22 of the mobile communication terminal 2, etc. A speed less than 100% may be, for example, 50% of the speed.

[0119] In this scenario, when steering input is performed during autonomous driving, the vehicle 1 will suddenly accelerate when switching from autonomous to manual driving. This is undesirable from a safety standpoint. Therefore, in this embodiment, the vehicle 1 is configured to automatically limit the vehicle speed when switching from autonomous to manual driving mode, in order to prevent sudden acceleration. The vehicle speed limit may be, for example, 50% of the maximum vehicle speed, as described above.

[0120] When the above-mentioned speed restriction is imposed, the operator may feel uneasy because the position of the main shift lever LV does not match the actual speed of the work vehicle 1. For this reason, this embodiment is configured to notify the operator that the speed restriction is in effect. That is, the work support method of this embodiment is configured to execute a speed restriction notification to notify the operator that the speed of the work vehicle 1 is being restricted after the conditions for switching from automatic driving mode to manual driving mode by steering operation are met and a switching notification is executed. The speed restriction notification may be either voice or display, but it is preferable that it includes a voice notification. The speed restriction notification may be given by either the work vehicle 1 or the mobile communication terminal 2. The speed restriction notification may be, for example, "Speed ​​restriction in progress." When the speed restriction is imposed, the speed may be gradually increased so that it eventually reaches the speed corresponding to the position of the main shift lever LV. In such a configuration, the period during which the speed is gradually increased may also be included in the speed restriction period. In this configuration, the notification indicating that the vehicle speed is restricted may be automatically stopped when the vehicle speed of the work vehicle 1 reaches the speed corresponding to the position of the main transmission lever LV.

[0121] Next, we will explain an example of a situation in which the position of the main gear lever LV and the direction of travel of the work vehicle 1 do not coincide. For example, suppose that while reversing during a fishtail turn (see Figure 14), the main gear lever LV is moved to the forward direction, and the vehicle switches from automatic driving mode to manual driving mode while continuing to travel.

[0122] In this case, because the main gear lever LV is in the forward position when the system switches from automatic to manual driving, the work vehicle 1 will suddenly start moving forward from reverse. In this embodiment, considering safety and other factors, the system is configured to notify the operator of the transition to forward driving. Specifically, in the work support method of this embodiment, when the work vehicle 1 is moving in reverse in automatic driving mode and switches to manual driving mode, after the switch notification is executed, a forward driving notification is executed to notify the operator that the work vehicle will start moving forward. This allows the operator and those around the work vehicle 1 to appropriately understand the transition from reverse driving to forward driving.

[0123] The forward driving notification may consist of at least one of voice and / or display, but it is preferable that it includes voice notification. The forward driving notification may be made by at least one of the work vehicle 1 and the mobile communication terminal 2. The forward driving notification may be, for example, "We will now begin moving forward."

[0124] Furthermore, when transitioning from reverse driving to forward driving as described above, it is preferable to limit the vehicle speed for safety reasons. For this reason, it is preferable that the work support method executes a speed limit notification after the forward driving notification, informing the operator that the speed of the work vehicle 1 will be limited. This helps to prevent the operator from becoming confused.

[0125] [2-3. Forms of notification as work support] The work support method of this embodiment performs the following actions: providing notification related to the work vehicle 1, and setting the manner of the notification according to user settings or the state of the work vehicle 1. The notification related to the work vehicle 1 may include at least one of the following: notification regarding various operations performed on the work vehicle 1, notification regarding operations that an operator or the like should perform on the work vehicle 1, and notification regarding a portable communication terminal 2 or remote control device 3 used in conjunction with the work vehicle 1. Various operations may include not only the external operation of the work vehicle 1 but also control operations. It is preferable that the notification related to the work vehicle 1 includes notification related to automatic driving. The user may broadly include any person who uses the work support system 100 of this embodiment, such as an operator.

[0126] Furthermore, the program that causes the computer to execute the work support method of this embodiment causes the computer to function as a means of performing notifications related to the work vehicle 1 and setting the manner of said notifications according to user settings or the state of the work vehicle 1. As described above, the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

[0127] Furthermore, the work support system 100 of this embodiment includes notification units 17 and 25 that provide notifications related to the work vehicle 1, and a control unit that sets the notification method according to user settings or the state of the work vehicle 1. The control unit may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

[0128] This configuration allows for notifications tailored to the user's preferences. Furthermore, this configuration enables appropriate notifications based on the status of the work vehicle 1. In other words, it allows for appropriate guidance in the work vehicle 1, which is designed to operate autonomously.

[0129] The notification method may include at least one of the following: whether or not there is an audio notification, the volume of the audio notification, the number of times the audio notification is repeated, the duration of the audio notification repetition, the intonation of the audio notification, the speed of the audio notification, the pitch of the voice in the audio notification, the gender of the voice in the audio notification, and, if there are multiple sound output sources, the selection of the output source.

[0130] Multiple sound output sources may include, for example, the sound output unit 16 of the work vehicle 1, the sound output unit 24 of the mobile communication terminal 2, and the sound output unit (not shown) of the remote control device 3. The sound output unit may be a speaker in detail. Furthermore, if the work vehicle 1 has an interior space such as a cabin, the sound output unit 16 of the work vehicle 1 may include an interior speaker and an exterior speaker.

[0131] For example, when the vehicle is operating in an automatic straight-line mode with an operator inside the cabin, or in a manned automatic driving mode, the in-vehicle speakers may be selected from among multiple sound output sources. Also, if a mobile communication terminal 2 is brought into the cabin, the speakers of the mobile communication terminal 2 may be selected instead of the in-vehicle speakers, or in addition to the in-vehicle speakers. If a mobile communication terminal 2 is brought into the cabin, only the in-vehicle speakers may be selected.

[0132] Furthermore, for example, in unmanned driving mode, the speaker of the mobile communication terminal 2 or the speaker of the remote control device 3 may be selected from among multiple sound output sources. Also, in unmanned driving mode, if the content to be notified is something that should be notified to those around the work vehicle 1, an external speaker may be selected. The content that should be notified to those around the work vehicle 1 includes, for example, informing people that those around the work vehicle 1 are in danger.

[0133] (2-3-1. User-defined notification settings) The user can set the notification mode, for example, using the operation unit 22 of the mobile communication terminal 2. However, the notification mode can also be set using a device other than the mobile communication terminal 2, for example, using the operation unit 14 of the work vehicle 1.

[0134] Figures 19 to 24 show examples of setting screens used by the user to configure the notification settings. Figure 19 shows an example of a setting screen for setting whether or not to provide audio notifications. When "ON" is selected in the setting section 40a of the setting screen shown in Figure 19, audio notifications will be provided at the appropriate timing for all items that have been pre-selected as targets for audio notifications. When "OFF" is selected in the setting section 40a of the setting screen shown in Figure 19, audio notifications will not be provided for all items that have been pre-selected as targets for audio notifications. For example, a touch panel, mouse, buttons, levers, dials, etc., may be used to operate the setting section 40a.

[0135] The setting for whether or not to provide voice notifications may be individually configured for at least one of the items that are pre-defined as targets for voice notifications. Figure 20 shows an example of a setting screen for individually configuring whether or not to provide voice notifications. In Figure 20, the setting allows you to configure whether or not to provide voice notifications when automatic driving starts and when automatic driving stops. If "ON" is selected in the setting section 40b located to the right of "When automatic driving starts", a voice notification will be provided when automatic driving starts. If "OFF" is selected in the setting section 40b for "When automatic driving starts", no voice notification will be provided when automatic driving starts. If "ON" is selected in the setting section 40c located to the right of "When automatic driving stops", a voice notification will be provided when automatic driving stops. If "OFF" is selected in the setting section 40c for "When automatic driving stops", no voice notification will be provided when automatic driving stops.

[0136] Furthermore, it is preferable that the individual settings for whether or not to provide voice notifications can be made for at least one of the individual timings in which the operating state of the work vehicle 1 changes. In other words, it is preferable that the settings that the user can make include a setting for whether or not to provide voice notifications at the timing in which the operating state of the work vehicle 1 changes. Examples of timings in which the operating state changes include the timing of switching between automatic driving mode and manual driving mode, the timing of switching between forward driving and reverse driving, the timing of switching between forward driving and stopping, or the timing of switching between reverse driving and stopping.

[0137] Figure 21 shows an example of a settings screen for setting the volume of voice announcements. In the example shown in Figure 21, the setting section 40d located to the right of "Overall Volume" allows you to set the volume of voice announcements between 0 and 100%. In the example shown in Figure 21, the overall volume is set to 80%, so the volume of voice announcements for all items subject to voice announcements is set to 80% of the maximum volume.

[0138] Regarding volume settings, it may be possible to individually set the volume for at least one of the items that are the subject of the voice notification. Figure 22 shows an example of a setting screen for individually setting the volume of the voice notification. In Figure 22, the volume of the voice notification when automatic driving starts and when automatic driving stops can be set. In the setting section 40e located to the right of "When automatic driving starts", the volume of the voice notification when automatic driving starts can be set between 0 and 100%. Also, in the setting section 40f located to the right of "When automatic driving stops", the volume of the voice notification when automatic driving stops can be set between 0 and 100%. In Figure 22, the volume of the voice notification when automatic driving starts is set to 80%, and the volume of the voice notification when automatic driving stops is set to 30%.

[0139] Figure 23 shows an example of a settings screen for configuring the details of the voice notification sound. In Figure 23, as an example, the voice intonation, voice gender, voice pitch, and voice speed can be set. For example, each item can be selected from multiple options using the setting sections 40g to 40j located to the right of each item. In the example shown in Figure 23, "Kansai dialect style" is selected for the voice intonation. Also, "male" is selected for the voice gender. Also, "low" is selected for the voice pitch. Also, "1.2 times" is selected for the voice speed. The voice speed may be set to "1.0 times" under normal circumstances. For example, depending on the setting of each item, the corresponding sound source data may be selected from multiple sound source data stored in the memory units 101 and 201 in advance.

[0140] Furthermore, detailed sound settings may be made individually configurable for at least one of the items that are the subject of voice notification.

[0141] Figure 24 shows an example of a settings screen for configuring sound source data used for voice announcements. In the example shown in Figure 24, it is assumed that sound source data other than the default prepared sound source data will be used. For example, the user can download the sound source data they wish to use from the cloud to the storage units 101 and 201 of the work vehicle 1 or the mobile communication terminal 2 and use it. In the example shown in Figure 24, the user can select their preferred sound source data to be used as the voice during autonomous driving. For example, if the user selects the desired sound source data by touching it and operates "OK", the selected sound source data will be used for voice announcements during autonomous driving.

[0142] (2-3-2. Setting notification methods according to the status of the work vehicle) Figure 25 is a flowchart illustrating the process of setting notification modes according to the status of the work vehicle 1, which is performed in the work support system 100 according to an embodiment of the present invention.

[0143] In step S41, the notification control unit 105 (see Figure 5) monitors whether it is time for notification (e.g., voice notification). The notification timing may be determined by a predetermined setting, for example. If it is determined that it is time for notification (Yes in step S41), the process proceeds to the next step S42.

[0144] In step S42, the notification control unit 105 confirms the status of the work vehicle 1. The status of the work vehicle 1 may include, for example, the status (relationship) between the work vehicle 1 and objects in its vicinity, and the status (relationship) between the work vehicle 1 and any device capable of communicating with it. Objects in the vicinity of the work vehicle 1 may be moving objects such as people or other work vehicles, or stationary objects such as crops or stones. The device capable of communicating with the work vehicle 1 may be a portable communication terminal 2 or a remote control device 3. The number of items confirmed as the status of the work vehicle 1 may be singular or multiple. Examples of items confirmed as the status of the work vehicle 1 will be given later. Once the status of the work vehicle 1 is confirmed, the process proceeds to the next step S43.

[0145] In step S43, the notification control unit 105 sets the notification mode according to the status of the work vehicle 1 confirmed earlier. How the notification mode is set according to the status of the work vehicle 1 may be a pre-configured setting. This setting may also be configured to be changeable according to the user's preference. If the notification mode has been set by the user for a notification that has become time to be notified in step S41, the notification mode set by the user may take precedence over the notification mode determined according to the status of the work vehicle 1. Conversely, even if the notification mode has been set by the user for a notification that has become time to be notified in step S41, the notification mode determined according to the status of the work vehicle 1 may take precedence over the notification mode set by the user. Furthermore, depending on the content of the notification, it may be individually determined whether to prioritize the notification mode determined according to the status of the work vehicle 1 or the notification mode set by the user. Once the notification mode is set, the process proceeds to the next step S44.

[0146] In step S44, the notification control unit 105 performs notification processing so that notification is given in the set notification mode. As a result, notification is given using an appropriate speaker or the like.

[0147] The following will provide specific examples to illustrate this point.

[0148] Checking the status of work vehicle 1 may, for example, involve checking whether work vehicle 1 is moving or not. This check can be performed using a vehicle speed sensor or the like provided by work vehicle 1. The notification method may be changed depending on whether work vehicle 1 is moving or not. For example, when work vehicle 1 is moving, the volume of the voice notification may be increased compared to when work vehicle 1 is stationary. This allows the notification method to be tailored to the work status.

[0149] Furthermore, checking the status of work vehicle 1 may involve checking, for example, the engine's operating status and the working status of the work equipment. The engine's operating status can be checked using a sensor that measures the engine's rotational speed. The working status of the work equipment can be checked, for example, by the status of the operation buttons or levers used to operate each piece of equipment. The notification method may be changed according to at least one of the engine's operating status and the working status of the work equipment. For example, the volume of the voice notification may be increased when the engine's rotational speed is high compared to when it is low. Also, the volume of the voice notification may be increased when the work equipment is operating compared to when it is not operating. This allows for a notification method that matches the work status.

[0150] The implements may include, for example, the harvesting unit 1C7 or threshing device 1C3 of a combine harvester 1C. Alternatively, the implements may include a tiller 1T2, plow, fertilizer spreader, mower, or seed planter mounted on the rear of a tractor 1T. Furthermore, the implements may include the planting unit 1R2 of a rice transplanter 1R.

[0151] Furthermore, checking the status of the work vehicle 1 may involve checking, for example, the environment surrounding the work vehicle 1 and at least one of the actions that the work vehicle 1 is scheduled to perform. The surrounding environment can be checked, for example, by an obstacle sensor. The actions that the work vehicle 1 is scheduled to perform can be checked if it is in automatic driving mode. The notification method may be changed according to at least one of the environment surrounding the work vehicle 1 and the actions that the work vehicle 1 is scheduled to perform. By checking the environment surrounding the work vehicle 1 and the actions that the work vehicle 1 is scheduled to perform in advance, it is possible to predict the degree of danger posed by the work vehicle itself and the degree of danger that the work vehicle will pose to the surroundings. For this reason, according to the configuration of this embodiment, the notification method can be set according to the degree of danger.

[0152] For example, if there is an obstacle such as a person in the travel path of the work vehicle 1, the volume of the voice notification may be increased compared to normal. Also, for example, the volume of the voice notification may be increased as the work vehicle 1 approaches an obstacle such as a person. Also, for example, when traveling in automatic straight-line mode, the volume of the voice notification may be increased as it approaches the outer edge of the field. Also, for example, if the work vehicle 1 is scheduled to perform a high-risk operation such as reversing, making a sharp turn, or turning the discharge auger 1C6 (see Figure 2A, etc.), the volume of the voice notification may be increased compared to normal. Instead of increasing the volume, for example, the speed of the voice notification may be increased, the intonation of the voice notification may be emphasized, the number of repetitions of the voice notification may be increased, or the repetition time of the voice notification may be increased.

[0153] Furthermore, checking the status of the work vehicle 1 may involve, for example, checking the speed of the work vehicle 1. This check can be performed using a speed sensor or the like provided by the work vehicle 1. The notification method may be changed according to the speed of the work vehicle 1. For example, the volume of the voice notification may be increased as the speed of the work vehicle 1 increases. This makes the voice notification easier to hear and makes it easier to avoid danger.

[0154] Furthermore, checking the status of work vehicle 1 may involve, for example, checking the type of automatic driving mode. The type of automatic driving mode can be determined by the settings at the start of automatic driving. The notification method may be changed depending on whether work vehicle 1 is operating with an operator on board (manned automatic driving) or without an operator (unmanned automatic driving). Note that "manned automatic driving" here may include both automatic driving using the automatic straight-line mode described above and automatic driving using the manned automatic driving mode. This allows for appropriate voice notifications depending on the operator's location.

[0155] For example, as mentioned above, the sound output source may be changed depending on whether the vehicle is operating under a human operator or an unmanned operator. Also, for example, in the case of unmanned operation, the volume of the voice notification to the area around the work vehicle 1 may be louder than in the case of human operator operation. Also, for example, in the case of human operator operation, the instructions given by the notification may be more detailed than in the case of unmanned operation. That is, in the case of human operator operation, even the smallest actions may be announced in detail compared to the case of unmanned operation. Also, for example, in human operator operation, when prompting the operator to operate the control units 14 and 22, the notification may be repeated until the operation is performed or the notification is stopped. Also, for example, in human operator operation, even after the voice notification is stopped, the notification may continue to be displayed on the screen, or the voice notification may be repeated by a snooze function.

[0156] Furthermore, for example, in unmanned automated driving, the system may be configured to only notify users of highly urgent information. Whether or not an information is urgent can be determined by classifying each notification in advance and storing the classifications in the memory units 101 and 201. Examples of highly urgent notifications include notifications when an abnormality occurs and the work vehicle 1 makes an emergency stop. Also, for example, in unmanned automated driving, there is a possibility that the operator is not near the mobile communication terminal 2, so notifications may be repeated until an operation to stop the notifications is performed, or notifications may be repeated at predetermined intervals.

[0157] Furthermore, checking the status of work vehicle 1 may involve, for example, checking the number of times or the time elapsed since the start of the voice notification. The notification method may be changed according to the number of times or the time elapsed since the start of the voice notification. For example, the volume of the voice notification may be increased as the number of repetitions or the time elapsed increases. Also, for example, the speed of the voice notification may be increased or the time interval between voice notifications may be shortened as the number of repetitions or the time elapsed increases. Also, for example, the intonation of the voice notification may be emphasized as the number of repetitions or the time elapsed increases.

[0158] Furthermore, the status of the work vehicle 1 can be confirmed by, for example, the number of devices that can communicate with the work vehicle 1, or the distance from the work vehicle 1 to those devices, or at least one of the above. The devices that can communicate with the work vehicle 1 may be, for example, a mobile communication terminal 2 or a remote control device 3. The distance between these devices and the work vehicle 1 may be confirmed using, for example, a GPS (Global Positioning System) sensor. For example, if the remote control device 3 does not have a GPS sensor, the distance between the remote control device 3 and the work vehicle 1 may be determined by confirming the location of the remote control device 3 via a mobile terminal held by an operator, such as a smartphone, that can communicate with the remote control device 3.

[0159] Furthermore, the notification method may be changed according to at least one of the number of devices 2 and 3 that can communicate with the work vehicle 1, and the distance from the work vehicle 1 to the devices 2 and 3. For example, the volume of the voice notification from the external speaker may be increased as the distance between the work vehicle 1 and the communicationable devices 2 and 3 increases. If there are multiple devices that can communicate with the work vehicle 1, the notification may be configured to be given in order of proximity. For example, if the notification content is an instruction to take corrective action for an abnormality that has occurred, the notification to the communicationable devices may be stopped when the corrective action for the abnormality has been taken. And, for devices that have already been notified of a command to take corrective action for the abnormality, the system may be configured to notify them that the corrective action for the abnormality has been taken.

[0160] (2-3-3. Specific examples of audio notification) The following are examples of the types of voice notifications that apply to the work support system 100 of this embodiment. Figures 26A and 26B are tables illustrating voice notifications that apply in common regardless of whether the work vehicle 1 equipped with the work support system 100 is a combine harvester 1C, a tractor 1T, or a rice transplanter 1R.

[0161] Numbers 1-6 in Figure 26A are voice notifications related to preparations for enabling work by automated driving. Numbers 1 and 2 are voice notifications related to the positioning communication unit 11. Number 1 notifies of a decrease in positioning accuracy, and number 2 notifies that high-precision positioning has become possible. Numbers 3 and 4 are voice notifications related to the registration of the orientation of the work vehicle 1. Number 3 prompts the registration of orientation, and number 4 notifies the completion of registration. Alternatively, a single voice notification saying "RTK is enabled. Please start initialization" may be made, combining numbers 2 and 3. Number 5 prompts the user to check the safety brake before automated driving. The color monitor is, for example, the display unit 15 on the work vehicle 1. Number 6 prompts the user to select a field where work by automated driving is planned.

[0162] Numbers 7-12 in Figure 26A are voice notifications related to the registration of fields where work is performed using automated driving. Numbers 7 and 8 are voice notifications related to the start and completion of field measurement work using work vehicle 1. Number 9 notifies of the interruption of field measurement that has started, and number 10 notifies of the resumption of interrupted field measurement. Interruptions can occur, for example, due to the presence of obstacles or a decrease in positioning accuracy. Numbers 11 and 12 are voice notifications when field measurement is completed and the field is registered, and more specifically, they are voice notifications to confirm the registration details.

[0163] Numbers 13-28 in Figure 26A represent voice notifications related to work performed by automated driving, including voice notifications for route generation and voice notifications issued from the start to the end of work performed by automated driving. No. 13 prompts the user to perform the necessary tasks to generate a route in automated straight-line mode. No. 14 signals the start of automated driving, and No. 15 signals the stop of automated driving. Nos. 16, 21-24 indicate the status of work vehicle 1 during automated driving. Note that sensitivity limitation in No. 21 means that steering sensitivity is limited according to the vehicle speed. Route deviation in No. 22 indicates the deviation of work vehicle 1's position from the automated driving route. No. 24 includes operation instructions based on the status of work vehicle 1. No. 17 provides a warning based on the surrounding conditions of work vehicle 1. No. 18 indicates that the driving mode has returned from automated driving mode to manual driving mode. No. 19 indicates the completion of the scheduled work performed by automated driving. No. 20 indicates that the automated driving operation will begin in the area surrounding the work area where the work will be performed in a straight line (the headland area used as the turning path). Nos. 25 and 26 indicate the completion of the learning process that is performed automatically during automated driving. No. 27 indicates the remaining amount of work to be performed by automated driving. No. 28 indicates that the automated driving operation will resume from a different location than where it was previously interrupted.

[0164] No. 29 in Figure 26B is an audio notification regarding the switching of the automatic driving mode. Specifically, it informs the user of the operations required to switch to unmanned automatic driving mode.

[0165] Numbers 30 and 31 in Figure 26B are audio announcements related to the direction of travel. Number 30 prompts the start of reverse travel, and number 31 informs those around work vehicle 1 that reverse travel has begun.

[0166] Figure 26B, numbers 32 and 33, are voice notifications indicating the start of movement to a predetermined position. Number 32 indicates the start of movement to the starting position for the automated work. Number 33 indicates the start of movement to the end position after the automated work is completed.

[0167] Numbers 34-42 in Figure 26B are voice notifications related to fail-safe mechanisms in work vehicle 1. Numbers 34-36 are voice notifications related to obstacles on the automated driving path. Number 34 indicates the detection of an obstacle. Number 35 indicates that the speed of work vehicle 1 is being limited in response to the detection of an obstacle. Number 36 is a voice notification confirming the resumption of automated driving that was stopped due to obstacle detection. Numbers 37-40 are voice notifications related to devices that communicate with work vehicle 1. Number 37 prompts the user to establish a communication connection if the communication connection of the emergency stop remote control (remote control device 3 mentioned above) is not yet complete. Number 38 indicates that the communication environment of the tablet (mobile communication terminal 2 mentioned above) is poor and provides instructions on how to address this. Numbers 39 and 40 provide warnings regarding the power supply of devices 2 and 3 that communicate with work vehicle 1. Numbers 41 and 42 are voice notifications related to the field conditions. Numbers 41 and 42 may be warnings based on information obtained, for example, during field registration, or they may be warnings about dangerous areas detected during automated driving.

[0168] Numbers 43 and 44 in Figure 26B are voice notifications related to remote operation. Number 43 indicates that a stop command has been received from the remote control (remote control device 3 mentioned above). Number 44 indicates that an emergency stop command has been received from the remote control (remote control device 3 mentioned above).

[0169] Numbers 45-51 in Figure 26B are voice announcements related to work guidance in work vehicle 1. Numbers 45 and 46 indicate that it is time to replenish materials necessary for operating work vehicle 1. Number 47 indicates that it is time to regenerate the DPF (Diesel particulate filter) of the diesel engine. Numbers 48 and 49 are voice announcements related to the implement. Number 48 is a voice announcement to prevent forgetting to lower the implement when starting work by automatic driving. Number 49 prompts to increase the speed at which the implement is lowered. Number 50 is a voice announcement that is issued when the engine speed is low and it is overloaded. Number 51 is a voice announcement that indicates a change in management content when working in a different field than the one previously worked in.

[0170] Figure 27 is a table illustrating the voice notification applied when the work vehicle 1 equipped with the work support system 100 is a combine harvester 1C.

[0171] Figure 27, No. 1, is an audio notification related to the registration of fields where work will be performed using automated driving. Specifically, when driving to take measurements for field registration, it prompts the user to operate the harvesting clutch to ensure that harvesting work using the harvesting unit 1C7 is not forgotten.

[0172] No. 2 in Figure 27 is an audio notification similar to No. 32 in Figure 26B above, indicating that movement to the harvesting start position has begun.

[0173] Numbers 3-6 in Figure 27 are audio notifications related to the operation of discharging threshed grain from the grain tank 1C4 to the outside of the combine harvester 1C. Number 3 notifies the time to move to the discharge position in advance while harvesting is in progress. Number 4 notifies the completion of the discharge operation. Number 5 notifies that the grain storage compartment in the transport vehicle that carries the grain (paddy) is nearing full capacity. Number 6 prompts adjustment of the discharge port position of the discharge auger 1C6. This adjustment instruction is given, for example, to avoid discharging grain that has been unevenly piled up in the transport vehicle.

[0174] Figure 27, No. 7, is an audio notification regarding the switching of the automatic driving mode. Specifically, it is an audio notification regarding the manned automatic driving mode (auto mode), prompting the user to switch to the manned automatic driving mode when an unharvested area is determined.

[0175] Numbers 8-12 in Figure 27 are audio notifications related to fail-safe mechanisms in combine harvester 1C. Number 8 indicates that the vehicle speed is restricted. This audio notification indicates that the vehicle speed is restricted, for example, when combine harvester 1C is reversing or when lodging of rice is detected (in lodging detection mode). Number 9 prompts the raising of the harvesting unit 1C7. This audio notification is given to avoid collision between the harvesting unit 1C7 and asphalt, etc., which may occur if the vehicle starts moving with the harvesting unit 1C7 lowered. Number 10 is an audio notification for safety in cabin-type combine harvester 1C. Number 11 prompts the driver to position the discharge auger 1C6 in the appropriate position for safety. Number 12 indicates that the engine is under high load and provides a response specific to combine harvester 1C.

[0176] Numbers 13-22 in Figure 27 are voice notifications related to work guidance in combine harvester 1C. Numbers 13 and 14 indicate the location of a blockage if one occurs. Number 15 indicates if grain that should have been harvested has not been harvested. Numbers 16-18 are voice notifications that indicate the status related to the work settings. Number 16 indicates the cutting height. Numbers 17 and 18 indicate the status of the threshing nozzle. Number 19 is a voice notification related to the capacity of grain tank 1C4. Specifically, it indicates how much grain has accumulated in the tank. Number 20 notifies the harvesting results and confirms whether it is OK to continue work. It is related to mode notifications such as long length and short length. Number 21 indicates the harvest yield for each field. Number 22 is a voice notification that warns when working in a field where a different variety will be planted than the field where work was previously performed.

[0177] Figure 28 is a table illustrating the voice notification applied when the work vehicle 1 equipped with the work support system 100 is a tractor 1T.

[0178] Figure 28, numbers 1 and 2, represent the voice notifications related to the PTO (Power Take-Off) on the 1T tractor. More specifically, numbers 1 and 2 are voice notifications regarding the on / off status of the PTO switch.

[0179] Figure 28, No. 3, is an audio notification related to fail-safe features in the tractor 1T. More specifically, No. 3 is an audio notification for ensuring safety in the cabin-equipped tractor 1T.

[0180] Figure 28, numbers 4 and 5, represent voice notifications related to work guidance in tractor 1T. Number 4 is a voice notification regarding the PTO shift position, specifically describing the inappropriate condition and prompting confirmation. The correctness of the PTO shift position can be determined by the PTO rotation speed. Number 5 is a voice notification indicating a discrepancy between the settings on the mobile communication terminal 2 and the settings on the work vehicle 1. The drive settings include, for example, a setting for four-wheel drive and a setting for two-wheel drive.

[0181] Figure 29 is a table illustrating the voice notification that applies when the work vehicle 1 equipped with the work support system 100 is a rice transplanter 1R.

[0182] No. 1 in Figure 29 is an audio notification similar to No. 32 in Figure 26B and No. 2 in Figure 27, indicating that movement to the planting start position is beginning.

[0183] Numbers 2-4 in Figure 29 are voice notifications related to the replenishment of materials by the rice transplanter 1R during operation. Material replenishment includes, for example, seedlings, chemicals, fertilizers, or fuel. Number 2 indicates that a replenishment route has been displayed on, for example, the display unit 23 of the mobile communication terminal 2, and that the replenishment journey using that route has begun. Number 3 indicates that the journey toward the replenishment point has begun. Number 4 indicates arrival at the replenishment point.

[0184] No. 5 in Figure 29 is an audio notification related to the transmission. Specifically, No. 5 provides a warning regarding the gear shift pedal when starting automatic driving.

[0185] Numbers 6-11 in Figure 29 are voice notifications related to work guidance in the rice transplanter 1R. Number 6 prompts the driver to set the vehicle's travel speed to a speed suitable for planting seedlings with the planting unit 1R2. Numbers 7 and 8 are voice notifications prompting the replenishment of materials; number 7 prompts the replenishment of seedlings, and number 8 prompts the replenishment of fertilizer. Number 9 prompts the driver to position the leveling rotor, which is a leveling device for leveling the field, in a position suitable for work. Numbers 10 and 11 are voice notifications indicating work errors; number 10 indicates a fertilizer blockage, and number 11 indicates that seedling feeding is not working properly.

[0186] <3. Things to keep in mind> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, the multiple embodiments and modifications shown herein may be combined as possible.

[0187] <4. Addendum> An exemplary work support method of the present invention is a work support method for supporting work using a work vehicle, which includes switching to an automatic driving mode in which the work vehicle is driven automatically within a field, switching to a manual driving mode in which the work vehicle is driven manually when predetermined conditions are met in the automatic driving mode, and providing a switching notification to notify that the vehicle has been switched from the automatic driving mode to the manual driving mode, wherein the form of the switching notification may differ depending on the status of the work vehicle when it is switched to the manual driving mode (first configuration).

[0188] In the first configuration described above, the difference in the manner of switching notification may include at least one of the following: a difference in the device used for notification, or a difference in the method of notification using the same device (second configuration).

[0189] In the first or second configuration described above, the mode of the switching notification may differ depending on whether the work vehicle continues to travel when switched to the manual travel mode or stops traveling when switched to the manual travel mode (third configuration).

[0190] In the third configuration described above, if the work vehicle continues to move when switched to the manual driving mode, the configuration may be configured to use voice to perform the switching notification (fourth configuration).

[0191] In the third or fourth configuration described above, if the work vehicle continues to move when switched to the manual driving mode, the configuration may include a case where the predetermined conditions are met by the operator riding in the work vehicle performing steering operations (fifth configuration).

[0192] In any of the third to fifth configurations described above, if the work vehicle stops moving when the manual driving mode is switched on, the switching notification may be performed using a display (sixth configuration).

[0193] In any of the third to sixth configurations described above, if the work vehicle stops moving when the manual driving mode is switched on, the configuration may include at least one of the following cases: when the predetermined condition is met due to a malfunction in the positioning communication unit provided by the work vehicle, or when the predetermined condition is met due to the detection of an obstacle by the obstacle sensor provided by the work vehicle (the seventh configuration).

[0194] In the fifth configuration described above, after the predetermined conditions are met by the steering operation and the switching notification is executed, a speed limit notification is executed to notify that the vehicle speed of the work vehicle is limited (the eighth configuration).

[0195] In any of the above configurations 1 to 8, if the work vehicle switches to manual driving mode while it is driving in reverse in automatic driving mode, the configuration may be configured to perform a forward driving notification after the switching notification to notify that the work vehicle will drive forward (configuration 9).

[0196] In the ninth configuration described above, after the forward driving notification is executed, a speed limit notification is executed to notify that the speed of the work vehicle is limited (the tenth configuration).

[0197] In any of the above configurations 1 to 10, there may be a configuration (11th configuration) that performs an automatic driving mode transition notification to notify that the user has transitioned from the manual driving mode to the automatic driving mode.

[0198] In the 11th configuration described above, after the execution of the automatic driving mode transition notification, the configuration may include an execution of a direction of travel notification that indicates the direction in which the work vehicle is moving (the 12th configuration).

[0199] In any of the above configurations 1 to 12, if there is an overlap in the timing of multiple types of sound notifications, and it becomes necessary to output the sound of the second notification for the next timing while the sound of the first notification for the earlier timing is being output, the first notification sound may be terminated midway, and after the termination a period of separation is provided, the second notification sound may be output (configuration 13). [Explanation of Symbols]

[0200] 1. Work vehicles 1C...Combine harvester (work vehicle) 1R... Rice transplanter (work vehicle) 1T...Tractor (work vehicle) 1C5b, 1R6b, 1T6b... Steering Wheel 2. Mobile communication terminals 10, 20... Control Unit 11. Positioning communication unit 13. Sensors (including obstacle sensors) 17, 25... News Department 100...Work support system F...field

Claims

[Claim 1] A work support method that provides support for work using work vehicles, Switching to an automatic driving mode that automatically drives the aforementioned work vehicle within the field, When predetermined conditions are met in the automatic driving mode, the system switches to a manual driving mode in which the work vehicle is driven manually. The system provides a switching notification to indicate that the system has switched from the automatic driving mode to the manual driving mode. Execute, A work support method wherein the manner of the switching notification differs depending on the status of the work vehicle when it is switched to the manual driving mode.

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