Management method, management terminal and management system

Abstract

To provide a management method, a management terminal, and a management system that are able to improve operability in selecting of a work item and setting of work information.SOLUTION: A management terminal 3 of an operator for managing a combine 2, which is a work vehicle capable of automatic traveling, is such that, when a control device 10 starts, through the management terminal 3, an application for managing the combine 2, a display control unit 20 displays, on a display unit 13 of the management terminal 3, a work route information setting screen for setting work route information on a work route along which the combine 2 automatically travels, by means of the application before automatic traveling is started. When a setting operation for the work route information is completed on the work route information setting screen, the display control unit 20 displays on the display unit 13 a work route presentation screen 240 for presenting a work route created based on set contents including the work route information set on the work route information setting screen.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a management method, a management terminal, and a management system for managing work vehicles capable of autonomous driving. [Background technology]

[0002] In order to carry out work in a field using a work vehicle such as a combine harvester, a worker is required to manage the work vehicle and the field. Conventionally, a technique is known in which a terminal attached to the work vehicle is provided with a management function, and the work vehicle and the field are managed using a display unit or the like provided on the terminal.

[0003] For example, the automatic driving system of Patent Document 1 automatically drives a work vehicle along a target route, and a mobile communication terminal that is set up to wirelessly communicate with the automatic driving unit mounted on the tractor is equipped with a multi-touch display device that enables the display of various information related to automatic driving and input operations, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-184973 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a work vehicle, there are various types of work items related to automatic driving, and there are multiple fields as work targets, and work information such as a route may be set for each field. However, while a terminal equipped in a conventional work vehicle allows the display and input of various information related to automatic driving, it does not take into consideration the operability of selecting work items and setting work information. Therefore, a worker is required to perform complicated operations to select work items and set work information as desired.

[0006] An object of the present invention is to provide a management method, a management terminal, and a management system that can improve the operability of selecting a task item and setting task information. [Means for solving the problem]

[0007] In order to solve the above problems, the management method of the present invention is a management method for managing a work vehicle capable of automatic driving, and includes a display control step of, when an application for managing the work vehicle is launched, displaying a work route information setting screen on a display unit for setting work route information related to a work route along which the work vehicle will automatically drive before starting automatic driving, by the application, and the display control step is characterized in that, when the setting operation of the work route information on the work route information setting screen is completed, a work route presentation screen is displayed on the display unit to present the work route created based on the setting contents including the work route information set on the work route information setting screen.

[0008] In addition, in order to solve the above problem, the management terminal of the present invention is a management terminal for managing a work vehicle capable of automatic driving, and is equipped with a memory unit for storing an application for managing the work vehicle, a control device for launching the application, and a display unit, and the control device displays a work route information setting screen on the display unit for setting work route information regarding a work route along which the work vehicle will travel automatically before automatic driving begins, using the application, and when the setting operation of the work route information on the work route information setting screen is completed, displays a work route presentation screen on the display unit that presents the work route created based on the setting contents including the work route information set on the work route information setting screen.

[0009] In addition, in order to solve the above problems, the management system of the present invention is a management system that manages work vehicles capable of automatic driving, and when an application that manages the work vehicles is launched, the application displays a work route information setting screen on a display unit for setting work route information regarding a work route along which the work vehicle will automatically drive before starting automatic driving, and when the setting operation of the work route information on the work route information setting screen is completed, a work route presentation screen is displayed on the display unit, presenting the work route created based on the setting contents including the work route information set on the work route information setting screen. Effect of the Invention

[0010] According to the present invention, a management method, a management terminal, and a management system are provided that can improve the operability of selecting a task item and setting task information. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a management system according to an embodiment of the present invention. [Diagram 2] 11 is a front view showing an example of a first vehicle registration screen on the management terminal according to the embodiment of the present invention. FIG. [Diagram 3] 11 is a front view showing an example of a second vehicle registration screen in the management terminal according to the embodiment of the present invention. FIG. [Figure 4] 11 is a front view showing an example of a home registration screen on the management terminal according to the embodiment of the present invention. FIG. [Diagram 5] 11 is a front view showing an example of a menu screen of the management terminal according to the embodiment of the present invention. [Figure 6] 11 is a front view showing an example of a vehicle selection screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 7] FIG. 13 is a front view showing an example of a farm field acquisition screen on the management terminal according to the embodiment of the present invention. [Figure 8] 11 is a front view showing an example of an outermost periphery measurement screen before measurement on the management terminal according to the embodiment of the present invention. FIG. [Figure 9] 13 is a front view showing an example of an outermost circumference measurement screen during measurement on the management terminal according to the embodiment of the present invention. FIG. [Figure 10] 11 is a front view showing an example of a farm field registration screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 11] 13 is a front view showing an example of a work area creation screen on the management terminal according to the embodiment of the present invention. [Figure 12] 13 is a schematic diagram showing an example of a minimum length and a permissible error set for linear approximation of measurement point data of outermost circumference measurement in the management terminal according to the embodiment of the present invention. FIG. [Figure 13] FIG. 11 is a front view showing an example of a field angle editing screen in the management terminal according to the embodiment of the present invention. [Figure 14] FIG. 13 is a front view showing an example of a field angle addition screen on the management terminal according to the embodiment of the present invention. [Figure 15] 11 is a schematic diagram showing an example of a plurality of straight lines approximated from measurement point data of outermost circumference measurement in the management terminal according to the embodiment of the present invention; FIG. [Figure 16] FIG. 13 is a front view showing an example of a field angle deletion screen on the management terminal according to the embodiment of the present invention. [Figure 17] 13 is a front view showing an example of an entrance setting screen on the management terminal according to the embodiment of the present invention. [Figure 18] 13 is a front view showing an example of an entrance editing screen on the management terminal according to the embodiment of the present invention. [Figure 19] 11 is a front view showing an example of a work area registration screen of the management terminal according to the embodiment of the present invention. [Figure 20] 11 is a front view showing an example of a work area selection screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 21] FIG. 13 is a front view showing an example of a headland straight ahead work screen before work on the management terminal according to the embodiment of the present invention. [Figure 22] FIG. 13 is a front view showing another example of the headland straight ahead work screen before work on the management terminal according to the embodiment of the present invention. [Figure 23]FIG. 13 is a front view showing an example of a headland straight ahead work screen during work on the management terminal according to the embodiment of the present invention. [Figure 24] FIG. 13 is a front view showing an example of a headland straight ahead work screen after work on the management terminal according to the embodiment of the present invention. [Diagram 25] FIG. 13 is a front view showing another example of the headland straight ahead work screen during work on the management terminal according to the embodiment of the present invention. [Figure 26] 11 is a front view showing an example of a work direction setting screen in the management terminal according to the embodiment of the present invention. FIG. [Figure 27] 13 is a front view showing an example of a discharge position setting screen of the management terminal according to the embodiment of the present invention. [Figure 28] 11 is a front view showing an example of a route pattern selection screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 29] 13 is a front view showing an example of a work route confirmation screen on the management terminal according to the embodiment of the present invention. FIG. [Diagram 30] 11 is a front view showing an example of a work route presentation screen in the management terminal according to the embodiment of the present invention. FIG. [Diagram 31] 13 is a front view showing an example of a work screen for automatic mowing travel when the start conditions are not met on the management terminal according to the embodiment of the present invention. FIG. [Diagram 32] 13 is a front view showing an example of a work screen for automatic mowing travel when a start condition is satisfied on a management terminal according to an embodiment of the present invention. FIG. [Diagram 33] 11 is a front view showing an example of a work screen of automatic mowing travel during work on the management terminal according to the embodiment of the present invention. FIG. [Diagram 34] 11 is a front view showing an example of a work screen for automatic mowing travel before discharge travel on the management terminal according to the embodiment of the present invention. FIG. [Diagram 35] 13 is a front view showing another example of a work screen for automatic mowing travel during work on the management terminal according to the embodiment of the present invention. FIG. [Diagram 36] 11 is a front view showing an example of a travel information setting screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 37]11 is a front view showing an example of an operation panel screen of the management terminal according to the embodiment of the present invention. [Figure 38] 13 is a front view showing an example of a pre-operation reference line setting screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 39] 11 is a front view showing an example of a reference line setting screen after point A is set on the management terminal according to the embodiment of the present invention. FIG. [Diagram 40] 13 is a front view showing an example of a reference line setting screen after movement on the management terminal according to the embodiment of the present invention. FIG. [Diagram 41] 13 is a front view showing an example of a reference line setting screen after point B is set on the management terminal according to the embodiment of the present invention. FIG. [Diagram 42] 13 is a front view showing an example of a work screen for automatic straight driving when a start condition is not satisfied on the management terminal according to the embodiment of the present invention. FIG. [Diagram 43] 13 is a front view showing another example of the work screen for automatic straight driving when the start condition is not satisfied in the management terminal according to the embodiment of the present invention. FIG. [Diagram 44] 13 is a front view showing an example of a work screen for automatic straight driving when a start condition is satisfied in the management terminal according to the embodiment of the present invention. FIG. [Diagram 45] 11 is a front view showing an example of a work screen for automatic straight driving during work on the management terminal according to the embodiment of the present invention. FIG. [Diagram 46] FIG. 13 is a front view showing another example of the work screen for automatic straight driving during work on the management terminal according to the embodiment of the present invention. [Figure 47] 11 is a front view showing an example of a farm field list screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 48] 13 is a front view showing an example of a work area list screen on the management terminal according to the embodiment of the present invention. [Figure 49] 13 is a front view showing an example of a work information list screen for a work route on the management terminal according to the embodiment of the present invention. FIG. [Figure 50] 13 is a front view showing an example of a reference line work information list screen of the management terminal according to the embodiment of the present invention. [Figure 51]13 is a front view showing an example of a registration information editing screen on the management terminal according to the embodiment of the present invention. [Figure 52] 11 is a front view showing an example of a farm field information editing screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 53] 11 is a front view showing an example of a work area editing screen of the management terminal according to the embodiment of the present invention. [Figure 54] 13 is a front view showing an example of a work information editing screen for a work route in the management terminal according to the embodiment of the present invention. FIG. [Figure 55] 13 is a front view showing an example of a reference line work information editing screen of the management terminal according to the embodiment of the present invention. FIG. [Figure 56] 13 is a front view showing an example of a work history confirmation screen on the management terminal according to the embodiment of the present invention. FIG. [Figure 57] 11A and 11B are front views showing examples of various setting screens in the management terminal according to the embodiment of the present invention. [Figure 58] FIG. 13 is a front view showing an example of a menu screen of a management terminal according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A management system 1 according to an embodiment of the present invention will be described with reference to the drawings. The management system 1 manages work vehicles capable of automatic travel, and has, for example, as shown in Fig. 1, an agricultural work machine such as a combine harvester 2 as a work vehicle, and has a management terminal 3 attached to the combine harvester 2. The management system 1 is configured to manage work vehicles and farm fields used by workers.

[0013] The combine harvester 2, which is a work vehicle, performs agricultural work such as harvesting in a field. The combine harvester 2 is equipped with a communication device (not shown) and is connected to a corresponding management terminal 3 so as to be capable of wireless communication. The combine harvester 2 performs agricultural work in the field while traveling, and at the same time, measures GNSS information from a GNSS antenna mounted on the combine harvester 2, i.e., the vehicle position of the combine harvester 2, and transmits the information to the management terminal 3 as measurement point data.

[0014] The combine harvester 2 is configured as an automatic traveling vehicle that performs automatic reaping travel along a preset work route. The combine harvester 2 receives field information and work information from the corresponding management terminal 3, and controls the combine harvester 2 to perform automatic reaping travel in accordance with the field information and work information. The combine harvester 2 also has work vehicle data as setting information related to travel and work (reaping, etc.), and controls automatic reaping travel based on the work vehicle data.

[0015] The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the outermost periphery of the field, data on measurement points constituting the outermost periphery of the field, and the shape, size, and position information (coordinates, etc.) of the work area where work is performed in the field. The field information also includes the address of the field, the registration name and registration date of the field information, the registration name and registration date of the work area, etc. The work information is associated with the field (field information) and includes, for example, the work path or reference line used for work in the work area, and the work path and reference line each include the registration name, registration date, and position information. Furthermore, the work area may include an entrance and a discharge position, and the work path and reference line may include a start point (for example, point A or start position) and an end point (for example, point B or end position).

[0016] In addition, in the management terminal 3, one or more pieces of field information are registered, one or more work areas are associated with each piece of field information and registered, and one or more pieces of work information such as work routes or reference lines are associated with each work area and registered.

[0017] The work vehicle data includes, for example, a model number and a maximum number of reaping rows that differ for each vehicle type of the combine harvester 2. The work vehicle data also includes the installation status of various optional items of the combine harvester 2, such as an auxiliary divider, an extension auger, a ladder, a bundling device, etc.

[0018] The combine harvester 2 performs unacquired work involving automatic travel, in which new field information or work information is acquired and work is performed, and already-acquired work, in which work is performed based on already-acquired field information or work information. Unacquired work includes new field work, in which work is performed by acquiring the field shape as field information, and baseline work, in which work is performed by automatically moving in a straight line after setting a baseline as work information. Acquired work includes already-acquired field work, in which work is performed based on the field shape already acquired as field information, and already-acquired route work, in which work is performed based on a work route already acquired as work information (for example, a work route during work where the work was interrupted, etc.).

[0019] For example, the combine harvester 2 performs one of three tasks involving automatic harvesting travel: a first task in which field information about the field is acquired or selected and work is performed; a second task in which work is performed based on an already acquired work route; and a third task in which a reference line is acquired and work is performed by automatically traveling in a straight line.

[0020] When acquiring field information in the first work, before performing automatic reaping travel, the combine harvester 2 performs reaping travel according to manual operation along the outermost periphery of the work area of ​​the field to measure measurement point data of each position on the outermost periphery of the field in order to calculate the shape, size and position information (coordinates, etc.) of the outermost periphery of the field, i.e., performs outermost periphery measurement. The combine harvester 2 transmits the measurement point data of each position acquired by the outermost periphery measurement to the management terminal 3.

[0021] When the field information is selected in the first work, the combine harvester 2 receives the field information selected by the management terminal 3 from the management terminal 3 before performing automatic reaping travel.

[0022] In the first work, the combine harvester 2 forms a headland by automatically traveling straight along each side of the outermost periphery of the work area based on the field information acquired or selected as described above, and at this time measures measurement point data for each position on the innermost periphery of the headland to calculate the shape, size and position information (coordinates, etc.) of the uncut area inside the headland that is the target of automatic mowing travel. The combine harvester 2 transmits the measurement point data for each position on the innermost periphery of the headland to the management terminal 3.

[0023] Furthermore, in the first operation, the combine harvester 2 receives from the management terminal 3 a work route created by the management terminal 3 based on the field information, and performs automatic mowing travel in the unmowed area based on the work route. The route pattern of the work route is selected from reciprocating mowing, which makes multiple round trips in the unmowed area, and circular mowing, which repeats a round trip along the inner circumference of the unmowed area while shifting it toward the center.

[0024] In the second operation, the combine harvester 2 starts automatic reaping travel by the first operation, and when the automatic reaping travel is interrupted midway, the management terminal 3 stores the work route related to the interrupted automatic reaping travel as the previous route. When the combine harvester 2 receives the previous route from the management terminal 3, it resumes automatic reaping travel based on the previous route.

[0025] In the third operation, before performing automatic reaping travel, the combine harvester 2 performs reaping travel according to manual operation between points A and B on the reference line, and transmits work information including points A and B on the reference line to the management terminal 3. The combine harvester 2 receives from the management terminal 3 a work route created by the management terminal 3 based on the work information on the reference line, and performs automatic reaping travel based on the work route.

[0026] The management terminal 3 is a terminal capable of remotely controlling the combine harvester 2, which is the corresponding work vehicle, and is configured, for example, as a tablet terminal equipped with a touch panel, a smartphone, a notebook type personal computer, etc. The management terminal 3 is pre-loaded with an application for managing and operating the corresponding combine harvester 2.

[0027] In addition, the management terminal 3 may be equipped with other applications for managing and operating work vehicles other than the combine harvester 2, and may also be equipped with other applications for managing multiple types of work vehicles including the combine harvester 2 and multiple farm fields.

[0028] In addition, the management terminal 3 described below is written in advance with registered vehicle information (activation key) specific to the combine harvester 2 used by the worker. The registered vehicle information is information issued by an issuing server (not shown) and is registered in the issuing server. When the management terminal 3 is equipped with applications for multiple types of work vehicles, the registered vehicle information for each work vehicle may be registered, but the registered vehicle information that can be registered for each type of work vehicle is only for a work vehicle with one model number (type information). The work vehicle with the model number registered in this manner is in an activated state in the management terminal 3. The registered vehicle information is written to a database in the application of the work vehicle when an application for a work vehicle such as a combine harvester 2 is installed in the management terminal 3. The registered vehicle information includes, for example, the application name of the work vehicle application, contract information regarding the automatic driving of the work vehicle, work vehicle identification information (serial number) assigned to each work vehicle, and obstacle sensor status equipped on the work vehicle. In addition, the application of the work vehicle transmits the registered vehicle information to the management server (not shown) and stores it as a backup function.

[0029] 1, the management terminal 3 includes a control device 10 configured with a computer such as a CPU, and the control device 10 is connected to a storage unit 11 such as a ROM, RAM, a hard disk drive, a flash memory, etc., and a communication unit 12 that communicates with external devices. The management terminal 3 also includes a display unit 13 such as a touch panel or a monitor for displaying and outputting various information to an operator, and an input unit 14 such as a touch panel or operation keys for receiving input operations of various information from the operator.

[0030] The memory unit 11 stores programs and data for controlling the various components and functions of the management terminal 3, and the control device 10 executes arithmetic processing based on the programs and data stored in the memory unit 11, thereby controlling the various components and functions of the management terminal 3. The memory unit 11 stores, for example, an application for managing and operating the management terminal 3. The memory unit 11 also stores work vehicle data of the combine harvester 2 registered by the application, and can store not only the work vehicle data of the combine harvester 2 corresponding to the management terminal 3, but also work vehicle data of other combine harvesters 2. The memory unit 11 also stores home information of workers registered by the application.

[0031] The storage unit 11 also stores field information and work information created by an application during past work by the combine harvester 2. The storage unit 11 stores one or more pieces of field information, stores one or more work areas in association with one piece of field information, and stores one or more pieces of work information, such as work paths or reference lines, in association with one work area.

[0032] The communication unit 12 is connected to the communication device and the management server of the combine harvester 2 via a wireless communication antenna so as to be able to wirelessly communicate with them. The control device 10 controls the communication unit 12 to wirelessly communicate with the communication device and the management server of the combine harvester 2, and transmits and receives various information between the communication device and the management server.

[0033] The control device 10 starts an application in response to the start-up of the management terminal 3 or in response to an operation of the input unit 14. The control device 10 that executes the application operates as a display control unit 20 that displays various screens of the application on the display unit 13. The control device 10 that executes the application also operates as a function control unit 21 that executes each function of the application in response to an operation on each screen of the application. The display control unit 20 and the function control unit 21 realize the display control step and the function control step of the management method according to the present invention.

[0034] The functions of the display control unit 20 and the function control unit 21 will be described below.

[0035] When the application is started for the first time, the display control unit 20 displays on the display unit 13 a registered vehicle information input screen (not shown) for registering registered vehicle information (activation key) unique to the combine harvester 2. When registered vehicle information is input on the registered vehicle information input screen in response to operation of the input unit 14, the function control unit 21 transmits the input registered vehicle information to the management server. The management server determines whether the input registered vehicle information is valid or not, and transmits the determination result to the management terminal 3. If the determination result of the registered vehicle information is invalid, the display control unit 20 displays on the display unit 13 an error screen (not shown) indicating that the determination result is invalid. On the other hand, if the determination result of the registered vehicle information is valid, the control device 10 normally starts the application.

[0036] When the application is started normally, the control device 10 judges whether or not the work vehicle data of the combine harvester 2 is registered in the management terminal 3. If not registered, the display control unit 20 displays the first vehicle registration screen 30 on the display unit 13 as shown in FIG. 2 in order to perform the work vehicle data registration operation as an initial registration. The display control unit 20 displays a plurality of vehicle type items 31, which differ in model number and maximum number of reaping rows of the combine harvester 2, in the first vehicle registration screen 30 so that the items can be selected. The vehicle type items 31 are displayed so that the model number and maximum number of reaping rows can be identified by characters, signs, etc. The display control unit 20 also displays a confirmation button 32 for confirming the selection operation of the vehicle type item 31 in the first vehicle registration screen 30.

[0037] When the selection operation of the vehicle type item 31 on the first vehicle registration screen 30 is confirmed, the display control unit 20 displays the second vehicle registration screen 40 on the display unit 13 as shown in FIG. 3 in order to perform the registration operation of the work vehicle data as the initial registration. The display control unit 20 displays the installation status items 41 of various options of the combine harvester 2 in the second vehicle registration screen 40 so that the options can be selected. For example, the options include an auxiliary divider, an extension auger, a ladder, a bundling device, etc. The display control unit 20 also presents the vehicle width and vehicle length of the combine harvester 2 on the second vehicle registration screen 40. Furthermore, the display control unit 20 displays a registration name input field 42 for inputting the registration name of the work vehicle data on the second vehicle registration screen 40. The display control unit 20 also displays a confirmation button 43 for confirming the registration of the work vehicle data input on the second vehicle registration screen 40.

[0038] When the Confirm button 43 is selected on the second vehicle registration screen 40, the function control unit 21 stores and registers the work vehicle data entered on the first vehicle registration screen 30 and the second vehicle registration screen 40 in the memory unit 11 in association with the worker and the management terminal 3. Note that the above-described work vehicle data registration operation using the first vehicle registration screen 30 and the second vehicle registration screen 40 may be performed after the application is started in order to register work vehicle data of a combine harvester 2 other than the combine harvester 2 corresponding to the management terminal 3.

[0039] In addition, when the application is launched, the control device 10 determines whether the worker's home information is registered in the management terminal 3, and if not, the display control unit 20 displays a home registration screen 50 on the display unit 13, as shown in Figure 4, to register the home information as an initial registration.

[0040] Furthermore, the display control unit 20 has a map field 51 that displays a map based on map data on the home registration screen 50, and displays a Confirm button 52 for confirming the registration of the home information entered on the home registration screen 50. When the Confirm button 52 is selected, the function control unit 21 stores and registers the home information entered on the home registration screen 50 in the memory unit 11 in association with the worker and the management terminal 3.

[0041] In addition, the operation of registering home information using the above-mentioned home registration screen 50 may be performed when the work vehicle data is registered on the first vehicle registration screen 30 and the second vehicle registration screen 40, or may be performed as an editing operation after the application is launched.

[0042] After the application has been started normally, if the work vehicle data of the combine harvester 2 has been registered in the management terminal 3, or if the work vehicle data has been registered in the first vehicle registration screen 30 and the second vehicle registration screen 40 by the above-mentioned initial registration, the display control unit 20 displays a menu screen 60 on the display unit 13 as shown in Fig. 5 in order to select the work to be performed in the field by the combine harvester 2. The display control unit 20 displays menu items 26 on each screen so that they can be selected, and displays the menu screen 60 on the display unit 13 when a menu item 26 is selected on each screen.

[0043] The display control unit 20 displays, on the menu screen 60, a first work item 61 for performing a first work of acquiring or selecting field information related to the field and performing work, a second work item 62 for performing a second work of acquiring a work route that has already been acquired, and a third work item 63 for performing a third work of acquiring a reference line and performing work by automatic straight forward movement, as multiple work items related to work in the field by the combine harvester 2. The multiple work items are arranged in the left-right direction at the center of the top-bottom direction of the display unit 13, and are displayed so that the work contents can be identified by letters, signs, etc.

[0044] Furthermore, the display control unit 20 displays, on the menu screen 60, registration information items 64 related to registration information of the field and routes, work history items 65 related to work history in the field, and setting items 66 related to settings of the combine 2 in a selectable manner. Furthermore, the registration information items 64, work history items 65, and setting items 66 are displayed side by side on one side in the vertical or horizontal direction, for example, on the lower side, of multiple work items, and the contents are displayed so that they can be identified by characters, signs, etc. Note that the multiple work items are displayed larger than the registration information items 64, work history items 65, and setting items 66.

[0045] In the menu screen 60, the first work item 61 serves both as an unacquired work item for performing work by acquiring new field information, and as an acquired work item for performing work based on already acquired field information. In other words, the first work item 61 serves both as a new field work item for performing work by acquiring the field shape as field information, and as an acquired field work item for performing work based on the field shape already acquired as field information. Specifically, the New Acquisition button 83 on the field acquisition screen 80 described later serves as an unacquired work item or a new field work item, and the Select Confirm button 84 serves as an acquired work item or an acquired field work item.

[0046] When the first work item 61 is selected on the menu screen 60, before acquiring or selecting the field information, the function control unit 21 determines whether or not there is a combine harvester 2 registered in the management terminal 3, i.e., whether or not there is work vehicle data stored in the storage unit 11, in order to select the combine harvester 2 that will perform the first work of the automatic reaping travel. When there is only one combine harvester 2 registered in the management terminal 3, the function control unit 21 reads out the work vehicle data of that combine harvester 2 from the storage unit 11 and determines it as the combine harvester 2 that will perform the first work.

[0047] On the other hand, when two or more combine harvesters 2 are registered in the management terminal 3, or when no combine harvester 2 is registered in the management terminal 3, the display control unit 20 displays a vehicle selection screen 70 for selecting a combine harvester 2 that will perform the first work of the automatic reaping travel on the display unit 13, as shown in Fig. 6. The display control unit 20 displays a vehicle list 71, a vehicle details field 72, an edit button 73, and a confirm button 74 on the vehicle selection screen 70.

[0048] The display control unit 20 displays a list of each combine harvester 2 of the work vehicle data stored in the memory unit 11 in a vehicle list 71 on the vehicle selection screen 70, and enables selection and operation of any of the combine harvesters 2. The display control unit 20 simply displays the contents of the work vehicle data for each combine harvester 2 in the vehicle list 71, for example, displaying the registered name, registration date, etc. of the combine harvester 2. The display control unit 20 may be configured to make it possible to switch the display order of each combine harvester 2 in the vehicle list 71 between alphabetical order or registration order.

[0049] The display control unit 20 displays detailed information about the work vehicle data of the combine harvester 2 selected in the vehicle list 71 in the vehicle details section 72 of the vehicle selection screen 70, such as the model number of the combine harvester 2, the installation status of optional items such as auxiliary dividers, extension augers, ladders, bundling devices, etc., the vehicle width, the vehicle length, etc.

[0050] When the edit button 73 is selected on the vehicle selection screen 70, the display control unit 20 displays an edit screen equivalent to the first vehicle registration screen 30 and the second vehicle registration screen 40 shown in Figures 2 and 3 for the work vehicle data of the combine harvester 2 selected on the vehicle list 71, enabling editing of the work vehicle data. When the confirm button 74 is selected on the vehicle selection screen 70, the function control unit 21 confirms the work vehicle data selected on the vehicle list 71 as the combine harvester 2 that will perform the first task.

[0051] When the combine harvester 2 to perform the first task is confirmed, the display control unit 20 displays a field acquisition screen 80 for acquiring or selecting field information for the field in which the first task is to be performed on the display unit 13, as shown in Fig. 7. The display control unit 20 displays a field list 81, a map field 82, a new acquisition button 83, and a selection confirmation button 84 on the field acquisition screen 80. Note that Fig. 7 shows an example in which the map field 82 and a field including the field list 81, the new acquisition button 83, and the selection confirmation button 84 are simultaneously displayed, but it is also possible to switch to displaying only one of them depending on the operation.

[0052] The display control unit 20 displays a list of already acquired field information stored in the memory unit 11 in a field list 81 on the field acquisition screen 80, and enables selection of any of the field information. The display control unit 20 simply displays the contents of the field information as each piece of field information in the field list 81, for example, displaying the registered name of the field, address, registration date, distance from the vehicle position, etc. The display control unit 20 may be configured to make it possible to switch the display order of each piece of field information in the field list 81 between distance order, name order, or registration order.

[0053] The display control unit 20 displays a map based on the map data in a map field 82 of the field acquisition screen 80, and highlights the already acquired fields on the map based on the field information stored in the memory unit 11, for example, displaying the outer periphery of the field shape with a dotted line or the like. The display control unit 20 displays a simulated image 82a (icon) of the combine harvester 2 at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2 on the map in the map field 82. The display control unit 20 highlights the field selected in the field list 81 in the map field 82 so as to be distinguishable from other fields, for example, by displaying it in a color different from other fields. The display control unit 20 highlights the previously worked field in the field list 81 and the map field 82 so as to be distinguishable from other fields, for example, by displaying only the previously worked field with a previous work sign 86 added thereto.

[0054] The display control unit 20 displays the map in the map field 82 of the field acquisition screen 80 so that the selected field is at the center. The display control unit 20 also displays a home position button 87 and a vehicle position button 88 in the map field 82 so that they can be selected. Each time the home position button 87 is operated, the display control unit 20 switches the center of the map in the map field 82 between the selected field and the home position based on the home information. Each time the vehicle position button 88 is operated, the display control unit 20 switches the center of the map in the map field 82 between the selected field and the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2.

[0055] Furthermore, if there is no previously acquired field information in the vicinity of the position of the combine harvester 2 on the field acquisition screen 80, the display control unit 20 may display a recommendation to operate the new acquisition button 83 to acquire new field information.

[0056] When the new acquisition button 83 is selected on the field acquisition screen 80, the display control unit 20 displays an outermost periphery measurement screen 90 for the combine 2 to perform the outermost periphery measurement in the first work on the display unit 13 as a start screen for starting the acquisition of field information, as shown in Fig. 8. The display control unit 20 displays a map field 91, a start condition field 92, and a measurement start button 93 on the outermost periphery measurement screen 90 before the start of measurement.

[0057] The display control unit 20 displays a map based on the map data in a map field 91 of the outermost circumference measurement screen 90, and also displays a simulation diagram 91a (icon) of the combine harvester 2 at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2 on the map. In addition, a home position button 87 and a vehicle position button 88 are displayed in the map field 91 so as to be selectable.

[0058] The display control unit 20 presents, in the start condition field 92 of the outermost circumference measurement screen 90, a start condition for starting the acquisition of farm field information, which is a start condition for performing the outermost circumference measurement of the first work. For example, the start condition may be that the reaping switch of the combine harvester 2 is in an on state. When the start condition for the outermost circumference measurement is satisfied on the outermost circumference measurement screen 90, the display control unit 20 makes the measurement start button 93 selectable and operable, whereas when the start condition for the outermost circumference measurement is not satisfied, the display control unit 20 makes the measurement start button 93 inoperable and operable. For example, the management terminal 3 receives the state of the reaping switch of the combine harvester 2, and the display control unit 20 determines whether the reaping switch is in an on state, thereby determining whether the start condition is satisfied. The display control unit 20 may make it possible to distinguish whether the start condition is satisfied by switching the display format, such as the color of the start condition field 92 or the measurement start button 93.

[0059] When the measurement start button 93 is selected on the outermost circumference measurement screen 90, the function control unit 21 transmits an instruction to start the outermost circumference measurement to the combine harvester 2, and the combine harvester 2 starts the outermost circumference measurement. The combine harvester 2 transmits the GNSS information (own vehicle position) of the combine harvester 2 as measurement point data to the management terminal 3 while performing harvesting travel according to manual operation, and the function control unit 21 receives the own vehicle position of the combine harvester 2 from the combine harvester 2.

[0060] While the combine 2 is performing the outermost circumference measurement, the function control unit 21 measures the running trajectory of the combine 2 based on the measurement point data, and the display control unit 20 switches the outermost circumference measurement screen 90 to a measurement screen for acquiring field information, and as shown in Figure 9, on the outermost circumference measurement screen 90 during measurement, a map column 91, a measurement status column 97, a re-measurement button 98, and a measurement completion button 99 are displayed.

[0061] The display control unit 20 displays a map based on the map data in a map field 91 of the outermost circumference measurement screen 90 during measurement, displays a simulated image 91a (icon) of the combine harvester 2 at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2 on the map, and further displays the travel trajectory of the combine harvester 2 and indicates the measurement status such as "measuring" in a measurement status field 97. In addition, a home position button 87 and a vehicle position button 88 are displayed in the map field 91 so as to be selectable.

[0062] When the remeasurement button 98 is selected on the outermost circumference measurement screen 90, the function control unit 21 transmits an instruction to end the outermost circumference measurement to the combine harvester 2 in order to redo the outermost circumference measurement, and the combine harvester 2 ends the outermost circumference measurement. The function control unit 21 discards the travel trajectory based on the measurement point data, and the display control unit 20 displays on the display unit 13 the outermost circumference measurement screen 90 before the measurement started.

[0063] When the measurement completion button 99 is selected and operated on the outermost circumference measurement screen 90, the function control unit 21 transmits an instruction to complete the outermost circumference measurement to the combine harvester 2, and the combine harvester 2 completes the outermost circumference measurement. When the outermost circumference measurement is completed while the measurement state remains normal, the function control unit 21 stores the travel trajectory based on the measurement point data in the storage unit 11 as a provisional shape of the outermost circumference of the field (provisional outer circumference shape), and the display control unit 20 displays on the display unit 13 a field registration screen 100 for registering the shape, size, and position information (coordinates, etc.) of the outermost circumference of the field and the measurement point data constituting the outermost circumference of the field as field information based on the result of the outermost circumference measurement. As shown in FIG. 10, the display control unit 20 displays a map field 101, a registration name input field 102, a remeasurement button 103, and a confirmation button 104 on the field registration screen 100.

[0064] The display control unit 20 displays a map based on map data in a map field 101 of the field registration screen 100, displays a provisional outer periphery shape 101a (field shape) which is a result of the outermost periphery measurement on the map, and further displays a simulation diagram 101b (icon) of the combine harvester 2 at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2. In addition, a home position button 87 and a vehicle position button 88 are displayed in the map field 101 so as to be selectable. The display control unit 20 accepts input of the registration name of the field in the field information in a registration name input field 102 on the field registration screen 100.

[0065] When the remeasurement button 103 is selected on the field registration screen 100, the function control unit 21 discards the travel trajectory based on the measurement point data, and the display control unit 20 displays on the display unit 13 the outermost circumference measurement screen 90 before measurement began.

[0066] When the Confirm button 104 is selected on the field registration screen 100, the function control unit 21 confirms the shape, size and position information (coordinates, etc.) of the outermost periphery of the field based on the provisional outer periphery shape 101a which is the result of the outermost periphery measurement, and the measurement point data that constitutes the outermost periphery of the field, associates it with the field registration name entered in the registration name input field 102, registers it as field information, and stores it in the memory unit 11.

[0067] In response to a selection operation of the Confirm button 104 on the field registration screen 100, the display control unit 20 displays a work area creation screen 110 for creating a work area in the field resulting from the outermost circumference measurement on the display unit 13, as shown in Fig. 11. On the work area creation screen 110, the display control unit 20 displays a map field 111, a field angle edit button 112, a select all interpolation points button 113, a deselect all points button 114, a deselect one point button 115, a cutting row spacing selection field 116, and a Confirm button 117.

[0068] The display control unit 20 displays a map based on the map data in a map field 111 of the work area creation screen 110, and also displays a field shape 111a based on the outermost periphery of the field, measurement points 111b indicating measurement point data, and a work area shape 111c of the work area in the field, for the field information registered on the field registration screen 100. In addition, a home position button 87 and a vehicle position button 88 are displayed in the map field 111 so as to be selectable.

[0069] The display control unit 20 also presents the length of each side constituting the work area shape 111c and the area of ​​the work area in the map field 111. The function control unit 21 detects each side of the outermost periphery of the field constituted by measurement point data, and calculates each side of the rectangular work area shape 111c by linearly approximating the measurement point data constituting each side. The function control unit 21 sets each corner of the field shape 111a as a field angle 111d, and the display control unit 20 displays the field angle 111d on the map. Note that if the field angle 111d is edited, the display control unit 20 displays the edited field angle 111d and the work area shape 111c based on the edited field angle 111d on the work area creation screen 110.

[0070] When measuring the outermost periphery of the field, the vehicle may not turn at a right angle at the corners of the field, and may travel not along each side of the outermost periphery of the field. Therefore, the function control unit 21 prevents measurement point data obtained by traveling not along each side of the outermost periphery of the field from being applied to the calculation of each side of the working area shape 111c. Specifically, as shown in FIG. 12, the function control unit 21 sets a minimum length 111e (for example, 15 m) of linear approximation, and calculates a straight line by linear approximating the measurement point data included in the range of the minimum length 111e. In addition, the function control unit 21 recalculates a more appropriate straight line by linearly approximating the measurement point data included in the range of the minimum length 111e and the measurement point data included on the extension line of the calculated straight line. At this time, the function control unit 21 sets an allowable error 111f for linear approximation, as shown in FIG. 12, and does not include measurement point data that is apart from the previously calculated straight line by the allowable error 111f or more in the measurement point data for calculating the straight line. The display control unit 20 displays the measurement point data constituting an approximate straight line and the measurement point data not constituting an approximate straight line in a distinguishable manner on the work area creation screen 110, for example, displaying the former as a black circle and the latter as a white circle. The minimum length 111e and the allowable error 111f of the straight line approximation may be set in advance, or may be made arbitrarily settable on the work area creation screen 110.

[0071] When the field angle edit button 112 is selected on the work area creation screen 110, the display control unit 20 displays a field angle edit screen 120 for editing the field angle 111d of the work area shape 111c on the display unit 13. As shown in Fig. 13, the display control unit 20 displays an add field angle button 121 and a delete field angle button 122 on the field angle edit screen 120 so that they can be selected.

[0072] When the add field angle button 121 is selected on the field angle editing screen 120, the display control unit 20 displays a field angle adding screen 130 for adding a field angle of the field shape on the display unit 13. As shown in Fig. 14, on the field angle adding screen 130, the display control unit 20 displays a map field 131, an all point deselection button 132, a one point deselection button 133, an addition confirmation button 134, and a cancel button 135 in a selectable manner.

[0073] The display control unit 20 displays measurement points 131a indicating measurement point data constituting the outermost periphery of the field and already set field angles 131b in a map field 131 of the field angle addition screen 130. The display control unit 20 allows the measurement points 131a to be selected on the map field 131, and by selecting (touching) two measurement points 131e out of the measurement points 131a, a guideline 131c connecting the two measurement points 131a is set and displayed, and the two guidelines 131c are set and displayed on the map field 131, and an additional candidate 131d is set at the intersection of the two guidelines 131c.

[0074] When the all points deselection button 132 is selected on the field angle adding screen 130, the display control unit 20 deselects all the measurement points 131a, and when the one point deselection button 133 is selected on the field angle adding screen 130, the display control unit 20 deselects the selected measurement point 131a. When the addition confirmation button 134 is selected on the field angle adding screen 130, the display control unit 20 confirms the addition of an additional candidate 131d set at the intersection of two guidelines 131c to the field angle and adds it to the field information, and the display control unit 20 displays the work area creation screen 110 on the display unit 13. When the cancel button 135 is selected on the field angle adding screen 130, the function control unit 21 does not add a field angle regardless of the additional candidate 131d, and the display control unit 20 displays the work area creation screen 110 on the display unit 13.

[0075] In the present embodiment, as described above, an example has been described in which a guide line 131c that connects two measurement points 131a selected from the measurement point data is set on the field angle addition screen 130, and an additional field angle candidate 131d is set at the intersection of the two guide lines 131c, but the present invention is not limited to this example. In another example, the function control unit 21 first calculates multiple straight lines 131g as shown in Fig. 15 by linearly approximating the measurement point data obtained by measuring the outermost periphery of the field. At this time, the linear approximation is not limited to the minimum length 111e, and is performed under more relaxed conditions.

[0076] The display control unit 20 displays the calculated multiple straight lines 131g in a selectable manner in the map section 131 of the field angle addition screen 130 as shown in FIG. 15. The function control unit 21 extends the selected straight line 131g from the multiple straight lines 131g, sets an additional candidate 131d for the field angle 131b at the intersection of the two extended lines, and sets the line segments between the field angles 131b as the sides of the work area shape 111c. The display control unit 20 may display the selected straight line 131g as a thick line and the other straight lines 131g as normal lines to make them identifiable. When one or more straight lines 131g are selected in the same direction, the function control unit 21 may approximate these straight lines 131g as straight lines. Then, the function control unit 21 excludes the straight lines 131g that were not selected from the sides of the work area shape 111c.

[0077] When the field angle deletion button 122 is selected on the field angle editing screen 120, the display control unit 20 displays a field angle deletion screen 140 for deleting a field angle of the field shape on the display unit 13. As shown in Fig. 16, on the field angle deletion screen 140, the display control unit 20 displays a map field 141, an all field angle selection button 142, a deletion confirmation button 143, and a cancel button 144 in a selectable manner.

[0078] The display control unit 20 displays measurement points 141a indicating measurement point data constituting the outermost periphery of the field and already set field angles 141b in the map field 141 of the field angle deletion screen 140. The display control unit 20 makes the field angles 141b selectable on the map field 141, and sets the selected (touched) field angle 141b as a deletion candidate 141c. Note that field angles 141b that cannot be deleted are not selectable.

[0079] When the all field angle selection button 142 is selected on the field angle deletion screen 140, the display control unit 20 selects all field angles 141b as deletion candidates 141c. When the deletion confirmation button 143 is selected on the field angle deletion screen 140, the display control unit 20 confirms the selected deletion candidate 141c and deletes that field angle 141b from the field information, and the display control unit 20 displays the work area creation screen 110 on the display unit 13. When the cancel button 144 is selected on the field angle deletion screen 140, the function control unit 21 does not delete the field angle 141b regardless of whether it is a deletion candidate 141c, and the display control unit 20 displays the work area creation screen 110 on the display unit 13.

[0080] When the select all interpolation points button 113 is selected on the work area creation screen 110, the function control unit 21 selects all measurement point data as interpolation points for calculating each side of the work area shape 111c. When the cancel all points selection button 114 is selected on the work area creation screen 110, the function control unit 21 cancels the selection of all measurement point data as interpolation points for calculating each side of the work area shape 111c. When the cancel one point selection button 115 is selected on the work area creation screen 110, the function control unit 21 cancels the selection of the measurement point data selected on the map as an interpolation point for calculating each side of the work area shape 111c.

[0081] The display control unit 20 accepts the selection of the cutting row spacing to be set in the work area in the cutting row spacing selection field 116 of the work area creation screen 110, and allows the selection operation between, for example, 30 cm and 33 cm.

[0082] When the Confirm button 117 is selected on the work area creation screen 110, the function control unit 21 confirms the shape, size and position information (coordinates, etc.) of the work area and the measurement point data constituting the work area based on the work area shape 111c and field angle 111d created on the work area creation screen 110, and the display control unit 20 displays an entrance setting screen 150 for setting the entrance of the combine harvester 2 in the work area on the display unit 13. As shown in Fig. 17, the display control unit 20 displays a map field 151, an entrance edit button 152, a harvesting row spacing selection field 153, and a Confirm button 154 on the entrance setting screen 150.

[0083] The function control unit 21 automatically detects the entrance of the combine harvester 2 in the work area based on the measurement point data constituting the work area and information such as roads facing the work area on the map. The display control unit 20 displays a map based on the map data in the map field 151 of the entrance setting screen 150, and displays a field shape 151a based on the outermost periphery of the field, measurement points 151b indicating the measurement point data, a work area shape 151c and a field angle 151d of the work area, and an entrance sign 151e indicating the automatically detected entrance, for the work area confirmed in the work area creation screen 110. In addition, the map field 151 displays a home position button 87 and a vehicle position button 88 in a selectable manner. When the entrance is edited, the display control unit 20 displays an entrance sign 151e indicating the edited entrance in the map field 151.

[0084] When an entrance edit button 152 is selected on the entrance setting screen 150, the display control unit 20 displays an entrance edit screen 160 for editing the entrance of the work area on the display unit 13. As shown in Fig. 18, on the entrance edit screen 160, the display control unit 20 displays a map field 161, a new entrance setting button 162, an entrance size selection field 163, an entrance deletion button 164, an edit confirmation button 165, and a cancel button 166 in a selectable manner.

[0085] In the map section 161 of the entrance editing screen 160, the display control unit 20 displays a field shape 161a, measurement points 161b indicating measurement point data, a work area shape 161c and field angle 161d of the work area, and an entrance sign 161e, similar to the entrance setting screen 150 shown in Figure 17 described above.

[0086] When a new entrance setting button 162 is operated on the entrance editing screen 160 and then a predetermined position on the map field 161 is selected (touched), the function control unit 21 additionally sets a new entrance at the selected position, and the display control unit 20 displays an entrance sign 161e of the set new entrance in the map field 161. The entrance size selection field 163 allows the size of the new entrance to be set by the selection operation on the map field 161 to be selected, for example, a large entrance of 4m x 4m, a medium-sized entrance of 3m x 3m, and a small entrance of 2m x 2m can be selected.

[0087] Furthermore, the entrance marker 161e on the map column 161 can be selected, and when the entrance deletion button 164 is selected while the entrance marker 161e is selected, the function control unit 21 deletes the entrance corresponding to the selected entrance marker 161e, and the display control unit 20 deletes the selected entrance marker 161e.

[0088] When an edit confirmation button 165 is selected on the entrance editing screen 160, the function control unit 21 confirms the editing of adding or deleting an entrance on the entrance editing screen 160, and the display control unit 20 displays the entrance setting screen 150 on the display unit 13. When a cancel button 166 is selected on the entrance editing screen 160, the function control unit 21 cancels the editing on the entrance editing screen 160, and the display control unit 20 displays the entrance setting screen 150 on the display unit 13.

[0089] When the Confirm button 154 is selected on the entrance setting screen 150, the function control unit 21 confirms the entrance (position and size) of the work area based on the entrance sign 151e set on the entrance setting screen 150, and the display control unit 20 displays a work area registration screen 170 for registering a work area in a farm field on the display unit 13. As shown in Fig. 19, the display control unit 20 displays a map field 171, a registration name input field 172, a harvesting row spacing selection field 173, and a work start button 174 on the work area registration screen 170.

[0090] The display control unit 20 displays a map based on the map data in a map field 171 of the work area registration screen 170, and also displays a field shape 171a based on the outermost periphery of the field, measurement points 171b indicating measurement point data, a work area shape 171c and field angle 171d of the work area, and an entrance sign 171e indicating the entrance, for the work area confirmed on the work area creation screen 110 and the entrance set on the entrance setting screen 150. In addition, a home position button 87 and a vehicle position button 88 are displayed in the map field 171 so as to be selectable.

[0091] The display control unit 20 accepts input of the registration name of the work area of ​​the field information in the registration name input field 172 on the work area registration screen 170.

[0092] When the work start button 174 is selected on the work area registration screen 170, the function control unit 21 first associates the shape, size and position information (coordinates, etc.) of the work area confirmed on the work area creation screen 110, the measurement point data constituting the work area, and the entrance set on the entrance setting screen 150 with the work area registration name input in the registration name input field 172, registers them in the field information registered on the field registration screen 100, and stores them in the storage unit 11. When the registration of the field information related to the field and work area is completed, the function control unit 21 transmits the registered field information to the combine 2 as field information for performing the first work, and transitions to headland straight advance work based on the field information by the first work. The headland straight advance work is automatic straight advance along the outermost peripheral shape of the field, and will be described in detail later.

[0093] On the other hand, when the selection confirmation button 84 is selected with any field information selected in the field list 81 on the field acquisition screen 80, the function control unit 21 reads out the selected field information from the memory unit 11. As shown in Fig. 20, the display control unit 20 displays a work area selection screen 180 for selecting a work area from the field information on the display unit 13. The display control unit 20 displays a work area list 181, a map field 182, and a selection confirmation button 183 on the work area selection screen 180. Note that, although Fig. 20 shows an example in which the map field 182 and a field including the work area list 181 and the selection confirmation button 183 are simultaneously displayed, it is also possible to switch to displaying either one of them depending on the operation.

[0094] The display control unit 20 displays a list of work areas registered for the field information selected on the field acquisition screen 80 in a work area list 181 on the work area selection screen 180, and enables the user to select any of the work areas. The display control unit 20 displays the contents of the work area in a simple manner as each work area in the work area list 181, and displays, for example, the registered name, address, registration date, distance from the vehicle position, and the like of the work area. The display control unit 20 may be configured to switch the display order of each work area in the work area list 181 between distance order, name order, or registration order. The display control unit 20 highlights the work area where work was done last time in the work area list 181 so that it is distinguishable from other work areas, and displays, for example, only the work area where work was done last time with a previous work indicator 184 attached thereto.

[0095] The display control unit 20 displays a map based on the map data in the map field 182 of the work area selection screen 180, and also displays on the map a field shape 182a based on the outermost field periphery of the selected field information and a work area shape 182b of the work area selected in the work area list 181. The display control unit 20 highlights the work area shape 182b against the field shape 182a, and displays the work area shape 182b, for example, as a dotted line. If an entrance or discharge position is set in the work area, the display control unit 20 may display the entrance or discharge position superimposed on the work area shape 182b.

[0096] The display control unit 20 displays the map so that the selected field or work area is at the center in the map field 182 of the work area selection screen 180. The display control unit 20 also displays a home location button 87 and a vehicle location button 88 in the map field 182 so that they can be selected and operated.

[0097] When the selection confirmation button 183 is selected on the work area selection screen 180, the function control unit 21 transmits the field information including the work area selected on the work area selection screen 180 to the combine harvester 2 as the field information for performing the first work, and proceeds to the headland straight-line work based on the field information by the first work. As the headland straight-line work, the combine harvester 2 performs the work by automatically moving straight along a straight line path 191n parallel to the headland reference line 191h set to the outermost periphery shape of the field (see FIG. 21, etc.). In the combine harvester 2, a straight-line path pattern for setting a straight line path is set when performing the automatic straight-line work such as the headland straight-line work, and the straight-line path pattern includes a working width pattern in which a straight line path is set parallel to a reference line such as the headland reference line 191h at a working width interval from the reference line, and a vehicle position pattern in which a straight line path is set parallel to the reference line and passing through the vehicle position of the combine harvester 2, and for example, the working width pattern is set as the initial setting.

[0098] In the headland straight going work based on the field information by the first work, the display control unit 20 displays a headland straight going work screen 190 for the combine 2 to perform headland straight going work on the display unit 13, as shown in Fig. 21. On the headland straight going work screen 190, the display control unit 20 displays a map field 191, status lamps 192, an automatic straight going start button 193, a route shift button 194 (shift operation unit), a mode switching button 195 (mode switching operation unit), and a work history button 196.

[0099] The display control unit 20 displays a map based on map data in the map field 191 of the headland straight work screen 190, displays a work area shape 191a of the work area based on the field information of the field where the first work is performed, and further displays a simulated image 191b (icon) of the combine harvester 2 at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2 on the map. The function control unit 21 sets a headland reference line 191h as described later, and when a work width pattern is set as a straight path pattern, sets a plurality of straight paths 191n that are parallel to the headland reference line 191h and are arranged at work width intervals from the headland reference line 191h over the entire work area shape 191a. The display control unit 20 displays the headland reference line 191h and the plurality of straight paths 191n superimposed on the work area shape 191a.

[0100] In this embodiment, an example will be described in which a plurality of straight paths 191n with working width intervals are set and displayed when a working width pattern is set as the straight path pattern, but as another example, when a vehicle position pattern is set as the straight path pattern, the function control unit 21 sets a straight path 191n that is parallel to the headland reference line 191h and passes through the vehicle position of the combine 2, and the display control unit 20 displays the headland reference line 191h and the straight path 191n that passes through the vehicle position superimposed on the work area shape 191a, as shown in Fig. 22. Various functions such as offset operation using the headland straight work screen 190 can be executed in the same way regardless of whether the straight path pattern is the working width pattern or the vehicle position pattern.

[0101] In order to change the straight route pattern, the headland straight ahead work screen 190 is switched to the menu screen 60 in response to an operation of a menu button on the headland straight ahead work screen 190, and the menu screen 60 is further switched to a various settings screen 380 (see FIG. 57 ) in response to an operation of a setting item 66 on the menu screen 60. The straight route pattern is changed by performing a change operation on the new route creation setting field 384 on this various settings screen 380. Alternatively, in another example, a straight route pattern change button for changing the straight route pattern is displayed selectably on the work area selection screen 180 or the headland straight ahead work screen 190, and the straight route pattern is changed in response to an operation of the straight route pattern change button.

[0102] The display control unit 20 displays a mowed area 191c (worked area) that has been mowed (worked) and an unmowed area 191d (unworked area) that has not yet been mowed (worked) in a different display format such as color in the work area shape 191a of the work area on the map. The display control unit 20 displays a headland range 191e, which indicates the range required as a headland for automatic travel, superimposed on the work area shape 191a of the work area in the map field 191. The display control unit 20 presents, together with the map field 191, the registered field name based on the field information and the possible mowing travel distance based on the free capacity of the storage tank in which the combine harvester 2 stores grains, and displays a side lock button 191f (confirmation operation unit) and a headland reference line update button 191g (reference line update operation unit) so as to be selectable and operable.

[0103] The display control unit 20 switches the display format, such as the color of the status lamp 192, depending on whether the combine harvester 2 is in a state where it can proceed straight ahead on the headland. For example, the function control unit 21 determines that the headland straight ahead operation is in a state where it can proceed when a start condition, such as the reaping switch of the combine harvester 2 being in an on state, is satisfied, the combine harvester 2 is positioned at a predetermined start position in the unmowed area 191d, and the headland reference line 191h is determined. When the combine harvester 2 is not in a state where it can proceed straight ahead on the headland, the display control unit 20 makes the status lamp 192 selectable, and when the status lamp 192 is selected, the display control unit 20 presents the start condition, etc. that is not satisfied.

[0104] If the combine 2 is positioned at an end of one side of the unmowed area 191d with the already-mowed area 191c to the right, the function control unit 21 may determine this as the start position. The function control unit 21 determines a headland reference line 191h for headland straight-ahead work based on the direction and distance of the combine 2 at the start position from each side constituting the work area shape 191a, and determines, for example, the side closest to a straight line extending in the traveling direction of the combine 2 at the start position as the headland reference line 191h. The display control unit 20 displays the side of the work area shape 191a determined to be the headland reference line 191h in a different display format, such as color, from the other sides so that it can be distinguished. When the edge lock button 191f is selected on the headland straight-line work screen 190, the function control unit 21 confirms the headland reference line 191h based on the above-mentioned judgment result, or confirms the headland reference line 191h by directly selecting (touching) each edge that constitutes the work area shape 191a.

[0105] The display control unit 20 displays an operable route offset button 191i (offset operation unit) on the headland straight ahead work screen 190. The combine harvester 2 can change the left-right position of the body of the combine harvester 2 during headland straight ahead work by operating the route offset button 191i or the like during headland straight ahead work, and for example, by moving the combine harvester 2 diagonally with respect to the headland reference line 191h in response to operation of the route offset button 191i, the combine harvester 2 moves in parallel by the amount of the route offset target value set in the target value input field 191j to change the left-right position of the body of the combine harvester 2.

[0106] When such an offset operation is performed, the headland straight-ahead work screen 190 displays, in addition to a headland reference line 191h and multiple straight paths $ parallel to the headland reference line 191h, a straight line 191k connecting the start point and end point of the headland straight-ahead work accompanied by the offset operation (i.e., a straight line deviated from the reference; shown by a two-dot chain line in Fig. 23). At this time, in response to the operation of the path offset button 191i, as shown in Fig. 23, the headland straight-ahead work screen 190 simultaneously displays a first headland straight-ahead path with one side of the outermost periphery shape of the field (work area shape 191a) as the headland reference line 191h, and a second headland straight-ahead path with a path whose left-right position has been changed from the first headland straight-ahead path by the offset operation as the headland reference line.

[0107] When the lateral position of the combine harvester 2 is changed, for example, when a straight line connecting the start point and end point of the headland straight-going work is shifted from one side of the work area shape 191a due to such an offset operation, when the headland reference line update button 191g is selected and operated on the headland straight-going work screen 190, the function control unit 21 updates the headland reference line 191h to a straight line 191k connecting the start point and end point of the headland straight-going work based on the route of the headland straight-going work. Alternatively, the display control unit 20 may display a selection screen or a selection button on the headland straight-going work screen 190 for selecting whether or not to update the headland reference line 191h to the straight line 191k connecting the start point and end point of the headland straight-going work, and the function control unit 21 may update the headland reference line 191h in response to the operation of the selection screen or the selection button.

[0108] The display control unit 20 makes the automatic straight ahead start button 193 selectable when the combine harvester 2 is in a state where headland straight ahead operation is possible, and makes the automatic straight ahead start button 193 inselectable when the combine harvester 2 is not in a state where headland straight ahead operation is possible. The display control unit 20 switches the display format, such as the color of the automatic straight ahead start button 193, depending on whether headland straight ahead operation is possible or not.

[0109] The function control unit 21 calculates an automatic straight-line path based on the start position and the headland reference line, and transmits the automatic straight-line path to the combine harvester 2. When the automatic straight-line start button 193 is selected on the headland straight-line work screen 190, the combine harvester 2 transmits its own vehicle position (measurement point data) based on the GNSS information of the combine harvester 2 to the management terminal 3 while performing headland straight-line work along the automatic straight-line path in response to an instruction to start automatic straight-line.

[0110] When the route shift button 194 is selected on the headland straight ahead work screen 190, the display control unit 20 converts the current traveling direction of the combine 2 (the work direction of the headland straight ahead work) into an orthogonal direction, for example, the left direction, and displays it on the headland straight ahead work screen 190. The actual route shift of the combine 2 is performed by manual operation.

[0111] While the combine harvester 2 is performing headland straight ahead work, the display control unit 20 displays an automatic straight ahead stop button 198 in a selectable manner on the headland straight ahead work screen 190, instead of the automatic straight ahead start button 193, as shown in Fig. 23. When the automatic straight ahead stop button 198 is selected (touched) on the headland straight ahead work screen 190, the function control unit 21 transmits an instruction to the combine harvester 2 to stop automatic straight ahead.

[0112] When the combine harvester 2 completes the headland straight ahead operation of one automatic straight ahead route, the display control unit 20 displays an automatic straight ahead start button 193 in place of the automatic straight ahead stop button 198 on the headland straight ahead operation screen 190 so that the button 193 can be selected. The display of the simulation diagram 191b of the combine harvester 2, the already-mowed area 191c and the unmowed area 191d, and the presentation of the possible mowing distance are updated based on the vehicle position of the combine harvester 2 according to the progress of the headland straight ahead operation of the combine harvester 2. For example, the display of the area in which the headland straight ahead operation was performed within the unmowed area 191d is updated to the already-mowed area 191c according to the progress of the headland straight ahead operation. Also, while the combine harvester 2 is performing the headland straight ahead operation, the route shift button 194 and the headland reference line update button 191g on the headland straight ahead operation screen 190 cannot be selected.

[0113] During the headland straight ahead work of the combine harvester 2, the display control unit 20 operably displays a switching operation unit 197 for displaying an image field 198a instead of the automatic straight ahead stop button 198 on the headland straight ahead work screen 190, as shown in Figs. 23 and 25. The switching operation unit 197 is configured, for example, with a slide bar, and the display control unit 20 displays the image field 198a instead of the automatic straight ahead stop button 198, as shown in Fig. 25, in response to a slide operation of the switching operation unit 197 in a predetermined direction (for example, to the right). On the other hand, when the image field 198a is displayed on the headland straight ahead work screen 190, the display control unit 20 returns to displaying the automatic straight ahead stop button 198 instead of the image field 198a in response to a slide operation of the switching operation unit 197 in the opposite direction (for example, to the left).

[0114] The display control unit 20 displays, in the image field 198a, images captured by an imaging device such as a camera provided on the combine harvester 2 showing the state of the headland straight ahead operation. For example, Fig. 25 shows an example in which front and rear images of the combine harvester 2 captured by cameras provided on the front and rear of the combine harvester 2 are displayed in the image field 198a. Furthermore, the image field 198a may display discharge status images and transport status images captured by cameras provided on the tip of the discharge auger through which the combine harvester 2 discharges grains and on a transport section that transports the harvested stalks.

[0115] Note that the image field 198a may allow the type of image to be displayed to be arbitrarily selected. The image field 198a is not limited to displaying two images, and may display one or three or more images, and the number of images to be displayed may be arbitrarily selected. Although an example in which the switching operation unit 197 is configured with a slide bar is shown in Fig. 23 and Fig. 25, the switching operation unit 197 may be configured to receive a slide operation of the automatic straight-line stop button 198 or the image field 198a.

[0116] In the present embodiment, an example has been described in which the display control unit 20 displays the image field 198a instead of the automatic straight ahead stop button 198 on the headland straight ahead work screen 190 in response to the operation of the switching operation unit 197, but the present invention is not limited to this example. In another example, the display control unit 20 may display the image field 198a on the entire screen of the headland straight ahead work screen 190 in response to the operation of the switching operation unit 197, or may display it in another part of the headland straight ahead work screen 190, or may display it as a pop-up.

[0117] If the already-mowed area 191c has not reached the headland range 191e, the display control unit 20 makes the mode switching button 195 unavailable for selection. However, when the already-mowed area 191c reaches the headland range 191e due to the combine 2 moving straight ahead on the headland, the display control unit 20 makes the mode switching button 195 available for selection, as shown in FIG. 24.

[0118] When the mode switching button 195 is selected on the headland straight ahead work screen 190, the function control unit 21 stores the already-mowed area 191c and the unmowed area 191d formed by the headland straight ahead work in the work area shape 191a in the memory unit 11 in order to end the headland straight ahead work and switch to automatic mowing travel. When the mode switching button 195 is operated to switch to automatic mowing travel, the display control unit 20 displays on the display unit 13 a work route information setting screen for setting work route information related to the work route along which the combine 2 will automatically travel before starting automatic travel.

[0119] For example, as shown in Fig. 26, the display control unit 20 displays, as a work path information setting screen, a work direction setting screen 200 for setting a work direction of a work path along which the combine 2 performs automatic reaping travel on the display unit 13. Alternatively, the display control unit 20 may display, in response to an operation of the mode switching button 195, a work path information setting screen such as a discharge position setting screen 210 shown in Fig. 27 or a route pattern selection screen 220 shown in Fig. 28 on the display unit 13. The display control unit 20 displays, on the work direction setting screen 200, a map field 201, a work direction display switching button 202, a work direction rotation button 203 (work direction rotation operation unit), and a confirm button 204.

[0120] The display control unit 20 displays a map based on map data in the map field 201 of the work direction setting screen 200, and also displays a work area shape 201a of the work area on the map based on the field information of the first work, and further displays work direction options 201b for selecting and operating the work direction and a start position indicator 201c indicating the start position of the automatic reaping travel superimposed on the work area shape 201a. The display control unit 20 displays the work direction options 201b as an indicator indicating the work direction, for example, a straight line with a double-headed arrow parallel to each side of the work area shape 201a so that they can be selected, and displays the selected work direction option 201b and the other work direction options 201b in different display formats such as colors so that they can be distinguished. As an initial setting for the start position indicator 201c, the function control unit 21 sets the start position to one of the corners of the uncut area of ​​the work area shape 201a that is closest to the vehicle position of the combine 2 when the mode switching button 195 is selected and operated on the headland straight work screen 190.

[0121] The work direction rotation button 203 adjusts the angle of the work direction option 201b, and rotates the work direction option 201b counterclockwise or clockwise in 1 degree increments or 90 degree increments according to the operation of the work direction rotation button 203.

[0122] When the Confirm button 204 is selected on the work direction setting screen 200, the function control unit 21 confirms the work direction of the automatic reaping travel according to the selected work direction option 201b and stores it in the memory unit 11, and the display control unit 20 displays on the display unit 13 a discharge position setting screen 210 for setting a discharge position for discharging grains harvested during automatic reaping travel, as shown in Fig. 27. The display control unit 20 displays a map field 211, an automatic setting button 212 (automatic setting operation unit), and a confirm button 213 on the discharge position setting screen 210.

[0123] The display control unit 20 displays a map based on map data in the map field 211 of the discharge position setting screen 210, and displays a work area shape 211a of the work area on the map based on the field information of the first work, and further displays a start position indicator 211b indicating the start position of the automatic reaping travel superimposed on the work area shape 211a. The display control unit 20 displays a current discharge indicator 211c indicating the discharge position to be set in the current automatic reaping travel for the work area, and a previous discharge indicator 211d indicating the discharge position set in the previous automatic reaping travel for the work area superimposed on the work area shape 211a. The display control unit 20 displays the current discharge indicator 211c at a position corresponding to a selection operation (touch operation) on the work area shape 211a of the discharge position setting screen 210.

[0124] When the automatic setting button 212 is selected on the discharge position setting screen 210, the display control unit 20 sets the side that is closest to the position of the combine harvester 2 among the sides that constitute the working area shape 211a as the discharge side side, and when a perpendicular line is drawn from the position of the combine harvester 2 in the working area shape 211a to the discharge side side, displays the current discharge sign 211c with the position where the perpendicular line intersects with the side as the discharge position. Note that when the position of the combine harvester 2 is away from each side of the working area shape 211a by a predetermined distance (for example, 5 m) or more, the automatic setting button 212 is made selectable and operable.

[0125] When the Confirm button 213 is selected on the discharge position setting screen 210, the function control unit 21 confirms the discharge position at the position of the displayed current discharge sign 211c and stores it in the memory unit 11, and the display control unit 20 displays on the display unit 13 a route pattern selection screen 220 for selecting a route pattern for a work route when performing automatic mowing travel in an unmowed area of ​​the work area, as shown in Fig. 28. The display control unit 20 displays a route pattern selection field 221, a turning type selection field 222, a turning radius correction field 223, a surplus row support selection field 224, and a Confirm button 225 on the route pattern selection screen 220.

[0126] The display control unit 20 displays, in a route pattern selection field 221 of the route pattern selection screen 220, options of reciprocating mowing and circular mowing as route patterns for the work route of automatic mowing travel, so that the options can be selected.

[0127] In a turning type selection field 222 on the route pattern selection screen 220, the display control unit 20 displays options for selection as turning types when turning on a headland during automatic mowing travel, including a standard type in which the minimum turning radius is the state in which the combine 2 can turn normally, a tight turning type in which the turning radius is smaller than the standard type, and a soft type in which the minimum turning radius is the state in which the combine 2 can turn safely in adverse conditions (mud, etc.) with a turning radius larger than the standard type. In a turning radius correction field 223 on the route pattern selection screen 220, the display control unit 20 presents a correction value for the turning radius when turning on the work routes for reciprocating mowing and circular mowing, and enables correction.

[0128] The display control unit 20 displays, in the remaining row response selection field 224 on the route pattern selection screen 220, an option to select whether or not to perform remaining row response when creating a work route for round-trip mowing in an unmowed area. The remaining row response is a method in which, when the total number of rows in an unmowed area is divided by the maximum number of mowing rows to calculate the number of trips for round-trip mowing, if the remainder is 1 or 2 rows, the number of mowing rows is not set to 1 or 2 rows for the final trip, but is set to 1 or 2 rows less than the maximum number of mowing rows for several trips including the final trip. Note that if remaining row response is not selected, 1 or 2 rows will be set as the number of mowing rows for the final trip.

[0129] When the Confirm button 225 is selected on the route pattern selection screen 220, the function control unit 21 confirms the route pattern with the option selected in the route pattern selection field 221 and stores it in the memory unit 11. When the route pattern for back and forth mowing is confirmed, the display control unit 20 displays a middle division setting screen (not shown) for setting a middle division in the unmowed area of ​​the work area on the display unit 13. The display control unit 20 accepts input on the middle division setting screen as to whether or not a middle division is set and the number of middle divisions, and the function control unit 21 stores the input whether or not a middle division is set and the number of middle divisions in the memory unit 11.

[0130] In addition, when the setting of the work path information is completed on the work direction setting screen 200, the discharge position setting screen 210, the route pattern selection screen 220, or other work path information setting screens, for example, when any route pattern is confirmed on the route pattern selection screen 220, the display control unit 20 displays the work path confirmation screen 230 for confirming the creation of the work path for automatic reaping travel on the display unit 13, as shown in FIG. 29. In this embodiment, an example has been described in which the work direction setting screen 200, the discharge position setting screen 210, and the route pattern selection screen 220 are displayed in this order as the work path information setting screens to complete the setting of the work path information, but the present invention is not limited to this example, and the work path information setting screens may be displayed in another order. The display control unit 20 presents the contents of the work path information, for example, the contents of the field information such as the work area to be the target of automatic reaping travel, the contents of the work vehicle data of the combine 2, and the contents of various settings related to the work path on the work path confirmation screen 230. In addition, the display control unit 20 displays, on the work route confirmation screen 230, a registration name input field 231 for inputting a registration name of the work route, a work route creation button 232 (work route creation operation unit), and a route pattern reset button 233.

[0131] When the work route creation button 232 is selected on the work route confirmation screen 230, the function control unit 21 automatically creates a work route based on the contents presented on the work route confirmation screen 230 and stores it in the memory unit 11. When the creation of the work route is completed, the display control unit 20 displays on the display unit 13 a work route presentation screen 240 that presents the work route created based on the setting contents including the work route information set on the work route information setting screens such as the work direction setting screen 200, the discharge position setting screen 210, and the route pattern selection screen 220, as shown in Fig. 30. The display control unit 20 displays a map field 241, a simulation button 242, and a work route confirmation button 243 on the work route presentation screen 240.

[0132] The display control unit 20 displays a map based on map data in the map field 241 of the work path presentation screen 240, and displays a field shape 241a based on the outermost periphery of the field and a work area shape 241b of the work area on the map in a distinguishable manner based on the field information on the field where the first work is performed, and further displays a model 241c (icon) of the combine harvester 2 on the map at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2. The display control unit 20 displays a work path 241d superimposed on the work area shape 241b based on the field information, and also displays signs related to the work path such as an entrance sign 241e and a current discharge sign 241f, and a middle division path (not shown), etc. superimposed on the work area shape 241b. In addition, the map field 241 presents an explanation field 241p that explains the display items of signs related to the work path and a registration name field 241g that shows the registration name of the work path 241d.

[0133] The display control unit 20 displays the already-mowed area 241h (worked area) and the unmowed area 241i (unworked area) in a distinguishable manner in the work area shape 241b. The display control unit 20 displays the mowing route 241j in the unmowed area 241i and the free travel route 241k in the headland in a distinguishable manner in the work route 241d. The display control unit 20 displays the start position indicator 241m indicating the start position of automatic mowing travel and the end position indicator 241n indicating the end position of automatic mowing travel in a distinguishable manner in the work route 241d. Note that the display control unit 20 displays on the map, in addition to the work route 241d where automatic mowing travel is performed, a non-automatic travel route 241o where automatic mowing travel is not performed but manual travel is required.

[0134] When the simulation button 242 is selected on the work path presentation screen 240, the display control unit 20 presents a simulation of automatic harvesting travel by displaying on the work path presentation screen 240 a simulated diagram 241c of the combine 2 moving from the start position marker 241m to the end position marker 241n along the work path 241d.

[0135] When the work route confirmation button 243 is selected on the work route presentation screen 240, the function control unit 21 confirms the content presented on the work route confirmation screen 230 and stores it in the memory unit 11, and the display control unit 20 displays a work screen 250 for performing automatic mowing travel by the first work on the display unit 13, as shown in Fig. 31. The display control unit 20 displays, on the work screen 250, a map field 251, a status lamp 252 (status display unit), a work start button 253 (work start operation unit), a travel information setting button 254, an operation panel button 255, a mode switching button 256, and a work history button 257.

[0136] The display control unit 20 displays a map based on the map data in a map field 251 of the work screen 250, displays a work area shape 251a of the work area on the map based on the field information of the field where the first work is performed, and further displays a simulation diagram 251b (icon) of the combine harvester 2 on the map at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2. The display control unit 20 displays a work path 251c superimposed on the work area shape 251a based on the field information, and also displays signs related to the work path 251c, such as an entrance sign 251d and a current discharge sign 251e, as well as intermediate paths, superimposed on the work area shape 251a.

[0137] The display control unit 20 displays the already-mowed area 251f (already-worked area) and the unmowed area 251g (unworked area) in the work area shape 251a in a distinguishable manner. The display control unit 20 displays the mowing path 251h (actual work path) set in the unmowed area 251g in the work path 251c in a distinguishable manner and the free travel path 251i set in the headland. The display control unit 20 displays the start position indicator 251j indicating the start position of the automatic mowing travel and the end position indicator 251k indicating the end position of the automatic mowing travel in a distinguishable manner in the work path 251c. The display control unit 20 presents, together with the map field 251, the registered field name based on the field information and the possible mowing travel distance based on the free capacity of the storage tank in which the combine harvester 2 stores grains, and displays the discharge position setting button 251m (discharge position setting operation unit) in a selectable manner.

[0138] When the discharge position setting button 251m is selected and operated on the work screen 250, the discharge position can be set. Here, the discharge position can be set using a setting screen equivalent to the discharge position setting screen 210 shown in Fig. 27, or the map field 251 of the work screen 250 can be used. At this time, in addition to setting the discharge position, it is possible to set whether the discharge run to the discharge position is to be performed automatically or manually.

[0139] The display control unit 20 switches the display format of the status lamp 252, such as the color, depending on whether the combine harvester 2 is ready for automatic reaping travel. For example, the function control unit 21 determines that the combine harvester 2 is ready for automatic reaping travel when a start condition, such as the reaping switch of the combine harvester 2 being on, is satisfied, and a preparation condition, such as the combine harvester 2 being placed at a start position corresponding to the start position sign 251j, is satisfied. On the other hand, when the start condition or preparation condition is not satisfied, the function control unit 21 determines that the combine harvester 2 is not ready for automatic reaping travel, and the display control unit 20 makes the status lamp 252 selectable, and further, when the status lamp 252 is selected, the display control unit 20 presents the start condition, etc., that is not satisfied.

[0140] The display control unit 20 makes the work start button 253 selectable and operable when the combine harvester 2 is in a state where automatic reaping travel is possible (see FIG. 32), while making the work start button 253 inoperable when the combine harvester 2 is not in a state where automatic reaping travel is possible (see FIG. 31). Note that the display control unit 20 switches the display format, such as the color of the work start button 253, depending on whether automatic reaping travel is possible or not.

[0141] When the work start button 253 is selected on the work screen 250, the function control unit 21 transmits the content presented on the work route confirmation screen 230 together with an instruction to start work to the combine harvester 2. In response to the instruction to start work, the combine harvester 2 transmits the vehicle position (measurement point data) of the combine harvester 2 based on the GNSS information of the combine harvester 2 to the management terminal 3 while performing automatic reaping travel along the work route 251c.

[0142] While the combine harvester 2 is performing automatic reaping travel in response to an instruction to start automatic reaping travel, the display control unit 20 displays a work stop button 258 in a selectable manner in place of the work start button 253 on the work screen 250, as shown in FIG. 33. When the work stop button 258 is selected and operated on the work screen 250, the function control unit 21 transmits an instruction to stop work to the combine harvester 2. In addition, when the combine harvester 2 completes automatic reaping travel, the display control unit 20 displays the work start button 253 in an unselectable manner in place of the work stop button 258 on the work screen 250. The display of the simulation diagram 251b of the combine harvester 2, the already-mowed area 251f and the unmowed area 251g, and the presentation of the possible reaping travel distance are updated based on the vehicle position of the combine harvester 2 according to the progress of the automatic reaping travel of the combine harvester 2.

[0143] The display control unit 20 displays an operable path offset button 251q (offset operation unit) on the work screen 250. The combine harvester 2 can change the left-right position of the machine body of the combine harvester 2 during automatic reaping travel by operating the path offset button 251q or the like during automatic reaping travel. For example, by moving the combine harvester 2 diagonally relative to the work path 251c in response to the operation of the path offset button 251q, the combine harvester 2 moves in parallel by the path offset target value set in the target value input field 251r to change the machine body left-right position.

[0144] When such an offset operation is performed, in addition to the work path 251c, the work screen 250 displays a straight line 251s connecting the start point and end point of the process involving the offset operation (i.e., a straight line deviated from the original work path 251c; shown by a two-dot chain line in FIG. 33). Note that the offset operation affects not only the process involving the offset operation (the process whose left-right position has been changed) but also at least the adjacent processes, so the work screen 250 displays a straight line 251s of the process deviated from the work path 251c for the subsequent process affected by the offset operation (for example, a process adjacent to the process involving the offset operation). In FIG. 33, the process involving the offset operation and the subsequent process affected by the offset operation are shown by the two-dot chain straight line 251s, but the display control unit 20 may display them distinguishably by using different line types or colors.

[0145] Furthermore, the combine harvester 2 may automatically apply the offset operation to the subsequent process affected by the offset operation, or may allow the operator to select whether or not to apply the offset operation. For example, when performing a turning operation on the headland after completing automatic reaping travel of a process involving the offset operation, the display control unit 20 may display a selection screen or a selection button as a selection operation unit for selecting whether or not to apply the offset operation to the subsequent process affected by the offset operation (whether or not to make the slope the same as that of a straight line connecting the start point and end point of the process whose left-right position has been changed).

[0146] Furthermore, the display control unit 20 distinguishably displays the process in progress, the next process to be completed, and the completed process among the processes of the work path 251c in the map field 251 by changing the display format such as color from other processes. The function control unit 21 calculates the arrival position on the work path 251c where the combine 2 reaches the reaping travelable distance from its own vehicle position, and sets the discharge transition position at the end of the process immediately before the arrival position, and the display control unit 20 displays a discharge transition sign 251n at the discharge transition position on the work path 251c in the map field 251 as shown in FIG.

[0147] Before the combine 2 performing automatic reaping travel reaches the discharge transition position, the function control unit 21 automatically creates a discharge path 251o from the discharge transition position to the discharge position and a return path 251p from the discharge position to a predetermined return position, and the display control unit 20 displays the discharge path 251o superimposed on the work area shape 251a in the map field 251 of the work screen 250 as shown in Fig. 34. The return position may be set to the same as the discharge transition position, but may also be set to a position closer to the discharge position on the work path 251c, taking into consideration the state of the uncut area 251g and the discharge position.

[0148] When the discharge run is set to automatic, before the combine harvester 2 reaches the discharge transition position, the function control unit 21 transmits the discharge route 251o to the combine harvester 2, and the display control unit 20 displays the work stop button 258 in a selectable manner. The combine harvester 2 transmits the vehicle position (measurement point data) of the combine harvester 2 based on the GNSS information of the combine harvester 2 to the management terminal 3 while automatically performing the discharge run along the discharge route 251o. The display of the simulation diagram 251b of the combine harvester 2 is updated based on the vehicle position of the combine harvester 2 according to the progress of the discharge run of the combine harvester 2. In addition, when the combine harvester 2 completes the discharge run, the display control unit 20 indicates that the discharge position has been reached, and displays the work stop button 258 in a selectable manner.

[0149] On the other hand, in the case where the discharge travel is set to manual, when the combine harvester 2 reaches the discharge transition position, the automatic reaping travel is switched to manual travel.

[0150] When the combine harvester 2 completes the grain discharge operation and, for example, the function control unit 21 receives a notification of the completion of the discharge operation from the combine harvester 2, the display control unit 20 displays the return path 251p superimposed on the work area shape 251a in the map field 251 of the work screen 250, and displays the work start button 253 selectably instead of the work stop button 258. When the return path 251p is prepared in this way and the work start button 253 is selected on the work screen 250, the function control unit 21 transmits the return path 251p to the combine harvester 2 together with an instruction for return travel, and the display control unit 20 displays the work stop button 258 selectably instead of the work start button 253.

[0151] In response to the return run instruction, the combine harvester 2 transmits the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2 to the management terminal 3 while performing the return run along the return path 251p. The display of the simulation diagram 251b of the combine harvester 2 is updated based on the vehicle position of the combine harvester 2 according to the progress of the return run of the combine harvester 2. In addition, when the combine harvester 2 completes the return run, the display control unit 20 indicates that the return position has been reached. When the combine harvester 2 stops at the return position, in response to the operation of the work start button 253 on the work screen 250 or automatically, the function control unit 21 transmits a work start instruction to the combine harvester 2, and the combine harvester 2 resumes automatic reaping run along the work path from the return position.

[0152] When the travel information setting button 254 is selected and operated on the work screen 250, the display control unit 20 displays a travel information setting screen 260 for setting travel information on the display unit 13 as shown in FIG. 36, regardless of whether automatic reaping travel is being performed or not. The travel information includes the ratio of the vehicle speed during automatic travel to the set speed set by the main shift lever of the combine harvester 2, the acceleration level during automatic travel, and the like. The vehicle speed during automatic travel includes the straight vehicle speed during work and non-work, the turning vehicle speed, the reverse vehicle speed, and the like, and on the travel information setting screen 260, the ratio of each vehicle speed to the set speed of the main shift lever can be set as a percentage. On the travel information setting screen 260, the acceleration during automatic travel can be selected and operated from one of the levels such as soft, standard, and quick.

[0153] When the operation panel button 255 is selected on the work screen 250, regardless of whether automatic mowing travel is being performed or not, the display control unit 20 displays an operation panel screen 270 for setting other information relating to automatic mowing travel on the display unit 13, as shown in Fig. 37. Other information relating to automatic mowing travel includes, for example, the mowing start position at which mowing begins for the beginning of each row, and on the operation panel screen 270, the mowing start position can be corrected in centimeters, i.e., the mowing timing can be corrected.

[0154] During the automatic reaping travel of the combine harvester 2, the display control unit 20 operably displays a switching operation unit 259 for displaying an image field 258a instead of the work stop button 258 on the work screen 250 as shown in Figs. 33 to 35. The switching operation unit 259 is configured, for example, with a slide bar, and the display control unit 20 displays the image field 258a instead of the work stop button 258 as shown in Fig. 35 in response to a slide operation of the switching operation unit 259 in a predetermined direction (for example, to the right). On the other hand, when the image field 258a is displayed on the work screen 250, the display control unit 20 returns to the original state so that the work stop button 258 is displayed instead of the image field 258a in response to a slide operation of the switching operation unit 259 in the opposite direction (for example, to the left).

[0155] The display control unit 20 displays, in the image field 258a, images captured by an imaging device such as a camera provided on the combine harvester 2 showing the state of automatic reaping travel. For example, Fig. 35 shows an example in which front and rear images of the combine harvester 2 captured by cameras provided on the front and rear of the combine harvester 2 are displayed in the image field 258a. Furthermore, the image field 258a may display discharge status images and transport status images captured by cameras provided on the tip of the discharge auger through which the combine harvester 2 discharges grains and on a transport unit that transports the harvested stalks.

[0156] Note that the image field 258a may allow the type of image to be displayed to be arbitrarily selected. The image field 258a is not limited to displaying two images, and may display one or three or more images, and the number of images to be displayed may be arbitrarily selected. Although an example in which the switching operation unit 259 is configured with a slide bar is shown in Figs. 33 to 35, the switching operation unit 259 may be configured to receive a slide operation of the work stop button 258 or the image field 258a.

[0157] In the present embodiment, an example has been described in which the display control unit 20 displays the image field 258a instead of the work stop button 258 on the work screen 250 in response to the operation of the switching operation unit 259, but the present invention is not limited to this example. In another example, the display control unit 20 may display the image field 258a on the entire screen of the work screen 250, or in another part of the work screen 250, or as a pop-up display in response to the operation of the switching operation unit 259.

[0158] When the mode switching button 256 is selected and operated on the work screen 250, the function control unit 21 ends the automatic mowing travel and switches to automatic straight ahead work or manual mowing travel.

[0159] In addition, in the first work, the automatic mowing travel may be interrupted before completing the automatic mowing travel of the unmowed area of ​​the work area shape.In this case, the function control unit 21 stores the work route related to the interrupted automatic mowing travel in the memory unit 11 as the previous route, and stores, for example, data used in the automatic mowing travel of the first work (for example, field information such as the work area, work vehicle data of the combine 2, the work route, etc.) in the memory unit 11.

[0160] When the second work item 62 is selected on the menu screen 60, the function control unit 21 reads out data used in the previous automatic reaping travel of the first work from the storage unit 11 (for example, field information such as the work area, work vehicle data of the combine 2, work route, etc.) in order to resume the previous automatic reaping travel of the first work as the second work. In other words, the second work item 62 is an already acquired work item for performing work based on the already acquired work information, and is an already acquired route work item for performing work based on the work route already acquired as the work information. The display control unit 20 displays a work screen 250 similar to the first work as shown in FIG. 31 on the display unit 13 based on the data used in the previous automatic reaping travel of the first work in order to resume the previous automatic reaping travel of the first work as the second work.

[0161] In the second work, the display control unit 20 displays a work start button 253 on the work screen 250 so that the button 253 can be selected. When the combine harvester 2 is manually driven to the interruption position and the work start button 253 is selected on the work screen 250, the function control unit 21 transmits an instruction to start work to the combine harvester 2, and the combine harvester 2 resumes automatic reaping travel from the interruption position. The operation using the work screen 250 in the second work is the same as in the first work, and therefore a duplicated description will be omitted.

[0162] When the third work item 63 is selected on the menu screen 60, the display control unit 20 displays the vehicle selection screen 70 shown in FIG. 6 on the display unit 13 in order to select the combine 2 that will perform the third work of the automatic reaping travel. In other words, the third work item 63 is an unacquired work item for newly acquiring work information and performing the work, and is a reference line work item for acquiring a reference line as work information and performing the work in automatic straight line travel. The operation using the vehicle selection screen 70 for the third work is similar to that for the first work, and therefore a duplicated explanation will be omitted.

[0163] Meanwhile, in the third work, when the Confirm button 74 is selected on the vehicle selection screen 70, the function control unit 21 confirms the work vehicle data selected on the vehicle list 71 as the combine harvester 2 that will perform the third work, and the display control unit 20 displays a reference line setting screen 280 for setting a reference line for performing the third work on the display unit 13 as a creation screen for creating a reference line, as shown in Fig. 38. The display control unit 20 displays a map field 281, a point A setting button 282, a point A deletion button 283, a cutting row spacing selection field 284, and a reference line confirmation button 285 on the reference line setting screen 280.

[0164] The display control unit 20 displays a map based on the map data in the map field 281 of the reference line setting screen 280, and also displays a simulation diagram 281a (icon) of the combine harvester 2 on the map at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2.

[0165] The display control unit 20 first displays a point A setting button 282 selectably as a start point setting button for setting a start point (point A) for measuring the reference line on the reference line setting screen 280, and displays a point A deletion button 283 and a reference line confirmation button 285 as unselectable. When the combine harvester 2 is located in a farm field and the point A setting button 282 is selected on the reference line setting screen 280, the function control unit 21 sets the vehicle position of the combine harvester 2 as point A on the reference line and stores it in the memory unit 11, and the display control unit 20 displays point A in the map field 281.

[0166] 39, in place of the set point A button 282 on the reference line setting screen 280, the display control unit 20 displays a set point B button 286 as an end point setting button for setting an end point (point B) for measuring the reference line, and displays a delete point A button 283 so that it can be selected. When the delete point A button 283 is selected on the reference line setting screen 280, the display control unit 20 displays a delete point A confirmation screen (not shown) on the display unit 13. When the deletion operation of point A is confirmed on the delete point A confirmation screen, the function control unit 21 cancels the setting of point A and deletes it from the storage unit 11.

[0167] When the combine harvester 2 is located less than a predetermined distance (e.g., 5 m) from point A, the display control unit 20 displays the point B setting button 286 in an inoperable state, and when the combine harvester 2 is manually driven from point A and moves away from point A by a predetermined distance or more, the display control unit 20 displays the point B setting button 286 in an operable state, as shown in Fig. 40. The display of the simulation diagram 281a of the combine harvester 2 is updated based on the position of the combine harvester 2 according to the progress of the manual driving of the combine harvester 2, and the map field 281 displays a straight line connecting point A and the simulation diagram 281a of the combine harvester 2.

[0168] When the point B setting button 286 is selected on the reference line setting screen 280, the function control unit 21 sets the vehicle position of the combine harvester 2 as point B on the reference line and stores it in the storage unit 11, and the display control unit 20 displays point B in the map field 281 as shown in FIG. 41. When point B is set, the display control unit 20 displays the point B setting button 286 in the reference line setting screen 280 in an inoperable state, displays a point B deletion button 287 in place of the point A deletion button 283 in an operable state, and further displays the reference line confirmation button 285 in an operable state. When the point B deletion button 287 is selected on the reference line setting screen 280, the display control unit 20 displays a point B deletion confirmation screen (not shown) on the display unit 13, and when the deletion operation of point B is confirmed on the point B deletion confirmation screen, the function control unit 21 cancels the setting of point B and deletes it from the storage unit 11.

[0169] The reference line confirmation button 285 is a reference line operation start button for confirming the set reference line and transitioning to automatic straight travel based on the reference line. When the reference line confirmation button 285 is selected and operated on the reference line setting screen 280, the function control unit 21 confirms the set points A and B, calculates a straight reference line connecting points A and B, detects field information of a field that positionally includes the reference line from the field information stored in the storage unit 11, and stores the reference line and the field information in association with each other in the storage unit 11. When two or more pieces of field information are detected, the most recent field information is associated with the reference line. When field information of a field that includes the reference line is not detected, the display control unit 20 presents a message that there is no field that corresponds to the reference line, and the function control unit 21 performs automatic reaping travel in an automatic straight line for a course parallel to the reference line regardless of the field.

[0170] When the reference line determination button 285 is selected and operated on the reference line setting screen 280 to associate the reference line with the field information, the display control unit 20 displays a work screen 290 for performing automatic reaping travel by the third work on the display unit 13, as shown in FIG. 42. The display control unit 20 displays a map field 291, a status lamp 292, a work start button 293, and a work history button 295 on the work screen 290. The combine harvester 2 performs the automatic reaping travel by the third work by automatically moving in a straight line along a work path 291e that is parallel to the reference line consisting of points A and B (see FIG. 44, etc.). When performing the automatic straight line travel of the third work, the combine harvester 2 has a straight path pattern of the work width pattern or the vehicle position pattern set in the same way as the headland straight line work, and for example, the work width pattern is set as an initial setting.

[0171] The display control unit 20 displays a map based on the map data in the map field 291 of the work screen 290, and displays a field shape 291a based on the outermost periphery of the field on the map based on the field information on which the third work is performed, and further displays a simulated image 291b (icon) of the combine harvester 2 on the map at the vehicle position of the combine harvester 2 based on the GNSS information of the combine harvester 2. When the work width pattern is set as a straight route pattern, the function control unit 21 arranges a plurality of processes, which are straight lines parallel to a reference line consisting of points A and B and are arranged at work width intervals from this reference line, over the entire field shape 291a, and the display control unit 20 displays a reference line marker 291c indicating the reference line consisting of points A and B and a process arrangement 291d indicating the arrangement of the plurality of processes, superimposed on the field shape 291a.

[0172] In this embodiment, an example is described in which a plurality of stroke arrangements 291d of the working width interval is set and displayed when the working width pattern is set as the straight path pattern, but as another example, when the vehicle position pattern is set as the straight path pattern, the function control unit 21 sets a work stroke 291e that is a straight line parallel to the reference line consisting of points A and B and passes through the vehicle position of the combine harvester 2, and the display control unit 20 displays a reference line marker 291c indicating the reference line consisting of points A and B and the work stroke 291e passing through the vehicle position, superimposed on the field shape 291a, as shown in Fig. 43. Various functions such as an offset operation using the work screen 290 can be executed in the same way regardless of whether the straight path pattern is the working width pattern or the vehicle position pattern.

[0173] In order to change the straight route pattern, the work screen 290 is switched to the menu screen 60 in response to an operation of a menu button on the work screen 290, and the menu screen 60 is further switched to a various setting screen 380 (see FIG. 57) in response to an operation of a setting item 66 on the menu screen 60. The straight route pattern is changed by performing a change operation on the new route creation setting field 384 on this various setting screen 380. Alternatively, in another example, a straight route pattern change button for changing the straight route pattern is displayed selectably on the reference line setting screen 280 or the work screen 290, and the straight route pattern is changed in response to an operation of the straight route pattern change button.

[0174] The display control unit 20 displays the field shape 291a so that the already-mowed area and the unmowed area can be distinguished. The display control unit 20 presents, together with the map field 291, the registered field name based on the field information and the possible reaping travel distance based on the free capacity of the storage tank in which the combine harvester 2 stores grains.

[0175] The display control unit 20 switches the display format, such as the color of the status lamp 292, depending on whether the combine harvester 2 is in a state where automatic reaping travel is possible. For example, the function control unit 21 determines that automatic reaping travel is possible when a start condition, such as the reaping switch of the combine harvester 2 being in an on state, is satisfied and the combine harvester 2 is placed in any of the strokes of the stroke array 291d. When the combine harvester 2 is not in a state where automatic reaping travel is possible, the display control unit 20 makes the status lamp 292 selectable, and when the status lamp 292 is selected, the display control unit 20 presents the start condition, etc., that is not satisfied.

[0176] The display control unit 20 makes the work start button 293 selectable when the combine harvester 2 is capable of automatic reaping travel (see FIG. 44), while making the work start button 293 inoperable when the combine harvester 2 is not capable of automatic reaping travel (see FIG. 42). The display control unit 20 switches the display format of the work start button 293, such as the color, depending on whether the combine harvester 2 is capable of automatic reaping travel.

[0177] When the work start button 293 is selected on the work screen 290, the function control unit 21 sets a work path 291e parallel to a reference line consisting of points A and B based on the own vehicle position of the combine harvester 2, and transmits an instruction to start work to the combine harvester 2. In response to the instruction to start work, the combine harvester 2 performs automatic reaping travel in an automatic straight line along the work path 291e, while transmitting the own vehicle position (measurement point data) of the combine harvester 2 based on the GNSS information of the combine harvester 2 to the management terminal 3. The display control unit 20 may display the work path 291e on the work screen 290.

[0178] While the combine harvester 2 is automatically moving straight in response to an instruction to start automatic reaping travel, the display control unit 20 displays a work stop button 296 in place of the work start button 293 in a selectable manner on the work screen 290, as shown in FIG. 45. When the work stop button 296 is selected on the work screen 290, the function control unit 21 transmits an instruction to stop work to the combine harvester 2. When the combine harvester 2 completes the automatic straight travel of the work process 291e, the display control unit 20 displays a work start button 293 in place of the work stop button 296 in a selectable manner on the work screen 290. The display of the simulation diagram 291b of the combine harvester 2, the already-mowed area and the unmowed area, and the presentation of the possible reaping travel distance are updated based on the vehicle position of the combine harvester 2 in accordance with the progress of the automatic reaping travel of the combine harvester 2.

[0179] The combine harvester 2 can change the left-right position of the machine body by operating the route offset button 291f while automatically moving straight ahead. For example, by moving diagonally with respect to the work process 291e, the machine body's left-right position is changed by moving in parallel by the route offset target value set in the target value input field 291g. When performing such an offset operation, the work screen 290 displays, in addition to the work process 291e, a straight line 291h connecting the start point and end point of the process involving the offset operation (i.e., a straight line deviated from the original work process 291e; shown by a two-dot chain line in FIG. 45).

[0180] Furthermore, when the offset operation is performed, the combine harvester 2 may automatically update the reference for automatic straight-line travel from the reference line (reference line marker 291c) consisting of points A and B to the course (straight line 291h) where the offset operation is performed, or may allow the operator to select whether or not to update the reference for automatic straight-line travel. For example, after automatic reaping travel of a course involving the offset operation is completed, the display control unit 20 may display a selection screen or selection button for selecting whether or not to update the reference for automatic straight-line travel to the course (straight line 291h) where the offset operation is performed.

[0181] During automatic reaping travel by the third work of the combine harvester 2, the display control unit 20 operably displays a switching operation unit 297 for displaying an image field 296a instead of the work stop button 296 on the work screen 290 as shown in Figs. 45 and 46. The switching operation unit 297 is configured, for example, with a slide bar, and the display control unit 20 displays the image field 296a instead of the work stop button 296 as shown in Fig. 46 in response to a slide operation of the switching operation unit 297 in a predetermined direction (for example, to the right). On the other hand, when the image field 296a is displayed on the work screen 290, the display control unit 20 returns to the original state so that the work stop button 296 is displayed instead of the image field 296a in response to a slide operation of the switching operation unit 297 in the opposite direction (for example, to the left).

[0182] The display control unit 20 displays, in the image field 296a, images captured by an imaging device such as a camera provided on the combine harvester 2 showing the state of automatic reaping travel. For example, Fig. 46 shows an example in which front and rear images of the combine harvester 2 captured by cameras provided on the front and rear of the combine harvester 2 are displayed in the image field 296a. Furthermore, the image field 296a may display discharge status images and transport status images captured by cameras provided on the tip of the discharge auger through which the combine harvester 2 discharges grains and on a transport unit that transports the harvested stalks.

[0183] Note that the image field 296a may allow the type of image to be displayed to be arbitrarily selected. The image field 296a is not limited to displaying two images, and may display one or three or more images, and the number of images to be displayed may be arbitrarily selected. Although an example in which the switching operation unit 297 is configured with a slide bar is shown in Fig. 45 and Fig. 46, the switching operation unit 297 may be configured to receive a slide operation of the work stop button 296 or the image field 296a.

[0184] In the present embodiment, an example has been described in which the display control unit 20 displays the image field 296a instead of the work stop button 296 on the work screen 290 in response to the operation of the switching operation unit 297, but the present invention is not limited to this example. In another example, the display control unit 20 may display the image field 296a on the entire screen of the work screen 290, or in another part of the work screen 290, or as a pop-up display in response to the operation of the switching operation unit 297.

[0185] Furthermore, the display control unit 20 displays a map item 25 on each screen so that it can be selected and operated to confirm already acquired field information such as the field shape. When the map item 25 is selected and operated on each screen, a field list screen 300 for confirming already acquired field information such as the field shape is displayed on the display unit 13, as shown in Fig. 47. On the field list screen 300, the display control unit 20 displays a field list 301, a map column 302, and a selection confirmation button 303. In other words, the field list screen 300 is the same as the above-mentioned field acquisition screen 80 shown in Fig. 7 with the New acquisition button 83 removed, and therefore a duplicated description will be omitted.

[0186] Furthermore, when a piece of field information is selected in the field list 301 on the field list screen 300 and the selection confirmation button 303 is selected, the function control unit 21 reads out the selected field information from the storage unit 11, and the display control unit 20 displays, on the display unit 13, a work area list screen 310 for checking the work areas registered for the selected field information, as shown in Fig. 48. The display control unit 20 displays a work area list 311, a map field 312, and a selection confirmation button 313 on the work area list screen 310. In other words, the work area list screen 310 is similar to the above-mentioned work area selection screen 180 shown in Fig. 20, and therefore a duplicated description will be omitted.

[0187] When the selection confirmation button 313 is selected on the work area list screen 310 with any work area selected in the work area list 311, the display control unit 20 displays a work information list screen 320 on the display unit 13 for confirming work information of the work route or reference line registered for the selected work area, as shown in Fig. 49 and Fig. 50. The display control unit 20 displays a work information list 321, a map field 322, and a work execution button 323 on the work information list screen 320. Note that Figs. 49 and 50 show an example in which the map field 322 and a field including the work information list 321 and the work execution button 323 are simultaneously displayed, but it is also possible to switch to displaying only one of them depending on the operation.

[0188] The display control unit 20 displays a list of work information of work routes or reference lines registered for a work area selected on the work area list screen 310 in a work information list 321 of the work information list screen 320, and enables a selection operation of any of the work information. For example, when a work route is associated with a work area, the display control unit 20 displays a list of the work routes in the work information list 321 so that they can be selected, as shown in Fig. 49, and displays the contents of the work route in a simplified manner as each work route, for example, displaying the registered name, address, registration date, etc. of the work route. Alternatively, when a reference line is associated with a work area, the display control unit 20 displays a list of the reference lines in the work information list 321 so that they can be selected, as shown in Fig. 50, and displays the contents of the reference line in a simplified manner as each reference line, for example, displaying the registered name, address, registration date, etc. of the reference line.

[0189] Furthermore, the display control unit 20 displays a detail button 324 selectably for each work route or each reference line in the work information list 321. When the detail button 324 for each work route in the work information list 321 is selected, the display control unit 20 displays a details screen (not shown) of work vehicle data, field information, and work information at the time of work on that work route. Alternatively, when the detail button 324 for each reference line in the work information list 321 is selected, the display control unit 20 displays a details screen (not shown) of work vehicle data, field information, and work information at the time of work on that reference line.

[0190] The display control unit 20 displays a map based on the map data in the map field 322 of the work information list screen 320, highlights on the map the field shape based on the outermost periphery of the field of the selected field information and the work area shape of the selected work area, and further displays the work route or reference line, which is the work information selected in the work information list 321. For example, when a work route corresponds to a work area, the map field 322 displays the work route selected in the work information list 321 superimposed on the work area shape, as shown in FIG. 49. Alternatively, when a reference line corresponds to a work area, the map field 322 displays the reference line selected in the work information list 321 superimposed on the work area shape, as shown in FIG. 50. The display control unit 20 displays in the map field 322 the start point (e.g., point A or start position) and end point (e.g., point B or end position) of the work route or reference line based on the work information.

[0191] The display control unit 20 displays the map so that the selected field or work area is at the center in the map field 322 of the work information list screen 320. The display control unit 20 also displays a home location button 87 and a vehicle location button 88 in the map field 322 so that they can be selected and operated.

[0192] When the work execution button 323 is selected on the work information list screen 320, the function control unit 21 controls each unit to execute automatic reaping travel in the first work or the third work described above, based on the field information selected on the field list screen 300, the work area selected on the work area list screen 310, and the work information of the work path or reference line selected on the work information list screen 320. For example, the function control unit 21 transmits an instruction for automatic reaping travel to the combine harvester 2 together with the field information including the work area and the work information. In addition, in order to utilize the work path or reference line that has already been created, the display control unit 20 displays the work screen 250 for the first work shown in FIG. 31 or the work screen 290 for the third work shown in FIG. 42 on the display unit 13.

[0193] Furthermore, when the registration information item 64 is selected on the menu screen 60, the display control unit 20 displays a registration information editing screen 330 for editing various registered information on the display unit 13, as shown in Fig. 51. On the registration information editing screen 330, the display control unit 20 displays a field information editing item 331, a work area information editing item 332, and a work information editing item 333 so that they can be selected.

[0194] When the field information edit item 331 is selected on the registration information edit screen 330, the display control unit 20 displays a field information edit screen 340 for editing registered field information on the display unit 13, as shown in Fig. 52. The display control unit 20 displays a field list 341, a map field 342, an edit button 343, and a delete button 344 on the field information edit screen 340. In other words, the field information edit screen 340 is similar to the field acquisition screen 80 shown in Fig. 7 and the field list screen 300 shown in Fig. 47, except that the new acquisition button 83 has been removed and the edit button 343 and delete button 344 have been added, and therefore a duplicated description will be omitted.

[0195] When the edit button 343 is selected on the field information editing screen 340, the screen transitions to editing the field information selected on the field list 341, and accepts editing of the field registration name, for example. When the delete button 344 is selected on the field information editing screen 340, the screen transitions to deleting the field information selected on the field list 341, and the field information is deleted in response to the operation.

[0196] When the work area information editing item 332 is selected on the registration information editing screen 330, the display control unit 20 displays a field selection screen (not shown) on the display unit 13 that is equivalent to the field list screen 300 shown in Figure 47 described above, in order to select the field having the work area to be edited.

[0197] When a field is selected on the field selection screen, the function control unit 21 reads out field information corresponding to the selected field from the storage unit 11, and the display control unit 20 displays a work area editing screen 350 for editing a work area registered for the selected field information on the display unit 13, as shown in Fig. 53. The display control unit 20 displays a work area list 351, a map field 352, a new creation button 353, an edit button 354, and a delete button 355 on the work area editing screen 350. That is, the work area editing screen 350 is similar to the work area selection screen 180 shown in Fig. 20 and the work area list screen 310 shown in Fig. 48, except that the selection confirmation button 183 has been removed and the new creation button 353, the edit button 354, and the delete button 355 have been added, and therefore a duplicated description will be omitted.

[0198] When the new creation button 353 is selected on the work area editing screen 350, the display control unit 20 displays a new creation screen equivalent to the above-mentioned work area creation screen 110 shown in Fig. 11, the above-mentioned entrance setting screen 150 shown in Fig. 17, the above-mentioned work area registration screen 170 shown in Fig. 20, etc., on the display unit 13 in order to create a new work area for the field of the selected field information. Here, the operation of creating a new work area is similar to the operation of creating a work area by the first operation using the work area creation screen 110, the entrance setting screen 150, and the work area registration screen 170, and therefore a duplicated explanation will be omitted.

[0199] When the edit button 354 is selected on the work area editing screen 350, the display control unit 20 displays an editing screen equivalent to the work area creation screen 110 shown in Fig. 11, the entrance setting screen 150 shown in Fig. 17, the work area registration screen 170 shown in Fig. 20, etc., on the display unit 13 in order to edit the work area selected in the work area list 351. Here, the work area editing operation is similar to the various setting operations in the work area creation operation by the first operation using the work area creation screen 110, the entrance setting screen 150 and the work area registration screen 170, and therefore a duplicated explanation will be omitted.

[0200] When the delete button 355 is selected on the work area editing screen 350, the process proceeds to the deletion of the work area selected in the work area list 351, and the work area is deleted.

[0201] When the work information editing item 333 is selected on the registration information editing screen 330, the display control unit 20 displays a field selection screen (not shown) equivalent to the above-mentioned field list screen 300 shown in Figure 47 on the display unit 13 in order to select the field having the work information to be edited.

[0202] When a field is selected on the field selection screen, the function control unit 21 reads out field information corresponding to the selected field from the memory unit 11, and the display control unit 20 displays on the display unit 13 a work area selection screen (not shown) equivalent to the work area selection screen 180 shown in Figure 20 or the work area list screen 310 shown in Figure 48 in order to select a work area registered for the selected field.

[0203] When a work area is selected on the work area selection screen, the function control unit 21 reads out the selected work area from the field information, and the display control unit 20 displays on the display unit 13 a work information editing screen 360 for editing the work information of the work route or reference line registered for the selected work area, as shown in Figs. 54 and 55. The display control unit 20 displays a work information list 361, a map field 362, a route re-create button 363, a registered name edit button 364, and a delete button 365 on the work information editing screen 360. That is, the work information editing screen 360 is the same as the work information list screen 320 shown in Figs. 49 and 50, except that the work execution button 323 has been removed and the route re-create button 363, the registered name edit button 364, and the delete button 365 have been added, and therefore a duplicated description will be omitted.

[0204] On the work information editing screen 360 for the work route, the route recreate button 363 is displayed so that it can be selected, but on the work information editing screen 360 for the reference line, the route recreate button 363 is displayed so that it cannot be selected. When the route recreate button 363 is selected on the work information editing screen 360 for the work route, the display control unit 20 displays a work route recreate screen equivalent to the above-mentioned work route confirmation screen 230 shown in Fig. 29 on the display unit 13 in order to recreate a work route for the selected work area. Here, the operation of recreating the work route is similar to the operation of creating a work route by the first work using the work route confirmation screen 230, so a duplicated explanation will be omitted.

[0205] When the edit registration name button 364 is selected on the work information editing screen 360, editing of the registration name of the work information selected on the work information list 361 is accepted. When the delete button 365 is selected on the work information editing screen 360, the screen transitions to deleting the work information selected on the work information list 361, and the work information is deleted in accordance with the operation.

[0206] In addition, when the work history item 65 is selected on the menu screen 60, the display control unit 20 displays a field history screen (not shown) equivalent to the field list screen 300 shown in Figure 47 on the display unit 13 to check the work history of the field.

[0207] When a field is selected on the field history screen, the function control unit 21 reads out field information corresponding to the selected field from the memory unit 11, and the display control unit 20 displays on the display unit 13 a work area history screen (not shown) equivalent to the work area selection screen 180 shown in Figure 20 or the work area list screen 310 shown in Figure 48 in order to check the work history of the work area registered for the selected field.

[0208] When a work area is selected on the work area history screen, the function control unit 21 reads out the selected work area from the field information, and the display control unit 20 displays on the display unit 13 a work information history screen (not shown) equivalent to the above-mentioned work information list screen 320 shown in Figures 49 and 50 in order to check the work history of the work information for the work path or reference line registered for the selected work area.

[0209] When work information is selected on the work information history screen, the display control unit 20 displays a work history confirmation screen 370 for confirming the work history performed using the selected work information on the display unit 13, as shown in Fig. 56. On the work history confirmation screen 370, for example, a recording start date and time and a recording completion date and time are displayed in a work history field 371 as the work history when the work information was used in the past.

[0210] Furthermore, when a setting item 66 is selected and operated on the menu screen 60, the display control unit 20 displays a various setting screen 380 for editing various settings on the display unit 13, as shown in Fig. 57. On the various setting screen 380, the display control unit 20 displays a home information field 381, a combine setting field 382, ​​an operation setting field 383, a new route creation setting field 384, a GNSS antenna setting field 385, a communication connection field 386, a registered vehicle information field 387, a simple explanation field 388, a version information field 389, a field information management service field 390, and the like.

[0211] The home information field 381 accepts registration and deletion of the home information of the worker. The combine setting field 382 accepts registration, editing and deletion of the work vehicle data of the combine 2. The work setting field 383 accepts changes to the initial data of the work settings such as the travel information and the reaping information. For example, the travel information includes the straight-line vehicle speed during work and non-work, the turning vehicle speed, the reverse vehicle speed and the acceleration, etc., which are set on the travel information setting screen 260 shown in FIG. 36 described above, and the reaping information includes the reaping lowering timing (reaping start position), etc., which are set on the operation panel screen 270 shown in FIG. 37 described above. In addition, the work settings include the setting of the distance for automatically matching with each side of the work area shape in the headland straight-line work, and the setting of selecting the standard for automatic straight-line travel between the route and the own vehicle. The work settings include an automatic mowing travel setting that selects between automatic mowing travel along a discharge route that prioritizes right-side alignment to the discharge position, automatic mowing travel along a discharge route that prioritizes the shortest distance to the discharge position, and manual mowing travel to the discharge position. The work settings also include correction of the possible mowing distance, etc.

[0212] In the new route creation setting field 384, changes are accepted with respect to the initial data of the route setting used when creating the work route. For example, the route setting includes a straight route pattern for selecting a working width pattern in which a straight route is set at the working width interval in the automatic straight travel, a vehicle position pattern in which a straight route passing through the vehicle position of the combine harvester 2 is set, and a shortest side length indicating the shortest value of the headland reference line in the headland straight travel work. In addition, the route setting includes a route pattern, a row extra response, a turning type, and a turning radius correction, which are set in the route pattern selection screen 220 shown in FIG. 28 described above. In the GNSS antenna setting field 385, the setting status of the GNSS antenna can be viewed on a website or the like. In the communication connection field 386, a device capable of communicating with the management terminal 3 can be searched for. In the registered vehicle information field 387, re-entry of registered vehicle information (activation key) is accepted. In the simple explanation field 388, a selection of display / non-display of the simple explanation on each screen displayed on the display unit 13 is accepted. The version information field 389 presents version information of applications installed in the management terminal 3. The field information management service field 390 accepts a selection of whether to display or not the field information provided by the field information management service.

[0213] In the above-described embodiment, an example was described in which the display control unit 20 displays a first work item 61, a second work item 62, and a third work item 63 as multiple work items on the same screen on the menu screen 60 of the display unit 13, but the present invention is not limited to this example.

[0214] For example, in another embodiment, as shown in Fig. 58, the display control unit 20 may display, as multiple work items on one menu screen 400, a new field work item 401 for acquiring a field shape as field information and performing work, an already acquired field work item 402 for performing work based on a field shape already acquired as field information, an already acquired route work item 403 for performing work based on a work route already acquired as work information, and a reference line work item 404 for acquiring a reference line as work information and performing work by automatic straight forward movement. In other words, the new field work item 401 and the reference line work item 404 are unacquired work items for performing work in a field for which field information or work information has not been acquired, and the already acquired field work item 402 and the already acquired route work item 403 are already acquired work items for performing work in a field for which field information or work information has been acquired.

[0215] Furthermore, the display control unit 20 displays a registration information item 405, a work history item 406, and a setting item 407 on the menu screen 400 so that they can be selected. The registration information item 405, the work history item 406, and the setting item 407 are displayed side by side on one side, for example, on the lower side, in the vertical or horizontal direction with respect to the multiple work items (new field work item 401, already acquired field work item 402, already acquired route work item 403, and reference line work item 404), and the contents are displayed so that they can be identified by characters, signs, etc. Note that the multiple work items (new field work item 401, already acquired field work item 402, already acquired route work item 403, and reference line work item 404) are displayed larger than the registration information item 405, the work history item 406, and the setting item 407.

[0216] In the above embodiment, in the first work, in order to register a work area for the field after the field is registered on the field registration screen 100, an example has been described in which the display control unit 20 configures each screen so that the work area is created on the work area creation screen 110, the field angle editing is performed on the field angle editing screen 120, the field angle addition screen 130, and the field angle deletion screen 140, the entrance setting and editing is performed on the entrance setting screen 150 and the entrance editing screen 160, and the work area is registered on the work area registration screen 170. However, the present invention is not limited to this example. For example, in other embodiments, the display control unit 20 may configure each screen so that in addition to creating a work area, the work area creation screen 110 also includes field angle editing, the entrance setting and editing, and the work area registration, or in addition to registering a work area, the work area registration screen 170 also includes field angle editing, the entrance setting and editing.

[0217] As described above, according to this embodiment, when the control device 10 starts an application for managing the combine harvester 2 on the management terminal 3 of the worker who manages the combine harvester 2, which is a work vehicle capable of automatic travel, the display control unit 20 displays a work route information setting screen for setting work route information related to the work route along which the combine harvester 2 will automatically travel on the display unit 13 of the management terminal 3 before the application starts automatic travel. When the setting operation of the work route information on the work route information setting screen is completed, the display control unit 20 displays a work route presentation screen 240 on the display unit 13 that presents the work route created based on the setting contents including the work route information set on the work route information setting screen.

[0218] Furthermore, according to this embodiment, the management method for managing the combine harvester 2, which is a work vehicle capable of automatic travel, includes a display control step of, when an application for managing the combine harvester 2 is started on the management terminal 3 of the worker, displaying a work route information setting screen for setting work route information related to the work route along which the combine harvester 2 will automatically travel on the display unit 13 of the management terminal 3 before the application starts automatic travel by the application. When the operation for setting the work route information on the work route information setting screen is completed, the display control step displays on the display unit 13 a work route presentation screen 240 presenting a work route created based on the setting contents including the work route information set on the work route information setting screen.

[0219] This makes it possible to set work route information regarding the work route using the work route information setting screen, and also presents a work route based on the set work route information on the work route presentation screen 240, so that the worker can easily visually confirm and set the desired work route information without the need for complex operations, thereby improving the operability of setting the work route information.

[0220] According to this embodiment, the display control process displays a work direction setting screen 200 for setting a work direction of a work route on the display unit 13 as a work route information setting screen. The display control process displays a map field 201 in the work direction setting screen 200, and in the map field 201, a map based on map data is displayed, and a work area shape 201a of the work area is displayed on the map based on field information in which automatic traveling is performed, and further, in the map field 201, a work direction option 201b for selecting and operating the work direction and a start position indicator 201c indicating the start position of automatic traveling are displayed superimposed on the work area shape 201a, and the work direction option 201b is displayed so as to be selectable with an indicator that indicates the work direction, and the selected work direction option 201b and the other work direction options 201b are displayed in different display formats so as to be distinguishable.

[0221] This allows the worker to set the desired work direction of the work route without the need for complex operations, thereby improving the operability of setting work route information.

[0222] According to this embodiment, the display control process displays the work direction rotation button 203 (work direction rotation operation unit) in an operable manner on the work direction setting screen 200, and rotates the work direction options 201b counterclockwise or clockwise and displays them depending on the operation of the work direction rotation button 203.

[0223] This allows the worker to rotate and set the work direction of the work path without the need for complex operations, thereby improving the operability of setting work path information.

[0224] According to the present embodiment, the display control process displays, as a work path information setting screen, a discharge position setting screen 210 for setting a discharge position for discharging grains harvested by the combine harvester 2 during automatic reaping travel on the display unit 13. The display control process displays a map field 211 in the discharge position setting screen 210, and in the map field 211, a map based on map data is displayed, and a work area shape 211a of the work area is displayed on the map based on the field information for the automatic reaping travel, and further, in the map field 211, a start position indicator 211b indicating the start position of the automatic reaping travel is displayed superimposed on the work area shape 211a, and also in the map field 211, a current discharge indicator 211c indicating the discharge position to be set in the current automatic reaping travel for the work area and a previous discharge indicator 211d indicating the discharge position set in the previous automatic reaping travel for the work area are displayed superimposed on the work area shape 211a.

[0225] This allows the worker to set a desired discharge position on the work path without the need for complex operations, thereby improving the operability of setting work path information.

[0226] According to this embodiment, the display control step displays the current discharge sign 211c on the discharge position setting screen 210 at a position on the work area shape 211a according to the selection operation.

[0227] This allows the worker to set the discharge position of the work path to the desired position without the need for complicated operations, thereby improving the operability of setting the work path information.

[0228] According to this embodiment, the display control process displays an automatic setting button 212 (automatic setting operation unit) in an operable manner on the discharge position setting screen 210, and in response to operation of the automatic setting button 212, the side among the sides constituting the work area shape 211a that is closest to the vehicle position of the combine 2 is set as the discharge side side, and when a perpendicular line is drawn from the vehicle position within the work area shape 211a to the discharge side side, the position where the discharge side side and the perpendicular line intersect is set as the discharge position, and the current discharge sign 211c is displayed.

[0229] This enables the worker to more easily set the discharge position of the work path without the need for complicated operations, thereby improving the operability of setting the work path information.

[0230] Furthermore, according to this embodiment, the display control process displays, as a work path information setting screen, a route pattern selection screen 220 for selecting a route pattern of a work path when the combine 2 performs automatic mowing travel in an unmowed area of ​​the work area on the display unit 13. The display control process displays a route pattern selection field 221 on the route pattern selection screen 220, and in the route pattern selection field 221, options of back and forth mowing and circular mowing are displayed so as to be selectable as route patterns of a work path for automatic mowing travel.

[0231] This allows the worker to set a desired route pattern for the work route without the need for complex operations, thereby improving the operability of setting work route information.

[0232] According to this embodiment, the display control process displays a turning type selection field 222 on the route pattern selection screen 220, and in the turning type selection field 222, options are displayed in a selectable manner for turning around the headland during automatic harvesting travel, including a standard type in which the minimum turning radius is the state in which the combine can normally turn, a tight maneuver type in which the turning radius is smaller than that of the standard type, and a soft type in which the turning radius is larger than that of the standard type.

[0233] This allows the worker to set the turning type of the route pattern of the work route without the need for complex operations, thereby improving the operability of setting work route information.

[0234] According to this embodiment, the display control process displays a row surplus response selection field 224 on the route pattern selection screen 220, which allows the user to select whether or not to respond to row surplus responses when creating a work route for reciprocating mowing in an unmowed area.

[0235] This allows the worker to set the row / row correspondence of the route pattern of the work route without the need for complex operations, thereby improving the operability of setting work route information.

[0236] According to this embodiment, when setting of work route information is completed on the work route information setting screen, the display control process displays a work route confirmation screen 230 describing the contents of the work route information on the display unit 13. The display control process displays a work route creation button 232 (work route creation operation unit) in an operable manner on the work route confirmation screen 230, and displays a work route presentation screen 240 in response to operation of the work route creation button 232.

[0237] This allows the worker to easily check the work route information set for the work route without the need for complex operations, thereby improving the operability of setting the work route information.

[0238] According to this embodiment, the display control process displays a map section 241 on the work path presentation screen 240, and in the map section 241, a map based on map data is displayed, and based on the field information on which automatic driving is performed, a field shape 241a based on the outermost periphery of the field and a work area shape 241b of the work area are displayed on the map in a distinguishable manner, and further, based on the position information of the combine 2, a simulated diagram 241c of the combine 2 is displayed on the map, and based on the field information, a work path 241d and signs related to the work path 241d (such as the entrance sign 241e and the current discharge sign 241f) are displayed superimposed on the work area shape 241b.

[0239] This allows the worker to check in more detail the work route information set for the work route without the need for complex operations, thereby improving the operability of setting the work route information.

[0240] According to this embodiment, the display control step displays, in the map field 241, an explanation field 241p that explains the display items of signs related to the work route 241d.

[0241] This allows the worker to more easily understand and confirm the signs related to the work route 241d without the need for complex operations, thereby improving the operability of setting work route information.

[0242] In another embodiment, the display control unit 20 may display a route shift button (not shown) on the work screen 290 for the third work. When the route shift button is selected on the work screen 290, the display control unit 20 displays, as a work process 291e on the work screen 290, a process (e.g., an adjacent process) in which the combine harvester 2 will automatically move forward after the process in which the combine harvester 2 has just completed automatic straight-line movement. Note that the actual route shift of the combine harvester 2 is performed by a manual operation. Alternatively, the combine harvester 2 may be configured to perform the route shift in the third work by automatically turning.

[0243] Furthermore, in another embodiment, in the third work, the function control unit 21 may arrange a plurality of strokes parallel to a reference line consisting of points A and B over the entire area of ​​the field shape 291a, and the display control unit 20 may display a stroke array (not shown) indicating the arrangement of the plurality of strokes superimposed on the field shape 291a on the work screen 290. One of the start conditions may be that the combine harvester 2 is placed in any of the strokes in the stroke array. Also, the combine harvester 2 may set the stroke in which the combine harvester 2 is placed as the work stroke 291e in the stroke array.

[0244] In the above embodiment, an example has been described in which the work vehicle of the present invention is configured as a combine harvester 2, but the present invention is not limited to this example, and the work vehicle of the present invention may be configured as other agricultural machinery such as a tractor or rice transplanter, or may be configured as a work vehicle other than an agricultural machinery.

[0245] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and the management method, management terminal, and management system involving such modifications are also included in the technical idea of ​​the present invention. [Explanation of symbols]

[0246] 1 Management System 2 Combine (work vehicle) 3. Management terminal 10 Control device 11 Storage section 13 Display section 20 Display control unit 21 Function control section 30 First vehicle registration screen 40 Second vehicle registration screen 60 Menu screen 61 1st work item 62 Second work item 63 Third work item 64 Registration information items 65 Work History Items 66 Setting items 70 Vehicle selection screen 71 Vehicle List 72 Vehicle details section 73 Edit button 80 Field acquisition screen 81 Field List 82 Map section 82a Mockup 83 New acquisition button 84 Confirm selection button 90 Outermost circumference measurement screen 91 Map section 91a Mockup 92 Start condition column 93 Measurement start button 97 Measurement status column 99 Measurement complete button 100 Field registration screen 101 Map section 101a Temporary outer shape 101b Mockup 110 Work area creation screen 111 Map section 111a Field shape 111c Work area shape 112 Field angle edit button 120 Field angle editing screen 130 Field angle addition screen 140 Field corner deletion screen 150 Entrance setting screen 152 Entrance edit button 160 Entrance Editing Screen 170 Work area registration screen 174 Start work button 180 Work area selection screen 190 Headland straight ahead work screen 193 Automatic straight ahead start button 198 Automatic straight stop button 250 Work Screen 251 Map section 251a Work area shape 251b Mockup 251c Work Path 253 Start work button 258 Work stop button 280 Reference line setting screen 281 Map section 281a Mockup 282 A point setting button 283 Delete point A button 285 Reference line confirmation button 286 B point setting button 287 B point delete button 290 Work Screen 291 Map section 291b Mockup 293 Start work button 296 Work Stop Button 400 Menu screen 401 New Field Work Items 402 Acquired field work items 403 Already acquired route work item 404 Reference line work item 405 Registration information items 406 Work History Items 407 Setting items

Claims

1. A management method for managing a work vehicle capable of automatic driving, comprising: a display control step of displaying, before starting automatic traveling, a work route information setting screen on a display unit for setting work route information relating to a work route along which the work vehicle will automatically travel; The display control step includes, when a setting operation of the work route information is completed on the work route information setting screen, displaying on the display unit a work route presentation screen presenting the work route created based on setting contents including the work route information set on the work route information setting screen, The display control step displays a work direction setting screen for setting a work direction of the work path on the display unit as the work path information setting screen, A map field is displayed on the work direction setting screen, In the map section, a map based on the map data is displayed, and a shape of a work area in which the vehicle is to travel automatically is displayed on the map based on information about the field. Further, in the map section, a work direction option for selecting the work direction is displayed superimposed on the work area shape, The work direction option is displayed in a selectable manner using a sign that presents the work direction; A management method characterized in that the selected work direction option and the other work direction options are displayed in different display formats so as to be distinguishable from each other.

2. The display control step displays a work direction rotation operation unit on the work direction setting screen in an operable manner, The management method according to claim 1, wherein the work direction options are displayed by rotating counterclockwise or clockwise in response to an operation of the work direction rotation operation unit.

3. A method for managing a combine harvester capable of automatic running, comprising: A display control step of displaying a work path information setting screen on a display unit for setting work path information regarding a work path along which the combine harvester will automatically travel before starting the automatic travel, The display control step includes, when a setting operation of the work route information is completed on the work route information setting screen, displaying on the display unit a work route presentation screen presenting the work route created based on setting contents including the work route information set on the work route information setting screen, The display control step displays, as the work path information setting screen, a discharge position setting screen for setting a discharge position at which the combine harvester discharges grains harvested by automatic reaping travel, on the display unit; A map field is displayed on the discharge position setting screen, In the map section, a map based on the map data is displayed, and a shape of a work area in which automatic reaping travel is performed is displayed on the map based on farm field information; The management method further comprises displaying in the map section a current discharge sign indicating the discharge position to be set for the current automatic mowing run for the work area, and a previous discharge sign indicating the discharge position of the previous automatic mowing run for the work area, superimposed on the work area shape.

4. 4. The management method according to claim 3, wherein the display control step displays the current discharge sign on the discharge position setting screen at a position corresponding to a selection operation on the shape of the work area.

5. A method for managing a combine harvester capable of automatic running, comprising: A display control step of displaying a work path information setting screen on a display unit for setting work path information regarding a work path along which the combine harvester will automatically travel before starting the automatic travel, The display control step includes, when a setting operation of the work route information is completed on the work route information setting screen, displaying on the display unit a work route presentation screen presenting the work route created based on setting contents including the work route information set on the work route information setting screen, The display control step displays, as the work path information setting screen, a discharge position setting screen for setting a discharge position at which the combine harvester discharges grains harvested by automatic reaping travel, on the display unit; A map field is displayed on the discharge position setting screen, In the map section, a map based on the map data is displayed, and a shape of a work area in which automatic reaping travel is performed is displayed on the map based on farm field information; Furthermore, in the map field, a discharge sign indicating the discharge position to be set in the automatic mowing travel for the work area is displayed superimposed on the work area shape, The display control step displays an automatic setting operation unit on the discharge position setting screen in an operable manner, A management method characterized in that, in response to operation of the automatic setting operation unit, the side of each side that constitutes the work area shape that is closest to the combine's own vehicle position is designated as the discharge side edge, and when a perpendicular line is drawn from the combine's own vehicle position within the work area shape to the discharge side edge, the position where the discharge side edge and the perpendicular line intersect is designated as the discharge position and the discharge sign is displayed.

6. A method for managing a combine harvester capable of automatic running, comprising: A display control step of displaying a work path information setting screen on a display unit for setting work path information regarding a work path along which the combine harvester will automatically travel before starting the automatic travel, The display control step includes, when a setting operation of the work route information is completed on the work route information setting screen, displaying on the display unit a work route presentation screen presenting the work route created based on setting contents including the work route information set on the work route information setting screen, The display control step displays, as the work path information setting screen, a route pattern selection screen for selecting a route pattern of the work path when the combine harvester performs automatic mowing travel in an unmowed area of ​​the work area on the display unit, A route pattern selection field is displayed on the route pattern selection screen, A management method characterized in that, in the route pattern selection field, options of reciprocating mowing and circular mowing are displayed in a selectable manner as the route pattern of the work route for automatic mowing travel.

7. A method for managing a combine harvester capable of automatic running, comprising: A display control step of displaying a work path information setting screen on a display unit for setting work path information regarding a work path along which the combine harvester will automatically travel before starting the automatic travel, The display control step includes, when a setting operation of the work route information is completed on the work route information setting screen, displaying on the display unit a work route presentation screen presenting the work route created based on setting contents including the work route information set on the work route information setting screen, The display control step displays, as the work path information setting screen, a route pattern selection screen for selecting a route pattern of the work path when the combine harvester performs automatic mowing travel in an unmowed area of ​​the work area on the display unit, The display control step displays a turn type selection field on the route pattern selection screen, This management method is characterized in that in the turning type selection field, options are displayed in a selectable manner for turning around a pillow area during automatic harvesting travel, including a standard type having a minimum turning radius that is the state in which the combine can normally turn, a tight maneuver type having a smaller turning radius than the standard type, and a soft type having a larger turning radius than the standard type.

8. The management method described in claim 7, characterized in that the display control process displays a row surplus response selection field on the route pattern selection screen, which allows the user to select whether or not to respond to row surplus responses when creating a work route for reciprocating mowing in the unmowed area.

9. The display control step includes, when setting of the work route information is completed on the work route information setting screen, displaying a work route confirmation screen on the display unit, on which contents of the work route information are described, A work route creation operation unit is displayed in an operable manner on the work route confirmation screen, The management method according to claim 1 , wherein the work route presentation screen is displayed in response to an operation of the work route creation operation unit.

10. A management method for managing a work vehicle capable of automatic driving, comprising: a display control step of displaying, before starting automatic traveling, a work route information setting screen on a display unit for setting work route information relating to a work route along which the work vehicle will automatically travel; The display control step includes, when a setting operation of the work route information is completed on the work route information setting screen, displaying on the display unit a work route presentation screen presenting the work route created based on setting contents including the work route information set on the work route information setting screen, The display control step displays a map section on the work route presentation screen, A management method characterized in that in the map section, a map based on map data is displayed, and the field shape based on the outermost periphery of the field and the work area shape of the work area are displayed on the map in a distinguishable manner based on field information in which automatic driving is performed, and further, a simulated diagram of the work vehicle is displayed on the map based on position information of the work vehicle, and the work route and signs related to the work route are displayed superimposed on the work area shape based on the field information.

11. The management method according to claim 10, wherein the display control step displays an explanation field in the map field that explains display items of signs related to the work route.

12. A management terminal for managing a work vehicle capable of automatic driving, A control device; A display unit, before starting automatic traveling, the control device displays on the display unit a work route information setting screen for setting work route information regarding a work route along which the work vehicle will automatically travel; When the setting operation of the work route information on the work route information setting screen is completed, a work route presentation screen presenting the work route created based on the setting contents including the work route information set on the work route information setting screen is displayed on the display unit, a work direction setting screen for setting a work direction of the work path is displayed on the display unit as the work path information setting screen; A map field is displayed on the work direction setting screen, In the map section, a map based on the map data is displayed, and a shape of a work area in which the vehicle is to travel automatically is displayed on the map based on information about the field. Further, in the map section, a work direction option for selecting the work direction is displayed superimposed on the work area shape, The work direction option is displayed in a selectable manner using a sign that presents the work direction; The selected work direction option and the other work direction options are displayed in different display formats so as to be distinguishable from each other.

2. A management terminal comprising:

13. A management system for managing a work vehicle capable of automatic driving, before starting automatic traveling, displaying a work route information setting screen on a display unit for setting work route information regarding a work route along which the work vehicle will automatically travel; When the setting operation of the work route information on the work route information setting screen is completed, a work route presentation screen presenting the work route created based on the setting contents including the work route information set on the work route information setting screen is displayed on the display unit. a work direction setting screen for setting a work direction of the work path is displayed on the display unit as the work path information setting screen; A map field is displayed on the work direction setting screen, In the map section, a map based on the map data is displayed, and a shape of a work area in which the vehicle is to travel automatically is displayed on the map based on information about the field. Further, in the map section, a work direction option for selecting the work direction is displayed superimposed on the work area shape, The work direction option is displayed in a selectable manner using a sign that presents the work direction; The selected work direction option and the other work direction options are displayed in different display formats so as to be distinguishable from each other.

1. A management system comprising:

Images