Route generation system for work vehicles

Abstract

To enable smooth creation of a work route. [Solution] The work vehicle route generation system includes a display control unit that displays a display screen on a terminal. The display control unit is capable of displaying a travel area information setting screen 80 as the display screen, which accepts the setting of travel area information related to the travel area in which the work vehicle will travel. If information on a travel area that has been set in the past exists, the travel area information setting screen 80 displays the travel area information related to that travel area in a selectable manner.

Description

[Technical Field]

[0001] The present invention relates to a work vehicle route generation system for generating a work route for a work vehicle (for example, an agricultural work vehicle) to travel using an operation device such as a wireless communication terminal. [Background technology]

[0002] Conventionally, there has been known a work vehicle route generation system that can generate a work route for a work vehicle to travel using an operation device such as a wireless communication terminal. Patent Document 1 discloses this type of automatic farming system.

[0003] The agricultural work vehicle (agricultural machine) of Patent Document 1 is equipped with an operating device (server device) that can wirelessly communicate with a vehicle control device that controls the travel and agricultural work of the agricultural work vehicle. The display of this remote operating device is configured to display a course information setting screen (Figure 20 of Patent Document 1). By operating the course information setting screen, the user can input information on the work machine (reference symbol 2012), information on the agricultural work (agricultural work setting, reference symbol 2015), and information on the work route (course setting, reference symbol 2014) on this screen.

[0004] Incidentally, paragraph 0092 of the specification of Patent Document 1 states that it is possible to set the travel speed, rotary operation, amount of fertilizer, etc. of the agricultural work vehicle, but it is not clear which operation section on the course information setting screen can be operated to input this setting information. Furthermore, an operation section ("course registration," reference number 2031) for generating and registering a work route (course) is provided at the bottom of this course information setting screen, but there is no particular mention of when this operation section will or will not be operable. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-254704 Summary of the Invention [Problem to be solved by the invention]

[0006] With the configuration of Patent Document 1, there are cases where a desired work path cannot be smoothly created.

[0007] The present invention has been made in view of the above circumstances, and its object is to enable a work route to be generated smoothly in a route generation system for a work vehicle. [Means for solving the problem]

[0008] A work vehicle route generation system according to one aspect of the present invention includes a display control unit that displays a display screen on a terminal. The display control unit is capable of displaying, as the display screen, a travel area information setting screen that accepts setting of travel area information related to a travel area in which the work vehicle will travel. If information on a travel area that has been set previously exists, the travel area information setting screen displays the travel area information related to that travel area in a selectable manner. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing the overall configuration of a robot tractor provided in a path generation system for a work vehicle according to an embodiment of the present invention; [Figure 2] FIG. 1 is a plan view of a robot tractor. [Figure 3] FIG. 2 is a diagram showing a wireless communication terminal provided in the work vehicle route generation system according to one embodiment of the present invention. [Figure 4] FIG. 2 is a block diagram showing the main configuration of a control system for the robot tractor and the wireless communication terminal. [Figure 5] FIG. 10 is a diagram showing an example of an input selection screen displayed on a display of the wireless communication terminal. [Figure 6] FIG. 10 is a diagram showing an example of a work vehicle information input screen displayed on the display of the wireless communication terminal. [Figure 7] FIG. 10 is a diagram showing an example of a screen for inputting travel area information displayed on the display of the wireless communication terminal. [Figure 8] FIG. 10 is a diagram showing an example of a work mode information input screen displayed on the display of the wireless communication terminal. [Figure 9] FIG. 10 is a diagram showing an example of an autonomous driving monitoring screen displayed on the display of the wireless communication terminal. [Figure 10] A diagram showing how an unmanned robot tractor works in cooperation with a manned tractor. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention relates to an autonomous driving and autonomous work system that performs all or part of agricultural work in a field using one or more work vehicles that travel and work autonomously within the field. In this embodiment, a tractor is used as an example of the work vehicle, but work vehicles also include walk-behind work machines in addition to ride-on work machines such as rice transplanters, combine harvesters, civil engineering and construction work equipment, and snowplows. In this specification, "autonomous driving" means that the tractor's control unit (ECU) controls the tractor's travel-related components to travel along a predetermined route, and "autonomous work" means that the tractor's control unit controls the tractor's work-related components to work along a predetermined route.

[0011] In the following description, an autonomously driven and operated tractor may be referred to as an "unmanned tractor" or "robot tractor," and a manually driven and operated tractor may be referred to as a "manned tractor." When part of a farm task in a field is performed by an unmanned tractor, the remaining task is performed by a manned tractor. Performing farm tasks in a single field with an unmanned tractor and a manned tractor may be referred to as cooperative farming, following work, accompanying work, etc. In this specification, the difference between an unmanned tractor and a manned tractor is whether or not they are operated by a user; the configuration of each is considered to be the same. That is, even an unmanned tractor can be operated by a user while riding on it (i.e., it can be used as a manned tractor), or even a manned tractor can be operated by a user while dismounting (i.e., it can be used as an unmanned tractor). In addition, collaborative agricultural work may include "performing agricultural work in a single field using unmanned and manned vehicles" as well as "performing agricultural work in different fields, such as adjacent fields, at the same time using unmanned and manned vehicles."

[0012] Next, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a side view showing the overall configuration of a robot tractor 1 provided in a work vehicle path generation system 99 according to one embodiment of the present invention. Fig. 2 is a plan view of the robot tractor 1. Fig. 3 is a diagram showing a wireless communication terminal 46 provided in a work vehicle path generation system 99 according to one embodiment of the present invention. Fig. 4 is a block diagram showing the main configuration of a control system for the robot tractor 1 and the wireless communication terminal 46.

[0013] As shown in FIG. 1, a route generation system 99 for a work vehicle according to one embodiment of the present invention is configured to include a control unit (vehicle control device) 4 that controls the driving and work of a tractor 1, and a wireless communication terminal 46 that communicates wirelessly with the control unit 4 to output predetermined control signals related to autonomous driving and autonomous work to the tractor 1 (signals related to the route of autonomous driving and autonomous work, start signals, stop signals, end signals for autonomous driving and autonomous work, etc.).

[0014] First, a robot tractor (hereinafter, sometimes simply referred to as a "tractor") 1, which is one embodiment of a work vehicle provided in a work vehicle path generation system 99 according to the present invention, will be described mainly with reference to Figures 1 and 2.

[0015] The tractor 1 is equipped with a traveling machine body 2 as a vehicle body section that travels autonomously within a field area. A work implement 3 shown in Figs. 1 and 2 is detachably attached to the traveling machine body 2. This work implement 3 includes various types of implements, such as cultivators, plows, fertilizer applicators, mowers, and seed sowing machines, and a desired work implement 3 can be selected from these as needed and attached to the traveling machine body 2. The traveling machine body 2 is configured so that the height and posture of the attached work implement 3 can be changed.

[0016] The configuration of the tractor 1 will be described with reference to Figures 1 and 2. As shown in Figure 1, the traveling body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels 7, 7 and its rear part supported by a pair of left and right rear wheels 8, 8.

[0017] A hood 9 is disposed at the front of the traveling body 2. Inside the hood 9, an engine 10, which is the drive source of the tractor 1, a fuel tank (not shown), and the like are housed. The engine 10 may be configured as, for example, a diesel engine, but is not limited to this and may also be configured as, for example, a gasoline engine. Furthermore, an electric motor may be used as a drive source in addition to or instead of the engine 10.

[0018] A cabin 11 for the user to board is located behind the hood 9. Inside this cabin 11, mainly provided are a steering handle 12 for the user to steer, a seat 13 in which the user can sit, and various operating devices for performing various operations. However, the work vehicle is not limited to one with a cabin 11, and may not be equipped with a cabin 11.

[0019] Examples of the operating devices include a monitor device 14, a throttle lever 15, a PTO switch 17, a PTO shift lever 18, and multiple hydraulic shift levers 16, all shown in FIG. 2. These operating devices are located near the seat 13 or near the handlebars 12. The monitor device 14 is configured to be able to display various information about the tractor 1. The throttle lever 15 is used to set the rotational speed of the engine 10. The PTO switch 17 is used to switch between transmitting and cutting off power to a PTO shaft (power take-off shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch is in the ON position, power is transmitted to the PTO shaft, causing the PTO shaft to rotate and drive the work implement 3, while when the PTO switch is in the OFF position, power to the PTO shaft is cut off, preventing the PTO shaft from rotating and stopping the work implement 3. The PTO shift lever 18 is used to change the power input to the work implement 3, specifically, to change the rotational speed of the PTO shaft. The hydraulic speed change lever 16 can switch an external hydraulic pressure take-out valve (not shown).

[0020] In addition, in front of the armrest 19 located on the right side of the seat 13, operating devices such as a main speed change lever 27 and a work machine lift switch 28 are provided.

[0021] The main speed change lever 27 is used to change the traveling speed of the tractor 1, and is configured so that tilting the main speed change lever 27 forward increases the traveling speed, and tilting it backward decreases the traveling speed. This main speed change lever 27 is configured to be continuously operable, and the traveling speed of the tractor 1 is continuously changed according to the amount of operation of the main speed change lever 27.

[0022] The work implement lift switch 28 is configured as an electric switch that can be operated up and down and is provided on the main speed change lever 27, and is used to raise and lower the work implement 3. When the work implement 3 is configured as a rotary tillage device, this can be used to lower the work implement 3 to start tilling work using the tillage tines 25 provided on the work implement 3, or to raise the work implement 3 to end tilling work. In this embodiment, the work implement 3 is configured as a rotary tillage device.

[0023] As shown in Fig. 1, a chassis 20 of the tractor 1 is provided below the traveling body 2. The chassis 20 is made up of a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

[0024] The machine frame 21 is a support member at the front of the tractor 1, and supports the engine 10 directly or via a vibration-damping member or the like. The transmission 22 changes the power from the engine 10 and transmits it to a front axle 23 and a rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0025] As shown in Fig. 3, the tractor 1 includes a control unit 4 for controlling the operation (forward, backward, stopping, turning, etc.) of the traveling machine body 2 and the operation (lifting, lowering, driving, stopping, etc.) of the work implement 3. The control unit 4 is configured as a computer and includes a CPU, ROM, RAM, etc. A governor device 41, a transmission 42, a lifting actuator 44, etc. are electrically connected to the control unit 4.

[0026] The governor device 41 adjusts the rotation speed of the engine 10. By controlling the governor device 41 with the control unit 4 and appropriately adjusting the rack position, the rotation speed of the engine 10 can be set to a desired rotation speed.

[0027] Specifically, the speed change device 42 is, for example, a hydraulic continuously variable transmission with a movable swash plate, and is provided in the transmission 22. The speed change device 42 is controlled by the control unit 4 to appropriately adjust the angle of the swash plate (not shown), thereby making it possible to set the gear ratio of the transmission 22 to a desired gear ratio.

[0028] The lifting actuator 44 raises and lowers the work implement 3 to either a retracted position (a position where no agricultural work is performed) or a working position (a position where agricultural work is performed), for example, by operating a three-point link mechanism that connects the work implement 3 to the traveling body 2. In this embodiment, agricultural work performed by the work implement 3 means tilling work. By controlling the lifting actuator 44 with the control unit 4 to raise and lower the work implement 3 as appropriate, agricultural work can be performed by the work implement 3 at a desired height.

[0029] The tractor 1 equipped with the control unit 4 as described above is configured so that a user can ride in the cabin 11 and perform various operations, thereby controlling each part of the tractor 1 (traveling body 2, work implement 3, etc.) with the control unit 4, thereby performing agricultural work while traveling in a field. In addition, the tractor 1 of this embodiment can be made to travel and work autonomously based on predetermined control signals output from the wireless communication terminal 46, even if a user is not on board the tractor 1.

[0030] Specifically, as shown in Fig. 4 etc., the tractor 1 is equipped with various components that enable it to travel and work autonomously. For example, the tractor 1 is equipped with components such as a positioning antenna 6 that is necessary for acquiring its own position information (of its traveling body 2) based on a positioning system. With this configuration, the tractor 1 is able to acquire its own position information based on the positioning system and travel and work autonomously on a farm field.

[0031] Next, the configuration of the tractor 1 that enables autonomous driving and autonomous work will be described in detail. Specifically, as shown in Figures 1 and 4, the tractor 1 of this embodiment is equipped with a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a front camera 51, a rear camera 52, a vehicle speed sensor 53, and a remaining fuel sensor 54. In addition to these, the tractor 1 may also be equipped with an inertial measurement unit (IMU) that can identify the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

[0032] 4 is provided, for example, midway along the rotation axis (steering shaft) of the steering wheel 12, and adjusts the rotation angle (steering angle) of the steering wheel 12. When the tractor 1 travels along a predetermined route as an unmanned tractor, the control unit 4 calculates an appropriate rotation angle of the steering wheel 12 so that the tractor 1 travels along the route, and controls the steering actuator 43 so that the steering wheel 12 is rotated at the calculated rotation angle.

[0033] The positioning antenna 6 receives signals from positioning satellites that constitute a positioning system such as a Global Navigation Satellite System (GNSS). As shown in FIG. 1, the positioning antenna 6 is disposed on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signals received by the positioning antenna 6 are input to a position information calculation unit 49 shown in FIG. 3, which calculates position information of the tractor 1 (strictly speaking, of the positioning antenna 6) as, for example, latitude and longitude information. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous driving.

[0034] In this embodiment, a highly accurate satellite positioning system using the GNSS-RTK method is used, but this is not limiting, and other positioning systems may be used as long as they can obtain highly accurate position coordinates. For example, if highly accurate position coordinates can be obtained using a differential GPS (DGPS) or a satellite-based augmentation system (SBAS), these can be used.

[0035] The wireless communication antenna 48 receives signals from the wireless communication terminal 46 operated by the user and transmits signals to the wireless communication terminal 46. As shown in FIG. 1, the wireless communication antenna 48 is disposed on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The signal received by the wireless communication antenna 48 from the wireless communication terminal 46 is processed by the wireless communication unit 40 shown in FIG. 4 and input to the control unit 4. Furthermore, the signal to be transmitted from the control unit 4 to the wireless communication terminal 46 is processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

[0036] The front camera 51 photographs the area in front of the tractor 1. The rear camera 52 photographs the area behind the tractor 1. Video data photographed by the front camera 51 and the rear camera 52 undergoes signal processing in the wireless communication unit 40, and is then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display a video based on the received video data on the display 37.

[0037] The vehicle speed sensor 53 detects the vehicle speed of the tractor 1 and is provided, for example, on the axle between the front wheels 7, 7. The remaining fuel sensor 54 detects the remaining amount of fuel in a fuel tank (not shown) mounted inside the hood 9 and is provided in the fuel tank. The detection results obtained by the vehicle speed sensor 53 and the remaining fuel sensor 54 are subjected to signal processing by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection results on the display 37.

[0038] As shown in FIG. 3, the wireless communication terminal 46 is configured as a tablet-type personal computer equipped with a touch panel 39. The user can refer to and confirm information displayed on the display 37 of the wireless communication terminal 46 (e.g., information from the front camera 51, rear camera 52, vehicle speed sensor 53, and remaining fuel sensor 54, etc.). The user can also operate the touch panel 39 or hardware keys 38, etc., located near the display 37 to send control signals (e.g., emergency stop signals) for controlling the tractor 1 to the control unit 4 of the tractor 1. The wireless communication terminal 46 is not limited to a tablet-type personal computer, and can alternatively be configured as, for example, a notebook-type personal computer. Alternatively, when a manned tractor 1x travels accompanying an unmanned tractor 1 as shown in FIG. 10, a monitor device 46x mounted on the manned tractor 1x can serve as the wireless communication terminal. FIG. 10 is a diagram illustrating how an unmanned robot tractor 1 and a manned tractor work cooperatively.

[0039] The tractor 1 configured in this manner can perform agricultural work using the work implement 3 while traveling along a route in a farm field based on instructions from a user using the wireless communication terminal 46.

[0040] Specifically, by making various settings using the wireless communication terminal 46, the user can generate a work path (path) as a series of routes that alternate between a work path along which agricultural work is performed and an arc-shaped turning path (a turning path along which the tractor 1 turns) that connects the ends of the work path. Then, by inputting information about the work path generated in this way into the control unit 4, which functions as a vehicle control device, and performing a predetermined operation, the control unit 4 can control the tractor 1, causing the tractor 1 to travel autonomously along the work path while the work implement 3 performs agricultural work.

[0041] The configuration of the wireless communication terminal 46 provided in the work vehicle route generation system 99 according to one embodiment of the present invention will be described in more detail below with reference to Figs. 3 to 9. Fig. 5 is a diagram showing an example of an input selection screen 60 displayed on the display 37 of the wireless communication terminal 46. Fig. 6 is a diagram showing an example of a work vehicle information input screen 70 displayed on the display 37 of the wireless communication terminal 46. Fig. 7 is a diagram showing an example of a travel area information input screen 80 displayed on the display 37 of the wireless communication terminal 46. Fig. 8 is a diagram showing an example of a work mode information input screen 90 displayed on the display 37 of the wireless communication terminal 46. Fig. 9 is a diagram showing an example of an autonomous driving monitoring screen 100 displayed on the display 37 of the wireless communication terminal 46.

[0042] As shown in Figures 3 and 4, the wireless communication terminal 46 of this embodiment has, in addition to a display 37, hardware keys 38, and a touch panel 39, the main components thereof are a display control unit 31, a field shape acquisition unit 33, a work area acquisition unit 34, a work path acquisition unit 35, and a memory unit 32.

[0043] Specifically, as described above, the wireless communication terminal 46 is configured as a computer and includes a CPU, ROM, RAM, etc. (not shown). A control application for controlling the tractor 1 is pre-installed in this wireless communication terminal 46. The above-described hardware and software work together to cause the wireless communication terminal 46 to operate as the display control unit 31, the field shape acquisition unit 33, the work area acquisition unit 34, the work path acquisition unit 35, the memory unit 32, etc.

[0044] The display control unit 31 creates display data to be displayed on the display 37 and controls the appropriate switching of the display screen. The display control unit 31 is capable of generating an input selection screen 60 as an initial screen (menu screen) shown in Fig. 5 and displaying it on the display 37. When a predetermined operation is performed on the input selection screen 60, the display control unit 31 is also capable of generating each of the input screens 70, 80, and 90 (see Figs. 6 to 8) described below and switching the display screen of the display 37 to the input screen 70, 80, or 90.

[0045] The field shape acquisition unit 33 acquires the shape of the field, for example, by having the tractor 1 circle the perimeter of the field once and recording the transition of position information of the positioning antenna 6 at that time. The field shape acquired by the field shape acquisition unit 33 is stored in the memory unit 32. However, the method of acquiring the field shape is not limited to this. For example, instead of this, position information of the corners of the field may be recorded, and a polygon specified by a so-called closed loop graph so that line segments connecting the recorded points do not intersect may be acquired as the field shape.

[0046] For example, when a user selects multiple points while the field shape acquired by the field shape acquisition unit 33 is displayed on the display 37, the work area acquisition unit 34 acquires, as the shape of the work area, a polygon specified by a so-called closed loop graph so that the line segments connecting the selected points do not intersect. The shape of the work area acquired by the work area acquisition unit 34 is stored in the memory unit 32. However, the method of acquiring the shape of the work area is not limited to this. For example, instead of this, the shape of the work area may be automatically acquired by setting a position a predetermined distance inside the periphery of the field as the position of the periphery of the work area.

[0047] The work path acquisition unit 35, which is a control unit capable of generating a work path, automatically generates (acquires) a work path when the work vehicle information, travel area information, and work mode information described below have been entered without omission. The generated work path is stored in the memory unit 32.

[0048] The work vehicle information setting unit 36 accepts work vehicle information input to a work vehicle information input screen 70, which will be described later. The work vehicle information set by the work vehicle information setting unit 36 is stored in the memory unit 32.

[0049] The travel area information setting unit 45 receives the travel area information input to a travel area information input screen 80 (described later). The travel area information set by the travel area information setting unit 45 is stored in the storage unit 32.

[0050] The work mode information setting unit 47 receives work mode information input on a work mode information input screen 90 (described later). The work area information set by the work mode information setting unit 47 is stored in the storage unit 32.

[0051] The memory unit 32 is configured to include non-volatile memory (for example, flash ROM), and is capable of storing work vehicle information set by the work vehicle information setting unit 36, travel area information set by the travel area information setting unit 45, and work mode information set by the work mode information setting unit 47. The memory unit 32 is also capable of storing information on registered field shapes, information on registered work areas, information on generated work routes, etc. The memory unit 32 stores information on generated work routes in association with the work vehicle information, travel area information, and work mode information used to generate the work route.

[0052] Next, the operations that the user performs using the wireless communication terminal 46 when setting the work vehicle information, travel area information, and work mode information and generating a work route will be described in detail.

[0053] Before the user starts setting work vehicle information, travel area information, and work mode information, an input selection screen 60 created by the display control unit 31 is displayed as an initial screen (menu screen) on the display 37 of the wireless communication terminal 46, as shown in Fig. 5. The input selection screen 60 displays a work vehicle information input operation unit 61, a travel area information input operation unit 62, a work mode information input operation unit 63, a work route transfer operation unit 64, and an agricultural work start operation unit 65.

[0054] These operation units are all configured as virtual buttons (so-called icons) displayed on the display 37, and can be operated by the user touching with their finger the position on the touch panel 39 that corresponds to the display area of the button. However, at a stage where none of the work vehicle information, travel area information, and work mode information has been set, only the work vehicle information input operation unit 61 can be operated out of the work vehicle information input operation unit 61, travel area information input operation unit 62, work mode information input operation unit 63, work path transfer operation unit 64, and agricultural work start operation unit 65. In other words, the travel area information input operation unit 62, work mode information input operation unit 63, work path transfer operation unit 64, and agricultural work start operation unit 65 are initially disabled (for example, grayed out) and cannot be operated even by touching them.

[0055] When the user starts setting work vehicle information, traveling area information, and work mode information, he or she first operates the work vehicle information input operation section 61 on the input selection screen 60. This work vehicle information input operation section 61 is a button that is operated when switching from the input selection screen 60 to the work vehicle information input screen 70.

[0056] When the user operates the work vehicle information input operation unit 61, a predetermined first selection screen (not shown) is displayed. If there is previously set (registered) tractor information, the previously set tractor information is displayed selectably on the first selection screen. The first selection screen displays a predetermined number of tractor information items (e.g., two) that can be selected. If the number of previously set tractor information items exceeds the predetermined number, tractor information to be displayed on the first selection screen is identified according to a predetermined first criterion. Tractor information not identified according to the first criterion can be displayed by scrolling appropriately. The first criterion may be, for example, information on a predetermined number of tractors whose tractor information was set most recently from the current time, information on a predetermined number of tractors whose user selection date and time were most recently from the current time, information on a predetermined number of tractors whose user selection date and time were most recently from the current time, or information on a predetermined number of tractors selected most frequently by the user, or a combination thereof. The information on tractors likely to be selected by the user is identified and displayed.

[0057] The first selection screen also displays the option of either setting (registering) new tractor information or changing previously set tractor information (however, this option can only be selected if previously set tractor information exists). If the user selects new registration, the display screen on the display 37 is switched to the work vehicle information input screen 70 shown in Figure 6. Note that if no tractor information has been previously set (registered), the input selection screen 60 may be immediately switched to the work vehicle information input screen 70 when the work vehicle information input operation unit 61 is operated.

[0058] The work vehicle information input screen 70 allows the user to input work vehicle information related to the traveling machine body 2 and the work implement 3 attached to the traveling machine body 2. Specifically, the work vehicle information input screen 70 has fields for specifying the work vehicle information, such as the model of the tractor 1, the mounting position of the positioning antenna 6 on the traveling machine body 2, the widths of the tractor 1 and the work implement 3, the distance from the rear end of the three-point linkage (rear end of the lower link) to the rear end of the work implement 3, the offset (distance) of the center line of the work implement 3 from the center line of the tractor 1, the vehicle speed during work on the outbound journey, the vehicle speed during work on the return journey, the vehicle speed on the headland (when turning), the engine speed during work on the outbound journey, the engine speed during work on the return journey, the engine speed on the headland (when turning), raising and lowering the work implement on the headland, and whether the PTO is engaged during work. Note that only some of the above fields are displayed on the work vehicle information input screen 70 shown in FIG. 6, but the remaining fields can be displayed by scrolling the screen downwards from the state shown in FIG. 6.

[0059] On the work vehicle information input screen 70, the top field, the tractor 1 model, can be specified by selecting the model name or model number from a list. When this model field is filled in, default values corresponding to the factory specifications of that model are automatically filled in the other fields specified according to the model of tractor 1. However, since the size of the tractor 1 may change, for example, by changing the work implement 3 attached to the traveling body 2, swapping the front wheels 7 or rear wheels 8, or attaching a front weight to the front end of the tractor 1, the user can also change the default values to any desired values.

[0060] On the work vehicle information input screen 70, the engine speed during work on the outbound journey, the engine speed during work on the return journey, and the engine speed at the headland (when turning) can each be specified in increments of 10 rpm. However, when the model of tractor 1 is specified, the lower and upper limits (maximum output values) of the engine speed (output value of the drive source) of the engine 10 mounted thereon are automatically obtained from the control unit 4, and in the fields for engine speed during work on the outbound journey, engine speed during work on the return journey, and engine speed at the headland (when turning), the engine speed can only be specified within the range from the lower limit to the upper limit. In other words, the engine speed that can be specified as an output value is limited depending on the model of tractor 1.

[0061] On the work vehicle information input screen 70, the vehicle speed during work on the outbound journey, the vehicle speed during work on the return journey, and the vehicle speed at the headland (when turning) can each be specified in increments of 0.1 km / h. However, when the engine speed (output value of the drive source) is specified as described above, the upper limit of the vehicle speed as the travel speed is determined accordingly, so that in the fields for the vehicle speed during work on the outbound journey, the vehicle speed during work on the return journey, and the vehicle speed at the headland (when turning), the vehicle speed can only be specified within the range from zero to the upper limit of the vehicle speed (but not including zero). Note that if the engine speed specification is changed after the vehicle speed has been specified, the upper limit of the vehicle speed is recalculated, and the specified vehicle speed is automatically changed so that the vehicle speed falls within the range from zero to the recalculated upper limit of the vehicle speed. More specifically, after a first engine rotation speed (first output value) is designated as the engine rotation speed, which is the output value of the drive source, and a first vehicle speed (first movement speed) is designated as the vehicle speed, which is the movement speed, the designated engine rotation speed is changed to a second engine rotation speed (second output value) that is lower than the first engine rotation speed, and if the first vehicle speed is faster than a maximum vehicle speed determined according to the second engine rotation speed, the designated vehicle speed is automatically changed to the maximum vehicle speed determined according to the second engine rotation speed. In other words, if the first vehicle speed is slower than the maximum vehicle speed determined according to the second engine rotation speed, the vehicle speed setting is maintained as the first vehicle speed.

[0062] In addition, in this embodiment, as described above, different vehicle speeds and engine speeds can be specified for the outbound and inbound journeys. This allows appropriate settings to be made to prevent engine stalls and to perform farm work efficiently, for example, by setting a relatively fast speed and low engine speed when descending and a relatively slow speed and high engine speed when ascending, even when the field is inclined relative to the horizontal.

[0063] When all items on the work vehicle information input screen 70 have been specified, an unillustrated "Confirm vehicle settings" button is displayed. When the user operates the "Confirm vehicle settings" button, an unillustrated setting confirmation screen is displayed, and the contents specified in each field are displayed for confirmation. When the user operates the unillustrated "Confirm" button on this setting confirmation screen, the contents of the work vehicle information are stored in the memory unit 32, and the setting of the work vehicle information is completed. When the setting (registration) of the work vehicle information is completed, a selectable "Edit / add driving area information" button and a "Return to home" button are displayed at the bottom of the display screen. When "Edit / add driving area information" is selected, the driving area information can be set in the same way as when the driving area information input operation unit 62 is operated on the input selection screen 60. When "Return to home" is selected, the display screen switches to the input selection screen 60.

[0064] By repeatedly entering and registering each item on the work vehicle information input screen 70, work vehicle information can be saved (i.e., stored in the memory unit 32) for each of a plurality of work vehicles (for example, tractor A, tractor B, and tractor C). The saved work vehicle information can be used by selecting it as information for a previously set (registered) tractor on the first selection screen described above when the work vehicle information input operation unit 61 is operated on the input selection screen 60. If all or part of the previously set tractor information is changed, the changed tractor information may be stored in the memory unit 32 in place of the tractor information before the change (so-called overwrite save), or may be stored in the memory unit 32 separately from the tractor information before the change.

[0065] 5 and returns to the input selection screen 60, the travel area information input operation unit 62 of the input selection screen 60 becomes operable. This travel area information input operation unit 62 is a button that is operated when switching from the input selection screen 60 to the travel area information input screen 80.

[0066] When the user operates the travel area information input operation unit 62, a predetermined second selection screen (not shown) is displayed. If there is information about previously set (registered) fields, the information about the previously set fields is displayed in a selectable manner on the second selection screen. The second selection screen displays a predetermined number of selectable fields (e.g., two), and if the number of previously set fields exceeds the predetermined number, the second selection screen identifies and displays field information according to a predetermined second criterion. Information about fields not identified according to the second criterion can be displayed by scrolling appropriately. The second criterion may be, for example, information about a predetermined number of fields close to the current position of the tractor 1, information about a predetermined number of fields whose field information was set most recently, information about a predetermined number of fields whose user-selected date and time was most recently, information about a predetermined number of fields selected most frequently by the user, or a combination thereof. Information about fields likely to be selected by the user is identified and displayed.

[0067] The second selection screen also displays the option of either setting (registering) new field information or changing previously set field information (however, this option is only available if previously set field information exists). If the user selects new registration, the display screen of the display 37 switches to a travel area information input screen 80 shown in Fig. 7. Note that if there is no previously set (registered) field information, the screen may switch from the input selection screen 60 to the travel area information input screen 80 immediately when the travel area information input operation unit 62 is operated.

[0068] On the travel area information input screen 80, travel area information relating to the travel area (field) in which the traveling machine body 2 travels can be input. Specifically, the travel area information input screen 80 has a planar display section 81 that graphically shows the shape of the field and the shape of the work area. Also, on the travel area information input screen 80, the "Field perimeter position" field has "Start recording" and "Redo" buttons. Also, on the travel area information input screen 80, the "Specify" and "Redo" buttons are arranged in the fields for the position of the work area, the start position of autonomous traveling, the end position of autonomous traveling, and the work direction, respectively.

[0069] When the "Start Recording" button for "Field Outer Rim Position" is pressed, the wireless communication terminal 46 switches to field shape recording mode. In this field shape recording mode, when the tractor 1 is driven around the perimeter of the field, the transition of the position information of the positioning antenna 6 at that time is recorded by the field shape acquisition unit 33, and the field shape is acquired (calculated) by the field shape acquisition unit 33. This allows the position and shape of the field to be specified. While the tractor 1 is being driven around the field as described above, the wireless communication terminal 46 displays an image in which the position information of the tractor 1 is superimposed on map data on the planar display unit 81 of the travel area information input screen 80. This image can be displayed in a heading-up or north-up orientation, or the user can rotate it in any direction. The field perimeter position calculated (specified) in this way is graphically displayed on the planar display unit 81. Furthermore, by operating the "Redo" button, the field perimeter position can be recorded (specified) again.

[0070] In addition, when the tractor 1 is moving around in the field shape recording mode, if it is not possible to obtain position information from the positioning antenna 6 from the tractor 1 due to reasons such as poor radio wave conditions, or if it is not possible to obtain accurate position information due to reasons such as the positioning system settings not being initialized, an error message will be displayed on the flat display section 81 of the driving area information input screen 80.

[0071] When the "Specify" button for "Work Area Position" is operated, the shape of the field acquired by the field shape acquisition unit 33 is displayed on the planar display unit 81 of the travel area information input screen 80. In this state, if the user selects and specifies multiple points, the work area acquisition unit 34 calculates a polygon specified by a so-called closed-loop graph so that the lines connecting the specified points do not intersect. This allows the position and shape of the work area to be specified. If this polygon extends outside the field acquired by the field shape acquisition unit 33, an error message is displayed on the planar display unit 81, prompting the user to change the specified points. Alternatively, if the polygon specified by the closed-loop graph extends outside the field, the work area may be automatically corrected so that it is within the field, and the corrected work area may be acquired by the work area acquisition unit 34. One method for automatically correcting the work area so that it is within the field is to use, for example, a method in which the contour of the portion that extends outside the field is determined by using the outer periphery of the field instead of the polygonal contour specified by the closed-loop graph. The position of the work area acquired (specified) in this way is displayed graphically on the planar display unit 81. In addition, by operating the "Redo" button, the position information of the work area can be recorded (specified) again.

[0072] When the "Specify" button for "Work Start Position" is operated, the shape of the work area acquired by the work area acquisition unit 34 is displayed superimposed on the map data in the planar display section 81 of the travel area information input screen 80. In this state, the user can select any point near the outline of the work area to specify the position information of the selected point as the start position. This makes it easier to create a work route so that the agricultural work route is aligned in an orderly manner parallel to the direction perpendicular to the work direction, as described below. The function of the "Redo" button is the same as above.

[0073] When the "Specify" button for "Work End Position" is operated, the shape of the work area acquired by the work area acquisition unit 34 is displayed superimposed on the map data in the planar display section 81 of the driving area information input screen 80. In this state, the user can select any point near the outline of the work area to specify the position information of the selected point as the end position. The function of the "Redo" button is the same as above.

[0074] When the "Specify" button for "Work Direction" is operated, the shape of the work area acquired by the work area acquisition unit 34 is displayed superimposed on the map data in the planar display section 81 of the driving area information input screen 80. In this state, the user can, for example, select two points from the points specified when designating the work area, and designate the direction of the straight line connecting those two points as the work direction. The function of the "Redo" button is the same as described above.

[0075] When all items on the travel area information input screen 80 have been specified, a "Register" button is displayed. When the user confirms the specified content on the planar display unit 81 or the like and operates the "Register" button, the specified content of the travel area information is stored in the memory unit 32, and the setting of the travel area information is completed. When the setting (registration) of the travel area information is completed, a button for "Edit / Add Work" and a button for "Return to Input Selection Screen" are displayed selectably at the bottom of the display screen. When "Edit / Add Work" is selected, the work mode information can be set in the same way as when the work mode information input operation unit 63 is operated on the input selection screen 60. When "Return to Input Selection Screen" is selected, the display screen switches to the input selection screen 60.

[0076] By repeatedly registering each item on the travel area information input screen 80, travel area information for each of a plurality of fields (for example, field a, field b, and field c) can be saved (i.e., stored in the storage unit 32). The saved travel area information can be used by selecting it as information for a previously set (registered) field on the second selection screen described above when operating the travel area information input operation unit 62 on the input selection screen 60. If all or part of the information for a previously set field is changed, the changed field information may be stored in the storage unit 32 in place of the information for the field before the change (so-called overwrite save), or may be stored in the storage unit 32 separately from the information for the field before the change.

[0077] When the user finishes setting the travel area information and returns to the input selection screen 60 of Figure 5, the work mode information input operation unit 63 on the input selection screen 60 becomes operable. In other words, the work mode information input operation unit 63 is in an inoperable state until the user finishes setting the work vehicle information and travel area information. In other words, the work mode information setting unit 47 is configured not to accept information input (setting of work mode information) until work vehicle information is set in the work vehicle information setting unit 36 and travel area information is set in the travel area information setting unit 45. This work mode information input operation unit 63 is a button that is operated when switching from the input selection screen 60 to the work mode information input screen 90 shown in Figure 8.

[0078] When the user operates the work mode information input operation unit 63, the display screen switches to a work mode information input screen 90 shown in FIG.

[0079] Work mode information can be entered on the work mode information input screen 90. Specifically, the work mode information input screen 90 has fields for entering work mode information such as whether or not the robot tractor 1 and a manned tractor are working cooperatively, the pattern when the manned tractors work cooperatively, the working width of the manned tractor when the manned tractor works cooperatively, the skip amount of the robot tractor 1 when the manned tractor works cooperatively (how many rows it will skip before traveling), the overlap amount of the working width on adjacent farm work routes, and the headland width.

[0080] In the field for entering whether or not the robot tractor 1 will work in cooperation with a manned tractor, it is possible to select either whether the robot tractor 1 will drive autonomously alone to perform agricultural work (no cooperative work), or whether agricultural work will be performed by having the autonomously driving and working robot tractor 1 and a manned tractor (tractor with a user on board) work in cooperation (cooperative work).

[0081] In the case of "with collaborative work", in the pattern column, it is possible to select either to have the manned tractor run behind the robot tractor 1 (directly behind), to have the manned tractor run behind the right side (diagonally behind right) of the robot tractor 1 in the direction of straight ahead (right), or to have the manned tractor run behind the left side (diagonally behind left) of the robot tractor 1 in the direction of straight ahead (left).

[0082] In the case of "with cooperative work", the working width of the manned tractor (effective width where work is performed by the work implement) can be entered in the field for the working width of the manned tractor.

[0083] When "Cooperative work is enabled," the number of rows to skip along the work route can be entered in the skip amount (number of skips) field for the robot tractor 1. This makes it possible to skip every other row, for example, taking into account that an accompanying manned tractor may also be performing work. Note that when the skip amount is "N (N is an integer greater than or equal to 0)," this means that N rows of work routes are intervening between the first work route and the second work route on which work is performed after the first work route.

[0084] The overlap amount field for the working width allows the user to input the overlap length of the working widths of adjacent work paths. The overlap amount can be "0" or, for example, "30 cm," depending on the user's preference and the type of work. In other words, depending on the type of work, overlapping of the working widths may not be permitted (e.g., when the work implement 3 is a fertilizer applicator or seed sower) or may be permitted to a certain extent (e.g., when the work implement 3 is a tiller). In either case, the overlap amount can be changed to accommodate the situation. Furthermore, for example, when the work implement 3 is a subsoiler, a negative value can be specified as the overlap amount to create a gap between the working widths of adjacent work paths.

[0085] In the headland width field, for example, a value equal to or larger than the lower limit of the headland width can be specified. However, instead of this, taking into consideration that agricultural work will eventually be performed on the headland by the work implement 3, it is also possible to configure so that only values that are integer multiples of the working width of the work implement 3 can be entered as the headland width. Note that the lower limit of the headland width is set to the width required for traveling (particularly turning) on the headland, taking into consideration the sizes (total length, width, etc.) of the tractor 1 and work implement 3.

[0086] When the user has completely filled in the input fields (including work mode information) on the work mode information input screen 90, the "Generate Path" button (not shown) becomes selectable. When the "Generate Path" button is selected, a work route is automatically created and stored in the memory unit 32. Furthermore, when the work route is generated, a "Path Simulation" button appears selectable on the display screen of the display 37. By selecting (operating) this "Path Simulation" button, an image is displayed that represents the generated work route using arrows, lines, etc. An animation display may also be displayed in which a tractor icon moves along the work route. The user can refer to this display content to determine whether or not to adopt the work route.

[0087] Furthermore, when the user has filled in all the input fields (including work mode information) on the work mode information input screen 90, a "Transfer data" button and a "Return to home" button are displayed so that the user can select them. When "Transfer data" is selected, an instruction can be given to transfer the work path information to the control unit 4 of the tractor 1, just as when the work path transfer operation unit 64 is operated on the input selection screen 60. When the "Return to home" button is selected, the display screen switches to the input selection screen 60.

[0088] Incidentally, by entering work mode information multiple times on the work mode information input screen 90 to generate work routes, multiple work routes can be set (registered) and stored in the memory unit 32. However, in this embodiment, if the work vehicle information, travel area information, or work mode information stored in the memory unit 32 is deleted or changed, the information for the work route created based on that information is automatically deleted. In other words, if any of the work vehicle information, travel area information, or work mode information stored in the memory unit 32 is changed or deleted, the work route associated with the changed or deleted information is automatically deleted from the memory unit 32. This automatically deletes information for work routes that are no longer necessary due to the deletion or change of underlying information, allowing for efficient use of the memory area of the memory unit 32.

[0089] Note that even if any of the work vehicle information, travel area information, and work mode information stored in the memory unit 32 is changed, if an item that does not affect the generation of a work route is changed, the work route associated with this changed information may not be deleted from the memory unit 32. For example, changes to the vehicle speed, engine 10 rotation speed, raising and lowering of the work implement 3 on the headland, and whether or not the PTO is driven during work, which are included in the work vehicle information, are items that do not affect the generation of a work route.

[0090] When the generation of the work route is completed, the work route transfer operation unit 64 becomes operable on the input selection screen 60 of FIG. 5 . When the work route transfer operation unit 64 is operated on the input selection screen 60, the display on the display 37 switches to a transfer method selection screen (not shown) for selecting a method for transferring the generated work route information to the control unit 4 of the tractor 1. The transfer method selection screen displays selectable buttons for "Transfer via USB" and "Transfer via WiFi." When the user selects "Transfer via USB" and connects the wireless communication terminal 46 and the control unit 4 of the tractor 1 with a USB cable, the work route information generated on the wireless communication terminal 46 can be transmitted to the control unit 4 of the tractor 1. On the other hand, when the user selects "Transfer via WiFi," the work route information generated on the wireless communication terminal 46 can be transmitted to the control unit 4 of the tractor 1 via WiFi (wireless network). The control unit 4 stores the work route information received from the wireless communication terminal 46 in a work route memory unit 55 electrically connected to the control unit 4.

[0091] If multiple pieces of work route information are registered on the wireless communication terminal 46, the user can select a work route to be transferred to the tractor 1. In this case, the position of the tractor 1 (or the position of the wireless communication terminal 46) is acquired by a positioning system, and candidate work routes are displayed on the display screen of the display 37 in order of proximity to the obtained position of the work route (autonomous driving start position), making it easier for the user to select the desired work route. Also, if there are multiple work routes that are the same distance from the position of the tractor 1, the work routes may be displayed as candidates in order of most recently created time. Alternatively, when the tractor 1 is located within a certain field, the work route generated for that field may be displayed as a candidate work route, and when the tractor 1 is located outside the field, the work route generated for a field close to the current position of the tractor 1 may be displayed as a candidate work route.

[0092] In addition, when transferring work route information to the tractor 1 via WiFi, if the transfer fails due to reasons such as poor wireless communication conditions, an error message may be displayed on the display screen of the display 37 to prompt the user to try transferring again at a later time.

[0093] When the information about the generated work route is transferred (input) to the work route memory unit 55 of the tractor 1 as described above, the agricultural work start operation unit 65 on the input selection screen 60 becomes operable. In other words, the agricultural work start operation unit 65 becomes operable only after a work route is created and transferred to the work route memory unit 55 of the tractor 1. In other words, the control unit 4 as a vehicle control device of the tractor 1 is able to issue instructions to start the travel of the traveling body 2 and the work by the work implement 3, but is configured not to issue a start instruction until a work route is generated and input to the work route memory unit 55.

[0094] When the user operates the agricultural work start operation unit 65 on the input selection screen 60, the control unit 4 controls the travel and agricultural work of the tractor 1 so that the tractor 1 travels and works autonomously along the input work route. With the start of this autonomous travel, the display screen of the display 37 switches to the autonomous travel monitoring screen 100 shown in FIG.

[0095] A front camera display section 101 that displays video data captured by the front camera 51 is located on the left side of the autonomous driving monitoring screen 100. On the left side of the autonomous driving monitoring screen 100, below the front camera display section 101, a rear camera display section 102 that displays video data captured by the rear camera 52 is located.

[0096] A driving status display unit 103 is located on the right side of the autonomous driving monitoring screen 100, and displays image data including the work route traveled by the tractor 1. The image data displayed on the driving status display unit 103 can be, for example, as shown in Fig. 9, map data overlaid with the shape of the field and the shape of the work area, with the driving trajectory of the tractor 1 indicated by hatching on top of that.

[0097] A zoom button 104 is arranged on the right side of the driving status display unit 103 for zooming in and out of the video data displayed on the driving status display unit 103. By appropriately operating this zoom button 104, the user can change the zoom factor of the video data displayed on the driving status display unit 103, and the video data can be displayed at a size that is easy for the user to view.

[0098] Various operation buttons for sending control signals to the control unit 4 of the tractor 1 are concentrated at the top of the autonomous driving monitoring screen 100. In other words, the various operation buttons for sending control signals to the control unit 4 of the tractor 1 are configured to be displayed together at the top of the autonomous driving monitoring screen 100.

[0099] A start / pause button 105 for starting or pausing autonomous driving is displayed on the far left at the top of the autonomous driving monitoring screen 100. When the user manually moves the tractor 1 to the start position for autonomous driving and aligns the tractor 1 with the direction of the work, touching the start / pause button 105 causes a control signal instructing the start of autonomous driving to be transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, thereby starting the autonomous driving of the tractor 1. Furthermore, by touching the start / pause button 105 while the tractor 1 is autonomously driving, the autonomous driving of the tractor 1 can be paused. Note that when the autonomous driving of the tractor 1 is paused, the user can resume the autonomous driving of the tractor 1 by touching the start / pause button 105 again.

[0100] On the autonomous driving monitoring screen 100, immediately to the right of the start / pause button 105, a vehicle speed display unit 106 that displays the current vehicle speed of the tractor 1 and a vehicle speed adjustment unit 107 for fine-tuning the vehicle speed are arranged one above the other. The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on data transmitted from the vehicle speed sensor 53. In addition, by operating the vehicle speed adjustment unit 107, the user can adjust the vehicle speed taking into account, for example, the slope and soil quality of the field. When the vehicle speed adjustment unit 107 is operated, a control signal instructing the adjustment of the vehicle speed is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the transmission 42 and the like are controlled based on this to adjust the vehicle speed.

[0101] On the autonomous traveling monitoring screen 100, an engine rotation speed display unit 108 that displays the current rotation speed of the engine 10 is located immediately to the right of the vehicle speed display unit 106. Furthermore, an engine rotation speed adjustment unit 109 for fine-tuning the engine rotation speed is located immediately to the right of the vehicle speed adjustment unit 107. The engine rotation speed display unit 108 displays the current engine rotation speed of the engine 10 acquired based on data sent from an engine rotation speed sensor (not shown). Furthermore, by operating the engine rotation speed adjustment unit 109, the user can adjust the engine rotation speed taking into account, for example, the slope and soil type of the field. When the engine rotation speed adjustment unit 109 is operated, a control signal instructing the adjustment of the engine rotation speed is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the governor device 41 and the like are controlled based on this to adjust the engine rotation speed.

[0102] On the autonomous traveling monitoring screen 100, a work implement height display unit 110 that displays the current height of the work implement 3 is located on the opposite side of the vehicle speed display unit 106 across the engine rotation speed display unit 108. Furthermore, a work implement height adjustment unit 111 for fine-tuning the height of the work implement 3 is located on the opposite side of the engine rotation speed adjustment unit 109 across from the vehicle speed adjustment unit 107. The current height of the work implement 3 is acquired by the wireless communication terminal 46 as a result of the wireless communication terminal 46 receiving information about a control signal sent from the control unit 4 to the lifting actuator 44, and is displayed as numerical data on the work implement height display unit 110. Furthermore, by operating the work implement height adjustment unit 111, the user can adjust the height of the work implement 3, taking into account, for example, the soil quality of the field. When the work implement height adjustment unit 111 is operated, a control signal instructing the adjustment of the height of the work implement 3 is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the lifting actuator 44 is controlled based on this to adjust the height of the work implement 3.

[0103] On the autonomous traveling monitoring screen 100, a PTO display unit 112 that displays whether the PTO shaft is driven or not (ON / OFF) is located on the opposite side of the engine rotation speed display unit 108 across the work implement height display unit 110. Furthermore, on the opposite side of the autonomous traveling monitoring screen 100 across the work implement height adjustment unit 111 from the engine rotation speed adjustment unit 109, a PTO switch button 113 for switching between driving and not driving the PTO shaft is located. The wireless communication terminal 46 receives a detection result from a rotation speed sensor (not shown) provided on the PTO shaft, thereby acquiring whether the PTO shaft is driven (ON) or not (OFF), and the result is displayed on the PTO display unit 112. Furthermore, the user can switch between driving and not driving the PTO shaft by operating the PTO switch button 113. When the PTO switching button 113 is operated, a control signal instructing the PTO shaft to be turned on or off is sent from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the PTO shaft is switched on or off based on this.

[0104] An emergency stop button 114 for making an emergency stop of the autonomously traveling tractor 1 is located at the far right of the top of the autonomous traveling monitoring screen 100. If the user needs to make an emergency stop of the tractor 1 for some reason, the user can touch the emergency stop button 114, which will send an emergency stop signal (a control signal instructing an emergency stop of the autonomous traveling) to the control unit 4, thereby bringing the traveling of the tractor 1 and agricultural work to an emergency stop.

[0105] In this way, various operation buttons for sending control signals to the control unit 4 of the tractor 1 are concentrated at the top of the autonomous driving monitoring screen 100. Therefore, for example, even when a user operates the wireless communication terminal 46 inside the cabin of a manned tractor to output a predetermined control signal to the tractor 1, the user can firmly grip the bottom of the wireless communication terminal 46 with one hand and touch the top of the wireless communication terminal 46 with the other hand to perform the operation, allowing accurate operation even in a tractor that vibrates violently.

[0106] A work time display section 115 is located at the bottom of the autonomous driving monitoring screen 100. The work time display section 115 displays, for example, in a bar graph, the work time from the start to the end of farm work, which is calculated based on the length (distance) of the work route obtained when the work route was generated and the vehicle speed set by the user, as well as the elapsed time up to that point.

[0107] Furthermore, a required fuel amount display unit 116 is located at the bottom of the autonomous driving monitoring screen 100. The required fuel amount display unit 116 displays the amount of fuel required from the start to the end of agricultural work. The required amount of fuel can be calculated based on the length (distance) of the work route, and the vehicle speed and engine RPM set by the user. The wireless communication terminal 46 also acquires the detection result from the remaining fuel sensor 54, calculates the amount of fuel that is lacking based on this, and displays this together with the amount of required fuel on the required fuel amount display unit 116.

[0108] By operating the wireless communication terminal 46 as described above, the tractor 1 can be monitored while it travels autonomously along the work route to perform agricultural work, and control signals can be sent to the tractor 1 as necessary to perform appropriate control.

[0109] As described above, the work vehicle path generation system 99 of this embodiment includes a work vehicle information setting unit 36, a travel area information setting unit 45, a work mode information setting unit 47, and a work path acquisition unit 35 as a control unit. The work vehicle information setting unit 36 accepts settings of work vehicle information related to the traveling machine body 2 as a vehicle body unit and the work implement 3 attached to the traveling machine body 2. The travel area information setting unit 45 accepts settings of travel area information related to the traveling area in which the traveling machine body 2 travels. The work mode information setting unit 47 accepts settings of work mode information related to the work mode by the work implement 3. The work path acquisition unit 35 is capable of generating a work path along which work is to be performed by the work implement 3 based on the work vehicle information, the travel area information, and the work mode information. The work mode information cannot be set before the work vehicle information and the travel area information are set.

[0110] This means that work mode information can be set and a work route can be generated only when work vehicle information and driving area information have been set, allowing a work route to be created smoothly with no missing inputs.

[0111] Furthermore, in the work vehicle route generation system 99 of this embodiment, the control unit 4 as a vehicle control device that controls the tractor 1 is capable of issuing instructions to start the travel of the traveling body 2 and the work by the work implement 3, but is configured not to issue the start instruction before the work route acquisition unit 35 generates the work route.

[0112] This allows the control unit 4 of the tractor 1 to start controlling the driving and agricultural work only when the work route has been generated, thereby reliably eliminating the risk of agricultural work starting unexpectedly at a time not intended by the user.

[0113] Furthermore, the work vehicle route generation system 99 of this embodiment includes a memory unit 32 that stores work route information indicating the generated work route in association with the work vehicle information, travel area information, and work mode information used to generate the work route. When any of the work vehicle information, travel area information, and work mode information stored in the memory unit 32 is changed or deleted, the control unit deletes from the memory unit 32 the work route associated with the changed or deleted information.

[0114] This allows for the automatic deletion of work route information that has become unnecessary due to the deletion or modification of underlying information, thereby preventing the storage capacity of the memory unit 32 from running out due to the unnecessary accumulation of work route information and preventing the user from becoming confused when selecting from multiple work routes.

[0115] In addition, in the work vehicle route generation system 99 of this embodiment, the work vehicle information setting unit 36 can specify the type of traveling body 2 and the engine speed as the output value of the engine 10 equipped in the traveling body 2 as the work vehicle information, and limits the maximum engine speed that can be specified as the engine speed to a different value depending on the type of traveling body 2.

[0116] This limits the value that can be specified for the engine rotation speed as the output value of the engine 10 depending on the type of traveling machine body 2, making it easier for the user to operate when setting work vehicle information.

[0117] Furthermore, in the work vehicle route generation system 99 of this embodiment, the work vehicle information setting unit 36 can specify the vehicle speed as the travel speed of the traveling machine body 2, and limits the maximum vehicle speed that can be specified as the vehicle speed to a different speed depending on the engine speed of the engine 10. When a first engine speed is specified as the engine speed, and after the first vehicle speed is specified as the vehicle speed, the specified engine speed is changed to a second engine speed that is smaller than the first engine speed, and the first vehicle speed is faster than the maximum vehicle speed specified in accordance with the second engine speed, the work vehicle information setting unit 36 changes the specified vehicle speed to the specified maximum travel speed.

[0118] As a result, the specified vehicle speed is automatically changed in accordance with the change to reduce the specified engine rotation speed, which simplifies the user's operations when setting work vehicle information.

[0119] The work vehicle route generation system 99 of this embodiment also includes a control unit 4 as a vehicle control device and a wireless communication terminal 46. The control unit 4 controls the travel and agricultural work of the tractor 1. The wireless communication terminal 46 communicates wirelessly with the control unit 4, allowing the user to output predetermined control signals to the tractor 1. The wireless communication terminal 46 has a display control unit 31 that displays a screen that the user can operate on the display 37 of the wireless communication terminal 46. The display control unit 31 can switch the screen between a work vehicle information input screen 70 for inputting work vehicle information related to the tractor 1 body and work implement 3, a travel area information input screen 80 for inputting travel area information related to the field where the tractor 1 will perform agricultural work, and a work mode information input screen 90 for inputting work mode information required to create a work route, which is a route for performing agricultural work within the field. The wireless communication terminal 46 can generate the work route only when the work vehicle information, travel area information, and work mode information are set.

[0120] As a result, work vehicle information is entered separately on work vehicle information input screen 70, travel area information on travel area information input screen 80, and work mode information on work mode information input screen 90, so information can be entered while being organized by category, making input operations easy for the user to understand. Also, because a work route can only be generated when work vehicle information, travel area information, and work mode information have been set, a work route can be created smoothly with no input omissions.

[0121] Furthermore, in the work vehicle route generation system 99 of this embodiment, the display control unit 31 is capable of displaying an input selection screen 60 on which a work vehicle information input operation unit 61, a travel area information input operation unit 62, and a work mode information input operation unit 63 are arranged. The work vehicle information input operation unit 61 is operated when switching to the work vehicle information input screen 70. The travel area information input operation unit 62 is operated when switching to the travel area information input screen 80. The work mode information input operation unit 63 is operated when switching to the work mode information input screen 90. The input selection screen 60 also has an agricultural work start operation unit 65 arranged thereon, which is operated when starting agricultural work by the tractor 1. The agricultural work start operation unit 65 can be operated only when the work route has been created and information about the work route has been input to the control unit 4.

[0122] This means that agricultural work can be started by operating the agricultural work start operation unit 65 only when a work route has been created and information about the work route has been input into the control unit 4, thereby reliably eliminating the risk of agricultural work being started unexpectedly at a time that the user does not intend.

[0123] Furthermore, in the work vehicle route generation system 99 of this embodiment, the wireless communication terminal 46 further includes a memory unit 32. The work vehicle information, the traveling area information, the work mode information, and information on the created work route are stored in the memory unit 32. When the work vehicle information, the traveling area information, or the work mode information stored in the memory unit 32 is deleted or changed, the information on the work route created based on that information is automatically deleted in the memory unit 32.

[0124] This allows for the automatic deletion of work route information that has become unnecessary due to the deletion or modification of underlying information, thereby preventing the storage capacity of the memory unit 32 from running out due to the unnecessary accumulation of work route information and preventing the user from becoming confused when selecting from multiple work routes.

[0125] Furthermore, in the work vehicle route generation system 99 of this embodiment, the work vehicle information includes information regarding engine rotation speed, and if the engine rotation speed specified for a certain tractor 1 is changed, resulting in a change in the upper vehicle speed limit value for that tractor 1, the vehicle speed specified as the work vehicle information for that tractor 1 is automatically changed.

[0126] This allows the designated vehicle speed to be automatically changed in accordance with a change in the engine speed, simplifying the user's operation during setting.

[0127] The preferred embodiment of the present invention has been described above, but the above configuration can be modified, for example, as follows.

[0128] In the above embodiment, the travel area information is input after the work vehicle information has been input. However, the input order is not necessarily limited to this, and the work vehicle information may be input after the travel area information has been input.

[0129] In the above embodiment, the work vehicle information input operation unit 61, the driving area information input operation unit 62, the work mode information input operation unit 63, and the work route transfer operation unit 64 are arranged side by side in the left-right direction on the input selection screen 60, but this is not limited to this, and for example, instead, these operation units may be arranged side by side vertically.

[0130] The above-mentioned items of work vehicle information, travel area information, and work mode information are examples, and the number of items may be more or less than these. For example, the items of work mode information displayed on the work mode information input screen 90 may include "width of side margin (uncultivated land)" and "presence or absence of dummy route (route passed through without agricultural work)." Alternatively, the items of work vehicle information displayed on the work vehicle information input screen 70 may include "amount of fertilizer applied," etc.

[0131] In the above embodiment, various operation buttons for sending control signals to the control unit 4 of the tractor 1 are concentrated at the top of the autonomous driving monitoring screen 100, but instead, various operation buttons for sending control signals to the control unit 4 of the tractor 1 may be concentrated at the left or right part of the autonomous driving monitoring screen 100.

[0132] In addition to the vehicle speed sensor 53 and the remaining fuel sensor 54, the tractor 1 is provided with various sensors for detecting the state of the tractor 1. Therefore, the autonomous driving monitoring screen 100 may display the detected values of these sensors.

[0133] In addition to the above, it is possible to appropriately change the display items, layout, input method, etc. on the input selection screen 60, work vehicle information input screen 70, driving area information input screen 80, work mode information input screen 90, and autonomous driving monitoring screen 100. Furthermore, the operation buttons on each of the above screens may be assigned to hardware keys 38.

[0134] A part of the configuration described in the above embodiment as being provided in the wireless communication terminal 46 may be provided on the tractor 1 side, and a part of the configuration described as being provided in the tractor 1 may be provided on the wireless communication terminal 46 side. That is, in the above embodiment, a work route within the field is generated and instructions for traveling along the work route and the start and end of work can be given by operating the wireless communication terminal 46, but a work route within the field may be generated and instructions for traveling along the work route and the start and end of work can be given by operating the monitor device 14. In that case, the wireless communication terminal 46 may not be provided, or the wireless communication terminal 46 may be provided as a means for inputting various information (vehicle information, field information, work information) necessary to generate a work route.

[0135] <Notes on the invention> According to an aspect of the present invention, there is provided a work vehicle route generation system having the following configuration. That is, this work vehicle route generation system includes a work vehicle information setting unit, a travel area information setting unit, a work mode information setting unit, a control unit, and a memory unit. The work vehicle information setting unit accepts the setting of work vehicle information having a plurality of items related to a vehicle body unit and a work implement attached to the vehicle body unit. The travel area information setting unit accepts the setting of travel area information having a plurality of items related to a travel area in which the vehicle body unit travels. The work mode information setting unit accepts the setting of work mode information having a plurality of items related to a work mode performed by the work implement. The control unit is capable of generating a work route along which work is performed by the work implement. The memory unit stores work route information that indicates the work route generated by the control unit. At least one of the work vehicle information, the travel area information, and the work mode information is composed of a first item that affects the generation of the work route, and a second item that does not affect the generation of the work route and is at least the vehicle speed of the work vehicle. The control unit generates the work route based on the work vehicle information, the traveling area information, and the work mode information. The storage unit stores the work route information, the first item, and the second item in association with each other. Even if the second item is changed or deleted, the control unit does not delete the corresponding work route information from the storage unit.

[0136] This makes it possible to prevent the storage of the work route from being deleted even if an item that does not affect the generation of the work route is changed or deleted after the work route is generated.

[0137] In the work vehicle route generation system, it is preferable that the control unit automatically deletes the work route information from the storage unit when the first item is changed or deleted.

[0138] This allows the information on the work route to be automatically deleted when an item that affects the work route is changed or deleted, thereby making it possible to efficiently use the storage area of the storage unit. [Explanation of symbols]

[0139] 1 (Robot) Tractor (Work Vehicle) 4. Control unit (vehicle control device) 31 Display control unit 35 Work path acquisition unit (control unit) 36 Work vehicle information setting unit 45 Driving area information setting unit 47 Work mode information setting section 46 Wireless communication terminal 60 Input selection screen 70 Work vehicle information input screen 80 Driving area information input screen 90 Work status information input screen 99 Route Generation System for Work Vehicles 100 Autonomous driving monitoring screen

Claims

1. a display control unit that displays a display screen on the terminal; The display control unit As the display screen, a travel area information setting screen that accepts the setting of travel area information related to the travel area in which the work vehicle travels, and a selection screen that, if information on the travel area that has been set in the past exists, selectably displays the travel area information related to that travel area, can be displayed; On the selection screen, it is possible to select whether to newly set information about the traveling area or to change information about the traveling area that has been set in the past. Route generation system for work vehicles.

2. The display control unit displays, as the display screen, the selection screen; a work vehicle information setting screen that accepts settings of work vehicle information related to the vehicle body of the work vehicle and the work implement attached to the vehicle body; a work mode information screen that accepts settings of work mode information related to the work mode of the work machine; The work vehicle route generation system according to claim 1 .

3. If the number of travel areas set in the past exceeds a predetermined number, the travel area to be displayed on the selection screen is specified according to a predetermined criterion.

3. A work vehicle route generation system according to claim 1 or 2.

4. The predetermined criteria include at least one of: proximity to the current position of the work vehicle; a set date and time being close to the current time; a date and time selected by the user being close to the current time; and a high number of times selected by the user. The work vehicle route generation system according to claim 3 .

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