Work vehicle management system

Abstract

To provide a management system than can easily confirm vehicle information by a monitoring person when remotely monitoring a work vehicle using a head mounted display.SOLUTION: A management system for work vehicle according to an embodiment comprises a work vehicle, a camera, a head mounted display, and a control apparatus. The work vehicle includes a cabin. The camera is installed inside of the cabin, and performs photographing. The head mounted display includes a motion sensor and a display unit, and displays a camera image photographed by the camera in response to detection by the motion sensor on the display unit. The control apparatus includes three-dimensional shape information of an inner space of the cabin to a position of the camera, generates a display object displaying information related to the work vehicle, and places the display object in a virtual space. The control apparatus places the display object in the inner space, and composites the display object into the camera image.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work vehicle management system. [Background technology]

[0002] Conventionally, there is known a management system for work vehicles that compares position information obtained by a first positioning device mounted on a work vehicle and a second positioning device mounted on an unmanned aerial vehicle to control the shooting direction of a camera mounted on the unmanned aerial vehicle, and combines vehicle information including vehicle speed information received from the work vehicle with the camera image received from the unmanned aerial vehicle and displays it in a part of the screen (for example, the upper left of the screen) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-176418 Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, when remotely monitoring a work vehicle, a head-mounted display is used, which is worn on the head of the monitor and displays on a screen an image (camera image) in the direction the monitor moves his or her head and gaze, allowing the monitor to obtain vehicle information while feeling as if they were actually there.

[0005] However, even if a head-mounted display is used in the conventional work vehicle management system described above, the vehicle information is fixed to a part of the screen that displays the camera image, making it difficult for the monitor to check the vehicle information.

[0006] The present invention has been made in consideration of the above, and aims to provide a work vehicle management system that allows a monitor to easily check vehicle information when remotely monitoring a work vehicle using a head-mounted display. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a work vehicle management system (1) according to an embodiment includes a work vehicle (10) having a cabin (21), a camera (70) installed inside the cabin (21) for taking pictures, a head-mounted display (130) having a motion sensor (132) and a display unit (133) and displaying a camera image taken by the camera (70) on the display unit (133) in response to detection by the motion sensor (132), and a position (P) of the camera (70). C ) relative to the interior space (S C and a control device (100) that has three-dimensional shape information of the internal space (S), generates a display object (80) that displays information about the work vehicle (10), and places the display object (80) in a virtual space. C ) and synthesizes the display object (80) with the camera image. [Effects of the Invention]

[0008] According to the work vehicle management system of the embodiment, when remotely monitoring a work vehicle using a head-mounted display, the monitor can easily check vehicle information. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an outline of a management system for a work vehicle according to an embodiment. [Figure 2] FIG. 2 is a functional block diagram of a management system for a work vehicle according to the embodiment. [Figure 3]FIG. 3 is a functional block diagram of the head-mounted display. [Figure 4] FIG. 4 is an explanatory diagram of the arrangement of display objects (part 1). [Figure 5] FIG. 5 is an explanatory diagram of the arrangement of display objects (part 2). [Figure 6] FIG. 6 is an explanatory diagram of a display state (part 1) of a display object. [Figure 7] FIG. 7 is an explanatory diagram of a display state (part 2) of a display object. [Figure 8] FIG. 8 is an explanatory diagram of the arrangement of display objects in the case of turning left. [Figure 9] FIG. 9 is an explanatory diagram of the arrangement of display objects in the case of turning right. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle management system disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment.

[0011] <Overview of the work vehicle management system> First, an overview of a work vehicle management system 1 will be described with reference to Figures 1 and 2. Figure 1 is an explanatory diagram of an overview of a work vehicle management system 1 according to an embodiment. Figure 2 is a functional block diagram of a work vehicle management system 1 according to an embodiment.

[0012] Note that each figure, including Figure 1, may show a three-dimensional Cartesian coordinate system including a Z-axis with the upward vertical direction (upward) as the positive direction. In the following, the positive direction of the X-axis is defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the front, and the negative direction of the Y-axis as the rear, and the X-axis direction may be referred to as the left-right direction, the Y-axis as the front-back direction, and the Z-axis as the up-down direction.

[0013] As shown in Figure 1, the work vehicle management system (hereinafter simply referred to as the management system) 1 of the embodiment includes a work vehicle (hereinafter simply referred to as the tractor) 10 such as an agricultural tractor, a positioning device 40 that acquires self-position information (self-position P) indicating the current position of the tractor 10, a control device 100 (see Figure 2) that is a control unit that can generate work-related information by the tractor 10, an information processing terminal 120 that can communicate with the control device 100, and a head-mounted display 130.

[0014] The tractor 10 comprises a traveling body 20 capable of traveling in a field F, and a work implement 30. The traveling body 20 comprises, for example, a pair of left and right front wheels and a pair of left and right rear wheels. In this case, the front wheels are, for example, steering wheels, and the rear wheels are, for example, drive wheels. Note that hereinafter, the tractor 10 and the traveling body 20 may be referred to as "machine bodies."

[0015] The traveling vehicle body 20 also includes a cabin 21 (see FIGS. 4 and 5) in which an operator (operator) gets in. The cabin 21 covers the operation section of the traveling vehicle body 20, which includes a driver's seat, a steering wheel, various operation levers, operation pedals, etc., and forms an operation space for the operator.

[0016] The traveling vehicle body 20 is also provided with a camera 70. The camera 70 is positioned at a predetermined position P C (See Figures 4 and 5) and takes photographs from inside the cabin 21.

[0017] The traveling vehicle body 20 is also equipped with an engine E (see FIG. 2) as a power source, a power transmission device (including a transmission 61 (see FIG. 2) that changes (shifts) the traveling speed (vehicle speed) of the machine) that transmits the power of the engine E to the drive wheels and the work machine 30, and a steering device 62 (see FIG. 2) that steers the machine, and can travel freely within farm fields F and on farm roads. Note that a heat engine such as a diesel engine or a gasoline engine is used as the engine E.

[0018] Furthermore, for example, a PTO (Power Take-Off) device having a PTO shaft (not shown) to which a work implement 30, which will be described later, can be attached is provided at the rear of the traveling body 20. The traveling body 20 is also provided with a lifting device 63 (see FIG. 2) for raising and lowering the work implement 30. The lifting device 63 includes, for example, a lift arm and a hydraulic cylinder, and raises and lowers the work implement 30 by applying hydraulic driving force to the lift arm.

[0019] The work implement 30 is, for example, a rotary tiller attached to the rear of the traveling body 20. A rotary tiller has tiller tines that rotate using power from the PTO shaft of the traveling body 20, and tills the soil with the tiller tines. In addition to rotary tillers, the work implement 30 may also be, for example, a seedling planting device when the work vehicle is a rice transplanter, or a fertilizer applicator when the work vehicle is a fertilizer applicator. Furthermore, for example, if the work vehicle is a combine harvester, the work implement 30 may be a reaping unit or a threshing unit. The above example is merely an example, and the work implement 30 is not particularly limited as long as it is used to perform agricultural work in the field F.

[0020] The work machine 30 is attached to the traveling vehicle body 20 via a lifting device 63 so as to be able to move up and down.

[0021] The positioning device 40 is provided in the tractor 10 (traveling body 20) and acquires self-position information of the tractor 10 (traveling body 20). The positioning device 40 is, for example, a GNSS (Global Navigation Satellite System) control device, and is capable of receiving radio waves from navigation satellites 150 orbiting the Earth to determine the self-position P of the tractor 10 (traveling body 20) and also of measuring time.

[0022] The control device 100 (see FIG. 2) can generate work-related information including information about a driving area in which the tractor 10 can autonomously drive, and vehicle information such as the vehicle speed and PTO rotation speed of the tractor 10. Note that the driving area information is, for example, information including a route (a planned driving route R, described later) that the tractor 10 can safely drive unmanned in a predetermined field F by autonomously driving without deviating from the outermost edge of the available cultivated land within the field F, as shown in FIG.

[0023] The information processing terminal 120 includes, for example, a farm work support server and a personal computer. The information processing terminal 120 also includes a control unit 121 (see FIG. 2). The farm work support server and the personal computer (control unit 121) that form the information processing terminal 120 are connected to the control unit 110 of the tractor 10 and a control unit 131 (see FIG. 3) of a head-mounted display 130 (described later) via a communication network 200 (see FIG. 2). In this embodiment, for example, as shown in FIG. 1, one information processing terminal 120 including a personal computer is installed in a management building H that manages multiple farm fields including the field F.

[0024] The information processing terminal 120 stores field map information associated with field identification information for each of a plurality of fields, including field F. The information processing terminal 120 can also acquire various types of information and store it independently for each of a plurality of fields. The information processing terminal 120 may also be, for example, a tablet terminal that can be carried by the worker.

[0025] The head-mounted display 130 is worn on the head of an operator (monitor) W who remotely monitors the autonomous operation of the tractor 10 while being located in a building such as an administration building H. The head-mounted display 130 displays on a display unit 133 (see FIG. 3 ) an image (an image captured by the camera 70, hereinafter referred to as the camera image) in the direction in which the monitor W moves his / her head and gaze. By using the head-mounted display 130, the monitor W can perform remote monitoring with a sense of realism as if he / she were inside the cabin 21.

[0026] 2, the management system 1 is constructed in a state in which the tractor 10 can be connected to the information processing terminal 120 and the head-mounted display 130 via a communication network 200. The management system 1 includes a control unit 110 of the tractor 10, a control unit 121 of the information processing terminal 120, and a control unit 131 of the head-mounted display 130, and is a system capable of so-called cloud computing.

[0027] 2, the control unit 110 includes an engine ECU (Electronic Control Unit) 111, a travel system ECU 112, and a work implement lifting system ECU 113. The engine ECU 111 controls the rotation speed of the engine E. The travel system ECU 112 controls the rotation of the drive wheels (rear wheels) to control the travel speed of the tractor 10. The work implement lifting system ECU 113 controls the lifting device 63 to control the lifting and lowering of the work implement 30.

[0028] The control unit 110 is capable of controlling each part through electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, as well as a memory unit consisting of, for example, a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), etc., in which various programs and necessary data such as a planned travel route R (see Figure 1) set in advance for each field F are stored.

[0029] The control unit 110 is connected to a positioning device (GNSS) 40, an azimuth angle sensor 64, an engine rotation sensor 65, a vehicle speed sensor 66, a steering angle sensor 67, a PTO rotation speed sensor 68, etc. The control unit 110 is also connected to an engine E, a transmission 61, a steering device 62, an elevator device 63, etc.

[0030] The azimuth angle sensor 64 detects the azimuth angle of the tractor 10. The azimuth angle sensor 64 detects, for example, the absolute azimuth angle of the traveling direction of the tractor 10 (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The azimuth angle sensor 64 detects the absolute azimuth angle at regular time intervals and transmits the detected absolute azimuth angle to the control unit 110 or the like. Note that instead of the azimuth angle sensor 64, it is also possible to detect the azimuth angle using, for example, a geomagnetic sensor or the like.

[0031] The engine rotation sensor 65 detects the rotation speed of the engine E. The vehicle speed sensor 66 detects the traveling speed (vehicle speed) of the tractor 10. The steering angle sensor 67 detects the turning angle of the steered wheels (front wheels). The PTO rotation speed sensor 68 detects the rotation speed of the PTO shaft.

[0032] The control unit 110 receives inputs of the tractor 10's own position information (own position P) in the field F (see FIG. 1) or the like from the positioning device 40, the engine E rotation speed from the engine rotation sensor 65, the tractor 10's vehicle speed from the vehicle speed sensor 66, and the steering angle of the steering wheels (front wheels) from the steering angle sensor 67. When the control unit 110 causes the tractor 10 to travel autonomously, as described above, the control unit 110 steers the steering wheel by controlling the steering cylinder (not shown) connected to the steering wheel (not shown) while feeding back the steering angle of the steering wheels (front wheels) using the detection value of the steering angle sensor 67.

[0033] In the control unit 110, the engine ECU 111 is connected to the engine E, the travel system ECU 112 is connected to the transmission 61 and the steering system 62, and the work implement lifting system ECU 113 is connected to the lifting device 63. The work implement lifting system ECU 113 raises and lowers the work implement 30 via the lifting device 63.

[0034] Furthermore, when the tractor 10 is caused to travel autonomously, the control unit 110 determines a planned travel route R (see FIG. 1) for each field according to the work to be performed by the work implement 30, converts it into data, and stores it in the memory unit. The control unit 110 controls the engine E, transmission 61, steering device 62, lifting device 63, etc. so that the tractor 10 performs work while traveling along the planned travel route R created based on the measurement results of the positioning device 40.

[0035] The planned travel route R is set according to the shape and size of the field F (see Figure 1), the width, length and number of ridges formed in the field F, and the type of crop. As shown in Figure 1, the planned travel route R is set according to the shape and size of the field F (see Figure 1), the width, length and number of ridges formed in the field F, the type of crop, etc. S and straight route R S Next straight route R S Two straight paths R to move to S Turning path R connecting T The control unit 110 controls the tractor 10 to travel autonomously along the planned travel route R.

[0036] 2, the control unit 110 is wirelessly connected to the information processing terminal 120 (control unit 121) and the head-mounted display (control unit 131) via a communication network 200. In the management system 1, the control device 100 is configured by the control unit 110 of the tractor 10, the control unit 121 of the information processing terminal 120, and the control unit 131 of the head-mounted display 130. Note that the control device 100 may be configured by any one or two of the three control units 110, 121, and 131. For example, when the control device 100 is configured only by the control unit 110 of the tractor 10, the control unit 110 also performs the processing performed by the information processing terminal 120 (control unit 121) and the head-mounted display 130 (control unit 131).

[0037] In addition, the control device 100 (for example, the control unit 121 of the information processing terminal 120) may be configured to have, for example, a machine information database for the tractor 10, and to enable the transfer of information such as the machine model from a tablet terminal carried by the worker.

[0038] Furthermore, the control unit 121 of the information processing terminal 120, like the control unit 110 described above, is capable of controlling each part by electronic control, and is equipped with a processing unit having a CPU, etc., as well as a memory unit consisting of, for example, a hard disk, ROM, RAM, etc., in which various programs and necessary data such as the planned driving route R of the tractor 10 are stored.

[0039] <Head-mounted display> Next, the head mounted display 130 will be described with reference to Fig. 3. Fig. 3 is a functional block diagram of the head mounted display 130.

[0040] The head-mounted display 130 displays on the display unit 133 to the worker (monitor) W a real image, i.e., an image captured by the camera 70 (camera image), superimposed with a fictitious image (a display object 80 described later) (by combining the camera image and the display object 80).

[0041] The head mounted display 130 includes a control unit 131, a motion sensor 132, and a display unit 133. The control unit 131 controls the position at which the display object 80 is displayed, the display size of the display object 80, etc., in accordance with the camera image and the movement of the head of the observer W, for example.

[0042] As described above, the camera 70 is installed inside the cabin 21 of the tractor 10 (see FIGS. 4 and 5) and captures the outside of the cabin 21 from inside the cabin 21. That is, the camera 70 captures images that are similar to those seen by an operator aboard the tractor 10 looking outside from inside the cabin 21. The camera 70 is a so-called 360° camera that can capture images in all directions from the position where the camera 70 is installed.

[0043] The control unit 131 includes, for example, a video acquisition unit 1311, an information acquisition unit 1312, a display generation unit 1313, a display synthesis unit 1314, and a video output unit 1315.

[0044] The video acquisition unit 1311 acquires camera video (video data) captured by the camera 70. The information acquisition unit 1312 acquires, from the tractor 10 (see FIG. 1) or the information processing terminal 120 (see FIG. 2), information about the tractor 10 (hereinafter referred to as vehicle information), such as driving conditions such as engine rotation speed and vehicle speed, and working conditions such as PTO rotation speed and height of the work implement 30 (see FIG. 1).

[0045] In addition to engine rotation speed information, vehicle speed information, and PTO rotation speed information, the vehicle information also includes main shift information, sub shift information, engine temperature information, remaining fuel amount information, and tractor cumulative operating time information.

[0046] The display generation unit 1313 generates a display object 80 (see FIGS. 4 to 9) that displays the above-mentioned vehicle information, etc. The display composition unit 1314 combines the camera image with the display object 80 generated by the display generation unit 1313.

[0047] In this case, the control unit 131 determines the position P of the camera 70. C (See Figure 4) C (see FIG. 4) and the display synthesis unit 1314 synthesizes the three-dimensional shape information of the interior space of the cabin 21 (hereinafter referred to as the cabin interior space) S C The generated display object 80 is placed in the virtual space corresponding to the cabin interior space S C The three-dimensional shape information and the like may be held by, for example, the control unit 121 (see FIG. 2) of the information processing terminal 120, and the three-dimensional shape information and the like may be received by the head-mounted display 130 side.

[0048] The three-dimensional shape information is the camera position P C and cabin interior space S C This is information about the positional relationship in three-dimensional space with the front side.

[0049] The video output unit 1315 outputs the video synthesized by the display synthesis unit 1314 to the display unit 133, which will be described later.

[0050] Furthermore, like the control units 110 and 121 described above, the control unit 131 is capable of controlling each unit through electronic control, and is equipped with a processing unit having a CPU and the like, as well as a memory unit consisting of, for example, a hard disk, ROM, RAM, etc., in which various programs and necessary data such as the planned driving route R of the tractor 10 are stored.

[0051] The motion sensor 132 is, for example, an angular velocity sensor. The motion sensor 132 may be an acceleration sensor, or a composite sensor that combines an angular velocity sensor and an acceleration sensor. The motion sensor 132 is incorporated, for example, into the main body of the head mounted display 130. The motion sensor 132 may also be incorporated into a band portion for attaching the head mounted display 130 to the head of the observer W.

[0052] The motion sensor 132 detects the movement of the head of the observer W, thereby estimating where the observer W is looking in the real image (camera video). For example, if the motion sensor 132 is an angular velocity sensor, when the observer W turns to the left or right as the tractor 10 turns to the left or right, the head of the observer W will rotate. The motion sensor 132 can detect the rotation of the head of the observer W and estimate the position of the viewpoint of the observer W.

[0053] Furthermore, for example, if the motion sensor 132 is an acceleration sensor, it detects acceleration in the Z-axis direction to detect vertical displacement of the head of the monitor W, and it detects acceleration in the X-axis direction to detect horizontal displacement of the head of the monitor W. In this way, the motion sensor 132 can detect vertical, horizontal, and lateral displacement of the head of the monitor W, and estimate the position of the viewpoint of the monitor W. Note that, if the motion sensor 132 is a composite sensor, it can detect both the rotation of the head of the monitor W and the vertical, horizontal, and lateral displacement of the head of the monitor W, and estimate the position of the viewpoint of the monitor W.

[0054] The display unit 133 is a display screen (display) and displays the camera image and the display object 80.

[0055] <Display object placement> Next, the arrangement of the display object 80 will be described with reference to Figs. 4 to 9. Figs. 4 and 5 are explanatory diagrams of the arrangement of the display object 80. Note that Figs. 4 and 5 show the interior space S of the cabin 21 (hereinafter referred to as the cabin interior space). C The cabin interior space S C 10 shows a virtual state in which a display object 80 is arranged.

[0056] The display object 80 is, for example, a panel-like object, and displays vehicle information including PTO rotation speed information, as described above. The position where the display object 80 is arranged, the display size of the display object 80, and the like are controlled by, for example, the control unit 131 (see FIG. 2) of the head-mounted display 130 of the control device 100 (see FIG. 2).

[0057] Moreover, the observer W can arbitrarily switch between displaying and hiding the display object 80. Furthermore, the transparency of the display object 80 can be changed while it is combined with the camera image.

[0058] As shown in FIG. 4, the display object 80 is positioned at the position P C In contrast, the cabin interior space S C In addition, when there are two or more display objects 80, for example, the display objects 80 are arranged on the front surface (for example, the windshield surface) of the cabin interior space S C The left and right sides may be arranged on the front surface of the device.

[0059] In this way, the display object 80 is disposed close to either the left or right side or both sides of the tractor 10. This allows the display object 80 to be displayed so as not to obstruct the forward field of view of the observer W (see FIG. 1).

[0060] 5, the display object 80 is positioned at the camera position P C In contrast, the cabin interior space S C It may be arranged on either the left or right side surface (for example, the side glass surface).

[0061] Furthermore, for example, when the observer W moves his / her head forward and the head-mounted display 130 moves closer to the display object 80, the display object 80 is enlarged and displayed. In this case, the display object 80 is enlarged according to the degree of approach of the head-mounted display 130 to the display object 80.

[0062] Furthermore, for example, when the observer W moves his / her head backward and the head mounted display 130 moves away from the display object 80, the display object 80 is displayed in a reduced size. In this case, the display object 80 is reduced in size according to the degree to which the head mounted display 130 moves away from the display object 80.

[0063] In this way, the display size of the display object 80 changes in response to the forward and backward movement of the head-mounted display 130, so that when the camera image cannot be enlarged or reduced, the display object 80 can be enlarged or reduced, making it easier for the observer W to check the details of the display object 80.

[0064] For example, the display object 80 arranged on either the left or right side may be configured to expand or contract when the observer W moves his or her head to either the left or right.

[0065] 6 and 7 are explanatory diagrams of the display state of the display object 80. Note that in FIGS. 6 and 7, the display object 80 is displayed in the cabin interior space S C 2 shows a state in which the sensor is disposed on the front surface 211 of the sensor.

[0066] As shown in FIG. 6, in the normal display state of the display object 80, the display object 80 is displayed in the cabin interior space S C The front surface 211 is arranged to one side (right side) of either the left or right side.

[0067] 7, a display object 81 displaying front, rear, left and right images (panoramic images) from inside the cabin 21 (see FIGS. 4 and 5) is displayed in the cabin interior space S C In this case, for example, the cabin interior space S C On the front surface 211 of the vehicle, a display object 811 displaying a front image of the tractor 10 (see FIG. 1) is arranged on the upper side, a display object 812 displaying a rear image of the tractor 10 is arranged on the lower side, a display object 813 displaying a left image of the tractor 10 is arranged on the left side, and a display object 814 displaying a right image of the tractor 10 is arranged on the right side.

[0068] 8 and 9, the arrangement of the display object 80 when the tractor 10 (see FIG. 1) turns left or right will be described. FIG. 8 is an explanatory diagram of the arrangement of the display object 80 when turning left. FIG. 9 is an explanatory diagram of the arrangement of the display object 80 when turning right. Note that, like FIGS. 4 and 5, FIGS. 8 and 9 show the cabin interior space S C The cabin interior space S C 10 shows a virtual state in which a display object 80 is arranged.

[0069] As shown in FIG. 8, when the tractor 10 (see FIG. 1) turns left, the cabin interior space S CThe display object 80 arranged on the front surface (windshield surface) of the vehicle is moved onto the right surface (right side glass surface).

[0070] When the tractor 10 turns left, the operator (here, the monitor W who remotely monitors) often looks in the direction of the turn (left), so by moving the display object 80 to the right, opposite the turning direction (left), the display object 80 does not obstruct the monitor W's forward view (strictly speaking, the view in the direction of travel).

[0071] Also, as shown in FIG. 9, when the tractor 10 turns right, the cabin interior space S C The display object 80 arranged on the front surface (windshield surface) of the vehicle is moved onto the left side surface (left side glass surface).

[0072] When the tractor 10 turns right, the operator (monitoring person W) often looks in the turning direction (right), so by moving the display object 80 to the left, opposite the turning direction (right), the display object 80 does not obstruct the forward view of the monitoring person W (strictly speaking, the view in the direction of travel).

[0073] The above-described embodiment realizes the following work vehicle management system 1.

[0074] (1) A work vehicle 10 having a cabin 21, a camera 70 installed inside the cabin 21 for taking pictures, a head-mounted display 130 having a motion sensor 132 and a display unit 133, and displaying the camera image taken by the camera 70 on the display unit 133 in response to detection by the motion sensor 132, and a position P of the camera 70. C Cabin 21 interior space S C and a control device 100 that has three-dimensional shape information of the work vehicle 10, generates a display object 80 that displays information about the work vehicle 10, and places the display object 80 in a virtual space. The control device 100 controls the internal space S. CThe work vehicle management system 1 places a display object 80 on the work vehicle and combines the display object 80 with the camera image.

[0075] According to this work vehicle management system 1, when remotely monitoring the work vehicle 10 using the head mounted display 130, the monitor W wearing the head mounted display 130 can view the camera image as if they were inside the cabin 21, and the display object 80 can be displayed as if it were inside the cabin 21. In other words, the display object 80 (for example, vehicle information such as PTO rotation speed) can be displayed without creating a sense of incongruity, allowing the monitor W to easily check the vehicle information.

[0076] Furthermore, for example, if a display object 80 exists outside the cabin 21, the display will look unnatural unless an expression is added that shows the display object 80 passing through the glass of the cabin 21 or that the display object is blocked by an opaque member, but performing such processing would increase the calculation load associated with the image display. According to this work vehicle management system 1, the display object 80 exists inside the cabin 21, so the increase in calculation load can be suppressed.

[0077] (2) In the above (1), the control device 100 determines whether the vehicle is traveling along a straight path R S and turning path R T The work vehicle 10 is controlled to travel along a predetermined planned travel route R having a position P C The work vehicle management system 1 places the display object 80 close to at least one of the left and right sides of the work vehicle 10.

[0078] According to such a work vehicle management system 1, the display objects 80 are arranged close to the left and right sides of the work vehicle 10, so that the display objects 80 (for example, vehicle information such as PTO rotation speed) can be displayed so as not to obstruct the forward visibility of the monitor W. For example, when the work vehicle 10 turns to the left or right, the operator (monitor W) often looks at the turning direction, so by moving the display object 80 to the side opposite the turning direction, for example, the display object 80 does not obstruct the forward visibility of the monitor W.

[0079] (3) In the above (1) or (2), the control device 100 enlarges the display object 80 when the head-mounted display 130 is moved closer to the display object 80, and reduces the display object 80 when the head-mounted display 130 is moved away from the display object 80.

[0080] According to such a work vehicle management system 1, when it is not possible to enlarge or reduce the camera image, the display object 80 alone can be enlarged or reduced, making it easier for the observer W to check the details of the display object 80.

[0081] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0082] 1. Work vehicle management system 10 Work vehicles (tractors) 21 Cabin 70 Camera 80 Display Objects 100 control device 130 Head-Mounted Display 132 Motion Sensor 133 Display section P C Position (camera position) R Planned driving route R S Straight route R T Turning path S C Interior space (cabin interior space) W Watcher

Claims

1. a work vehicle having a cabin; a camera installed inside the cabin and configured to capture images as if a passenger of the work vehicle were looking outside from inside the cabin; a head-mounted display that is worn on the head of an observer who remotely monitors the work vehicle, has a motion sensor and a display unit, and displays on the display unit a camera image captured by the camera in response to detection by the motion sensor as an image in the direction in which the observer moves their head and shifts their line of sight; a control device that has three-dimensional shape information of the interior space of the cabin relative to the position of the camera, generates a display object that displays information about the work vehicle, and synthesizes the display object with the camera image displayed on the display unit based on the three-dimensional shape information, as if the display object were placed in the interior space; Equipped with A work vehicle management system characterized by:

2. The control device Controlling the work vehicle so that it travels along a predetermined planned travel route that includes a straight route and a turning route; The display object is positioned to at least one side of the left or right of the work vehicle relative to the position of the camera.

2. The work vehicle management system according to claim 1.

3. The control device When the head mounted display is moved closer to the display object, the display object is enlarged; When the head mounted display is moved away from the display object, the display object is reduced in size.

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

Images