Control device and work vehicle

Abstract

To allow an operator to visually recognize various regions inside and outside a farm field easily.SOLUTION: A control part 80 includes a vehicle position acquisition part 85, a farm field contour setting part 83, a region setting part 84, and a display processing part 86. The vehicle position acquisition part 85 acquires position information 99 indicating the position of a combine 1 travelling in a farm field 98. The farm field contour setting part 83 sets a contour 981P of the farm field 98 on the basis of the plurality of pieces of position information 99. The region setting part 84 sets a region exempt from work indicating a region exempt from work by the combine 1 to the inside of the farm field 98 or the outside of the farm field 98 on the basis of the contour 981P. The display processing part 86 causes a display part 73 to display a farm field image 98P showing the farm field 98 and an identification image 94 for identifying the region exempt from work.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a control device and a work vehicle. [Background technology]

[0002] The mobile terminal in the field management system described in Patent Document 1 displays field information for all or part of multiple fields based on the distances between the positions of each of the multiple fields obtained using field position information and the positions measured by a positioning device mounted on a work vehicle or mobile terminal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-024383 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, depending on the type of field information displayed on the mobile terminal in Patent Document 1, the display format of the mobile terminal, and the worker's situation, it may be difficult for the worker to visually recognize the information displayed on the mobile terminal.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its object is to provide a control device and a work vehicle that allow a worker to more easily view various areas inside and outside a field. [Means for solving the problem]

[0006] The control device according to the present invention comprises a vehicle position acquisition unit, a field contour setting unit, an area setting unit, and a display processing unit. The vehicle position acquisition unit acquires position information indicating the position of a work vehicle traveling in a field. The field contour setting unit sets the contour of the field based on a plurality of pieces of position information. The area setting unit sets a non-work area, indicating an area that is not to be worked on by the work vehicle, inside or outside the field based on the contour. The display processing unit displays a field image indicating the field and an identification image for identifying the non-work area on the display unit.

[0007] The work vehicle according to the present invention comprises a control device, a traveling body, a traveling device, a reaping device, and a threshing device. The control device is disposed on the traveling body. The traveling device is disposed below the traveling body to support the traveling body and travel through a field. The reaping device is disposed on the traveling body and reaps uncut stalks in the field. The threshing device threshes the reaped stalks reap by the reaping device. The control device controls the traveling device, the reaping device, and the threshing device. [Effects of the Invention]

[0008] According to the present invention, it becomes possible for an operator to more easily visually recognize various areas inside and outside the field. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of a crop harvesting system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram of the combine harvester according to the present embodiment. [Figure 3] FIG. 2 is a block diagram of a mobile communication terminal according to the present embodiment. [Figure 4] FIG. 1 is a diagram showing a field on which a combine harvester according to an embodiment of the present invention travels. [Figure 5] FIG. 4 is a diagram showing an example of a screen displayed on a display unit in the present embodiment. [Figure 6] 3A to 3C are diagrams illustrating examples of various areas displayed on a display unit. [Figure 7] FIG. 10 is a diagram showing a display unit on which an identification image is displayed. [Figure 8] 10 is a flowchart showing a display method according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and description thereof will not be repeated.

[0011] A crop harvesting system 100 according to this embodiment will be described with reference to Figures 1 to 3. Figure 1 is a schematic diagram of the crop harvesting system 100 according to this embodiment. Figure 2 is a block diagram of a combine harvester 1 according to this embodiment. Figure 3 is a block diagram of a mobile communication terminal 7 according to this embodiment.

[0012] In this specification, for ease of understanding, the terms front-rear direction, left-right direction, and up-down direction may be used. Here, the front-rear direction, left-right direction, and up-down direction are directions seen from the perspective of a driver (worker) seated in a driver's seat (not shown) located in the driving space 2a (see FIG. 1). However, the definitions of the front-rear direction, left-right direction, and up-down direction are provided merely for the convenience of explanation, and are not intended to limit the orientation of the work vehicle of the present invention when in use or when assembled.

[0013] The crop harvesting system 100 includes a head-feeding combine harvester 1, which is a work vehicle, and a mobile communication terminal 7. The crop harvesting system 100 is an example of an automatic driving system in which an operator gives instructions using the mobile communication terminal 7 or the like to the combine harvester 1, causing the combine harvester 1 to automatically drive and perform work such as harvesting crops. Note that instructions for automatic driving may be given by operating an operating member provided on the combine harvester 1, rather than the mobile communication terminal 7. The combine harvester 1 is an example of a work vehicle. The work vehicle is not limited to the combine harvester 1, but may be any vehicle that is capable of automatic driving within a field. Examples of work vehicles include a seed sower that drives while sowing seeds in a field, a fertilizer applicator that drives while applying fertilizer in a field, a chemical sprayer that drives while spraying chemicals in a field, a rice transplanter that drives while planting seedlings, a tiller, and a tractor, etc. Harvesting, sowing, fertilizing, spraying pesticides, and planting are examples of work performed by work vehicles.

[0014] Autonomous driving means that the control unit 50 provided in the combine harvester 1 controls devices related to driving, and at least steering is performed autonomously to follow a predetermined route. In addition to steering, the vehicle speed or work performed by the work device may also be configured to be performed autonomously. Autonomous driving includes both cases where a person is riding on the combine harvester 1 and cases where a person is not riding on the combine harvester 1.

[0015] As shown in FIG. 1 , the combine harvester 1 of this embodiment includes a traveling body 101, a traveling device 102, a reaping device 200, a threshing device 300, a grain tank 400, a control unit 50, a memory unit 55, and a communication device 16. The traveling device 102 is disposed below the traveling body 101 and supports the traveling body 101. The reaping device 200 is disposed in front of the traveling body 101. The reaping device 200 and the threshing device 300 are examples of agricultural work equipment. The communication device 16 is disposed above the traveling body 101. The control unit 50 is disposed inside the traveling body 101. The memory unit 55 is disposed inside the traveling body 101.

[0016] The traveling machine body 101 (combine 1) includes an engine (not shown). The engine is, for example, a diesel engine. The engine converts thermal energy obtained by burning fuel into kinetic energy (power).

[0017] The traveling device 102 causes the combine harvester 1 to travel. Specifically, the traveling device 102 travels based on power (kinetic energy) generated in the engine. The traveling device 102 includes, for example, a pair of left and right traveling crawler devices. The pair of left and right traveling crawler devices causes the combine harvester 1 to travel in the front-to-rear direction. In addition, the pair of left and right traveling crawler devices causes the combine harvester 1 to turn in the left and right direction.

[0018] The reaping device 200 is driven by power (kinetic energy) generated by an engine. The reaping device 200 reaps uncut stalks in a field. In this embodiment, the reaping device 200 includes a reaping frame 201 and a stalk transport device 204.

[0019] The reaping frame 201 is mounted to the front of the traveling body 101 so as to be able to move up and down freely. A reaping blade is disposed below the reaping frame 201. The reaping device 200 moves the reaping blade back and forth to cut the base of uncut stalks in the field.

[0020] The stalk conveying device 204 conveys the stalks cut by the cutting blade to the threshing device 300.

[0021] The combine harvester 1 can drive the traveling device 102 to move within the field, and drive the reaping device 200 to continuously reap unharvested stalks in the field.

[0022] The threshing device 300 is driven by power (kinetic energy) generated by the engine. The threshing device 300 performs threshing work by threshing the reaped stalks transported to the traveling body 101 by the stalk transport device 204. The reaping work is included in the harvesting work. The grain tank 400 stores the grains threshed by the threshing device 300. Specifically, the threshing device 300 is equipped with a winnowing fan 303 and a dust discharge fan 305. The threshing device 300 threshes the tip side of the reaped stalks transported to the traveling body 101. The threshing device 300 shakes and sorts (gravity sorts) the threshed tip side (degrained grain).

[0023] The winnowing fan 303 supplies screening air toward the reaped stalks after threshing. As a result, straw dust and impurities are removed from the grains (threshed grain). The grains from which straw dust and impurities have been removed are transported to and stored in the grain tank 400. The dust discharge fan 305 discharges the dust at the rear of the grain stalk conveying device 204 outside the machine.

[0024] The traveling machine body 101 (combine 1) further includes a cabin 2. The cabin 2 is box-shaped, and inside the cabin 2, a driving space 2a is formed for the driver (operator) of the combine 1. The driving space 2a is equipped with devices required for operating the combine 1, such as a driver's seat, a steering wheel, and a main shift lever (not shown). For example, the steering wheel is disposed in front of the driver's seat. The steering wheel is operated by the driver (operator) seated in the driver's seat to change the direction in which the traveling device 102 shown in FIG. 1 travels. When the combine 1 is in the manual traveling mode, the driver (operator) can turn the combine 1 by operating the steering wheel. Turning includes, for example, a 90-degree turn (α turn), a U-turn, and a fishtail turn.

[0025] For example, the main speed change lever is located to the left of the driver's seat. The main speed change lever is operated by the driver (operator) seated in the driver's seat to switch the traveling direction of the traveling device 102 shown in Figure 1 between forward and reverse.

[0026] The main speed change lever has various switches, including, for example, a switch for adjusting the threshing depth, a switch for raising the reaping device 200, a switch for lowering the reaping device 200, a switch for adjusting the height of the reaping device 200, and a switch for switching whether or not power generated by the engine is transmitted to the reaping device 200 and the threshing device 300. The steering wheel, main speed change lever, and various switches output signals to the control unit 50 indicating instructions corresponding to operations by the driver (operator).

[0027] The communication device 16 includes a positioning antenna 61 , an inertial measurement unit 62 , and a communication antenna 63 .

[0028] The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that make up a global navigation satellite system (GNSS). The inertial measurement unit 62 includes a three-axis angular velocity sensor and a three-directional acceleration sensor.

[0029] The communication antenna 63 is an antenna for wireless communication with the mobile communication terminal 7. For wireless communication, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) or a short-range wireless communication such as Bluetooth (registered trademark) is adopted. The combine harvester 1 may also be provided with a mobile communication antenna (not shown) for communication using a mobile phone line and the Internet.

[0030] The control unit 50 controls the traveling device 102, the reaping device 200, and the threshing device 300. Specifically, as shown in Fig. 2, the control unit 50 is a calculation device such as a CPU (Central Processing Unit).

[0031] The control unit 50 receives signals output from the steering handle, main speed change lever, various switches, etc., and controls the traveling device 102, the reaping device 200, and the threshing device 300 according to the instructions indicated by the signals. The control unit 50 may be a single piece of hardware, or multiple pieces of hardware that can communicate with each other.

[0032] The storage unit 55 is a main storage device such as a read-only memory (ROM) and a random access memory (RAM). The storage unit 55 may further include an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). Various programs, data, etc. are stored in the storage unit 55. The control unit 50 reads out and executes the various programs from the storage unit 55.

[0033] In addition to the inertial measurement unit 62, the control unit 50 is connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a reaping sensor 68, and a harvest yield sensor 69.

[0034] The position acquisition unit 64 acquires the position of the combine harvester 1 as, for example, latitude and longitude information using a positioning signal received by the positioning antenna 61 from a positioning satellite. The position acquisition unit 64 may receive a positioning signal from a reference station (not shown) using an appropriate method and then perform positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. The reference station is installed at a known position around the field. Alternatively, the position acquisition unit 64 may perform positioning using a DGNSS (Differential GNSS) method. Alternatively, the position acquisition unit 64 may perform position acquisition based on the radio wave intensity of a wireless LAN or the like, or by inertial navigation using the measurement results of the inertial measurement unit 62.

[0035] The communication processing unit 65 transmits and receives data to and from the mobile communication terminal 7 via the communication antenna 63 .

[0036] The vehicle speed sensor 66 detects the vehicle speed of the combine 1. The vehicle speed sensor 66 is provided on an axle or the like disposed on the traveling device 102. When the vehicle speed sensor 66 is provided on the axle of the traveling device 102, the vehicle speed sensor 66 generates a pulse corresponding to the rotation of the axle. Data of the detection result obtained by the vehicle speed sensor 66 is output to the control unit 50.

[0037] The steering angle sensor 67 is provided on, for example, a steering wheel and detects the steering angle of the steering wheel. Data on the detection result obtained by the steering angle sensor 67 is output to the control unit 50.

[0038] The reaping sensor 68 detects the height of the reaping device 200 and the operating state of the reaping device 200. The detection result data obtained by the reaping sensor 68 is output to the control unit 50. Based on the detection result of the reaping sensor 68, the control unit 50 can determine whether the reaping device 200 is performing reaping work. The reaping work is included in the harvesting work.

[0039] The harvest yield sensor 69 detects the amount of grain harvested by the combine 1. The harvest yield sensor 69 outputs information indicating the detected amount of grain to the control unit 50. For example, the harvest yield sensor 69 is provided in the grain tank 400. The harvest yield sensor 69 measures the degree of impact when grains collide with the harvest yield sensor 69 as they are transported to the grain tank 400, and outputs the measurement result to the control unit 50. The control unit 50 acquires the measurement result of the harvest yield sensor 69, converts it into the weight or volume of the grains, and generates harvest yield information indicating the amount of grain harvested by the combine 1. The control unit 50 does not need to convert the measurement result of the harvest yield sensor 69. In this case, the harvest yield information indicates the measurement result of the harvest yield sensor 69. Note that the harvest yield sensor 69 is not an essential component of the crop harvesting system 100.

[0040] In this embodiment, the control unit 50 is capable of controlling the automatic running of the combine harvester 1, such as vehicle speed control and steering control. Specifically, under the control of the control unit 50, the combine harvester 1 can autonomously move forward, backward, turn, etc. Furthermore, the control unit 50 can, for example, autonomously perform steering and also control the vehicle speed to change in response to the operator's operation.

[0041] When autonomously changing the vehicle speed, the control unit 50 controls the current vehicle speed detected by the vehicle speed sensor 66 to approach the target vehicle speed. The vehicle speed control is realized, for example, by changing at least one of the gear ratio of the transmission in the transmission case (not shown) or the engine rotation speed. Note that the vehicle speed control also includes control to set the vehicle speed to zero so that the combine harvester 1 stops.

[0042] When steering autonomously, the control unit 50 controls the current steering angle detected by the steering angle sensor 67 to approach a target steering angle. The steering angle control is realized, for example, by driving a steering actuator provided on the rotation shaft of the steering handle. Note that instead of driving the steering actuator, the control unit 50 may adjust the turning angle of the traveling device 102 by directly adjusting the rotation of each of the left and right traveling crawler devices of the traveling device 102.

[0043] Furthermore, the control unit 50 controls the operation of the reaping device 200 and the threshing device 300 based on predetermined conditions. Specifically, the control unit 50 controls the height adjustment and reaping work of the reaping device 200, as well as the threshing work by the threshing device 300.

[0044] In addition to controlling automatic driving, controlling the operation of the harvesting device 200 and threshing device 300, and determining whether to continue harvesting work based on the detection results of various sensors, the control unit 50 can also control the driving of the combine 1 in response to remote operation by the operator using the mobile communication terminal 7, controlling the operation of the harvesting device 200 and threshing device 300, and determining whether to continue harvesting work.

[0045] Next, the mobile communication terminal 7 will be described with reference to FIG. 3. As shown in FIG. 3, the mobile communication terminal 7 includes a communication antenna 71, a communication processing unit 72, a display unit 73, an operation unit 74, and a control unit 80. The mobile communication terminal 7 is a tablet terminal, a smartphone, a laptop computer, or the like. The mobile communication terminal 7 performs various processes related to the automatic traveling of the combine harvester 1, as described below, but at least some of these processes can also be performed by the control unit 50 of the combine harvester 1. Conversely, at least some of the various processes related to the automatic traveling performed by the control unit 50 of the combine harvester 1 can also be performed by the mobile communication terminal 7.

[0046] The communication antenna 71 is an antenna for wireless communication with the combine harvester 1. The communication processing unit 72 transmits and receives data to and from the combine harvester 1 via the communication antenna 71. Specifically, the control unit 80 can receive detection results of each sensor provided in the combine harvester 1 via the communication processing unit 72 and the communication antenna 71.

[0047] As described above, the combine harvester 1 can be connected to a mobile phone line, and therefore the mobile communication terminal 7 can be connected to the mobile phone line via the combine harvester 1. Therefore, for example, part of the information stored in the memory unit 55 of the combine harvester 1 or the memory unit 81 of the control unit 80 can be stored in an external server. Note that an antenna for mobile communication (not shown) may be provided in the mobile communication terminal 7 instead of the combine harvester 1.

[0048] The display unit 73 is a liquid crystal display, an organic EL (Electroluminescence) display, etc. The display unit 73 can display, for example, information about the farm field, information about automatic driving, information about the settings of the combine harvester 1, detection results of various sensors, warning information, etc.

[0049] The operation unit 74 includes at least one of a touch panel and hardware keys. The touch panel is placed on top of the display unit 73 and is capable of detecting operations by the worker's fingers or the like. The hardware keys are placed on the side of the housing of the mobile communication terminal 7 or around the display unit 73 and are capable of detecting depressions by the worker's fingers or the like.

[0050] The control unit 80 includes a calculation device, an input / output device, etc. (not shown), and a memory unit 81. The control unit 80 is an example of a control device. The calculation device is a processor, a microprocessor, etc. The memory unit 81 is a main memory device such as ROM and RAM. The memory unit 81 may further include an auxiliary memory device such as an HDD or SSD. Various programs, data, etc. are stored in the memory unit 81. The calculation device reads and executes various programs from the memory unit 81. Through cooperation between the above hardware and software, the control unit 80 can operate as a field contour setting unit 83, an area setting unit 84, a vehicle position acquisition unit 85, a display processing unit 86, a harvest information acquisition unit 87, and a calculation unit 88. The processes performed by the field contour setting unit 83, the area setting unit 84, the vehicle position acquisition unit 85, the display processing unit 86, the harvest information acquisition unit 87, and the calculation unit 88 will be described below.

[0051] Next, automatic traveling of the combine harvester 1 in this embodiment will be described with reference to Figures 4 and 5. Figure 4 is a diagram showing a farm field 98 in which the combine harvester 1 in this embodiment travels. Figure 5 is a diagram showing an example of a screen displayed on the display unit 73 in this embodiment.

[0052] 5, a map image MP showing the surroundings of a field 98 is displayed on the display unit 73. The map image MP includes a field image 98P showing the field 98. The map image MP may be stored in the storage unit 81, for example, or may be obtained from outside the mobile communication terminal 7 via a mobile phone line and the Internet. Specifically, the display processing unit 86 of the mobile communication terminal 7 obtains the map image MP including the field image 98P and displays the map image MP on the display unit 73.

[0053] The display processing unit 86 also displays an icon C1 indicating the position of the combine harvester 1 on the display unit 73. Specifically, the position acquisition unit 64, the inertial measurement unit 62, or the like of the combine harvester 1 detects position information 99 of the combine harvester 1. The communication processing unit 65 transmits the position information 99 detected by the position acquisition unit 64, the inertial measurement unit 62, or the like to the mobile communication terminal 7. The communication processing unit 72 of the mobile communication terminal 7 receives the position information 99 transmitted from the combine harvester 1. The vehicle position acquisition unit 85 acquires the position information 99 received by the communication processing unit 72. The display processing unit 86 identifies the position of the combine harvester 1 based on the position information 99 acquired by the vehicle position acquisition unit 85, and displays an icon C1 indicating the combine harvester 1 at a corresponding position on the map image MP of the display unit 73.

[0054] In this embodiment, when the combine harvester 1 is automatically driven, first, the driver (operator) manually drives the combine harvester 1 along a contour 981 of an actual farm field 98. In the example shown in FIG. 4, the driver (operator) manually drives the combine harvester 1 counterclockwise from an entrance EX1 of the farm field 98 along the contour 981. While driving along the contour 981, the combine harvester 1 cuts uncut stalks on its driving path.

[0055] 4, when an obstacle SA exists along a contour 981 in the field 98, the driver (operator) manually drives the combine harvester 1 to avoid the obstacle SA. Specifically, the combine harvester 1 detours inward from the contour 981 along the obstacle SA.

[0056] The position acquisition unit 64, the inertial measurement unit 62, or the like periodically detects position information 99 of the combine harvester 1 while the combine harvester 1 is being manually driven. The multiple pieces of position information 99 of the combine harvester 1 detected by the position acquisition unit 64, the inertial measurement unit 62, or the like are sequentially transmitted to the mobile communication terminal 7.

[0057] The communication processing unit 72 of the mobile communication terminal 7 receives the plurality of pieces of position information 99 transmitted from the combine harvester 1. The vehicle position acquisition unit 85 acquires the plurality of pieces of position information 99 received by the communication processing unit 72.

[0058] Based on the plurality of pieces of position information 99 acquired by the vehicle position acquisition unit 85, the display processing unit 86 displays pointers 99P corresponding to the plurality of pieces of position information 99 at corresponding positions on the map image MP of the display unit 73.

[0059] The field contour setting unit 83 sets a contour 981P of the field 98 based on the multiple pieces of position information 99 acquired by the vehicle position acquisition unit 85 and the vehicle width d of the combine harvester 1. The vehicle width d is stored in the memory unit 81, for example.

[0060] [Contour Settings 1] Next, an example of the process for setting the contour of the field 98 in this embodiment will be described. For example, the operator performs an operation on the mobile communication terminal 7 to select four pointers 99PA, 99PB, 99PC, and 99PD from among the multiple pointers 99P displayed on the display unit 73.

[0061] When the operation unit 74 detects an operation to select the pointers 99PA, 99PB, 99PC, and 99PD, the field contour setting unit 83 sets a contour 981P of a substantially rectangular frame with the pointers 99PA, 99PB, 99PC, and 99PD as the four corners. Note that the field contour setting unit 83 may set a substantially rectangular frame connecting the pointers 99PA, 99PB, 99PC, and 99PD as the contour 981P.

[0062] Furthermore, the field contour setting unit 83 may select four pointers 99P at the four corners from among the multiple pointers 99P, and set a substantially rectangular frame connecting the four pointers 99P as the contour 981P.

[0063] [Contour Settings 2] Next, another example of the contour setting process for the field 98 in this embodiment will be described. For example, the display processing unit 86 calculates the trajectory of the combine harvester 1 traveling through the field 98 based on multiple pieces of position information 99 acquired by the vehicle position acquisition unit 85 and the vehicle width d of the combine harvester 1. The display processing unit 86 displays the calculated trajectory superimposed on the map image MP on the display unit 73.

[0064] For example, the worker performs an operation on the mobile communication terminal 7 to select the four corner points of the trajectory displayed on the display unit 73. When the operation unit 74 detects the operation to select the four corner points, the field contour setting unit 83 sets a contour 981P of a substantially rectangular frame with the four corner points as vertices.

[0065] It should be noted that the field contour setting unit 83 may set the contour 981P further outside than the outside of the trajectory of the combine harvester 1 in contour setting 1 and contour setting 2.

[0066] Once the contour 981P is set by the field contour setting unit 83, the area setting unit 84 sets various areas inside and outside the field 98 based on the contour 981P. For example, the area setting unit 84 sets a work area inside the field 98 where harvesting work will be performed by the combine 1. The area setting unit 84 also sets a non-work area inside or outside the field 98 that indicates an area that is not subject to harvesting work by the combine 1. For example, the combine 1 performs work related to the harvesting work in the non-work area.

[0067] For example, the area setting unit 84 calculates a travel-prohibited area S1 where the combine harvester 1 cannot travel based on the plurality of pieces of position information 99 and the contour 981P, and sets the calculated area as a non-work area.

[0068] Specifically, the area setting unit 84 determines whether or not a travel-prohibited area S1 exists inside the contour 981P.

[0069] Specifically, when the pointer 99P is located at a position that is more than a predetermined distance r1 from the contour 981P toward the inside of the field 98, the area setting unit 84 sets a non-traveling area S1. In the example shown in FIG. 5, three pointers 99P are located at positions that are more than a predetermined distance r1 from the contour 981P toward the inside of the field 98. The area setting unit 84 determines that the area surrounded by the three pointers 99P and the contour 981P is the non-traveling area S1. The area setting unit 84 sets the non-traveling area S1 as a work exclusion area.

[0070] As described above, in this embodiment, the non-traveling area S1 is set based on the contour 981P and the trajectory of the combine harvester 1, so that the operator does not need to perform an operation to set the non-traveling area S1. Therefore, the non-traveling area S1 can be set more easily.

[0071] Next, various other areas set in this embodiment will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of various areas displayed on the display unit 73.

[0072] For example, the area setting unit 84 sets the path traveled by the combine harvester 1 while harvesting unharvested stalks as the worked area 91. Specifically, the area setting unit 84 determines whether the combine harvester 1 has harvested unharvested stalks on its travel path based on the detection results of the harvesting sensor 68. In the example shown in FIGS. 4 to 6, the area setting unit 84 sets the path traveled to set the contour 981P as the worked area 91. The worked area 91 is included in the area to be worked.

[0073] The display processing unit 86 displays a worked area image 91P indicating the worked area 91 set by the area setting unit 84 over the map image MP on the display unit 73.

[0074] The area setting unit 84 also sets an unworked area 92 based on the contour 981P and the worked area 91. The unworked area 92 indicates the area where unharvested stalks exist. Specifically, the area setting unit 84 sets the area inside the contour 981P other than the worked area 91 as the unworked area 92. The unworked area 92 is included in the area to be worked on.

[0075] The display processing unit 86 displays an unworked area image 92P indicating the unworked area 92 set by the area setting unit 84 over the map image MP on the display unit 73.

[0076] Furthermore, the area setting unit 84 sets an automatic driving area 93 based on the unworked area 92. The automatic driving area 93 indicates an area in which the combine harvester 1 will automatically travel. Specifically, the area setting unit 84 sets the automatic driving area 93, which is approximately rectangular, within a portion of the inside of the unworked area 92. The position and size of the automatic driving area 93 are determined based on, for example, the vehicle width d of the combine harvester 1.

[0077] The display processing unit 86 displays an automatic driving area image 93P indicating the automatic driving area 93 set by the area setting unit 84 on the map image MP on the display unit 73 in an overlapping manner.

[0078] For example, the worked area image 91P, the unworked area image 92P, and the automatic travel area image 93P are displayed in different colors so that the worker can distinguish between the areas.

[0079] The area setting unit 84 may not set some or all of the worked area 91, the unworked area 92, and the automatic driving area 93.

[0080] The area setting unit 84 also sets a relay area 95 (see FIG. 4) where relay work is performed to allow the combine 1 to continue harvesting work as a non-work area. Relay work includes, for example, the work of discharging agricultural products harvested by the combine 1 into a truck or the like, and the work of refueling the combine 1. Relay work is an example of related work. The coordinates of the relay area 95 are stored in the memory unit 81.

[0081] For example, when setting the relay area 95, the worker operates the operation unit 74 of the mobile communication terminal 7 to select a point on the map image MP displayed on the display unit 73. The area setting unit 84 acquires the coordinates of the point selected by the worker from the operation unit 74. Based on the acquired coordinates and the contour 981P, the area setting unit 84 determines whether the coordinates of the selected point are located inside or outside the contour 981P. If the coordinates of the selected point are located outside the contour 981P, the area setting unit 84 sets a predetermined area including the selected point as the relay area 95.

[0082] In this embodiment, the relay area 95 may be set by the worker. The relay area 95 set by the worker is, for example, at least one of the multiple sides that make up the field 98. Alternatively, the relay area 95 may be at least one point of one side rather than the entire side. The area setting unit 84 acquires the coordinates of the point or side selected by the worker from the operation unit 74, and sets the selected point or side as the relay area 95.

[0083] The area setting unit 84 also sets the entrance EX1 of the field 98 (see FIG. 4) as a non-work area. At the entrance EX1, an entry operation is performed to allow the combine harvester 1 to enter the field 98. The entry operation is an example of an associated operation related to harvesting work. For example, the area setting unit 84 calculates the coordinates at which the combine harvester 1 passes through the contour 981P based on multiple pieces of position information 99 and the contour 981P. The area setting unit 84 sets a predetermined area including the point indicated by the calculated coordinates as the entrance EX1. In the example shown in FIG. 4, the entrance EX1 is the upper right corner of the contour 981P. The shape and size of the entrance EX1 are determined based on, for example, the vehicle width d of the combine harvester 1. In the example shown in FIG. 4, the shape of the entrance image EX1P is approximately rectangular. The coordinates of the entrance EX1 are stored in the memory unit 81.

[0084] The entrance EX1 may be set by the worker. When the worker sets the entrance EX1, the worker operates the operation unit 74 of the mobile communication terminal 7 to select a point corresponding to the entrance EX1 on the map image MP displayed on the display unit 73. The area setting unit 84 acquires the coordinates of the point selected by the worker from the operation unit 74, and sets a predetermined area including the selected point as the entrance EX1.

[0085] [Identification Image] In this embodiment, the display processing unit 86 causes the display unit to display an identification image 94 for the worker to identify the non-work area, and a farm field image 98P.

[0086] 6, for example, the display processing unit 86 displays a non-traveling area image S1P indicating the non-traveling area S1 superimposed on the map image MP of the display unit 73. Specifically, the display processing unit 86 acquires the coordinates of the non-traveling area S1 set by the area setting unit 84. The display processing unit 86 displays the non-traveling area image S1P at the position indicated by the acquired coordinates on the map image MP.

[0087] Furthermore, the display processing unit 86 displays a no-drive area identification image 94A indicating the no-drive area S1 superimposed on the no-drive area image S1P. The no-drive area identification image 94A is an example of the identification image 94. The identification image 94 is displayed, for example, as a pin or an icon. For example, the no-drive area identification image 94A includes a picture of a "no entry sign."

[0088] The display processing unit 86 also displays an entrance image EX1P showing the entrance EX1 of the field 98, superimposed on the map image MP of the display unit 73. Specifically, the display processing unit 86 acquires the coordinates of the entrance EX1 stored in the memory unit 81. The display processing unit 86 displays the entrance image EX1P at the position indicated by the acquired coordinates on the map image MP. The shape and size of the entrance image EX1P are determined, for example, according to the shape and size of the entrance EX1.

[0089] Furthermore, the display processing unit 86 displays an entrance identification image 94B indicating the entrance EX1 superimposed on the entrance image EX1P. The entrance identification image 94B is an example of the identification image 94. For example, the entrance identification image 94B includes the characters "EXIT" indicating the entrance.

[0090] Furthermore, the display processing unit 86 displays a relay area image 95P indicating the relay area 95 superimposed on the map image MP of the display unit 73. The display processing unit 86, for example, acquires the coordinates of the relay area 95 stored in the storage unit 81. The display processing unit 86 displays the relay area image 95P at the position indicated by the acquired coordinates. In the example shown in Fig. 6, the shape of the relay area image 95P is approximately rectangular.

[0091] Furthermore, the display processing unit 86 displays a relay area identification image 94C indicating the relay area 95 superimposed on the relay area image 95P. The relay area identification image 94C is an example of the identification image 94. For example, the relay area identification image 94C includes a picture of a "silo."

[0092] As described above, various non-work areas are set based on the trajectory traveled by the combine harvester 1, and an identification image 94 is added to each image showing the non-work areas, making it easier for workers to see each non-work area both inside and outside the field.

[0093] For example, adding a no-drive area identification image 94A to the no-drive area image S1P makes it easier for the worker to recognize the no-drive area S1, adding an entrance identification image 94B to the entrance image EX1P makes it easier for the worker to recognize the entrance EX1, and adding a relay area identification image 94C to the relay area image 95P makes it easier for the worker to recognize the relay area 95.

[0094] The display format of the identification image 94 is not limited to the above. Specifically, there are no particular limitations on the characters or pictures included in the identification image 94. Furthermore, there are no particular limitations on the color, pattern, design, font, size, etc. of the characters or pictures included in the identification image 94.

[0095] For example, the display format of the identification image 94 can be changed by a change operation by the worker. The change operation refers to an operation by the worker to instruct the operation unit 74 of the mobile communication terminal 7 to change the display format of the identification image 94.

[0096] Specifically, when the worker performs a change operation, the worker selects a selected identification image from among the identification images 94 displayed on the display unit 73. For example, when the worker taps one of the identification images 94 displayed on the display unit 73, the tapped identification image 94 is selected as the selected identification image. Then, the display processing unit 86 displays a setting screen that allows the worker to set the display format of the selected identification image. For example, when the worker taps to select various settings displayed on the setting screen, the display processing unit 86 displays an identification image 94 on the display unit 73 that reflects the selected setting content.

[0097] In this embodiment, the display format of the identification image 94 includes, for example, highlighting, which displays the selected identification image more strongly than the other identification images 94. The highlighting includes, for example, blinking. Specifically, when the worker selects a setting for highlighting from among the various settings displayed on the setting screen, the display processing unit 86 highlights the identification image 94. By highlighting the identification image 94, it is possible to more easily draw the worker's attention to the area corresponding to the highlighted identification image 94.

[0098] Next, the display of the identification image 94 will be described in more detail with reference to Fig. 7. Fig. 7 is a diagram showing the display unit 73 on which the identification image 94 is displayed. The map image MP shown in Fig. 7 is a scaled-down version of the map image MP shown in Fig. 6, and displays a wider range.

[0099] For example, when the worker pinches in on the map image MP shown in FIG. 6, the map image MP shown in FIG. 7 is displayed on the display unit 73. Specifically, when the operation unit 74 detects the pinch-in operation, the display processing unit 86 reduces the displayed map image MP and displays a new map image MP on the display unit 73 together with an image showing an area outside the displayed map image MP. The pinch-in operation is an example of a reduction operation for reducing the map image MP. To enlarge the map image MP, the worker, for example, pinches out on the map image MP. The pinch-out operation is an example of an enlargement operation for enlarging the map image MP. The enlargement operation and the reduction operation are each an example of a scale change operation. In this embodiment, the map image MP may be reduced by an operation other than the pinch-in operation. The map image MP may be enlarged by an operation other than the pinch-out operation.

[0100] 7, an automatic driving area image 93P, a non-driving area identification image 94A, an entrance identification image 94B, and a relay area identification image 94C are displayed on the display unit 73. On the other hand, the worked area image 91P, the unworked area image 92P, the non-driving area image S1P, the entrance image EX1P, and the relay area image 95P are not displayed on the display unit 73 because they are too small compared to the map image MP shown in FIG.

[0101] Specifically, the display processing unit 86 reduces the automatic driving area image 93P in accordance with the reduction of the map image MP, and displays it on the display unit 73. On the other hand, if the worked area image 91P, the unworked area image 92P, the non-drivable area image S1P, the entrance image EX1P, and the relay area image 95P are reduced in accordance with the reduction of the map image MP, they will not be able to be displayed on the display unit 73, and therefore the display processing unit 86 does not display the worked area image 91P, the unworked area image 92P, the non-drivable area image S1P, the entrance image EX1P, and the relay area image 95P.

[0102] Furthermore, the display processing unit 86 displays the impassable area identification image 94A, the entrance identification image 94B, and the relay area identification image 94C on the display unit 73 without reducing them in accordance with the reduction of the map image MP. Therefore, the sizes of the impassable area identification image 94A, the entrance identification image 94B, and the relay area identification image 94C shown in Fig. 7 are the same as the sizes of the impassable area identification image 94A, the entrance identification image 94B, and the relay area identification image 94C shown in Fig. 6.

[0103] When the map image MP is enlarged, the display processing unit 86 displays the no-drive area identification image 94A, the entrance identification image 94B, and the relay area identification image 94C at a predetermined size, just as when the map image MP is reduced. In other words, regardless of whether the map image MP is enlarged or reduced, the display processing unit 86 displays the no-drive area identification image 94A, the entrance identification image 94B, and the relay area identification image 94C at a fixed ratio on the display unit 73. Therefore, even when the map image MP is enlarged or reduced, the worker can easily recognize the non-work areas.

[0104] Next, the travel distance display displayed on the display unit 73 will be described with reference to FIGS. 2, 3, 6 and 7. FIG.

[0105] In this embodiment, the mobile communication terminal 7 presents to the operator the distance over which the combine 1 can continue harvesting work, based on the detection result of the harvest yield sensor 69 provided on the combine 1.

[0106] For example, the harvest information acquisition unit 87 shown in Fig. 3 acquires the harvest yield information generated by the control unit 50 shown in Fig. 2. For example, the control unit 50 transmits the generated harvest yield information to the mobile communication terminal 7 via the communication processing unit 65 and the communication antenna 63.

[0107] The harvest information acquisition unit 87 receives and acquires the harvest amount information transmitted from the combine harvester 1 via the communication antenna 71 and the communication processing unit 72.

[0108] The calculation unit 88 calculates the storage amount Q1, which indicates the amount of grain stored in the grain tank 400, based on the harvest yield information acquired by the harvest information acquisition unit 87. Specifically, the calculation unit 88 calculates the storage amount Q1 by sequentially accumulating the harvest yield information acquired by the harvest information acquisition unit 87.

[0109] The calculation unit 88 calculates the remaining capacity Q3 of the grain tank 400 based on the capacity Q2 and the storage amount Q1 of the grain tank 400. The remaining capacity Q3 is calculated by subtracting the storage amount Q1 from the capacity Q2. The capacity Q2 of the grain tank 400 is stored, for example, in the memory unit 55 or the control unit 80.

[0110] Furthermore, the calculation unit 88 calculates a travelable distance D1 that the combine harvester 1 can travel before the stored volume Q1 reaches the tank capacity Q2, based on the remaining capacity Q3 of the grain tank 400 and harvestable volume information that indicates the amount of grain harvested when the combine harvester 1 travels a unit distance. The harvestable volume information is stored, for example, in the memory unit 55 or the control unit 80. The harvestable volume information may also be calculated by the calculation unit 88. For example, the calculation unit 88 calculates the travelable distance of the combine harvester 1 based on multiple pieces of position information 99. The calculation unit 88 calculates the harvestable volume information by dividing the stored volume Q1 by the travelable distance.

[0111] The calculation unit 88 calculates the travelable distance D1 by dividing the remaining capacity Q3 by the harvestable amount information.

[0112] As shown in FIGS. 6 and 7, the display processing unit 86 displays, for example, a message image MSG1 indicating the remaining driving distance D1 calculated by the calculation unit 88, superimposed on the map image MP on the display unit 73. The message image MSG1 shown in FIGS. 6 and 7 includes the message "D1 m remaining to harvest." Note that the message included in the message image MSG1 is not limited to the messages shown in FIGS. 6 and 7. Furthermore, the display processing unit 86 may display, in addition to the message image MSG1, a meter image indicating the remaining driving distance D1 or the like on the display unit 73. By displaying the remaining driving distance D1 on the display unit 73, the worker can visually confirm the distance for which harvesting work can be continued. This improves the efficiency of the harvesting work.

[0113] Next, a display method according to this embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart showing the display method according to this embodiment.

[0114] First, the vehicle position acquisition unit 85 acquires the position information 99 of the combine harvester 1 (step S11).

[0115] The field contour setting unit 83 sets a contour 981P of the field 98 based on the plurality of pieces of position information 99 acquired by the vehicle position acquisition unit 85 (step S12).

[0116] The area setting unit 84 sets a no-work area indicating an area that is not subject to harvesting work by the combine 1 inside or outside the field 98 based on the contour 981P (step S13). For example, when the pointer 99P corresponding to the position information 99 is located at a position that is more than a predetermined distance r1 from the contour 981P toward the inside of the field 98, the area setting unit 84 sets a no-travel area S1.

[0117] The display processing unit 86 causes the display unit 73 to display an identification image 94 for identifying the non-work area (step S14). For example, when a non-traveling area S1 is set, the display processing unit 86 causes the display unit 73 to display a non-traveling area identification image 94A.

[0118] The operation unit 74 detects a scale change operation by the operator (step S15). If the operation unit 74 detects a zoom-in operation to zoom in on the map image MP or a zoom-out operation to zoom out on the map image MP (Yes in step S15), the display processing unit 86 zooms in or out on the map image MP and displays it on the display unit 73 (step S16).

[0119] Next, the display processing unit 86 displays the identification image 94 at a fixed ratio on the display unit 73 regardless of whether the map image MP is enlarged or reduced (step S17). That is, the identification image 94 is displayed at the same size as the map image MP before being enlarged or reduced. The operation unit 74 detects a new scale change operation by the operator (step S15).

[0120] On the other hand, if the operation unit 74 does not detect either a zoom-in operation or a zoom-out operation (No in step S15), the display processing unit 86 does not zoom in or out of the map image MP, and continues to display the map image MP on the display unit 73 (step S18).

[0121] Next, the display processing unit 86 displays the identification image 94 at a fixed ratio on the display unit 73 (step S19). The operation unit 74 detects a scale change operation by the operator (step S15).

[0122] The embodiments of the present invention have been described above with reference to the drawings (FIGS. 1 to 8). However, the present invention is not limited to the above embodiments and can be embodied in various forms without departing from the spirit of the present invention. Furthermore, the components disclosed in the above embodiments can be modified as appropriate. For example, some of the components shown in one embodiment may be added to the components of another embodiment, or some of the components shown in one embodiment may be deleted from the embodiment.

[0123] Furthermore, the drawings mainly show each component in a schematic manner to facilitate understanding of the invention, and the thickness, length, number, spacing, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings. Furthermore, the configuration of each component shown in the above embodiment is merely an example and is not particularly limited, and it goes without saying that various modifications are possible within a range that does not substantially deviate from the effects of the present invention. [Industrial Applicability]

[0124] The present invention can be used in the field of agricultural vehicles. [Explanation of symbols]

[0125] 1: Combine (work vehicle) 7: Mobile communication terminal 69: Yield sensor 73:Display section 83: Field contour setting section 84: Area setting section 85: Vehicle position acquisition unit 86: Display processing section 87: Harvest information acquisition unit 88: Calculation section 94: Identification image 94A: No-drive area identification image (identification image) 94B: Entrance identification image (identification image) 94C: Relay area identification image (identification image) 95: Relay area 98: Field 98P: Field image 99: Location information 101: Running body 102: Running gear 200: Reaping device 300: Threshing equipment 400: Glen Tank 981P:Contour D1: Driving distance EX1: Entrance Q1: Storage volume Q2:Capacity S1: No driving area

Claims

1. a vehicle position acquisition unit that acquires position information indicating the position of a work vehicle traveling in a field; a field contour setting unit that sets a contour of the field based on the plurality of pieces of position information; an area setting unit that sets a non-work area indicating an area that is not a target area for work by the work vehicle, inside or outside the field, based on the contour; a display processing unit that displays, on a display unit, a field image that is included in a map image showing the periphery of the field and indicates the field, and an identification image that identifies the non-work area; Equipped with The display processing unit displays a character string or an icon in the non-work area by superimposing it on the non-work area.

2. The control device according to claim 1 , wherein the area setting unit calculates an area where the work vehicle cannot travel based on the plurality of pieces of position information and the contour, and sets the area as the no-work area.

3. The control device according to claim 1 or 2, wherein the area setting unit sets an entrance to the field as the non-work area.

4. The control device according to claim 1 , wherein the area setting unit sets a relay area where relay work is performed to allow the work vehicle to continue work as the non-work area.

5. The control device according to claim 1 , wherein the display processing unit causes the identification image to be displayed at a fixed ratio on the display unit regardless of whether the farm field image is enlarged or reduced.

6. The control device according to claim 1 , wherein the display processing unit displays a selected identification image selected from the plurality of identification images in a more emphasized manner than the identification images other than the selected identification image.

7. 7. The control device according to claim 1, wherein the area setting unit sets the non-work area within the field based on the contour set by the field contour setting unit and the plurality of pieces of position information acquired when setting the contour.

8. The control device according to any one of claims 1 to 7; A traveling machine body on which the control device is arranged; A traveling device that is arranged below the traveling body, supports the traveling body, and travels in a field; A reaping device disposed on the traveling machine body and reaping unharvested stalks in the field; a threshing device that threshes the reaped stalks reaped by the reaping device; Equipped with The control device controls the traveling device, the reaping device, and the threshing device.

Images