Display system and display method

Abstract

To provide a display system and display method capable of allowing a display unit to display a screen image making it possible to upgrade user operability.SOLUTION: A display system includes a display control unit that allows a display unit to display a notification information screen image containing requirement information concerning a requirement for initiation under which automatic travel of a work vehicle is initiated.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to a display system and a display method.

Background Art

[0002] When performing autonomous driving with an autonomous driving work vehicle as described above, the user operates a wireless communication device to give various instructions such as starting autonomous driving to the autonomous driving work vehicle (see, for example, Patent Document 1).

[0003] The wireless communication device described in this Patent Document 1 includes a display unit such as a display, and on the screen of the display unit, the state of the autonomous driving work vehicle and an operation unit for giving various instructions are displayed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When performing a desired operation by autonomously driving an autonomous driving work vehicle, the user operates a wireless communication device, so a wireless communication device with good operability is required. However, in the wireless communication device described in Patent Document 1 above, only the state of the autonomous driving work vehicle and an operation unit for giving various instructions are displayed on the screen of the display unit, and not much attention is paid to improving the operability of the user, and there is room for improvement in this regard.

[0006] In view of this situation, the main problem of the present invention is to provide a display system and a display method capable of displaying a screen on the display unit that can improve the operability of the user.

Means for Solving the Problems

[0007] A display system according to one aspect of the present invention includes a display control unit that displays a notification information screen containing condition information relating to the start conditions for starting the automatic driving of a work vehicle on a display unit.

[0008] A display method according to one aspect of the present invention involves displaying a notification information screen on a display unit that includes condition information regarding the start conditions for starting the automatic driving of a work vehicle. [Brief explanation of the drawing]

[0009] [Figure 1] Diagram showing the schematic configuration of an autonomous driving system. [Figure 2] Block diagram showing the schematic configuration of the autonomous driving system. [Figure 3] Diagram showing the splash screen displayed on the display unit of a wireless communication terminal. [Figure 4] Diagram showing the disclaimer screen displayed on the display unit of a wireless communication terminal. [Figure 5] This diagram shows the initial registration screen displayed on the display unit of a wireless communication terminal. [Figure 6] Diagram showing the top screen displayed on the display unit of a wireless communication terminal. [Figure 7] This diagram shows the field list screen displayed on the display unit of a wireless communication terminal. [Figure 8] This diagram shows the path list screen displayed on the display unit of a wireless communication terminal. [Figure 9] This diagram shows the path details screen displayed on the display unit of a wireless communication terminal. [Figure 10] Diagram showing the work preparation screen displayed on the display unit of a wireless communication terminal. [Figure 11] Diagram showing the work screen displayed on the display unit of a wireless communication terminal. [Figure 12] Diagram showing the notification information screen displayed on the display unit of a wireless communication terminal. [Figure 13] Diagram showing the work screen displayed on the display unit of a wireless communication terminal. [Modes for carrying out the invention]

[0010] An embodiment of an autonomous driving system using a wireless communication device according to the present invention will be described with reference to the drawings. As shown in Figure 1, this autonomous driving system includes a tractor 1, which is an autonomous driving work vehicle that autonomously drives along a predetermined driving path, and a wireless communication terminal 2 (corresponding to a wireless communication device) that can instruct the tractor 1 with various information. In this embodiment, a reference station 4 for acquiring the position information of the tractor 1 is also provided.

[0011] In Figure 1, tractor 1 is shown as an example of an autonomous work vehicle, but in addition to tractors, other types of work vehicles such as rice transplanters, combine harvesters, civil engineering and construction equipment, and snowplows can also be used, as well as walking-type work vehicles.

[0012] As shown in Figure 2, the tractor 1 is equipped with a vehicle-side wireless communication unit 14, the wireless communication terminal 2 is equipped with a terminal-side wireless communication unit 21 (corresponding to a wireless communication unit), and the base station 4 is equipped with a base station-side wireless communication unit 41. Wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21 enables the transmission and reception of various types of information between the tractor 1 and the wireless communication terminal 2, and wireless communication between the vehicle-side wireless communication unit 14 and the base station-side wireless communication unit 41 enables the transmission and reception of various types of information between the tractor 1 and the base station 4. Furthermore, the wireless communication terminal 2 and the base station 4 are configured to transmit and receive various types of information via the tractor 1. Alternatively, wireless communication between the terminal-side wireless communication unit 21 and the base station-side wireless communication unit 41 can enable the wireless communication terminal 2 and the base station 4 to transmit and receive various types of information directly without going through the tractor 1. The frequency bands used for wireless communication between each wireless communication unit may be a common frequency band or they may be different frequency bands.

[0013] As shown in Figure 2, the tractor 1 is equipped with a positioning antenna 11, a control unit 12, a location information acquisition unit 13, a vehicle-side wireless communication unit 14, etc. The control unit 12 controls the tractor 1, and the location information acquisition unit 13 acquires its own current location information (the current location of the tractor 1), enabling autonomous driving.

[0014] As shown in FIG. 1, for example, the positioning antenna 11 is configured to receive signals from the positioning satellite 3 that constitutes a Global Navigation Satellite System (GNSS). The positioning antenna 11 is disposed, for example, on the upper surface of the roof of the cabin of the tractor 1.

[0015] As a positioning method using a satellite positioning system, as shown in FIG. 1, it is possible to apply a positioning method that includes a reference station 4 installed at a predetermined reference point and corrects the satellite positioning information of the tractor 1 (mobile station) based on the correction information from the reference station 4 to determine the current position of the tractor 1. For example, various positioning methods such as Differential GPS (DGPS) positioning and Real-Time Kinematic (RTK) positioning can be applied. Incidentally, for the positioning method, single-point positioning without the reference station 4 can also be used.

[0016] In this embodiment, for example, since RTK positioning is applied, as shown in FIGS. 1 and 2, in addition to the tractor 1 on the mobile station side being equipped with the positioning antenna 11, the reference station 4 is provided. The position information of the reference point where the reference station 4 is installed is preset and grasped. The reference station 4 is disposed, for example, at a position (reference point) that does not obstruct the travel of the tractor 1, such as around the farm field. The reference station 4 is equipped with a reference station side wireless communication unit 41 and a reference station positioning antenna 42.

[0017] In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 on the moving station side for which position information is to be obtained. At the reference station 4, every time satellite positioning information is measured from the positioning satellite 3 or every time a set period elapses, correction information including the measured satellite positioning information and the position information of the reference point, etc. is generated, and the correction information is transmitted from the reference station side wireless communication unit 41 to the vehicle side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 using the correction information transmitted from the reference station 4, and obtains the current position information of the tractor 1. The position information acquisition unit 13 obtains, for example, latitude information and longitude information as the current position information of the tractor 1.

[0018] The wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, etc., various information can be displayed on the touch panel, and various information can also be input by operating the touch panel. Regarding the wireless communication terminal 2, it is possible for the user to carry and use it outside the tractor 1, and it can also be used by being attached to the side of the driver's seat of the tractor 1.

[0019] As shown in FIG. 2, the wireless communication terminal 2 is provided with a terminal side wireless communication unit 21, a display control unit 22, a route generation unit 23, a display unit 24 (touch panel), etc. The display control unit 22 is configured to display various screens on the display screen of the display unit 24. In the following description, when the display control unit 22 displays a predetermined screen, unless otherwise specified, it shall indicate the display on the display unit 24. The route generation unit 23 is configured to generate a travel route for the tractor 1 to autonomously travel. Further, the wireless communication terminal 2 is provided with a storage unit (not shown), and various information such as information registered by the user is stored in this storage unit.

[0020] When tractor 1 is to operate autonomously, first, the user operates the wireless communication terminal 2, causing the route generation unit 23 to generate a travel route. Information related to the generated travel route and other various information is then transmitted from the wireless communication terminal 2 to tractor 1. After various conditions for starting autonomous driving of tractor 1 are met, the user operates the wireless communication terminal 2 to instruct tractor 1 to start autonomous driving, and tractor 1 begins autonomous driving. During autonomous driving, the control unit 12 of tractor 1 controls the operating state of tractor 1 based on the current location information of tractor 1 acquired by the location information acquisition unit 13, so that tractor 1 autonomously drives along the travel route generated by the route generation unit 23. Furthermore, the current location information of tractor 1 acquired by the location information acquisition unit 13 is transmitted from tractor 1 to the wireless communication terminal 2 in real time (for example, every few seconds), and the current location of tractor 1 can be displayed on the display unit 24 of the wireless communication terminal 2.

[0021] The following describes the control of the display screen by the display control unit 22 in the wireless communication terminal 2 when the tractor 1 is performing autonomous driving, based on Figures 3 to 13. Figures 3 to 13 all show the display screen displayed on the display unit 24 of the wireless communication terminal 2.

[0022] The display control unit 22 sequentially displays the splash screen shown in Figure 3 (corresponding to the first screen), the disclaimer screen shown in Figure 4 (corresponding to the second screen), and the top screen shown in Figure 6 (corresponding to the third screen) after the wireless communication terminal 2 is powered on or after an application is launched on the wireless communication terminal 2.

[0023] The splash screen shown in Figure 3 is the first screen displayed after power-on or application startup. The company logo and company name are displayed in the center of the screen, and the user-selectable operation unit 51 (see Figures 4 to 13) is not displayed. After a certain period of time has elapsed since power-on, the display control unit 22 transitions from the splash screen (Figure 3) to the disclaimer screen (Figure 4). The disclaimer screen shown in Figure 4 displays disclaimers regarding the use of tractor 1.

[0024] The disclaimer screen shown in Figure 4 is divided into an upper display area 53 at the top of the screen and a lower display area 54 below it. The upper display area 53 is the same display area used for various screens (Figures 5 to 13) that are displayed after this disclaimer screen. The upper display area 53 is a fixed display area whose displayed content does not change. In contrast, the lower display area 54 is a non-fixed display area where different content is displayed when the user selects an option on the operation unit 51.

[0025] In the upper display area 53, the "Map" and "Help" controls 51 are displayed on the left edge, the "GNSS" and "MENU" controls 51 are displayed on the right edge, and the content of the currently displayed screen is shown in the center. Incidentally, the "Map" control 51 is for displaying map information, and the "GNSS" control 51 is for displaying detailed information of the satellite positioning system, such as latitude, longitude, GNSS status, the number of satellites 3 from which satellite positioning information is being acquired, the serial number of the base station 4, and the battery level of the base station 4. Furthermore, when generating a new driving route with the route generation unit 23, the user selects the "MENU" control 51 and then inputs various information according to the displayed content, causing the route generation unit 23 to generate the driving route.

[0026] In the disclaimer screen shown in Figure 4, when the user checks the box for "I have read all" and selects the "Agree and use" operation unit 51, the display control unit 22 transitions from the disclaimer screen shown in Figure 4 to the initial registration screen shown in Figure 5. On the other hand, the application is terminated when the user selects the "Exit application" operation unit 51 on the disclaimer screen shown in Figure 4. The initial registration screen shown in Figure 5 is for registering various information about tractor 1, such as the model of tractor 1, and various information about tractor 1 is registered through user operation. Incidentally, the frame of the selected model is surrounded by a thick red line so that it is possible to recognize which model has been selected. Once the various information about tractor 1 has been registered, the display control unit 22 transitions from the initial registration screen shown in Figure 5 to the top screen shown in Figure 6. Note that before transitioning from the initial registration screen shown in Figure 5 to the top screen shown in Figure 6, the user may go through screens other than initial registration screens related to tractor 1 (for example, home address registration).

[0027] If various information regarding tractor 1 has already been registered, the display control unit 22 will transition from the disclaimer screen shown in Figure 4 to the top screen shown in Figure 6, without displaying the initial registration screen shown in Figure 5.

[0028] The top screen shown in Figure 6 displays multiple user-selectable operation units 51 (various icons in the figure) and map information 52. Selecting one of these operation units 51 transitions the user to another screen. On the top screen shown in Figure 6, the map information 52 is displayed in the center of the lower display area 54, including the registered fields H1 to H7. Incidentally, during the initial startup when no fields are registered, the center of the map information 52 is displayed at a predetermined position. In addition, the lower display area 54 displays the field list display operation unit 51a (the icon indicated by "←" in the figure), the previous operation operation unit 51b (the icon indicated by "Start work with the previously worked path" in the figure), and other operation units 51, surrounding the map information 52 except for the top.

[0029] When displaying the map information 52, the display control unit 22 ensures that the center of the map information 52 is the same as the center of the previously displayed screen. Furthermore, when the "current location" operation unit 51 is operated, the display control unit 22 ensures that the center of the map information 52 is the current location of the tractor 1.

[0030] When the display control unit 22 displays map information 52 on the top screen shown in Figure 6, it displays the previous work position information 55, which relates to the position of tractor 1 when it last performed autonomous driving. The previous work position information 55 is indicated by a predetermined mark (pin) and is displayed in the center of field H2 where tractor 1 performed autonomous driving last time. This makes it easy for the user to recognize which field tractor 1 performed autonomous driving last time. The location where the previous work position information 55 is displayed does not have to be a location where the field H can be identified. For example, the previous work position information 55 can be displayed at the start position of the work when the work of registering field H was performed, or at the entrance of tractor 1 to field H. Incidentally, the display control unit 22 displays the previous work position information 55 in the center of the field not only when the previous autonomous driving ended because the work in the field was completed, but also when the previous autonomous driving ended in the middle of the work in the field.

[0031] On the top screen shown in Figure 6, when the user selects the field list display operation unit 51a (the icon indicated by "←" in the figure), the display control unit 22 transitions from the top screen shown in Figure 6 to the field list screen shown in Figure 7.

[0032] In the field list screen shown in Figure 7, the lower display area 54 is divided into the lower left display area 54a and the lower right display area 54b. The lower left display area 54a displays multiple operation units 51 and map information 52 that were displayed in the lower display area 54 of the top screen shown in Figure 6. The lower right display area 54b displays a list of field information 56 stored in the wireless communication terminal 2, and an operation unit 51c for displaying a list of travel routes (paths) generated in the past for a specific field (the icon in the figure says "Show list of paths for this field"). In the field information list 56, the list can be sorted and displayed in the order in which the operation units 51 such as "by distance," "by name," and "by registration" are selected. The field information displayed for each field includes the distance from the current position of the tractor 1 to the field, the registration date on which the field information was registered, and the field location information. Furthermore, when displaying the list of field information 56, the previous field information 57 (pin), which is indicated by a predetermined mark, is displayed for the field where Tractor 1 autonomously drove last time. This allows the user to recognize which field Tractor 1 autonomously drove last time on the map (previous work location information 55) from the map information 52, and also recognize information about that field (previous field information 57) from the list of field information 56.

[0033] Furthermore, on the field list screen shown in Figure 7, when a user selects a specific field, the display control unit 22 changes the color of the frame around the selected field and surrounds it with a thick line (for example, with a thick red line) to make the selected field distinguishable from other fields. The selected operation unit 51 is also distinguishable from other operation units 51 by changing the color of its frame and surrounding it with a thick line (for example, with a thick red line).

[0034] In the field list screen shown in Figure 7, when the user selects a specific field and then selects the operation unit 51c for displaying the travel route list, the display control unit 22 transitions from the field list screen shown in Figure 7 to the path list screen shown in Figure 8.

[0035] In the path list screen shown in Figure 8, the lower left display area 54a displays an enlarged view 58 of the selected field, and the lower right display area 54b displays a list 59 of previously generated path information (information about the travel route) and a path transfer operation unit 51d (shown as the icon labeled "Start work on this path" in the figure) for transferring the selected path information (information about the travel route) to the tractor 1.

[0036] The enlarged field screen 58 displays the travel routes 25 generated by the route generation unit 23. In Figure 8, for example, multiple straight travel routes 25 are displayed side by side, spaced apart in the left-right direction.

[0037] In the path information list 59, the path information can be sorted and displayed in the order in which the operation units 51 such as "by distance," "by name," and "by registration order" were selected. The path information displayed includes the distance from the current position of tractor 1 to the starting position of the path, the date the path was created, and the starting position information of the path. In addition, the path information list 59 displays an operation unit 51e for displaying detailed path information (the icon shown as "Details" in the figure), and the selected path information and the operation unit 51 that was operated are distinguished from other path information and other operation units 51 by changing the color of their frames and surrounding them with thick lines (for example, surrounded by thick red lines).

[0038] In the path list screen shown in Figure 8, when the user selects a specific path and then selects the path details display operation unit 51e, the display control unit 22 transitions from the path list screen shown in Figure 8 to the path details screen shown in Figure 9.

[0039] In the path details screen shown in Figure 9, only the lower right display area 54b is changed from the path list screen shown in Figure 8, and path details 60 are displayed. The path details 60 include the field area, the presence or absence of obstacles, the width of the non-working area (headland, etc.) surrounding the work area where the path (travel route) is generated, the base station information at the time of path (travel route) generation, the base station information that tractor 1 is currently communicating with, tractor information, implement information attached to tractor 1, and the number of paths (travel routes).

[0040] In the path list screen shown in Figure 8 or the path details screen shown in Figure 9, when the user selects the path transfer operation unit 51d, the display control unit 22 transitions from the path list screen shown in Figure 8 or the path details screen shown in Figure 9 to the work preparation screen shown in Figure 10. At this time, path information (information related to the travel route) is transferred from the wireless communication terminal 2 to the tractor 1 by the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. The control unit of the wireless communication terminal 2 (not shown) and the control unit 12 of the tractor 1 then perform a wireless communication check process to check whether the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 matches the path information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14.

[0041] As part of this wireless communication check process, for example, a process (CRC check process) can be applied to check whether the path information matches by checking whether the total amount of path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 matches the total amount of path information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. Alternatively, instead of the CRC check process, the wireless communication check process can also be applied by, for example, transferring individual ID information in the path information and checking whether the path information matches based on whether the ID information matches.

[0042] The display control unit 22 confirms that the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 matches the path information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, and then transitions from the work preparation screen shown in Figure 10 to the work screen shown in Figure 11. Thus, the display control unit 22 is configured to display the work screen shown in Figure 11 only after a predetermined condition is met in which the path information transmitted from the wireless communication terminal 2 matches the path information acquired by the tractor 1 when the path information is transmitted to the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14.

[0043] The display control unit 22, if a predetermined condition is not met in which the path information transmitted from the wireless communication terminal 2 matches the path information acquired by the tractor 1, will either display an error screen instead of the work screen shown in Figure 11, or return to the path list screen shown in Figure 8. The error screen is not shown in the illustration, but it does not need to be one that displays the content of the error in an identifiable way. For example, it could be a display screen with different content depending on the content of the error, or a common display screen with the same content regardless of the content of the error. Incidentally, when the error screen is displayed, it is possible to return from the error screen to the path list screen shown in Figure 8.

[0044] In the work screen shown in Figure 11, the lower display area 54 is divided vertically into three display areas: the lower upper display area 54c located at the upper end, the lower lower display area 54d located at the lower end, and the lower intermediate display area 54e located between the lower upper display area 54c and the lower lower display area 54d. The lower upper display area 54c and the lower lower display area 54d cannot be switched to other screens, while the lower intermediate display area 54e can be switched to other screens.

[0045] The lower intermediate display area 54e displays the same display screen as the enlarged field screen 58 and multiple operation units 51 shown in the lower left display area 54a in the path list screen shown in Figure 8 or the path details screen shown in Figure 9. The display control unit 22 displays the current position 26 of the tractor 1 on the enlarged field screen 58, allowing the user to recognize the current location of the tractor 1. The display control unit 22 can also distinguish between the travel route 25 that the tractor 1 is currently autonomously traveling on and the travel route 25 that it plans to travel next, for example, by using different colors. Furthermore, the display control unit 22 can display multiple travel routes 25 in different forms, such as by using different colors to distinguish between travel routes 25 that have already been worked on and travel routes 25 that have not yet been worked on.

[0046] Incidentally, the display control unit 22 is configured to allow switching between a tractor information screen and a work command screen for the display screen of the lower intermediate display area 54e, separate from the field enlargement screen 58. Although not shown in the diagram, the tractor information screen displays information indicating the status of the tractor 1, such as the actual vehicle speed, actual engine rotation speed, and load ratio. The work command screen displays the operation unit 51 for changing the vehicle speed and engine rotation speed. Furthermore, the display control unit 22 is configured to allow interrupt display of caution screens and warning screens as the display screen of the lower intermediate display area 54e. For example, the caution screen displays conditions that have not been met among the various conditions for starting autonomous driving, and the warning screen displays the reason when autonomous driving stops due to maintaining the current driving state during autonomous driving. Since the control information related to these caution screens and warning screens is generated by the control unit 12 of the tractor 1, the wireless communication terminal 2 receives the generated control information at the terminal-side wireless communication unit 21, causing the display control unit 22 to interrupt and display the caution screens and warning screens.

[0047] In the lower upper display area 54c, a start operation unit 51f for instructing the start of autonomous driving is located at the left end, and a stop operation unit 51g for instructing the stop of autonomous driving is located at the right end. Between the start operation unit 51f and the stop operation unit 51g, a deviation information display unit 61 is located, which shows the deviation of the tractor 1's position relative to the travel path 25. In the lower lower display area 54d, a notification information operation unit 51h for checking error notification information and other operation units 51 are located, and the progress rate of work by autonomous driving and the remaining work time are displayed.

[0048] The display control unit 22 keeps the start operation unit 51f in an inactive state, where it cannot be selected, until various conditions for starting autonomous driving are met. Once these conditions are met, it sets the start operation unit 51f to an active state, where it can be selected. The display control unit 22 distinguishes between the inactive and active states by changing the display mode of the start operation unit 51f, for example, by lighting it up in the inactive state and blinking it in the active state.

[0049] When the start operation unit 51f instructs the tractor 1 to start autonomous driving and the tractor 1 begins autonomous driving, the display control unit 22 changes the start operation unit 51f to a pause operation unit (not shown) that can instruct the tractor to pause autonomous driving. When the pause operation unit is selected, the display control unit 22 changes the start operation unit 51f back to its original display form from the pause operation unit, so that the start operation unit 51f can switch between a display form that instructs the start of autonomous driving and a display form that instructs the tractor to pause autonomous driving. In this way, by changing the display form of the start operation unit 51f, the display control unit 22 can make one operation unit function as two operation units, and it becomes easier for the user to understand the status of autonomous driving, such as whether autonomous driving has started or paused.

[0050] In the wireless communication terminal 2, the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 receive the current location information of the tractor 1 acquired by the location information acquisition unit 13 in real time (for example, every minute). As a result, the display control unit 22 acquires the current location information of the tractor 1 in real time (for example, every minute), and in the wireless communication terminal 2, the terminal-side wireless communication unit 21 and the display control unit 22 function as location information acquisition units capable of acquiring the location information of the tractor 1.

[0051] The display control unit 22 displays the deviation information display unit 61 to show how much and in which direction the current position of the tractor 1 deviates from the travel path 25 in the lateral direction. When the display control unit 22 controls the deviation information display unit 61, the control unit 12 of the tractor 1 obtains deviation information on how much and in which direction the current position of the tractor 1 deviates from the travel path 25 in the lateral direction, and transmits this obtained deviation information from the tractor 1 to the wireless communication terminal 2. The display control unit 22 controls the deviation information display unit 61 based on the deviation information transmitted from the tractor 1. The deviation information display unit 61 is equipped with multiple indicator lamps arranged in the left-right direction, and the color of the indicator lamps illuminated differs depending on the installation area in the left-right direction. For example, the three indicator lamps located in the central area are green, the two indicator lamps located in the areas further to the ends are yellow, the two indicator lamps located in the areas further to the ends are orange, and the two indicator lamps located in the areas at the very ends are red. The display control unit 22 controls the deviation information display unit 61 to display the direction in which the current position of the center of the tractor 1 is deviated from the center of the travel path 25 in the width direction of the travel path 25, and controls the deviation information display unit 61 so that the illumination range expands sequentially from the display lamp section located in the central area to the display lamp section located in the end area, according to the magnitude of the distance from the center of the travel path 25 to the current position of the center of the tractor 1 in the width direction of the travel path 25.

[0052] For example, if the distance from the center of the travel path 25 to the current position 26 of the center of the tractor 1 in the lateral direction of the travel path 25 is within the set range, only the three indicator lamps located in the central area will light up. If the current position of the tractor 1 is shifted to the left of the travel path 25, and the distance from the center of the travel path 25 to the current position of the tractor 1 in the lateral direction of the travel path 25 becomes greater than the set range, then in addition to the three indicator lamps located in the central area, the indicator lamps located in the adjacent left-hand area will also light up. The greater the distance from the center of the travel path 25 to the current position of the center of the tractor 1 in the lateral direction of the travel path 25, the wider the illuminated area will be to the left.

[0053] The display control unit 22 displays, on the deviation information display unit 61, the direction and extent of the deviation of the tractor 1's current position in the lateral direction of the travel path 25, both before the tractor 1 starts autonomous driving and during autonomous driving. This allows the user to adjust the position of the tractor 1 to the autonomous driving start position by looking at the deviation information display unit 61 before autonomous driving starts, and also allows the user to easily recognize the direction and extent of the deviation of the tractor 1's current position in the lateral direction of the travel path 25 even during autonomous driving.

[0054] In the work screen shown in Figure 11, a distance display unit 62 is located at the right end of the lower intermediate display area 54e, displaying the distance from the current position of the tractor 1 to the end (headland) of the travel path 25 on which the tractor 1 is currently autonomously traveling. The distance display unit 62 is a rod-shaped display unit that extends vertically, and the length from the lower end to the upper end corresponds to the total length of the travel path 25. The display control unit 22 illuminates the distance display unit 62 from the lower end to the position corresponding to the current position of the tractor 1 in a predetermined color, allowing the user to recognize the distance to the end (headland) of the travel path 25.

[0055] In the work screen shown in Figure 11, the notification information operation unit 51h (the icon shown as "Details" in the figure) is located at the left end of the lower display area 54d. Therefore, if the various conditions for starting autonomous driving of the tractor 1 are met, the display control unit 22 lights up the left side of the notification information operation unit 51h in a specific color (for example, green) indicating that the conditions are met. Conversely, if the various conditions for starting autonomous driving of the tractor 1 are not met, the left side of the notification information operation unit 51h lights up in a specific color (for example, red) indicating that the conditions are not met. When the left side of the notification information operation unit 51h is lit in the specific color (for example, red) indicating that the conditions are not met, if the user selects the notification information operation unit 51h, the display control unit 22 transitions from the work screen shown in Figure 11 to the notification information screen shown in Figure 12.

[0056] In the notification information screen shown in Figure 12, the display content of the lower intermediate display area 54e is changed in the work screen shown in Figure 11, and a fulfillment status display screen 63 is displayed, showing the various parts (steering, reverser, brakes, clutch, parking brake, sub-transmission, vehicle speed, UFO setting) that are conditions for starting autonomous driving of the tractor 1. In the fulfillment status display screen 63, the display control unit 22 lights up a specific color (e.g., green) for parts that meet the conditions, and a specific color (e.g., red) for parts that do not meet the conditions.

[0057] In the work screen shown in Figure 11, the deviation information display unit 61 shows the deviation of the tractor 1's position relative to the travel path 25. In addition to this deviation information display unit 61, the field enlargement screen 58 also shows the deviation of the tractor 1's position relative to the travel path 25, as shown in the work screens of Figures 11 and 13. In the work screen shown in Figure 13, the display control unit 22 displays the travel path 25 and the current position 26 of the tractor 1 on the field enlargement screen 58. In the work screen shown in Figure 13, the travel path 25 and the current position 26 of the tractor 1 are displayed between the start operation unit 51f and the stop operation unit 51g, so the display of the travel path 25 and the current position 26 of the tractor 1 functions as a deviation information display unit. Depending on the position of the tractor 1's current position 26 relative to the travel path 25, the user can easily recognize how much and in which direction the tractor 1's current position is deviated in the lateral direction of the travel path 25.

[0058] In the work screens shown in Figures 11 and 13, two deviation information display units are arranged: a deviation information display unit 61 located in the lower upper display area 54c, and a deviation information display unit located in the lower middle display area 54e, which displays the travel route 25 and the current position 26 of the tractor 1.

[0059] Furthermore, as shown in Figure 13, the display control unit 22 displays the travel path 25 and the current position 26 of the tractor 1 on the enlarged field screen 58 not only before autonomous driving begins, but also during autonomous driving. This allows the user to recognize how far the tractor 1 is deviating from the travel path 25 in the lateral direction, not only when aligning the tractor 1 to the autonomous driving start position, but also during autonomous driving. In Figure 13, the dotted line indicating the current position 26 of the tractor 1 shows that it has deviated to the right or left of the travel path 25.

[0060] As described above, the display control unit 22 controls the display screen of the display unit 24. When the tractor 1 is autonomously driven and performing work in the field, the user selects an option on each display screen using the operation unit 51, and the display control unit 22 controls the display screen to transition sequentially as shown in (1) to (8) below.

[0061] (1) Splash screen shown in Figure 3 (2) Disclaimer screen shown in Figure 4 (3) Initial registration screen shown in Figure 5 (4) The top screen shown in Figure 6 (5) Field list screen shown in Figure 7 (6) The path list screen shown in Figure 8 (Path list screen shown in Figure 8 → Path details screen shown in Figure 9) (7) Work preparation screen shown in Figure 10 (8) The work screen shown in Figure 11

[0062] As described above, the registration process on the initial registration screen shown in (3) Figure 5 is performed only once initially. Therefore, once the user has registered various information about tractor 1 on the initial registration screen shown in (3) Figure 5, the display control unit 22 skips the initial registration screen shown in (3I) Figure 5 and transitions from the disclaimer screen shown in (2) Figure 4 to the top screen shown in (4) Figure 6.

[0063] The above descriptions (1) to (8) illustrate the case where the wireless communication terminal 2 transmits path information (information regarding the travel route 25) to the tractor 1 to perform the work. However, for example, it is also possible to perform the work using past path information (information regarding the travel route 25) that was previously transmitted to the tractor 1 without transmitting new path information.

[0064] In this case, the display control unit 22 controls the display screens to transition sequentially as shown in (1) to (4), and on the top screen shown in (4) Figure 6, the user selects the previously used operation unit 51b (corresponding to the re-operation unit). This selection of the previously used operation unit 51b causes the display control unit 22 to transition from the top screen shown in (4) Figure 6 to the work preparation screen shown in (7) Figure 10, skipping the field list screen shown in (5) Figure 7 and the path list screen shown in (6) Figure 8. At this time, unlike when sequentially transitioning between the display screens from (4) to (7), the display control unit 22 does not transmit past path information (information related to the travel route 25) to the tractor 1, and a wireless communication check process is performed between the control unit of the wireless communication terminal 2 (not shown) and the control unit 12 of the tractor 1.

[0065] In this wireless communication check process, the control unit 12 of the tractor 1 has acquired previously transmitted past path information, and the control unit 12 of the tractor 1 asks the control unit of the wireless communication terminal 2 (not shown) whether the acquired past path information matches the past path information previously transmitted from the wireless communication terminal 2 to the tractor 1. For example, a process (CRC check process) can be performed to check whether the past path information matches by checking whether the total amount of acquired past path information matches the total amount of past path information previously transmitted from the wireless communication terminal 2 to the tractor 1. Alternatively, instead of this CRC check process, for example, individual ID information in the past path information can be transferred, and the matching of that ID information can be used to check whether the past path information matches, allowing various wireless communication check processes to be applied.

[0066] Thus, even if the wireless communication terminal 2 does not transmit past path information to the tractor 1, the display control unit 22 is configured to display the work screen shown in Figure 10 (7) and perform a wireless communication check process, and only when a predetermined condition is met in which the past path information matches, can it display the work screen shown in Figure 11 (8).

[0067] The display control unit 22, if a predetermined condition is not met in which past path information matches, will either display an error screen instead of the work screen shown in Figure 11, or return to the path list screen shown in Figure 8. Although not shown in the illustration, the error screen only needs to display the error content in an identifiable manner. For example, it could be a display screen with different content depending on the error, or a common display screen with the same content regardless of the error. Incidentally, when the error screen is displayed, it is possible to return from the error screen to the path list screen shown in Figure 8.

[0068] As described above, whether the display screens are sequentially transitioned as in (4) to (8) to transmit path information from the wireless communication terminal 2 to the tractor 1, or whether the display screens are sequentially transitioned as in (4) → (7) → (8), the display control unit 22 displays the same display screen, which is the work preparation screen shown in (7) Figure 10, before displaying the work screen shown in (8) Figure 11. This allows the user to easily recognize that when the work preparation screen shown in (7) Figure 10 is displayed, the work screen shown in (8) Figure 11 will be displayed next.

[0069] [Another embodiment] (1) In the above embodiment, the display control unit 22 displays the disclaimer screen shown in Figure 4 after the splash screen shown in Figure 3. However, for example, the disclaimer screen shown in Figure 4 can be displayed after transitioning to the work screen shown in Figure 11, and the timing of when the disclaimer screen shown in Figure 4 is displayed can be changed as appropriate. Furthermore, after the start operation unit 51f is selected on the work screen shown in Figure 11, the disclaimer screen shown in Figure 4 can be displayed. In this case, for example, the start operation unit 51f can be omitted on the work screen shown in Figure 11, and the start operation unit 51f can be added to and displayed on the disclaimer screen shown in Figure 4.

[0070] (2) In the above embodiment, when transmitting path information (information relating to the travel route 25) from the wireless communication terminal 2 to the tractor 1, it is determined whether the path information transmitted from the wireless communication terminal 2 is the same as the path information already acquired by the tractor 1. If the path information is the same, the wireless communication terminal 2 does not transmit the path information to the tractor 1, and the tractor 1 can perform autonomous driving using the path information already acquired by the tractor 1.

[0071] (3) In the above embodiment, the tractor 1 may be equipped with an imaging device such as a camera, and the image captured by the imaging device may be displayed on the display unit 24 of the wireless communication terminal 2. In this case, for example, the image captured by the imaging device may be fixed and displayed at all times on the work screen shown in Figure 11.

[0072] (4) In the above embodiment, the conditions for activating the start operation unit 51f shown in Figure 11 may include the display format shown on the deviation information display unit 61 being a desired display format. Here, for example, the desired display format can be a display format in which the distance from the center of the travel path 25 to the current position 26 of the center of the tractor 1 in the width direction of the travel path 25 is within a set range, and the display format of the deviation information display unit 61 is such that only the three indicator lamps located in the central region are lit. In this way, the conditions for activating the start operation unit 51f can be set in association with the display format of the deviation information display unit 61. In this case, the user can activate the start operation unit 51f while checking the display format of the deviation information display unit 61.

[0073] (5) In the above embodiment, the work screen shown in Figures 11 and 13 shows an example in which two deviation information display units are arranged: a deviation information display unit 61 located in the lower upper display area 54c, and a driving route 25 and the current position 26 of the tractor 1 which function as deviation information display units located in the lower intermediate display area 54e. However, it is also possible to arrange only one of the deviation information display units.

[0074] <Notes on the invention> The first characteristic configuration of the present invention is a display system for displaying a work screen in which a work vehicle performs work, comprising a display control unit that controls the displayed screen, wherein the display control unit sequentially displays a first screen that displays predetermined information for a certain period of time after power is turned on or after the application is started, without accepting user operation, a second screen that displays information about the work vehicle, and a third screen that displays a plurality of user-selectable operation units, and transitions to another screen when one of the operation units is selected.

[0075] In this configuration, the display control unit sequentially displays information on the first, second, and third screens, allowing for early and appropriate confirmation of disclaimers. This enables the display of disclaimers at times that minimize user inconvenience, such as during operations on the third screen or immediately before starting autonomous driving, thereby improving user experience. Furthermore, after the user has confirmed the disclaimers, the display control unit can display the third screen, which shows multiple control buttons and map information. Therefore, the user can perform various operations while checking map information on the third screen, and by selecting one of the multiple control buttons, they can transition to another screen, thus recognizing that a selection has been made, further improving user experience.

[0076] A second characteristic configuration of the present invention is that the work vehicle performs autonomous driving work along a predetermined driving route, and the display control unit displays a fourth screen, which becomes a work preparation screen, when the user selects from the third screen to transfer information necessary for the autonomous driving of the work vehicle.

[0077] A third characteristic feature of the present invention is that, if the aforementioned display control unit fails to transfer the information necessary for the autonomous driving of the work vehicle on the fourth screen, it displays a fifth screen that notifies the user that the transfer could not be performed.

[0078] A fourth characteristic feature of the present invention is that the display control unit displays the third screen from the fifth screen.

[0079] A fifth characteristic feature of the present invention is that, when the display control unit has successfully transferred the information necessary for the autonomous driving of the work vehicle on the fourth screen, it displays a sixth screen showing the work performed by the work vehicle, including the driving route.

[0080] The sixth feature of the present invention is that the sixth screen has an intermediate display area that displays the travel route and the current position of the work vehicle, an upper display area located on the upper end side of the intermediate display area in the vertical direction, and a lower display area located on the lower end side of the intermediate display area.

[0081] The seventh characteristic feature of the present invention is that the upper display area and the lower display area cannot transition to other screens, while the intermediate display area can transition to other screens.

[0082] A display system according to one aspect of the present invention is a display system that displays a work screen in which a work vehicle performs work, and comprises a display control unit that controls the displayed screen. The display control unit sequentially displays a plurality of screens after power is turned on or after the application is started, and after the plurality of screens have been displayed, displays a top screen in which a plurality of user-selectable operation units are displayed, and the plurality of screens include a registration screen for registering various information related to the work vehicle. [Explanation of Symbols]

[0083] 1. Tractor (autonomous work vehicle) 2. Wireless communication terminal (wireless communication device) 13 Location information acquisition section 21 Terminal-side wireless communication unit (wireless communication unit) 22 Display Control Unit 24 Display 51 Operation section 51b Previous operation control unit (re-operation control unit) 51f Start operation section 51g Stop operation part 52 Map Information 55 Previous work location information 61 Deviation information display section

Claims

1. The system includes a display control unit that displays a notification information screen containing conditional information regarding the start conditions for initiating the automatic driving of a work vehicle on the display unit. When the start conditions on the notification information screen are met and the start operation unit is operated, the automatic driving of the work vehicle will begin. The display control unit, The operation screen, which displays the travel route for the aforementioned work vehicle to travel automatically, displays an operation unit for notification information. When the notification information operation unit is operated, the system transitions from the work screen to the notification information screen. The display control unit changes the display mode of the notification information operation unit depending on whether the start condition is met. Display system.

2. The display control unit changes the display mode of the condition information depending on whether the start condition is met. The display system according to claim 1.

3. The display control unit, if the start condition is not met, displays on the notification information screen that the start condition is not met. The display system according to claim 2.

4. The display control unit will display details of any unfulfilled start conditions on the notification information screen for easy confirmation. The display system according to any one of claims 1 to 3.

5. A notification information screen containing conditional information regarding the start conditions for initiating the automatic operation of the work vehicle is displayed on the display unit. When the start conditions on the notification information screen are met and the start operation unit is operated, the automatic driving of the work vehicle will begin. The operation screen, which displays the travel route for the aforementioned work vehicle to travel automatically, displays an operation unit for notification information. When the notification information operation unit is operated, the system transitions from the work screen to the notification information screen. The display mode of the notification information operation unit is changed depending on whether the aforementioned start condition is met. Display method.

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