Display system for work vehicles, and display method for work vehicles

Abstract

To smoothly create a work course.SOLUTION: A display system for a work vehicle includes a display control unit that displays a display screen. The display control unit displays, as a display screen, an autonomous travel monitoring screen 100 for monitoring a work vehicle capable of autonomous travel.SELECTED DRAWING: Figure 9

Description

Technical Field

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

Background Art

[0002] Conventionally, a route generation system for a work vehicle that can generate a work route for running a work vehicle using an operating device such as a wireless communication terminal is known. Patent Document 1 discloses this type of automatic farming system.

[0003] The agricultural work vehicle (agricultural machine) of this Patent Document 1 includes an operating device (server device) that can wirelessly communicate with a vehicle control device that controls the running and agricultural work of the agricultural work vehicle. A course information setting screen (FIG. 20 of Patent Document 1) can be displayed on the display of this remote operation device. By operating the course information setting screen, the user can input information related to the work machine (reference sign 2012), information related to agricultural work (agricultural work setting, reference sign 2015), and information related to the work route (course setting, reference sign 2014) on this screen.

[0004] In addition, paragraph 0092 of the specification of Patent Document 1 describes that settings can be made for the running speed, rotary operation, amount of fertilization, etc. of the agricultural work vehicle, but it is not clear which operation part of the course information setting screen these setting information can be input by operating. Also, an operation part ("course registration", reference sign 2031) for generating and registering a work route (course) is provided at the lower part of this course information setting screen, but it is not particularly mentioned when this operation part can be operated or cannot be operated.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] In the configuration described in Patent Document 1, it was sometimes not possible to smoothly create the desired work path.

[0007] This invention has been made in view of the above circumstances, and its purpose is to enable the smooth creation of work routes in a work vehicle route generation system. [Means for solving the problem]

[0008] A display system for a work vehicle according to one aspect of the present invention includes a display control unit that displays a display screen. The display control unit displays an autonomous driving monitoring screen for monitoring an autonomously driving work vehicle as the display screen.

[0009] A display method for a work vehicle according to one aspect of the present invention displays an autonomous driving monitoring screen for monitoring an autonomously driving work vehicle as the display screen. [Brief explanation of the drawing]

[0010] [Figure 1] A side view showing the overall configuration of a robotic tractor provided in a work vehicle route generation system according to one embodiment of the present invention. [Figure 2] Plan view of a robotic tractor. [Figure 3] A diagram showing a wireless communication terminal provided in a route generation system for work vehicles according to one embodiment of the present invention. [Figure 4] A block diagram showing the main components of the control system for a robotic tractor and wireless communication terminal. [Figure 5] This figure shows an example of how the input selection screen is displayed on the display of a wireless communication terminal. [Figure 6] This figure shows an example of the display of the work vehicle information input screen on the display of a wireless communication terminal. [Figure 7]This figure shows an example of the display of the driving area information input screen on the display of a wireless communication terminal. [Figure 8] This figure shows an example of the display of the work mode information input screen on the display of a wireless communication terminal. [Figure 9] This figure shows an example of how the autonomous driving monitoring screen is displayed on the display of a wireless communication terminal. [Figure 10] A diagram showing an unmanned robotic tractor working in coordination with a manned tractor. [Modes for carrying out the invention]

[0011] The present invention relates to an autonomous driving and autonomous work system that enables one or more work vehicles to autonomously drive and work within a field to perform all or part of agricultural work in the field. In this embodiment, a tractor is used as an example of a work vehicle, but in addition to tractors, work vehicles also include walking-type work machines such as rice transplanters, combine harvesters, civil engineering and construction work equipment, and snowplows. In this specification, autonomous driving means that the tractor drives along a predetermined route, with the driving configuration of the tractor controlled by the control unit (ECU) of the tractor, and autonomous work means that the tractor performs work along a predetermined route, with the work configuration of the tractor controlled by the control unit of the tractor.

[0012] In the following description, tractors that operate autonomously may be referred to as "unmanned tractors" or "robot tractors," while tractors that operate manually may be referred to as "manned tractors." When a portion of agricultural work in a field is performed by an unmanned tractor, the remaining work is performed by a manned tractor. Performing agricultural work in a single field using both an unmanned and a manned tractor may be referred to as coordinated agricultural work, follow-up work, or accompanying work. In this specification, the difference between an unmanned tractor and a manned tractor is whether or not it is operated by a user, and the configurations are assumed to be the same. That is, even an unmanned tractor can be operated by a user (i.e., it can be used as a manned tractor), or even a manned tractor can be operated by a user who dismounts and allows it to operate autonomously (i.e., it can be used as an unmanned tractor). Furthermore, coordinated agricultural work may include not only "performing agricultural work in a single field using both unmanned and manned vehicles," but also "performing agricultural work in different fields, such as adjacent fields, at the same time using both unmanned and manned vehicles."

[0013] Next, embodiments of the present invention will be described with reference to the drawings. Figure 1 is a side view showing the overall configuration of a robot tractor 1 provided in a work vehicle route generation system 99 according to one embodiment of the present invention. Figure 2 is a top view of the robot tractor 1. Figure 3 is a diagram showing a wireless communication terminal 46 provided in a work vehicle route generation system 99 according to one embodiment of the present invention. Figure 4 is a block diagram showing the main configuration of the control system of the robot tractor 1 and the wireless communication terminal 46.

[0014] As shown in Figure 1, a work vehicle route generation system 99 according to one embodiment of the present invention comprises a control unit (vehicle control device) 4 that controls the driving and work of a tractor 1, and a wireless communication terminal 46 that communicates wirelessly with the control unit 4 to output predetermined control signals (signals related to the route of autonomous driving and autonomous work, start signals, stop signals, end signals, etc.) to the tractor 1.

[0015] First, a robot tractor (hereinafter sometimes simply referred to as "tractor") 1, which is an embodiment of a work vehicle provided in a route generation system 99 for a work vehicle according to the present invention, will be mainly described with reference to FIGS. 1 and 2.

[0016] The tractor 1 includes a traveling body 2 as a vehicle body that autonomously travels within a farm field area. A work implement 3 shown in FIGS. 1 and 2 is detachably attached to the traveling body 2. Examples of the work implement 3 include various work implements such as a tiller, a plow, a fertilizer applicator, a lawn mower, a seeder, etc. A desired work implement 3 can be selected from these and attached to the traveling body 2 as needed. The traveling body 2 is configured to be able to change the height and posture of the attached work implement 3.

[0017] The configuration of the tractor 1 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the traveling body 2 of the tractor 1 is supported at its front part by a pair of left and right front wheels 7, 7 and at its rear part by a pair of left and right rear wheels 8, 8.

[0018] A bonnet 9 is arranged at the front part of the traveling body 2. An engine 10, which is a drive source of the tractor 1, a fuel tank (not shown), etc. are accommodated in this bonnet 9. This engine 10 can be constituted by, for example, a diesel engine, but is not limited thereto, and may be constituted by, for example, a gasoline engine. Also, in addition to or instead of the engine 10 as a drive source, an electric motor may be adopted.

[0019] A cabin 11 for the user to board is arranged behind the bonnet 9. Inside this cabin 11, a (steering) handle 12 for the user to perform a steering operation, a seat 13 on which the user can sit, and various operating devices for performing various operations are mainly provided. However, the work vehicle is not limited to one with a cabin 11 and may not have a cabin 11.

[0020] Examples of the above-mentioned operating devices include the monitor device 14, throttle lever 15, PTO switch 17, PTO shift lever 18, and multiple hydraulic shift levers 16 shown in Figure 2. These operating devices are located near the seat 13 or near the steering wheel 12. The monitor device 14 is configured to display various information about the tractor 1. The throttle lever 15 is used to set the rotational speed of the engine 10. The PTO switch 17 is used to switch the transmission / disconnection of power to the PTO shaft (power take-off shaft), which is not shown in the figure and protrudes from the rear end of the transmission 22. That is, when the PTO switch is ON, power is transmitted to the PTO shaft, causing it to rotate and the implement 3 to be driven, while when the PTO switch is OFF, power to the PTO shaft is cut off, the PTO shaft does not rotate, and the implement 3 is stopped. The PTO shift lever 18 changes the power input to the implement 3, specifically by changing the rotational speed of the PTO shaft. The hydraulic shift lever 16 can switch the hydraulic external outlet valve (not shown in the diagram).

[0021] Furthermore, operating devices such as a main gear lever 27 and a work equipment lifting switch 28 are provided at the front of the armrest 19 located to the right of the seat 13.

[0022] The main transmission lever 27 is used to change the travel speed of the tractor 1. When the main transmission lever 27 is tilted forward, the travel speed increases, and when it is tilted backward, the travel speed decreases. This main transmission lever 27 is configured to allow stepless operation, and the travel speed of the tractor 1 is changed steplessly according to the amount the main transmission lever 27 is moved.

[0023] The implement lifting switch 28 is configured as an electrically operated switch that can be moved up and down and is located on the main gear lever 27. It is used to raise and lower the implement 3. When the implement 3 is configured as a rotary tiller, this allows the implement 3 to be lowered to start tilling work with the tilling tines 25 provided on the implement 3, or raised to end the tilling work. In this embodiment, the implement 3 is configured as a rotary tiller.

[0024] As shown in Figure 1, the chassis 20 of the tractor 1 is provided at the bottom of the traveling machine body 2. The chassis 20 consists of the machine frame 21, transmission 22, front axle 23, and rear axle 24, etc.

[0025] The machine frame 21 is a support member at the front of the tractor 1 and supports the engine 10 directly or via vibration damping members, etc. The transmission 22 converts the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0026] As shown in Figure 3, the tractor 1 is equipped with a control unit 4 for controlling the operation of the traveling body 2 (forward, reverse, stopping, turning, etc.) and the operation of the implement 3 (lifting, driving, stopping, etc.). The control unit 4 is configured as a computer and is equipped with a CPU, ROM, RAM, etc. The governor device 41, the transmission 42, and the lifting actuator 44 are electrically connected to this control unit 4.

[0027] The governor device 41 adjusts the rotational speed of the engine 10. By controlling the governor device 41 with the control unit 4 and adjusting the rack position as appropriate, the rotational speed of the engine 10 can be set to a desired rotational speed.

[0028] The transmission 42 is specifically, for example, a movable swashplate type hydraulic continuously variable transmission, and is provided in the transmission 22. By controlling the transmission 42 with the control unit 4 and appropriately adjusting the angle of the swashplate (not shown), the gear ratio of the transmission 22 can be set to a desired gear ratio.

[0029] The lifting actuator 44 raises or lowers the implement 3 to either a retracted position (a position where no agricultural work is performed) or a working position (a position where agricultural work is performed) by operating, for example, the three-point linkage mechanism connecting the implement 3 to the traveling body 2. In this embodiment, agricultural work performed by the implement 3 refers to tilling work. By controlling the lifting actuator 44 with the control unit 4 to raise or lower the implement 3 as appropriate, agricultural work can be performed with the implement 3 at the desired height.

[0030] The tractor 1 equipped with the control unit 4 described above is configured so that the user can perform various operations while riding in the cabin 11, and the control unit 4 controls each part of the tractor 1 (the traveling body 2, the implement 3, etc.), allowing the tractor to perform agricultural work while traveling in the field. In addition, the tractor 1 of this embodiment can be driven and operated autonomously based on predetermined control signals output by the wireless communication terminal 46, even without the user riding in the tractor 1.

[0031] Specifically, as shown in Figure 4, the tractor 1 is equipped with various configurations to enable autonomous driving and autonomous work. For example, the tractor 1 is equipped with a positioning antenna 6 and other configurations necessary to acquire its own position information (of the driving unit 2) based on a positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously drive and work on the field.

[0032] Next, the configuration of the tractor 1 that enables autonomous driving and autonomous work will be described in detail. Specifically, as shown in Figures 1 and 4, the tractor 1 of this embodiment is equipped with a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a front camera 51, a rear camera 52, a vehicle speed sensor 53, and a fuel level sensor 54, etc. In addition to these, the tractor 1 may also be equipped with an inertial measurement unit (IMU) capable of determining the attitude (roll angle, pitch angle, yaw angle) of the driving body 2.

[0033] The steering actuator 43 shown in Figure 4 is, for example, installed midway along the steering shaft of the steering wheel 12 and adjusts the rotation angle (steering angle) of the steering wheel 12. When the tractor 1 travels along a predetermined path as an unmanned tractor, the control unit 4 calculates an appropriate rotation angle for the steering wheel 12 so that the tractor 1 travels along the path, and controls the steering actuator 43 so that the steering wheel 12 is rotated at the calculated rotation angle.

[0034] The positioning antenna 6 receives signals from positioning satellites that constitute a positioning system, such as a Global Navigation Satellite System (GNSS). As shown in Figure 1, the positioning antenna 6 is located on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signals received by the positioning antenna 6 are input to the position information calculation unit 49 shown in Figure 3, and the position information calculation unit 49 calculates the position information of the tractor 1 (more precisely, the positioning antenna 6) as, for example, latitude and longitude information. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous driving.

[0035] In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but it is not limited to this, and other positioning systems may be used as long as high-precision position coordinates can be obtained. For example, if high-precision position coordinates can be obtained using relative positioning systems (DGPS), geostationary satellite augmentation systems (SBAS), etc., these can be used.

[0036] The wireless communication antenna 48 receives signals from the wireless communication terminal 46 operated by the user and transmits signals to the wireless communication terminal 46. As shown in Figure 1, the wireless communication antenna 48 is located on the upper surface of the roof 92 of the cabin 11 of the tractor 1. Signals from the wireless communication terminal 46 received by the wireless communication antenna 48 are processed by the wireless communication unit 40 shown in Figure 4 and input to the control unit 4. Signals transmitted from the control unit 4 to the wireless communication terminal 46 are processed by the wireless communication unit 40, transmitted from the wireless communication antenna 48, and received by the wireless communication terminal 46.

[0037] The front camera 51 captures images of the front of the tractor 1. The rear camera 52 captures images of the rear of the tractor 1. The video data captured by the front camera 51 and the rear camera 52 is processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display a video based on the received video data on the display 37.

[0038] The vehicle speed sensor 53 detects the vehicle speed of the tractor 1 and is installed, for example, on the axle between the front wheels 7, 7. The fuel level sensor 54 detects the remaining amount of fuel in a fuel tank (not shown) mounted in the bonnet 9 and is installed on the fuel tank. The detection results obtained from the vehicle speed sensor 53 and the fuel level sensor 54 are processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection results on the display 37.

[0039] As shown in Figure 3, the wireless communication terminal 46 is configured as a tablet-type personal computer equipped with a touch panel 39. The user can refer to and confirm information displayed on the display 37 of the wireless communication terminal 46 (for example, information from the front camera 51, rear camera 52, vehicle speed sensor 53, and fuel level sensor 54, etc.). The user can also transmit control signals (for example, an emergency stop signal, etc.) to the control unit 4 of the tractor 1 to control the tractor 1 by operating the touch panel 39 or hardware keys 38 located near the display 37. Note that the wireless communication terminal 46 is not limited to a tablet-type personal computer; it can also be configured as, for example, a notebook-type personal computer. Alternatively, as shown in Figure 10, when a manned tractor 1x is driven in conjunction with an unmanned tractor 1, the monitor device 46x mounted on the manned tractor 1x can also be used as the wireless communication terminal. Figure 10 shows a manned tractor working in coordination with an unmanned robot tractor 1.

[0040] The tractor 1 configured in this way can travel along a path in the field and perform agricultural work with the implement 3 based on instructions from the user using the wireless communication terminal 46.

[0041] Specifically, the user can generate a work path (path) by performing various settings using the wireless communication terminal 46, which alternately connects work paths for agricultural work and arc-shaped turns (turns on which the tractor 1 turns) connecting the ends of the agricultural work paths. Then, by inputting the information of the work path thus generated into the control unit 4, which acts as a vehicle control device, and performing predetermined operations, the control unit 4 can control the tractor 1 to autonomously drive along the work path and perform agricultural work with the implement 3.

[0042] In the following, with reference to Figures 3 to 9, the configuration of the wireless communication terminal 46 provided in the work vehicle route generation system 99 according to one embodiment of the present invention will be described in more detail. Figure 5 is a diagram showing an example of the display of the input selection screen 60 on the display 37 of the wireless communication terminal 46. Figure 6 is a diagram showing an example of the display of the work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. Figure 7 is a diagram showing an example of the display of the driving area information input screen 80 on the display 37 of the wireless communication terminal 46. Figure 8 is a diagram showing an example of the display of the work mode information input screen 90 on the display 37 of the wireless communication terminal 46. Figure 9 is a diagram showing an example of the display of the autonomous driving monitoring screen 100 on the display 37 of the wireless communication terminal 46.

[0043] As shown in Figures 3 and 4, the wireless communication terminal 46 of this embodiment includes a display 37, hardware keys 38, and a touch panel 39, as well as a display control unit 31, a field shape acquisition unit 33, a work area acquisition unit 34, a work path acquisition unit 35, and a storage unit 32 as its main components.

[0044] Specifically, as described above, the wireless communication terminal 46 is configured as a computer and is equipped with a CPU, ROM, RAM, etc. (not shown). Furthermore, a control application for controlling the tractor 1 is pre-installed on this wireless communication terminal 46. Through the cooperation of the above-described hardware and software, the wireless communication terminal 46 can be operated as a display control unit 31, a field shape acquisition unit 33, a work area acquisition unit 34, a work path acquisition unit 35, and a storage unit 32, etc.

[0045] The display control unit 31 creates display data to be displayed on the display 37 and controls the display screen to switch as appropriate. The display control unit 31 can generate the input selection screen 60 as the initial screen (menu screen) shown in Figure 5 and display it on the display 37. Furthermore, when a predetermined operation is performed on the input selection screen 60, the display control unit 31 can generate the respective input screens 70, 80, and 90 (see Figures 6 to 8) described later and switch the display screen of the display 37 to the respective input screens 70, 80, and 90.

[0046] The field shape acquisition unit 33 acquires the field shape by, for example, having the tractor 1 circle the outer perimeter of the field and recording the change in the position information of the positioning antenna 6 during that time. The field shape acquired by the field shape acquisition unit 33 is stored in the storage unit 32. However, the method of acquiring the field shape is not limited to this, and instead, for example, the position information of the corners of the field may be recorded, and the polygon identified by a so-called closed-loop graph such that the line segments connecting the recorded points do not intersect may be acquired as the field shape.

[0047] The work area acquisition unit 34 acquires the shape of the work area by, for example, when a user selects multiple points while the field shape acquired by the field shape acquisition unit 33 is displayed on the display 37, by specifying a polygon that is determined using a so-called closed graph such that the line segments connecting the specified points do not intersect. The shape of the work area acquired by the work area acquisition unit 34 is stored in the storage unit 32. However, this is not the only way to acquire the shape of the work area. For example, instead, the shape of the work area may be automatically acquired by setting a position that is a predetermined distance inside the outer perimeter of the field as the outer perimeter of the work area.

[0048] The work path acquisition unit 35, which acts as a control unit capable of generating work paths, automatically generates (acquires) a work path when the work vehicle information, travel area information, and work type information, described later, are entered without any omissions. The generated work path is stored in the storage unit 32.

[0049] The work vehicle information setting unit 36 ​​receives work vehicle information entered into the work vehicle information input screen 70, which will be described later. The work vehicle information set by the work vehicle information setting unit 36 ​​is stored in the storage unit 32.

[0050] The driving area information setting unit 45 receives the driving area information entered into the driving area information input screen 80, which will be described later. The driving area information set by the driving area information setting unit 45 is stored in the storage unit 32.

[0051] The work mode information setting unit 47 receives work mode information entered into the work mode information input screen 90, which will be described later. The work area information set by the work mode information setting unit 47 is stored in the storage unit 32.

[0052] The storage unit 32 is configured to include non-volatile memory (e.g., flash ROM) and can store work vehicle information set in the work vehicle information setting unit 36, travel area information set in the travel area information setting unit 45, and work mode information set in the work mode information setting unit 47. The storage unit 32 can also store registered field shape information, registered work area information, and generated work route information. The storage unit 32 stores the generated work route information in association with the work vehicle information, travel area information, and work mode information used to generate the work route.

[0053] Next, we will explain in detail the operations that the user performs using the wireless communication terminal 46 when setting work vehicle information, travel area information, and work type information, and generating a work route.

[0054] Before the user begins setting the work vehicle information, driving area information, and work type information, the display 37 of the wireless communication terminal 46 displays the input selection screen 60 created by the display control unit 31 as the initial screen (menu screen), as shown in Figure 5. The input selection screen 60 displays the work vehicle information input operation unit 61, the driving area information input operation unit 62, the work type information input operation unit 63, the work route transfer operation unit 64, and the farm work start operation unit 65.

[0055] These operation units are all configured as virtual buttons (so-called icons) displayed on the display 37, and can be operated by the user touching the position of the touch panel 39 corresponding to the display area of ​​the button with their finger. However, when none of the work vehicle information, driving area information, and work type information have been set, of the work vehicle information input operation unit 61, driving area information input operation unit 62, work type information input operation unit 63, work route transfer operation unit 64, and farm work start operation unit 65, only the work vehicle information input operation unit 61 can be operated. That is, the driving area information input operation unit 62, work type information input operation unit 63, work route transfer operation unit 64, and farm work start operation unit 65 are initially disabled (for example, grayed out) and cannot be operated even if touched.

[0056] When a user begins setting work vehicle information, driving area information, and work type information, they first operate the work vehicle information input operation unit 61 on the input selection screen 60. This work vehicle information input operation unit 61 is a button that is operated when switching from the input selection screen 60 to the work vehicle information input screen 70.

[0057] When a user operates the work vehicle information input operation unit 61, a predetermined first selection screen (not shown) is displayed. If information on previously set (registered) tractors exists on this first selection screen, the information on those previously set tractors is displayed for selection. Up to a predetermined number (for example, two) of tractor information can be selected and displayed on the first selection screen. If the number of previously set tractor information items exceeds this predetermined number, the tractor information to be displayed on the first selection screen is identified and displayed according to a predetermined first criterion. Tractor information that was not identified according to the first criterion can be displayed by scrolling as appropriate. The first criterion is, for example, information on a predetermined number of tractors whose information was set at a date and time that is most recent from the current time, or information on a predetermined number of tractors whose information was selected by the user at a date and time that is most recent from the current time, or information on a predetermined number of tractors selected by the user most frequently, and combinations thereof. The system identifies and displays information on tractors that are likely to be selected by the user.

[0058] Furthermore, the first selection screen displays the option to either set (register) new tractor information or modify previously set tractor information (however, this option is only available if previously set tractor information exists). If the user selects new registration, the display screen on display 37 switches to the work vehicle information input screen 70 shown in Figure 6. If there is no previously set (registered) tractor information, the system may switch immediately from the input selection screen 60 to the work vehicle information input screen 70 when the work vehicle information input operation unit 61 is operated.

[0059] The work vehicle information input screen 70 allows input of work vehicle information relating to the traveling machine 2 and the implement 3 attached to the traveling machine 2. Specifically, the work vehicle information input screen 70 has fields for specifying work vehicle information such as the model of the tractor 1, the mounting position of the positioning antenna 6 on the traveling machine 2, the width of the tractor 1 and implement 3, the distance from the rear end of the three-point linkage mechanism (rear end of the lower link) to the rear end of the implement 3, the offset amount (distance) from the center line of the center line of the implement 3 to the center line of the tractor 1, the vehicle speed during work on the outward journey, the vehicle speed during work on the return journey, the vehicle speed at the headland (during turning), the engine speed during work on the outward journey, the engine speed during work on the return journey, the engine speed at the headland (during turning), the raising and lowering of the implement at the headland, and whether or not the PTO is driven during work. Note that only some of the above fields are displayed in the work vehicle information input screen 70 shown in Figure 6, but the remaining fields can be displayed by scrolling the screen downwards from the state shown in Figure 6.

[0060] On the work vehicle information input screen 70, the top field, Tractor 1, can be specified by selecting the model name or model number from a list. When this model field is filled in, the other fields, which are identified according to the model of Tractor 1, are automatically populated with default values ​​corresponding to the factory specifications of that model. However, since the size of Tractor 1 may change, for example, by changing the implement 3 attached to the running gear 2, swapping the front wheels 7 or rear wheels 8, or attaching a front weight to the front end of Tractor 1, the user can also change the default values ​​to any desired values.

[0061] On the work vehicle information input screen 70, the engine speed during the outward journey, the engine speed during the return journey, and the engine speed at the headland (during turning) can each be specified in increments of 10 rpm. However, when the model of tractor 1 is specified, the lower limit and upper limit (maximum output value) of the engine speed (output value of the drive source) of the engine 10 installed in it are automatically obtained from the control unit 4, and in the fields for the engine speed during the outward journey, the engine speed during the return journey, and the engine speed at the headland (during turning), the engine speed can only be specified within the range from the lower limit to the upper limit. In other words, the engine speed that can be specified as an output value is limited according to the model of tractor 1.

[0062] On the work vehicle information input screen 70, the vehicle speed during the outward journey, the vehicle speed during the return journey, and the vehicle speed at the headland (during turns) can each be specified in increments of 0.1 km / h. However, as described above, once the engine speed (output value of the drive source) is specified, the upper limit of the vehicle speed as a moving speed is determined accordingly. Therefore, in the fields for the vehicle speed during the outward journey, the vehicle speed during the return journey, and the vehicle speed at the headland (during turns), the vehicle speed can only be specified within the range from zero to the upper limit of the vehicle speed (but not including zero). If the engine speed is changed after the vehicle speed has been specified, the upper limit of the vehicle speed will be recalculated, and the specified vehicle speed will be automatically changed so that the vehicle speed is within the range from zero to the recalculated upper limit of the vehicle speed. More specifically, if a first engine speed (first output value) is specified as the engine speed, which is the output value of the drive source, and a first vehicle speed (first travel speed) is specified as the vehicle speed, then if the specified engine speed is changed to a second engine speed (second output value) which is smaller than the first engine speed, and the first vehicle speed is faster than the maximum vehicle speed determined according to the second engine speed, then the specified vehicle speed is automatically changed to the maximum vehicle speed determined according to the second engine speed. In other words, if the first vehicle speed is slower than the maximum vehicle speed determined according to the second engine speed, the vehicle speed setting is maintained at the first vehicle speed.

[0063] Furthermore, in this embodiment, as described above, it is possible to specify different vehicle speeds and engine RPMs for the outward and return journeys. This allows for appropriate settings that prevent stalling and enable efficient farming, even when the field is sloped relative to the horizontal plane. For example, by setting a relatively high speed and low engine RPM when going downhill, and a relatively low speed and high engine RPM when going uphill.

[0064] Once all items on the work vehicle information input screen 70 have been specified, the "Vehicle Settings Confirmation" button (not shown in the diagram) will be displayed. When the user operates the "Vehicle Settings Confirmation" button, the settings confirmation screen (not shown in the diagram) will be displayed, showing the contents specified in each field for confirmation. When the user operates the "Confirm" button (not shown in the diagram) on this settings confirmation screen, the contents of the work vehicle information will be stored in the storage unit 32, and the work vehicle information settings will be completed. Once the work vehicle information settings (registration) are complete, the buttons "Edit / Add Driving Area Information" and "Return to Home" will be displayed at the bottom of the display screen, and can be selected. Selecting "Edit / Add Driving Area Information" allows the user to set the driving area information in the same way as when the driving area information input operation unit 62 is operated on the input selection screen 60. Selecting "Return to Home" switches the display screen back to the input selection screen 60.

[0065] Furthermore, by repeatedly entering and registering each item on the work vehicle information input screen 70, work vehicle information can be saved (i.e., stored in the storage unit 32) for each of multiple work vehicles (for example, tractor A, tractor B, and tractor C). The saved work vehicle information can be used when operating the work vehicle information input operation unit 61 on the input selection screen 60 by selecting it as the information of a tractor previously set (registered) on the first selection screen described above. If all or part of the previously set tractor information is changed, the information of the changed tractor may be stored in the storage unit 32 in place of the information of the previous tractor (so-called overwrite saving), or it may be stored in the storage unit 32 separately from the information of the previous tractor.

[0066] Once the user has finished setting (registering) the work vehicle information and returned to the input selection screen 60 in Figure 5, the driving area information input operation unit 62 on the input selection screen 60 becomes operable. This driving area information input operation unit 62 is a button that is operated when switching from the input selection screen 60 to the driving area information input screen 80.

[0067] When a user operates the driving area information input operation unit 62, a predetermined second selection screen (not shown) is displayed. If there is information on fields that have been previously set (registered), the information on those fields is displayed as selectable options on the second selection screen. Up to a predetermined number (for example, two) of field information can be selected on the second selection screen. If the number of previously set field information entries exceeds the predetermined number, the field information to be displayed on the second selection screen is identified and displayed according to a predetermined second criterion. Field information that was not identified according to the second criterion can be displayed by scrolling as appropriate. The second criterion is, for example, information on a predetermined number of fields close to the current position of the tractor 1, information on a predetermined number of fields whose setting date and time is most recent from the current time, information on a predetermined number of fields whose date and time selected by the user is most recent from the current time, information on a predetermined number of fields selected by the user most frequently, and combinations thereof. The system identifies and displays information on fields that are highly likely to be selected by the user.

[0068] Furthermore, the second selection screen displays the option to either set (register) new field information or modify previously set field information (however, this option is only available if previously set field information exists). If the user selects new registration, the display screen of the display 37 switches to the driving area information input screen 80 shown in Figure 7. If there is no previously set (registered) field information, the screen may switch immediately from the input selection screen 60 to the driving area information input screen 80 when the driving area information input operation unit 62 is operated.

[0069] The driving area information input screen 80 allows input of driving area information related to the driving area (field) on which the mobile machine 2 travels. Specifically, the driving area information input screen 80 has a planar display section 81 that graphically shows the shape of the field and the shape of the work area. In addition, the driving area information input screen 80 has "Start Recording" and "Redo" buttons in the "Position of Field Perimeter" field. Furthermore, the driving area information input screen 80 has "Specify" and "Redo" buttons in the fields for the work area position, the start position of autonomous driving, the end position of autonomous driving, and the direction of work.

[0070] When the "Start Recording" button for "Field Perimeter Position" is operated, the wireless communication terminal 46 switches to field shape recording mode. In this field shape recording mode, when the tractor 1 is driven in a circle along the perimeter of the field, the position information of the positioning antenna 6 is recorded by the field shape acquisition unit 33, and the field shape is acquired (calculated) by the field shape acquisition unit 33. This allows the field's position and shape to be specified. When the tractor 1 is driving in a circle as described above, the wireless communication terminal 46 displays an image of the tractor 1's position information superimposed on map data on the planar display unit 81 of the driving area information input screen 80. This image can be displayed heading-up, north-up, or rotated in any direction the user desires. The field perimeter position calculated (specified) in this way is graphically displayed on the planar display unit 81. Furthermore, by operating the "Redo" button, the field perimeter position can be recorded (specified) again.

[0071] Furthermore, when the tractor 1 is circling the field in field shape recording mode, if the position information of the positioning antenna 6 cannot be obtained from the tractor 1 due to poor radio wave conditions or other reasons, or if accurate position information cannot be obtained due to reasons such as the positioning system settings not being initialized, an error message will be displayed on the planar display section 81 of the driving area information input screen 80.

[0072] When the "Specify" button for "Work Area Location" is operated, the field shape acquired by the field shape acquisition unit 33 is displayed on the planar display unit 81 of the driving area information input screen 80. In this state, if the user specifies by selecting multiple points, the work area acquisition unit 34 calculates a polygon identified by a so-called closed-loop graph so that the lines connecting the specified points do not intersect. This allows the location and shape of the work area to be specified. If this polygon extends beyond the field acquired by the field shape acquisition unit 33, an error message is displayed on the planar display unit 81, prompting the user to change the specified points. Alternatively, if the polygon identified by the closed-loop graph extends beyond the field, the work area may be automatically corrected so that it is within the field, and the corrected work area may be acquired by the work area acquisition unit 34. One method for automatically correcting the work area to stay within the field is to use the shape of the field's perimeter instead of the polygonal contour identified by the closed-loop graph for any portion extending outside the field. The position of the work area acquired (specified) in this way is graphically displayed on the planar display unit 81. Furthermore, the work area position information can be recorded (specified) again by operating the "Redo" button.

[0073] When the "Specify" button for "Starting Position" is operated, the shape of the work area acquired by the work area acquisition unit 34 is superimposed on the map data and displayed on the planar display section 81 of the driving area information input screen 80. In this state, the user can select any point near the outline of the work area and specify the position information of the selected point as the starting position. This makes it easier to create a work route in which the farm work routes are neatly arranged parallel to the direction perpendicular to the work direction, as described later. The function of the "Redo" button is the same as described above.

[0074] When the "Specify" button for "Work End Position" is operated, the shape of the work area acquired by the work area acquisition unit 34 is overlaid on the map data and displayed on the planar display section 81 of the driving area information input screen 80. In this state, the user can select any point near the outline of the work area to specify the position information of the selected point as the end position. The function of the "Redo" button is the same as described above.

[0075] When the "Specify" button for "Work Direction" is operated, the shape of the work area acquired by the work area acquisition unit 34 is superimposed on the map data and displayed on the planar display unit 81 of the driving area information input screen 80. In this state, the user can, for example, select two points from the points specified when specifying the work area, and specify the direction of the straight line connecting those two points as the work direction. The function of the "Redo" button is the same as described above.

[0076] Once all items on the driving area information input screen 80 have been specified, the "Register" button will be displayed. When the user confirms the specified content on the flat display unit 81, etc., and operates the "Register" button, the specified driving area information will be stored in the storage unit 32, and the setting of the driving area information will be completed. Once the setting (registration) of the driving area information is complete, the buttons "Edit / Add Work" and "Return to Input Selection Screen" will be displayed at the bottom of the display screen, and can be selected. Selecting "Edit / Add Work" will allow the user to set the work type information in the same way as when the work type information input operation unit 63 is operated on the input selection screen 60. Selecting "Return to Input Selection Screen" will switch the display screen back to the input selection screen 60.

[0077] Furthermore, by repeatedly registering each item on the driving area information input screen 80, driving area information can be saved (i.e., stored in the storage unit 32) for each of multiple fields (for example, field a, field b, and field c). The saved driving area information can be used when operating the driving area information input operation unit 62 on the input selection screen 60 by selecting it as information for a field previously set (registered) on the second selection screen described above. If all or part of the previously set field information is changed, the changed field information may be stored in the storage unit 32 in place of the field information before the change (so-called overwrite saving), or it may be stored in the storage unit 32 separately from the field information before the change.

[0078] When the user finishes setting the driving area information and returns to the input selection screen 60 in Figure 5, the work mode information input operation unit 63 on the input selection screen 60 becomes operable. In other words, the work mode information input operation unit 63 remains inoperable until the user finishes setting the work vehicle information and driving area information. Specifically, the work mode information setting unit 47 is configured not to accept information input (setting of work mode information) until the work vehicle information is set in the work vehicle information setting unit 36 ​​and the driving area information is set in the driving area information setting unit 45. This work mode information input operation unit 63 is a button that is operated when switching from the input selection screen 60 to the work mode information input screen 90 shown in Figure 8.

[0079] When the user operates the work mode information input unit 63, the display screen switches to the work mode information input screen 90 shown in Figure 8.

[0080] The work pattern information input screen 90 allows users to input work pattern information. Specifically, the work pattern information input screen 90 has fields for inputting work pattern information such as whether or not the robot tractor 1 and the manned tractor work together, the pattern when the manned tractor works together, the working width of the manned tractor when it works together, the amount of skipping by the robot tractor 1 when the manned tractor works together (how many rows it skips), the amount of overlap of the working width in adjacent farm work paths, and the headland width.

[0081] In the field for indicating whether or not robot tractor 1 and a manned tractor will work together, you can choose either to have robot tractor 1 autonomously drive on its own to perform farm work (no collaborative work), or to have robot tractor 1, which drives and works autonomously, work in cooperation with a manned tractor (the tractor the user is riding in) to perform farm work (with collaborative work).

[0082] If "Cooperative work" is selected, in the pattern section, you can choose one of the following: have the manned tractor run directly behind the robot tractor 1 (directly behind), have the manned tractor run to the right rear (diagonally to the right) relative to the robot tractor 1's direction of travel (right), or have the manned tractor run to the left rear (diagonally to the left) relative to the robot tractor 1's direction of travel (left).

[0083] If "Cooperative work is enabled," you can enter the working width of the manned tractor (the effective width in which work is performed by the implement) in the working width field for the manned tractor.

[0084] When "Cooperative work enabled" is selected, the number of skipped rows in the "Skip amount (number of skips)" field for Robot Tractor 1 can be entered. This allows for, for example, skipping rows to accommodate farm work performed by an accompanying manned tractor. If the skip amount is "N (where N is a non-negative integer)", it means that N rows of farm work paths are interposed between the first farm work path and the second farm work path that follows the first farm work path.

[0085] In the "Work Width Overlap Amount" field, you can enter the length of overlap between the work widths of adjacent farm work paths. The overlap amount can be "0," or you can choose a value such as "30cm" depending on your preference or the type of farm work. In other words, depending on the type of farm work, there may be cases where overlapping work widths are not acceptable (for example, when implement 3 is a fertilizer spreader or seed planter), and cases where some overlap is acceptable (for example, when implement 3 is a tiller). In either case, you can adjust the setting by changing the overlap amount. Furthermore, for example, when implement 3 is a subsoiler, you can specify a negative value for the overlap amount to create a gap between the work widths of adjacent farm work paths.

[0086] In the headland width field, for example, you can specify a value equal to or greater than the lower limit of the headland width. However, instead, considering that agricultural work will ultimately be performed on the headland using implement 3, the system may be configured to only allow input of integer multiples of the working width of implement 3 as the headland width. The lower limit of the headland width is set to the width necessary for travel (especially turning) on ​​the headland, taking into account the size (overall length, width, etc.) of tractor 1 and implement 3.

[0087] When the user has entered all the necessary information (including work type information) into the input fields on the work type information input screen 90, the "Generate Path" button (not shown in the diagram) becomes selectable. If the "Generate Path" button is selected, a work path is automatically created and stored in the memory unit 32. Once the work path is generated, the "Simulate Path" button becomes selectable on the display screen 37. By selecting (operating) this "Simulate Path" button, an image representing the generated work path with arrows, lines, etc., is displayed. An animation display showing a tractor icon moving along the work path may also be shown. The user can refer to this display to decide whether or not to adopt the work path.

[0088] Furthermore, if the user has filled in all the input fields (including work type information) on the work type information input screen 90, the "Transfer Data" button and the "Return to Home" button will become selectable. Selecting "Transfer Data" will instruct the control unit 4 of the tractor 1 to transfer the work path information, similar to when the work path transfer operation unit 64 is operated on the input selection screen 60. Selecting the "Return to Home" button will switch the display screen back to the input selection screen 60.

[0089] Furthermore, by inputting work mode information multiple times on the work mode information input screen 90 to generate work routes, multiple work routes can be set (registered) and stored in the storage unit 32. However, in this embodiment, if the work vehicle information, travel area information, or work mode information stored in the storage unit 32 is deleted or changed, the information of the work route created based on that information is automatically deleted. In other words, if any of the work vehicle information, travel area information, or work mode information stored in the storage unit 32 is changed or deleted, the work route associated with this changed or deleted information is automatically deleted from the storage unit 32. As a result, the information of work routes that become unnecessary due to the deletion or change of prerequisite information is automatically deleted, allowing for efficient use of the storage area of ​​the storage unit 32.

[0090] Furthermore, even if any of the work vehicle information, travel area information, or work pattern information stored in the memory unit 32 is changed, if the item that is changed does not affect the generation of the work path, the work path associated with this changed information may not be deleted from the memory unit 32. For example, changes in the vehicle speed, engine speed 10 rotation speed, raising and lowering of the work equipment 3 at the headland, and whether or not the PTO is driven during work, which are included in the work vehicle information, are items that do not affect the generation of the work path.

[0091] Once the generation of the work path is complete, the work path transfer operation unit 64 becomes operable on the input selection screen 60 in Figure 5. When the work path transfer operation unit 64 is operated on the input selection screen 60, the display on the display 37 switches to a transfer method selection screen (not shown) for selecting how to transfer the generated work path information to the control unit 4 of the tractor 1. On this transfer method selection screen, two buttons, "Transfer via USB" and "Transfer via WiFi," are displayed as selectable options. If the user selects "Transfer via USB" and connects the wireless communication terminal 46 and the control unit 4 of the tractor 1 with a USB cable, the work path information generated on the wireless communication terminal 46 can be transmitted to the control unit 4 of the tractor 1. On the other hand, if the user selects "Transfer via WiFi," the work path information generated on the wireless communication terminal 46 can be transmitted to the control unit 4 of the tractor 1 via WiFi (wireless network). The control unit 4 stores the work path information received from the wireless communication terminal 46 in a work path storage unit 55 that is electrically connected to the control unit 4.

[0092] Furthermore, if multiple work route information is registered on the wireless communication terminal 46 side, the user can select a work route to transfer to the tractor 1 side. In this case, the position of the tractor 1 (or the position of the wireless communication terminal 46) is acquired by the positioning system, and candidate work routes are displayed on the display screen of the display 37 in order of proximity to the acquired position (autonomous driving start position), making it easier for the user to select the desired work route. In addition, if there are multiple work routes that are the same distance from the position of the tractor 1, the work routes may be displayed as candidates in order of the most recently generated time. Alternatively, when the tractor 1 is located within a field, the work routes generated for that field may be displayed as candidate work routes, and when the tractor 1 is located outside a field, the work routes generated for fields close to the tractor 1's current position may be displayed as candidate work routes.

[0093] Furthermore, when transferring work route information to the tractor 1 via WiFi, if the transfer fails due to poor wireless communication conditions or other reasons, an error message may be displayed on the display screen of the display 37 to prompt the user to try transferring the information again after some time.

[0094] As described above, once the generated work path information is transferred (input) to the work path storage unit 55 of the tractor 1, the farm work start operation unit 65 on the input selection screen 60 becomes operable. In other words, the farm work start operation unit 65 becomes operable only after a work path has been created and transferred to the work path storage unit 55 of the tractor 1. That is, the control unit 4, which acts as a vehicle control device for the tractor 1, is capable of issuing commands to start the movement of the vehicle body 2 and the work of the implement 3, but it is configured not to issue start commands until a work path has been generated and input into the work path storage unit 55.

[0095] When the user operates the farm work start operation unit 65 on the input selection screen 60, the control unit 4 controls the movement and farm work of the tractor 1 so that the tractor 1 autonomously moves and works along the input work path. Upon the start of this autonomous driving, the display screen of the display 37 switches to the autonomous driving monitoring screen 100 shown in Figure 9.

[0096] On the left side of the autonomous driving monitoring screen 100, there is a front camera display unit 101 that displays video data captured by the front camera 51. Below the front camera display unit 101 on the left side of the autonomous driving monitoring screen 100, there is a rear camera display unit 102 that displays video data captured by the rear camera 52.

[0097] On the right side of the autonomous driving monitoring screen 100, a driving status display unit 103 is located, which displays image data including the work path of the tractor 1 while it is driving. The image data displayed on the driving status display unit 103 can be, for example, as shown in Figure 9, a map data overlay with the shape of the field and the shape of the work area, with the driving trajectory of the tractor 1 shown on top of that using hatching.

[0098] To the right of the driving status display unit 103, there is a zoom in / out button 104 for enlarging and reducing the video data displayed on the driving status display unit 103. By operating this zoom in / out button 104 as appropriate, the user can change the zoom ratio of the video data displayed on the driving status display unit 103, allowing it to be displayed at a size that is easy for the user to view.

[0099] At the top of the autonomous driving monitoring screen 100, various operation buttons for sending control signals to the control unit 4 of the tractor 1 are centrally located. In other words, the various operation buttons for sending control signals to the control unit 4 of the tractor 1 are configured to be displayed together at the top of the autonomous driving monitoring screen 100.

[0100] At the top left of the autonomous driving monitoring screen 100, a start / pause button 105 is displayed for starting and pausing autonomous driving. When the user manually moves the tractor 1 to the autonomous driving starting position and aligns the tractor 1 with the working direction, touching the start / pause button 105 sends a control signal from the wireless communication terminal 46 to the control unit 4 of the tractor 1, instructing it to start autonomous driving, and the tractor 1 can start autonomous driving. Furthermore, touching the start / pause button 105 while the tractor 1 is autonomously driving will pause the tractor 1's autonomous driving. If the tractor 1 is temporarily halted from autonomous driving, the user can resume autonomous driving by touching the start / pause button 105 again.

[0101] On the autonomous driving monitoring screen 100, a vehicle speed display unit 106, which displays the current vehicle speed of the tractor 1, and a vehicle speed adjustment unit 107, which fine-tunes the vehicle speed, are arranged vertically to the immediate right of the start / pause button 105. The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1, which is obtained based on data transmitted from the vehicle speed sensor 53. The user can also adjust the vehicle speed by operating the vehicle speed adjustment unit 107, taking into account factors such as the slope of the field and the soil type. When the vehicle speed adjustment unit 107 is operated, a control signal instructing the user to adjust the vehicle speed is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the transmission 42 and other components are controlled based on this signal to adjust the vehicle speed.

[0102] In the autonomous driving monitoring screen 100, an engine speed display unit 108, which displays the current rotational speed of the engine 10, is located immediately to the right of the vehicle speed display unit 106. Also, an engine speed adjustment unit 109 for fine-tuning the engine speed is located immediately to the right of the vehicle speed adjustment unit 107. The engine speed display unit 108 displays the current engine speed of the engine 10, which is obtained based on data sent from an engine speed sensor (not shown in the figure). The user can also adjust the engine speed by operating the engine speed adjustment unit 109, taking into account factors such as the slope of the field and soil type. When the engine speed adjustment unit 109 is operated, a control signal instructing the adjustment of the engine speed is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the governor device 41 and other components are controlled based on this signal to adjust the engine speed.

[0103] On the autonomous driving monitoring screen 100, a work implement height display unit 110 is located on the opposite side of the vehicle speed display unit 106, across from the engine speed display unit 108, to display the current height of the work implement 3. Also, a work implement height adjustment unit 111 is located on the opposite side of the vehicle speed adjustment unit 107, across from the engine speed adjustment unit 109, to fine-tune the height of the work implement 3. The work implement height display unit 110 receives information about the control signals sent from the control unit 4 to the lifting actuator 44 via a wireless communication terminal 46, which then acquires the current height of the work implement 3 and displays it as numerical data. Furthermore, the user can adjust the height of the work implement 3 by operating the work implement height adjustment unit 111, taking into account factors such as the soil type of the field. When the work implement height adjustment unit 111 is operated, a control signal instructing the control unit 46 to adjust the height of the work implement 3 is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the lifting actuator 44 is controlled based on this signal to adjust the height of the work implement 3.

[0104] On the autonomous driving monitoring screen 100, a PTO display unit 112 is located on the opposite side of the engine speed display unit 108, across from the work equipment height display unit 110, to show whether the PTO shaft is driven or not (ON / OFF). Also, on the autonomous driving monitoring screen 100, a PTO switch button 113 is located on the opposite side of the engine speed adjustment unit 109, across from the work equipment height adjustment unit 111, to switch between driven and not driven PTO shafts. The wireless communication terminal 46 receives the detection result from a rotation speed sensor (not shown) provided on the PTO shaft, and the wireless communication terminal 46 acquires whether the PTO shaft is driven (ON) or not (OFF), and the result is displayed on the PTO display unit 112. The user can also switch between driven and not driven PTO shafts by operating the PTO switch button 113. When the PTO switching button 113 is operated, a control signal instructing the ON / OFF of the PTO shaft is transmitted from the wireless communication terminal 46 to the control unit 4 of the tractor 1, and the ON / OFF of the PTO shaft is switched based on this signal.

[0105] At the top right of the autonomous driving monitoring screen 100 is an emergency stop button 114 for emergency stopping of the autonomously driving tractor 1. If the user wishes to emergency stop the tractor 1 for any reason, touching the emergency stop button 114 will send an emergency stop signal (a control signal instructing the autonomous driving to be emergency stopped) to the control unit 4, thereby emergency stopping the tractor 1's movement and agricultural work.

[0106] As described above, the top of the autonomous driving monitoring screen 100 is equipped with a concentration of various operation buttons for transmitting control signals to the control unit 4 of the tractor 1. Therefore, even when a user operates the wireless communication terminal 46 from inside the cabin of a manned tractor to output a predetermined control signal to the tractor 1, they can operate the terminal by firmly gripping the bottom of the wireless communication terminal 46 with one hand and touching the top of the wireless communication terminal 46 with the other hand, allowing for accurate operation even in a tractor with strong vibrations.

[0107] A work time display unit 115 is located at the bottom of the autonomous driving monitoring screen 100. This work time display unit 115 displays, for example, a bar graph, the work time from the start to the end of the farm work, calculated based on the length (distance) of the work route obtained when the work route was generated and the vehicle speed set by the user, as well as the elapsed time to date.

[0108] Furthermore, a fuel requirement display unit 116 is located at the bottom of the autonomous driving monitoring screen 100. This fuel requirement display unit 116 displays the amount of fuel needed from the start to the end of agricultural work. The required amount of fuel can be calculated based on the length (distance) of the work route and the vehicle speed and engine speed set by the user. The wireless communication terminal 46 acquires the detection result from the fuel level sensor 54, calculates the amount of fuel that is lacking based on this, and displays it on the fuel requirement display unit 116 along with the required amount of fuel.

[0109] By operating the wireless communication terminal 46 as described above, the tractor 1 can be monitored and autonomously driven along the work path to perform agricultural work, and control signals can be sent to the tractor 1 as needed to perform appropriate control.

[0110] As described above, the work vehicle route generation system 99 of this embodiment comprises a work vehicle information setting unit 36, a travel area information setting unit 45, a work mode information setting unit 47, and a work route acquisition unit 35 as a control unit. The work vehicle information setting unit 36 ​​accepts the setting of work vehicle information relating to the travel body 2 as the vehicle body and the work machine 3 attached to the travel body 2. The travel area information setting unit 45 accepts the setting of travel area information relating to the travel area in which the travel body 2 travels. The work mode information setting unit 47 accepts the setting of work mode information relating to the work mode performed by the work machine 3. The work route acquisition unit 35 can generate a work route in which work is performed by the work machine 3 based on the work vehicle information, the travel area information, and the work mode information. The setting of the work mode information cannot be performed before the setting of the work vehicle information and the setting of the travel area information.

[0111] This allows the system to generate work routes by setting work type information only when work vehicle information and travel area information have been set, thus enabling the smooth creation of work routes without any missing inputs.

[0112] Furthermore, in the work vehicle route generation system 99 of this embodiment, the control unit 4, which acts as a vehicle control device for controlling the tractor 1, is capable of issuing instructions to start the movement of the traveling machine 2 and the work of the work implement 3, while the work route acquisition unit 35 is configured not to issue the start instruction before it generates the work route.

[0113] This ensures that the control unit 4 of the tractor 1 can only start controlling its movement and farm work when a work path has been generated, thus reliably eliminating the risk of farm work being started unexpectedly at a time unintended by the user.

[0114] Furthermore, the work vehicle route generation system 99 of this embodiment includes a storage unit 32 that stores work route information indicating the generated work route in association with the work vehicle information, travel area information, and work mode information used to generate the work route. If any of the work vehicle information, travel area information, or work mode information stored in the storage unit 32 is changed or deleted, the control unit deletes the work route associated with the changed or deleted information from the storage unit 32.

[0115] This allows for the automatic deletion of work path information that becomes unnecessary due to the deletion or modification of prerequisite information. Therefore, it prevents the unnecessary accumulation of work path information that would otherwise lead to insufficient storage capacity in the memory unit 32, and prevents users from becoming confused when selecting from multiple work paths.

[0116] Furthermore, in the work vehicle route generation system 99 of this embodiment, the work vehicle information setting unit 36 ​​can specify the type of mobile body 2 and the engine speed as the output value of the engine 10 provided by the mobile body 2 as the work vehicle information, and limits the maximum engine speed that can be specified as the engine speed to a different value depending on the type of mobile body 2.

[0117] This limits the possible values ​​for engine speed as the output value of engine 10 depending on the type of mobile machine 2, making it easier for the user to set up work vehicle information.

[0118] Furthermore, in the work vehicle route generation system 99 of this embodiment, the work vehicle information setting unit 36 ​​can specify the vehicle speed as the moving speed of the traveling machine 2, and limits the maximum vehicle speed that can be specified as the vehicle speed to a different speed depending on the engine speed of the engine 10. After a first engine speed is specified as the engine speed and a first vehicle speed is specified as the vehicle speed, if the specified engine speed is changed to a second engine speed which is smaller than the first engine speed, and the first vehicle speed is faster than the maximum vehicle speed specified according to the second engine speed, the work vehicle information setting unit 36 ​​changes the specified vehicle speed to the specified maximum moving speed.

[0119] This means that when the specified engine speed is reduced, the specified vehicle speed is automatically adjusted, simplifying the user's operation when setting work vehicle information.

[0120] Furthermore, the work vehicle route generation system 99 of this embodiment includes a control unit 4 as a vehicle control device and a wireless communication terminal 46. The control unit 4 controls the driving of the tractor 1 and agricultural work. The wireless communication terminal 46 enables the user to output predetermined control signals to the tractor 1 by wirelessly communicating with the control unit 4. The wireless communication terminal 46 has a display control unit 31 that displays a screen that the user can operate on the display 37 of the wireless communication terminal 46. The display control unit 31 can switch the screen between a work vehicle information input screen 70 for inputting work vehicle information relating to the tractor 1 body and implement 3, a driving area information input screen 80 for inputting driving area information relating to the field where agricultural work will be performed by the tractor 1, and a work mode information input screen 90 for inputting work mode information necessary to create a work route, which is a route for performing agricultural work within the field. The wireless communication terminal 46 can generate the work route only when the work vehicle information, driving area information, and work mode information have been set.

[0121] As a result, vehicle information is entered individually on the vehicle information input screen 70, driving area information on the driving area information input screen 80, and work type information on the work type information input screen 90. This allows information to be organized by category during input, making the input process easy for the user to understand. Furthermore, since work routes can only be generated when vehicle information, driving area information, and work type information are set, work routes can be created smoothly without any missing information.

[0122] Furthermore, in the work vehicle route generation system 99 of this embodiment, the display control unit 31 can display an input selection screen 60 on which a work vehicle information input operation unit 61, a driving area information input operation unit 62, and a work mode information input operation unit 63 are arranged. The work vehicle information input operation unit 61 is operated when switching to the work vehicle information input screen 70. The driving area information input operation unit 62 is operated when switching to the driving area information input screen 80. The work mode information input operation unit 63 is operated when switching to the work mode information input screen 90. The input selection screen 60 also includes a farm work start operation unit 65, which is operated when starting farm work by the tractor 1. The farm work start operation unit 65 can only be operated when the work route has been created and the information of the work route has been input to the control unit 4.

[0123] As a result, the farm work start operation unit 65 can be operated to start farm work by the tractor 1 only when a work path has been created and the information of that work path has been input to the control unit 4. This effectively eliminates the risk of farm work being started unexpectedly at a time unintended by the user.

[0124] Furthermore, in the work vehicle route generation system 99 of this embodiment, the wireless communication terminal 46 further comprises a storage unit 32. The storage unit 32 stores the work vehicle information, the travel area information, the work mode information, and the information of the created work route. In the storage unit 32, if the work vehicle information, travel area information, or work mode information stored in the storage unit 32 is deleted or modified, the information of the work route created based on that information is automatically deleted.

[0125] This allows for the automatic deletion of work path information that becomes unnecessary due to the deletion or modification of prerequisite information. Therefore, it prevents the unnecessary accumulation of work path information that would otherwise lead to insufficient storage capacity in the memory unit 32, and prevents users from becoming confused when selecting from multiple work paths.

[0126] Furthermore, in the work vehicle route generation system 99 of this embodiment, the work vehicle information includes information regarding engine speed, and if the engine speed specified for a certain tractor 1 is changed, resulting in a change in the vehicle speed limit of the tractor 1, the vehicle speed specified as the work vehicle information for that tractor 1 is automatically changed.

[0127] This means that the specified vehicle speed automatically changes in accordance with the change in engine speed, making the user experience during setup easier.

[0128] Although preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

[0129] In the above embodiment, the driving area information is entered after the work vehicle information has been entered. However, the order of input is not necessarily limited to this, and the work vehicle information may be entered after the driving area information.

[0130] In the above embodiment, the input selection screen 60 is configured such that the work vehicle information input operation unit 61, the travel area information input operation unit 62, the work mode information input operation unit 63, and the work route transfer operation unit 64 are arranged side by side in the left-right direction. However, the embodiment is not limited to this configuration, and for example, these operation units may be arranged vertically instead.

[0131] The items listed above for work vehicle information, driving area information, and work type information are just examples, and the number of items may be fewer or more. For example, the work type information items displayed on the work type information input screen 90 may include "width of side margin (uncultivated land)" and "presence or absence of dummy routes (routes that are passed through without agricultural work)." Alternatively, the work vehicle information items displayed on the work vehicle information input screen 70 may include "amount of fertilizer applied."

[0132] In the above embodiment, various operation buttons for transmitting control signals to the control unit 4 of the tractor 1 are concentrated at the top of the autonomous driving monitoring screen 100. However, instead, various operation buttons for transmitting control signals to the control unit 4 of the tractor 1 may be concentrated on the left or right side of the autonomous driving monitoring screen 100.

[0133] In addition to the vehicle speed sensor 53 and the fuel level sensor 54, the tractor 1 is equipped with various other sensors for detecting the state of the tractor 1. Therefore, the detected values ​​of these sensors may be displayed on the autonomous driving monitoring screen 100.

[0134] In addition to the above, the display items, layout, input methods, etc., on the input selection screen 60, the work vehicle information input screen 70, the driving area information input screen 80, the work mode information input screen 90, and the autonomous driving monitoring screen 100 can be changed as appropriate. Furthermore, the operation buttons on each of the above screens may be assigned to the hardware keys 38.

[0135] Some of the components described as being provided on the wireless communication terminal 46 in the above embodiment may be provided on the tractor 1 side, and some of the components described as being provided on the tractor 1 may be provided on the wireless communication terminal 46 side. That is, in the above embodiment, a work route is generated in the field by operating the wireless communication terminal 46, and it is possible to instruct the tractor to travel along the work route and to start and end work. However, a work route is also to be generated in the field by operating the monitor device 14, and it is also possible to instruct the tractor to travel along the work route and to start and end work. In that case, the wireless communication terminal 46 may not be provided, or the wireless communication terminal 46 may be provided as a means for inputting various information (vehicle information, field information, work information) necessary for generating the work route.

[0136] <Notes on the invention> From the perspective of the present invention, a work vehicle route generation system having the following configuration is provided. That is, this work vehicle route generation system comprises a work vehicle information setting unit, a driving area information setting unit, a work mode information setting unit, a control unit, and a storage unit. The work vehicle information setting unit accepts the setting of work vehicle information having a plurality of items relating to the vehicle body and the work machine attached to the vehicle body. The driving area information setting unit accepts the setting of driving area information having a plurality of items relating to the driving area in which the vehicle body travels. The work mode information setting unit accepts the setting of work mode information having a plurality of items relating to the work mode performed by the work machine. The control unit is capable of generating a work route in which work is performed by the work machine. The storage unit stores work route information indicating the work route generated by the control unit. At least one of the work vehicle information, the driving area information, and the work mode information is composed of a first item that affects the generation of the work route and a second item that does not affect the generation of the work route and is at least the vehicle speed of the work vehicle. The control unit generates the work route based on the work vehicle information, the travel area information, and the work pattern information. The storage unit stores the work route information in association with the first item and the second item. The control unit does not delete the corresponding work route information from the storage unit even if the second item is changed or deleted.

[0137] This ensures that even if items that do not affect the creation of the work path are changed or deleted after the work path has been generated, the memory of the work path will not be deleted.

[0138] In the aforementioned work vehicle route generation system, it is preferable that the control unit automatically deletes the work route information from the storage unit when the first item is changed or deleted.

[0139] This means that if items affecting the work path are changed or deleted, the work path information is automatically deleted, allowing for efficient use of the memory space in the memory unit.

[0140] A route generation system for work vehicles according to one aspect of the present invention includes a display control unit that displays a display screen on a terminal. The display control unit can display a driving area information setting screen as the display screen, which accepts the setting of driving area information relating to the driving area on which the work vehicle travels. On the driving area information setting screen, if driving area information has been set in the past, the driving area information relating to that driving area is displayed in a selectable format. [Explanation of symbols]

[0141] 1. (Robot) Tractor (Work Vehicle) 4. Control Unit (Vehicle Control System) 31 Display Control Unit 35 Work Path Acquisition Unit (Control Unit) 36. Work Vehicle Information Setting Unit 45 Driving Area Information Setting Unit 47 Work Pattern Information Setting Unit 46 Wireless communication terminals 60 Input Selection Screen 70. Work Vehicle Information Input Screen 80 Driving Area Information Input Screen 90. Work Type Information Input Screen 99. Route generation system for work vehicles 100 Autonomous Driving Monitoring Screen

Claims

1. It includes a display control unit that displays a display screen, The display control unit displays an autonomous driving monitoring screen for monitoring autonomously driven work vehicles as the display screen. The autonomous driving monitoring screen displays an adjustment unit for adjusting at least one of the statuses of the work vehicle, namely the vehicle speed and the height of the work machine. The autonomous driving monitoring screen displays a vehicle status display unit that shows at least one of the status of the work vehicle, namely the vehicle speed and the height of the work equipment. The adjustment unit and the vehicle status display unit are displayed simultaneously. At least one of the states of the work vehicle, namely the vehicle speed and the work machine height, can be adjusted by the adjustment unit while the work vehicle is autonomously driving. Display system for work vehicles.

2. The autonomous driving monitoring screen, as the display screen, is displayed on the display of a wireless communication terminal that can communicate wirelessly with the work vehicle. When the adjustment unit is operated, a control signal for adjustment instructions is transmitted from the wireless communication terminal to the work vehicle. A display system for work vehicles according to claim 1.

3. The autonomous driving monitoring screen displays a forward camera display unit that shows video footage taken from in front of the work vehicle. A display system for work vehicles according to claim 1 or 2.

4. The autonomous driving monitoring screen displays a rear camera display unit that shows video footage taken from behind the work vehicle. A display system for work vehicles according to any one of claims 1 to 3.

5. The autonomous driving monitoring screen displays a driving status display unit that shows an image related to the work route the work vehicle is currently traveling. A display system for work vehicles according to any one of claims 1 to 4.

6. The autonomous driving monitoring screen displays a zoom in / out operation unit for zooming in and out of the image displayed on the driving status display unit. The display system for work vehicles according to claim 5.

7. The autonomous driving monitoring screen displays a work time display unit that shows information regarding the work time of the work vehicle. A display system for work vehicles according to any one of claims 1 to 6.

8. The display screen shows an autonomous driving monitoring screen for monitoring autonomously driven work vehicles. The autonomous driving monitoring screen displays an adjustment unit for adjusting at least one of the statuses of the work vehicle, namely the vehicle speed and the height of the work machine. The autonomous driving monitoring screen displays a vehicle status display unit that shows at least one of the status of the work vehicle, namely the vehicle speed and the height of the work equipment. The adjustment unit and the vehicle status display unit are displayed simultaneously. At least one of the states of the work vehicle, namely the vehicle speed and the work machine height, can be adjusted by the adjustment unit while the work vehicle is autonomously driving. Marking method for work vehicles.

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