JP2020068693A - Display device and automatic travelling system - Google Patents

Abstract

To recognize a working position of a work device easily and grasp a working state by the work device.SOLUTION: A display device includes: a work vehicle position information acquisition part for acquiring position information on a work vehicle that automatically travels along a target travelling route based on positioning information on the work vehicle acquired by a satellite positioning system; a working position information acquisition part for acquiring working position information on a work device 12 mounted on the work vehicle 1 for performing predetermined work; and a display control part for causing positional relationships between the work vehicle 1 and the work device 12 to be displayed in a display area 51a of a display part 51 in a working position reference display form with the working position of the work device 12 as a reference based on the position information on the work vehicle 1 acquired by the work vehicle position information acquisition part and the working position information acquired by the working position information acquisition part.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a display device used in an automatic traveling system for automatically traveling a work vehicle along a target traveling route, and an automatic traveling system.

  The above-described automatic traveling system automatically drives the work vehicle along a previously generated target travel route based on positioning information of the work vehicle acquired by using a satellite positioning system or the like (for example, Patent Document 1). See 1.).

  The system described in Patent Document 1 includes a display device (terminal device) having a display unit that displays various kinds of information during work traveling of a work vehicle by automatic driving. The target traveling route and the current position of the work vehicle are displayed on the display area in an overlapping manner on the display unit during the work traveling of the work vehicle so that the user or the like can check the traveling status of the work vehicle.

JP, 2018-114928, A

  In the display device described in Patent Document 1, when the target travel route and the current position of the work vehicle are displayed in a superimposed manner on the display area, the current position of the work vehicle such as the central portion in the left-right direction of the display area is displayed. The current position of the vehicle is displayed as a reference.

  However, the work device mounted on the work vehicle is not limited to the work position which is the same or substantially the same as the running position of the work vehicle in the left-right direction of the work vehicle, and the work position of the work device and the running position of the work vehicle. There is one where and are located apart from each other in the left-right direction of the work vehicle. For example, in a work device such as an offset mower or a frame mower, the work device is arranged at a position apart from the traveling position of the work vehicle in the left-right direction to perform work such as mowing. Further, for example, in a work device such as a reversible plow, the length of the work device in the front-rear direction of the work vehicle becomes long. Therefore, even in the front-back direction of the work vehicle, the work position of the work device and the traveling position of the work vehicle may be separated from each other.

  In this way, when the traveling position of the work vehicle and the work position of the work device are distant from each other, as in the display device described in Patent Document 1, in the display area, the work device that is the current position of the work vehicle is displayed. When the display is performed based on the traveling position, the work position of the work device may be displayed on the end side of the display area, or the work position of the work device may deviate from the display area in some cases. Therefore, it is difficult for the user or the like to recognize the work position of the work device, and it is difficult to grasp the work status of the work device.

  In view of this actual situation, a main problem of the present invention is to provide a display device capable of easily recognizing a work position of a work device and grasping a work situation by the work device, and an automatic traveling using the display device. The point is to provide the system.

A first characteristic configuration of the present invention is a work vehicle position information acquisition unit that acquires position information of a work vehicle to automatically travel along a target travel route based on positioning information of the work vehicle acquired by a satellite positioning system,
A work position information acquisition unit that acquires work position information of a work device mounted on a work vehicle and performing a predetermined work,
A work vehicle and a work device based on the work position of the work device based on the work vehicle position information acquired by the work vehicle position information acquisition unit and the work position information acquired by the work position information acquisition unit. And a display control unit for displaying in the display area of the display unit in the work position reference display form for displaying the positional relationship of.

  According to this configuration, the display control unit displays in the display area of the display unit in the work position reference display mode in which the positional relationship between the work vehicle and the work device is displayed based on the work position of the work device. Can easily grasp what position the work position of the work device is located in the display area. Accordingly, the user can easily recognize the work position of the work device, and the work status of the work device can be grasped, which is a useful display device.

A second characteristic configuration of the present invention is a work vehicle position information acquisition unit that acquires position information of a work vehicle to be automatically driven along a target travel route based on positioning information of the work vehicle acquired by a satellite positioning system,
A work position information acquisition unit that acquires work position information of a work device mounted on a work vehicle and performing a predetermined work,
A work vehicle and a work device based on the work position of the work device based on the work vehicle position information acquired by the work vehicle position information acquisition unit and the work position information acquired by the work position information acquisition unit. And a display control unit for displaying in the display area of the display unit in the work position reference display form for displaying the positional relationship of.

  According to this configuration, similarly to the first characteristic configuration, the display control unit displays the display unit in the work position reference display mode in which the positional relationship between the work vehicle and the work device is displayed based on the work position of the work device. Since the information is displayed in the area, the user or the like can easily understand what position the work position of the work device is located in the display area. As a result, the user or the like can easily recognize the work position of the work device, and the useful automatic traveling system can grasp the work situation of the work device.

  According to a third characteristic configuration of the present invention, in the work position reference display form, the display control unit sets the work position of the work device in a central portion or a substantially central portion in at least one of a left-right direction and a vertical direction in the display area. It is a point to display the positional relationship between the work vehicle and the work device in the form of being positioned in the section.

  According to this configuration, in the work position reference display mode, the work position of the work device is located in the central portion or the substantially central portion in at least one of the horizontal direction and the vertical direction in the display area. However, since the user is not located on the edge side of the display area or does not deviate from the display area, the user or the like can appropriately and easily grasp the work position of the work device, and the work status of the work device can be appropriately determined. You can figure it out.

  According to a fourth characteristic configuration of the present invention, the display control unit is based on position information of a work vehicle acquired by the work vehicle position information acquisition unit and work position information acquired by the work position information acquisition unit. , A display form in the display area that can be displayed in the display area in a travel position reference display form that displays the positional relationship between the target travel route, the work vehicle, and the work device based on the travel position of the work vehicle, and The working position reference display form and the traveling position reference display form are switchable.

  According to this configuration, the display control unit displays the target traveling route, the positional relationship between the work vehicle, and the working device in the display area in the display area in which the positional relationship between the work vehicle and the working device is displayed based on the traveling position of the work vehicle. And the like can easily grasp what position the traveling position of the work vehicle is located with respect to the target traveling route, and can grasp the traveling situation of the work vehicle.

  When the work vehicle is automatically driven to perform work, there are cases where the user or the like wants to know the work position of the work device and the work vehicle. Therefore, according to this configuration, the display control unit is configured to be able to switch the display form in the display area between the work position reference display form and the traveling position reference display form, and therefore, it is desired to grasp the work position of the work device. In this case, the display control unit can switch to the work position reference display form, and when it is desired to grasp the traveling position of the work vehicle, the display control unit can switch to the travel position reference display form. As a result, not only the working status of the working device but also the traveling status of the work vehicle can be appropriately grasped while flexibly responding to the requests of the user and the like.

Diagram showing the schematic configuration of the automatic driving system Block diagram showing the schematic configuration of the automated driving system Diagram showing the work area with the target travel route set The figure which shows the display in the traveling position reference display form on the display unit. The figure which shows the display in the work position reference display form on the display unit The figure which shows the display in the traveling position reference display form on the display unit. The figure which shows the display in the work position reference display form on the display unit The figure which shows the display in the work position reference display form on the display unit The figure which shows the selection screen for selecting a display form in a display part Flowchart showing the operation of the display control unit

An embodiment of an automatic traveling system using a display device according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, this automatic traveling system uses a tractor 1 as a work vehicle. It can also be applied to unmanned work vehicles such as unmanned mowers.

  As shown in FIGS. 1 and 2, the automatic traveling system includes an automatic traveling unit 2 mounted on a tractor 1, and a mobile communication terminal 3 (corresponding to a display device) that is set to communicate with the automatic traveling unit 2. To do). As the mobile communication terminal 3, a tablet-type personal computer or a smartphone having a touch-operable touch panel type display unit 51 (for example, a liquid crystal panel) or the like can be adopted.

  The tractor 1 is provided with a traveling machine body 7 having left and right front wheels 5 that function as drivable steered wheels, and drivable left and right rear wheels 6. A bonnet 8 is arranged on the front side of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter, referred to as an engine) 9 including a common rail system is provided in the bonnet 8. A cabin 10 that forms a boarding-type driving unit is provided behind the hood 8 of the traveling machine body 7.

  A rotary tiller, which is an example of the working device 12, can be connected to the rear part of the traveling machine body 7 via a three-point link mechanism 11 so as to be capable of moving up and down and rolling. Instead of the rotary tiller, various working devices 12 such as a mower, a plow, a seeding device, and a spraying device can be connected to the rear part of the tractor 1.

  As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 for shifting power from the engine 9, an all-hydraulic power steering mechanism 14 for steering left and right front wheels 5, and left and right rear wheels 6. Left and right side brakes (not shown) for braking, an electronically controlled brake operating mechanism 15 that enables hydraulic operation of the left and right side brakes, a work clutch for intermittently transmitting power to the work device 12 such as a rotary tiller (see FIG. (Not shown), an electronically controlled clutch operating mechanism 16 for enabling hydraulic operation of a working clutch, an electronic hydraulically controlled lifting drive mechanism 17 for lifting and lowering a working device 12 such as a rotary tiller, automatic traveling of the tractor 1, etc. A vehicle-mounted electronic control unit 18 having various control programs relating to the vehicle, a vehicle speed sensor 19 for detecting the vehicle speed of the tractor 1, and a steering angle sensor for detecting the steering angle of the front wheels 5. 20, and the positioning unit 21 and the like for measuring the current position and current heading of the tractor 1 is provided.

  The engine 9 may be an electronically controlled gasoline engine equipped with an electronic governor. The transmission 13 may be a hydromechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt continuously variable transmission, or the like. The power steering mechanism 14 may be an electric power steering mechanism 14 having an electric motor.

  Inside the cabin 10, as shown in FIG. 1, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for a passenger, and a touch panel. An expression display unit and various operating tools are provided.

  As shown in FIG. 2, the vehicle-mounted electronic control unit 18 includes a shift control unit 181 that controls the operation of the transmission 13, a braking control unit 182 that controls the operation of the left and right side brakes, and a working device 12 such as a rotary tiller. A work device control unit 183 that controls the operation, a steering angle setting unit 184 that sets the target steering angles of the left and right front wheels 5 during automatic traveling and outputs the target steering angles to the power steering mechanism 14, and a pre-generated target traveling for automatic traveling. It has a nonvolatile vehicle-mounted storage unit 185 for storing the route P (see, for example, FIG. 3) and the like.

  As shown in FIG. 2, the positioning unit 21 uses a GPS (Global Positioning System), which is an example of a satellite positioning system (NSS) to measure the current position and the current bearing of the tractor 1. The navigation device 22 and an inertial measurement unit (IMU: Inertial Measurement Unit) 23 having a three-axis gyroscope, a three-direction acceleration sensor, and the like to measure the posture, direction, and the like of the tractor 1 are provided. Positioning methods using GPS include DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinematic GPS: interference positioning method). In this embodiment, RTK-GPS, which is suitable for positioning a moving body, is adopted. Therefore, as shown in FIGS. 1 and 2, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the field.

  As shown in FIG. 2, each of the tractor 1 and the reference station 4 includes positioning antennas 24 and 61 that receive radio waves transmitted from a positioning satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. Communication modules 25, 62 and the like are provided for enabling wireless communication of various information including positioning information in. As a result, the satellite navigation device 22 receives the positioning information obtained by the positioning antenna 24 on the tractor side receiving the radio wave from the positioning satellite 71 and the positioning antenna 61 on the base station side receiving the radio wave from the positioning satellite 71. Based on the obtained positioning information, the current position and current direction of the tractor 1 can be measured with high accuracy. Further, the positioning unit 21 includes the satellite navigation device 22 and the inertial measurement device 23 to measure the current position, current azimuth, and attitude angle (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy. You can

  The positioning antenna 24, the communication module 25, and the inertial measurement device 23 provided in the tractor 1 are housed in an antenna unit 80 as shown in FIG. The antenna unit 80 is arranged at an upper position on the front surface side of the cabin 10.

  As shown in FIG. 2, the mobile communication terminal 3 has positioning information between the terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and the communication module 25 on the tractor side. The communication module 53 and the like that enable wireless communication of various information including The terminal electronic control unit 52 includes a travel route generation unit 54 that generates a target travel route P (see, for example, FIG. 3) for causing the tractor 1 to automatically travel, and various input information and a travel route generation unit input by the user. The non-volatile terminal storage unit 55 stores the target travel route P and the like generated by the unit 54.

  When the travel route generation unit 54 generates the target travel route P, a user such as a driver or an administrator or the like follows a work vehicle, according to the input guidance for setting the target travel route displayed on the display unit 51 of the mobile communication terminal 3. Vehicle body information such as the type and model of the work device 12 is input, and the input vehicle body information is stored in the terminal storage unit 55. The work area S (see FIG. 3) that is the target of generation of the target travel route P is a farm field, and the terminal electronic control unit 52 of the mobile communication terminal 3 acquires the farm field information including the shape and position of the farm field, and the terminal storage unit. It is stored in 55.

  The acquisition of field information will be described. When the user or the like drives the tractor 1 to actually travel, the terminal electronic control unit 52 causes the terminal unit electronic control unit 52 to acquire the shape and position of the field from the current position of the tractor 1 acquired by the positioning unit 21. It is possible to acquire position information for specifying the information such as The terminal electronic control unit 52 specifies the shape and position of the field from the acquired position information, and acquires the field information including the work area S specified from the shape and position of the specified field. FIG. 3 shows an example in which the rectangular work area S is specified.

  When the field information including the shape and position of the specified field is stored in the terminal storage unit 55, the traveling route generation unit 54 uses the field information and the vehicle body information stored in the terminal storage unit 55 to calculate the target. The travel route P is generated.

  As shown in FIG. 3, the travel route generator 54 divides the work area S into a central area R1 and an outer peripheral area R2. The central region R1 is set in the central portion of the work region S, and is a reciprocal work region in which the tractor 1 automatically travels in the reciprocating direction to perform a predetermined work (for example, work such as plowing). The outer peripheral region R2 is set around the central region R1. The travel route generation unit 54 uses, for example, a space for turning travel required for turning the tractor 1 on the shore of the field based on the turning radius included in the vehicle body information, the front-rear width, the left-right width, and the like of the tractor 1. Are seeking. The travel route generation unit 54 divides the work area S into a central region R1 and an outer peripheral region R2 so as to secure the space and the like determined on the outer periphery of the central region R1.

  As shown in FIG. 3, the traveling route generation unit 54 uses the vehicle body information, the field information, and the like to generate the target traveling route P. For example, the target travel route P includes a plurality of linear work routes P1 that have the same straight travel distance in the central region R1 and that are arranged in parallel at a certain distance corresponding to the work width. The plurality of work paths P1 are paths for performing a predetermined work while the tractor 1 travels straight. The connection path P2 is a U-turn path for changing the traveling direction of the tractor 1 by 180 degrees without performing a predetermined work, and connects the end of the work path P1 and the start of the next adjacent work path P1. ing.

  Incidentally, the target travel route P shown in FIG. 3 is merely an example, and what kind of target travel route is set can be appropriately changed. For example, the travel route generation unit 54 may generate only the work route P1 without generating the connection route P2. For example, the traveling route generation unit 54 generates a linear initial linear route based on the moving trajectory when the user or the like drives the tractor 1 and actually travels, and a plurality of parallel parallel routes to the initial linear route. By generating the route, the initial linear route and the plurality of parallel routes can be set as the work route P1. In this case, the initial linear path can be appropriately extended, and a plurality of parallel paths parallel to the extended initial linear path can be generated.

  The target travel route P generated by the travel route generation unit 54 can be displayed on the display unit 51, and is stored in the terminal storage unit 55 as route information associated with the vehicle body information, the field information, and the like. The route information includes an azimuth angle of the target traveling route P, a set engine rotation speed set according to the traveling mode of the tractor 1 on the target traveling route P, the target traveling speed, and the like.

  In this way, when the travel route generation unit 54 generates the target travel route P, the terminal electronic control unit 52 transfers the route information from the mobile communication terminal 3 to the tractor 1, so that the vehicle-mounted electronic control unit 18 of the tractor 1 is transferred. However, the route information can be acquired. The vehicle-mounted electronic control unit 18 causes the tractor 1 to automatically travel along the target travel route P while the positioning unit 21 acquires its own current position (current position of the tractor 1) based on the acquired route information. You can The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, every few milliseconds), and the mobile communication terminal 3 displays the current position of the tractor 1. I have a grasp.

  Regarding the transfer of the route information, the entire route information can be transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18 all at once before the tractor 1 starts the automatic traveling. Further, for example, the route information including the target travel route P can be divided into a plurality of route portions for each predetermined distance having a small amount of information. In this case, only the initial route portion of the route information is transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18 before the tractor 1 starts the automatic traveling. After the automatic traveling is started, every time the tractor 1 reaches the route acquisition point set according to the amount of information or the like, the route electronic information from the terminal electronic control unit 52 is applied to the route information of only the route portion corresponding to the point. It may be transferred to the unit 18.

  When the automatic traveling of the tractor 1 is started, for example, when a user or the like moves the tractor 1 to a start point and various automatic traveling start conditions are satisfied, the user displays the display unit 51 on the mobile communication terminal 3. The mobile communication terminal 3 transmits an instruction to start the automatic traveling to the tractor 1 by operating the to instruct the start of the automatic traveling. As a result, in the tractor 1, the vehicle-mounted electronic control unit 18 receives the automatic traveling start instruction, and the positioning unit 21 obtains its own current position (current position of the tractor 1) while the target traveling route P is being acquired. The automatic traveling control for automatically traveling the tractor 1 along the line is started. The vehicle-mounted electronic control unit 18 automatically drives the tractor 1 along the target travel route P in the work area S based on the positioning information of the tractor 1 acquired by the positioning unit 21 using the satellite positioning system. It is configured as an automatic traveling control unit that performs

  The automatic traveling control includes automatic shift control for automatically controlling the operation of the transmission 13, automatic braking control for automatically controlling the operation of the brake operating mechanism 15, automatic steering control for automatically steering the left and right front wheels 5, and a rotary tiller. And the like, automatic work control for automatically controlling the operation of the work device 12, etc. are included.

  In the automatic shift control, the shift control unit 181 detects the tractor 1 on the target travel route P based on the route information of the target travel route P including the target travel speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target traveling speed set according to the traveling form or the like can be obtained as the vehicle speed of the tractor 1.

  In the automatic braking control, the braking control unit 182 causes the left and right side brakes to move to the left and right in the braking area included in the route information of the target travel route P based on the target travel route P and the output of the positioning unit 21. The operation of the brake operating mechanism 15 is automatically controlled so as to properly brake the wheels 6.

  In the automatic steering control, the steering angle setting unit 184 sets the targets of the left and right front wheels 5 based on the route information of the target traveling route P and the output of the positioning unit 21 so that the tractor 1 automatically travels on the target traveling route P. The steering angle is obtained and set, and the set target steering angle is output to the power steering mechanism 14. The power steering mechanism 14 automatically steers the left and right front wheels 5 based on the target steering angle and the output of the steering angle sensor 20 so that the target steering angle is obtained as the steering angle of the left and right front wheels 5.

  In the automatic work control, the work device control unit 183 causes the tractor 1 to perform work such as the start end of the work route P1 (see, for example, FIG. 3) based on the route information of the target travel route P and the output of the positioning unit 21. A predetermined work (for example, plowing work) by the work device 12 is started along with reaching the start point, and the tractor 1 reaches the work end point such as the end of the work path P1 (for example, see FIG. 3). Accordingly, the operations of the clutch operating mechanism 16 and the lifting drive mechanism 17 are automatically controlled so that the predetermined work by the working device 12 is stopped.

  In this way, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operating mechanism 15, the clutch operating mechanism 16, the lift drive mechanism 17, the vehicle-mounted electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, the positioning. The unit 21 and the communication module 25 constitute the automatic traveling unit 2.

  In this embodiment, not only the tractor 1 can be automatically run without the user or the like riding in the cabin 10, but the tractor 1 can also be automatically run while the user or the like is loaded in the cabin 10. Therefore, the tractor 1 can be automatically driven along the target travel route P by the automatic travel control by the vehicle-mounted electronic control unit 18 without the user or the like boarding the cabin 10, and the user or the like can board the cabin 10. Even when the tractor 1 is running, the tractor 1 can be automatically driven along the target travel route P by the automatic travel control by the vehicle-mounted electronic control unit 18.

  When a user or the like is in the cabin 10, the vehicle-mounted electronic control unit 18 switches between an automatic traveling state in which the tractor 1 is automatically traveling and a manual traveling state in which the tractor 1 is traveling based on the driving by the user or the like. be able to. Therefore, it is possible to switch from the automatic traveling state to the manual traveling state while the target traveling route P is automatically traveling in the automatic traveling state, and conversely, the manual traveling is performed while traveling in the manual traveling state. The state can be switched to the automatic traveling state. Regarding switching between the manual traveling state and the automatic traveling state, for example, a switching operation unit for switching between the automatic traveling state and the manual traveling state can be provided near the driver's seat 39, and the switching operation unit can be carried. It can also be displayed on the display unit 51 of the communication terminal 3. When the user operates the steering wheel 38 during the automatic traveling control by the vehicle-mounted electronic control unit 18, the automatic traveling state can be switched to the manual traveling state.

  As shown in FIGS. 1 and 2, the tractor 1 is provided with an obstacle detection system 100 for detecting an obstacle around the tractor 1 (traveling vehicle 7) and avoiding a collision with the obstacle. ing. The obstacle detection system 100 includes a plurality of lidar sensors 101 and 102 capable of three-dimensionally measuring a distance to a measurement target using a laser and a plurality of lidar sensors capable of measuring a distance to the measurement target using an ultrasonic wave. Sonar units 103 and 104 having sonar, an obstacle detection unit 110, and a collision avoidance control unit 111 are provided.

  Objects to be measured by the rider sensors 101 and 102 and the sonar units 103 and 104 are objects and people. The rider sensors 101 and 102 include a front rider sensor 101 whose front side of the tractor 1 is a measurement target and a rear rider sensor 102 whose rear side of the tractor 1 is a measurement target. Each of the sonar units 103 and 104 includes a right-side sonar unit 103 whose right side is the tractor 1 to be measured and a left-side sonar unit 104 whose left side is the tractor 1 to be measured.

  The obstacle detection unit 110 performs an obstacle detection process for detecting an object to be measured such as an object or a person within a predetermined distance as an obstacle based on the measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104. Is configured. The collision avoidance control unit 111 is configured to perform a collision avoidance control for decelerating the tractor 1 or stopping traveling of the tractor 1 when the obstacle detecting unit 110 detects an obstacle. In the collision avoidance control, the collision avoidance control unit 111 not only decelerates the tractor 1 or stops the traveling of the tractor 1, but also activates the alarm device 26 such as an alarm buzzer or an alarm lamp to detect that an obstacle exists. I am informing you. In the collision avoidance control, the collision avoidance control unit 111 uses the communication modules 25 and 53 to communicate with the mobile communication terminal 3 from the tractor 1 and display the presence of the obstacle on the display unit 51, so that the obstacle exists. It is possible to inform that it will be done.

  The obstacle detection unit 110 repeats the obstacle detection processing based on the measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104 in real time to appropriately detect obstacles such as objects and people. The collision avoidance control unit 111 is configured to perform collision avoidance control for avoiding a collision with an obstacle that is detected in real time.

  The obstacle detection unit 110 and the collision avoidance control unit 111 are included in the vehicle-mounted electronic control unit 18. The vehicle-mounted electronic control unit 18 is communicatively connected to an electronic control unit for an engine, a rider sensor 101, 102, a sonar unit 103, 104, etc. included in a common rail system via a CAN (Controller Area Network). There is.

  In the mobile communication terminal 3, when the tractor 1 is automatically traveled, the positional relationship between the tractor 1 and the working device 12 is displayed on the display unit 51, as shown in FIGS. 4 to 8. This allows the user or the like to know the traveling status of the tractor 1 and the working status of the work device 12 during the automatic travel of the tractor 1. Hereinafter, what kind of display is performed on the display unit 51 of the mobile communication terminal 3 will be described based on FIGS. 4 to 8.

  As shown in FIG. 2, the mobile communication terminal 3 includes a work vehicle position information acquisition unit 56 that acquires position information of the tractor 1 and work position information that acquires work position information of the work device 12 mounted on the tractor 1. An acquisition unit 57 and a display control unit 58 that controls the display form on the display unit 51 are provided.

  Since the positioning unit 21 of the tractor 1 acquires the position information of the tractor 1 using the satellite positioning system, the work vehicle position information acquisition unit 56 causes the communication module 25 on the tractor 1 side and the communication on the mobile communication terminal 3 side. The position information of the tractor 1 is acquired via wireless communication with the module 53.

  As described above, when the travel route generation unit 54 generates the target travel route P, the user or the like inputs vehicle body information such as the types and models of the tractor 1 and the work device 12 into the mobile communication terminal 3, and The input vehicle body information is stored in the terminal storage unit 55. As a result, during the automatic traveling of the tractor 1, based on the vehicle body information stored in the terminal storage unit 55, the positional relationship of the working device 12 with respect to the traveling position of the tractor 1 (the current position of the tractor 1). You can figure out what will be placed. Therefore, the work position information acquisition unit 57 acquires the travel position of the tractor 1 (the current position of the tractor 1) from the position information of the tractor 1 acquired by the work vehicle position information acquisition unit 56, and the travel position of the tractor 1. Also, the work position information of the work device 12 is acquired based on the vehicle body information stored in the terminal storage unit 55.

  Incidentally, depending on the work device 12, there is a work device 12 itself equipped with a positioning antenna for receiving the radio waves transmitted from the positioning satellite 71 (see FIG. 1). If the work device 12 is equipped with the positioning antenna, the work position information acquisition unit 57 can acquire the work position information of the work device 12 from the reception information of the positioning antenna.

  The display control unit 58 specifies the traveling position of the tractor 1 (the current position of the tractor 1) based on the position information of the tractor 1 acquired by the work vehicle position information acquisition unit 56, and acquires the work position information acquisition unit 57. The work position of the work device 12 is specified based on the work position information. As shown in FIGS. 4 to 8, the display control unit 58 causes the display unit 51 to display a positional relationship between at least the identified traveling position of the tractor 1 and the working position of the work device 12 on the map. It is displayed. The display unit 51 is provided with a plurality of display areas. As shown in FIGS. 4 to 8, the display control unit 58 displays the map display area 51a (on the lower right side in FIGS. 4 to 8). In the display area), at least the positional relationship between the traveling position of the tractor 1 and the working position of the working device 12 is displayed. Since there are two display forms in the display area 51a, each display form will be described below.

  4, 5, and 8, unlike FIG. 1, as the working device 12, the working device 12 is arranged at a position apart from the tractor 1 in the left-right direction of the tractor 1 to perform work such as lawn mowing. The case where the offset mower to be performed is attached to the tractor 1 is shown. 6 and 7, a case where a reversible plow having a long length of the working device 12 in the front-rear direction of the tractor 1 is mounted on the tractor 1 as the working device 13 Shows.

  The terminal electronic control unit 52 of the mobile communication terminal 3 registers the work route P1 that has been worked and the worked portion of the target travel route P and stores it in the terminal storage unit 55. The display control unit 58 attaches a color (gray in FIGS. 4 to 8) to the stored work path P1 and the completed work area to store the unworked work path P1 and the unworked area. It is possible to identify the work path P1 and the work completed place.

  The first display mode is, as shown in FIGS. 4 and 6, the positional relationship between the work route P1, the tractor 1, and the work device 12 in the target travel route P on the map with the traveling position of the tractor 1 as a reference. It is a traveling position reference display form to be displayed. In the configuration shown in FIG. 4, the display control unit 58, as the traveling position reference display form, positions the traveling position of the tractor 1 in the central portion or substantially the central portion in the left-right direction of the display area 51a, and the working path P1 and the tractor. 1 and the work device 12 are displayed in a superimposed manner on the display area 51a. In the configuration shown in FIG. 6, the display control unit 58 sets the traveling position of the tractor 1 at the central portion or substantially the central portion in the vertical direction of the display area 51a as the traveling position reference display form, and the working path P1 and the tractor are arranged. 1 and the work device 12 are displayed in a superimposed manner on the display area 51a.

  When the traveling position of the tractor 1 is used as a reference in the traveling position reference display form, the traveling position of the tractor 1 is positioned in the central portion or the substantially central portion in the left-right direction of the display area 51a (see FIG. 4), It does not matter whether the display area 51a is positioned at the central portion or the substantially central portion in the vertical direction (see FIG. 6), and it can be appropriately set according to various conditions such as a user's request. .. Although illustration is omitted, as the traveling position reference display form, the display control unit 58 is a form in which the traveling position of the tractor 1 is located at the central portion or substantially the central portion in both the left-right direction and the vertical direction of the display area 51a. The positional relationship among the work route P1, the tractor 1, and the work device 12 may be set to be displayed in the display area 51a.

  As described above, in the traveling position reference display mode, as shown in FIGS. 4 and 6, the traveling position of the tractor 1 is located in the central portion, and the traveling position of the tractor 1 is used as a reference, and the work path P1, the tractor 1, and the work are performed. Since the device 12 is displayed in a superimposed manner, it is possible to easily grasp whether or not the traveling position of the tractor 1 is deviated from the work route P1, and it becomes easy to grasp the traveling situation of the tractor 1. There is. Accordingly, not only during the automatic traveling of the tractor 1 but also when the automatic traveling of the tractor 1 is started with the start point of the automatic traveling on the work route P1, for example, the position of the traveling position of the tractor 1 and the position of the work route P1. The relationship can be easily grasped, the adjustment work for moving the traveling position of the tractor 1 onto the work path P1 can be smoothly performed, and the automatic traveling of the tractor 1 can be smoothly started.

  However, in the traveling position reference display mode, the traveling position of the tractor 1 is located in the center and is displayed with the traveling position of the tractor 1 as a reference. Therefore, as shown in FIG. On the other hand, when an offset mower is used to perform work at a position displaced in the left-right direction, the work position of the work device 12 and the traveling position of the tractor 1 are separated from each other in the left-right direction. Therefore, the work position of the work device 12 is displayed on the end portion side of the display area 51a in the left-right direction, it is difficult to recognize which position the work device 12 is, and it is difficult to grasp the work status of the work device 12. Become. Further, as shown in FIG. 6, when a long reversible plow is applied to the rear side in the traveling direction of the tractor 1 as the working device 12, the working position of the working device 12 and the traveling position of the tractor 1 are the same as those of the tractor 1. The positions are separated in the front-back direction. Therefore, the work position of the work device 12 is displayed on the vertical end side of the display area 51a, it is difficult to recognize which position the work position of the work device 12 is, and it is difficult to grasp the work status of the work device 12. Become.

  Therefore, as a second display mode, the display control unit 58 displays the positional relationship between the work device 12 and the tractor 1 on the map with reference to the work position of the work device 12, as shown in FIGS. 5 and 7. The work area is displayed in the display area 51a in the work position reference display form. In FIG. 5, the display control unit 58, as a work position reference display form, positions the work position of the work device 12 in the center or substantially the center in the left-right direction of the display area 51a and the work with the tractor 1. The device 12 and the display area 51a are displayed in a superimposed manner. In the configuration shown in FIG. 7, the display control unit 58, as a work position reference display form, positions the work position of the work device 12 at the central portion or substantially the central portion in the vertical direction of the display area 51a and the work with the tractor 1. The device 12 and the display area 51a are displayed in a superimposed manner.

  As shown in FIG. 5, in the work position reference display mode, the display control unit 58 is a linear shape that indicates the center of the work position of the work device 12 in the left-right direction of the display area 51a in addition to the tractor 1 and the work device 12. The work position line L is superimposed and displayed. The display control unit 58 can display the work route P1 in addition to the tractor 1 and the work device 12 in a superimposed manner, as shown by the dotted line in FIG. 5, instead of displaying the work position line L in a superimposed manner. Further, the display control unit 58 can also display both the work position line L and the work route P1 in a superimposed manner, and whether or not the work position line L and the work route P1 are displayed in a superimposed manner can be appropriately changed.

  As described above, in the work position reference display mode, as shown in FIG. 5, the work position of the work device 12 is located at the center of the display area 51a in the left-right direction, and the work position of the work device 12 is used as a reference to extract the tractor 1 from the work position. In addition to the work device 12 and the work device 12, the work position line L or the work path P1 is displayed in a superimposed manner, so that the work position of the work device 12 in the left-right direction of the tractor 1 can be easily grasped. Therefore, the working status of the working device 12 can be easily grasped.

  The automatic traveling system is provided with an offset function for automatically traveling the tractor 1 by offsetting the work route P1 on the target traveling route P in a direction orthogonal to the traveling direction. When the tractor 1 is automatically driven by this offset function, the work position line L or the work route P1 is superimposed on the display area 51a in addition to the tractor 1 and the work device 12 in the work position reference display form shown in FIG. By displaying it, the user or the like can easily recognize what the working position of the working device 12 is in the left-right direction of the tractor 1, and the adjustment of the offset amount of the tractor 1 with respect to the working path P1. Can be done easily. For example, the user or the like only needs to adjust the offset amount so that the work position of the work device 12 becomes the desired position in the left-right direction of the display area 51a.

  As shown in FIG. 7, the display control unit 58 sets the work position of the work device 12 to the central portion in the vertical direction of the display area 51a as the work position reference display form, and uses the work position of the work device 12 as a reference. Since it is displayed, even when the working device 12 such as a reversible plow is attached, the working position of the working device 12 is at a position where it can be easily recognized, and the working position of the working device 12 in the front-rear direction of the tractor 1 can be determined. It is possible to easily grasp whether it is in a proper position, and it is easy to grasp the working state of the working device 12.

  Further, in the one shown in FIG. 7, the display control unit 58 superimposes and displays the work path P1 in addition to the tractor 1 and the work device 12 as the work position reference display form. In this case, since the work position of the work device 12 is located in the central portion in the vertical direction of the display area 51a, the positions of the tractor 1 and the work device 12 in the horizontal direction of the display area 51a are the same as the traveling positions shown in FIG. It is the same as the standard display form. Therefore, in the work position reference display mode, the display control unit 58 displays the work path P1 in addition to the tractor 1 and the work device 12, so that the work position of the work device 12 in the left-right direction of the tractor 1 is determined. It is possible to easily grasp whether or not it is in a proper position, and it is easy to grasp the working situation by the working device 12.

  When the work position of the work device 12 is used as a reference in the work position reference display form, the work position of the work device 12 is located at the center or substantially the center in the left-right direction of the display area 51a (see FIG. 5). It does not matter whether the display area 51a is positioned at the central portion or the substantially central portion in the vertical direction (see FIG. 7), and it may be appropriately set according to various conditions such as the user's request. You can Further, as shown in FIG. 8, as the work position reference display form, the display control unit 58 positions the work position of the work device 12 at the central portion or substantially the central portion in both the left-right direction and the vertical direction of the display area 51a. In addition to the tractor 1 and the work device 12, the work position line L or the work route P1 may be set to be displayed in a superimposed manner.

  As described above, there are two display forms in the display area 51a of the display unit 51, that is, the traveling position reference display form and the work position reference display form. As shown in FIG. Alternatively, it is possible to select whether to display the work position reference display form.

  FIG. 9 is a selection screen for selecting the display form displayed on the display unit 51. On the selection screen shown in FIG. 9, the user or the like can perform a selection operation to select whether to display in the traveling position reference display form or the work position reference display form. In FIG. 9, in the case of displaying in the traveling position reference display form, the upper side "own vehicle (antenna) center position" is selected and operated, and in the case of displaying in the working position reference display form, the lower side "display position" is displayed. Select "Work center position". In FIG. 9, a case is shown in which the “center position of the own vehicle (antenna)” on the upper side is selected and operated.

  The operation of the display control unit 58 will be described based on the flowchart of FIG. 10. The display control unit 58 causes the display control unit 58 to select and operate “own vehicle (antenna) center position” in FIG. 9 or “work center position”. "" Is selected and operated (step # 1). When the "center position of own vehicle (antenna)" is selected and operated, the display control unit 58 displays the tractor 1 and the work device 12 in the display area 51a in the traveling position reference display form (see FIG. 4 or 6). And the like are displayed in a superimposed manner (in the case of No in step # 1, step # 2). Conversely, when the "work center position" is selected and operated, the display control unit 58 displays the work position reference display mode (see FIG. 5, FIG. 7, or FIG. 8) in the display area 51a and the work with the tractor 1. The device 12 and the like are superimposed and displayed (in the case of Yes in step # 1, step # 3).

[Another embodiment]
Another embodiment of the present invention will be described.
The configurations of the respective embodiments described below are not limited to being applied individually, but may be applied in combination with the configurations of other embodiments.

(1) The configuration of the work vehicle can be variously changed.
For example, the work vehicle may be configured to have a hybrid specification including the engine 9 and an electric motor for traveling, or may be configured to have an electric specification including an electric motor for traveling instead of the engine 9. ..
For example, the work vehicle may be configured as a semi-crawler specification in which left and right crawlers are provided instead of the left and right rear wheels 6 as a traveling unit.
For example, the work vehicle may have a rear wheel steering specification in which the left and right rear wheels 6 function as steered wheels.

(2) In the above-described embodiment, in the work position reference display form, the work position of the work device 12 is located in the central portion or substantially the central portion in the left-right direction of the display area 51a (see FIG. 5). Either of the form of arranging in the central part or substantially the center part in the vertical direction (see FIG. 7) and the form of arranging in the central part or substantially the central part in both the left-right direction and the vertical direction of the display area 51a (see FIG. 8). However, the present invention is not limited to these forms, and other forms can be displayed.
For example, the user can specify the location where the work position of the work device 12 is located in the display area 51a. In this case, in addition to the tractor 1 and the working device 12, the display control unit 58 positions the working position of the working device 12 at the position designated by the user in the display area 51a, and the working position line L or the working position. The route P1 can be displayed in a superimposed manner.

(3) In the above-described embodiment, in the traveling position reference display mode, the traveling position of the tractor 1 is positioned in the central portion or substantially the central portion in the left-right direction of the display area 51a (see FIG. 4), and in the vertical direction of the display area 51a. As a mode of arranging at a central portion or a substantially central portion in the direction (see FIG. 6) and a shape of arranging at the central portion or a substantially central portion in both the left-right direction and the vertical direction of the display area 51a (not shown) However, the display is not limited to these forms, and the display can be made in other forms.
For example, the user can specify the location where the traveling position of the tractor 1 is located in the display area 51a. In this case, the display control unit 58 can superimpose and display the work route P1, the tractor 1, and the work device 12 in a form in which the traveling position of the tractor 1 is located at a position designated by the user in the display area 51a. .

1 tractor (work vehicle)
12 work device 51 display unit 51a display area 56 work vehicle position information acquisition unit 57 work position information acquisition unit 58 display control unit P target travel route

Claims (4)

A work vehicle position information acquisition unit that acquires position information of the work vehicle to be automatically traveled along the target travel route based on the positioning information of the work vehicle acquired by the satellite positioning system,
A work position information acquisition unit that acquires work position information of a work device mounted on a work vehicle and performing a predetermined work,
A work vehicle and a work device based on the work position of the work device based on the work vehicle position information acquired by the work vehicle position information acquisition unit and the work position information acquired by the work position information acquisition unit. And a display control section for displaying the positional relationship in the display area of the display section in a work position reference display form. A work vehicle position information acquisition unit that acquires position information of the work vehicle to be automatically traveled along the target travel route based on the positioning information of the work vehicle acquired by the satellite positioning system,
A work position information acquisition unit that acquires work position information of a work device mounted on a work vehicle and performing a predetermined work,
A work vehicle and a work device based on the work position of the work device based on the work vehicle position information acquired by the work vehicle position information acquisition unit and the work position information acquired by the work position information acquisition unit. An automatic traveling system including: a display control unit configured to display in a display area of a display unit in a work position reference display form that displays the positional relationship of   In the work position reference display form, the display control unit positions the work position of the work device at a central portion or a substantially central portion in at least one of the left-right direction and the up-down direction in the display area. The automatic traveling system according to claim 2, wherein a positional relationship between the work device and the work device is displayed. The display control unit uses the traveling position of the work vehicle as a reference, based on the position information of the work vehicle acquired by the work vehicle position information acquisition unit and the work position information acquired by the work position information acquisition unit. It is possible to display in the display area in a traveling position reference display form that displays the positional relationship between the target traveling route, the work vehicle, and the work device, and the display form in the display area is the work position reference display form and the The automatic traveling system according to claim 2 or 3, wherein the automatic traveling system is configured to be switchable to a traveling position reference display form.

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