CN117184122A

CN117184122A - Work assistance method, work assistance system, and program

Info

Publication number: CN117184122A
Application number: CN202310641070.4A
Authority: CN
Inventors: 西井康人; 村山昌章; 山口雄司
Original assignee: Yanmar Holdings Co Ltd
Current assignee: Yanmar Holdings Co Ltd
Priority date: 2022-06-08
Filing date: 2023-06-01
Publication date: 2023-12-08
Also published as: JP2023180010A

Abstract

The invention provides a work assistance method, a work assistance system and a program. Provided are a technique capable of performing appropriate guidance after switching of a travel mode of a work vehicle, a technique capable of performing appropriate guidance in accordance with switching of a travel mode of a work vehicle, and a technique capable of performing appropriate guidance in a work vehicle provided to be capable of automatically traveling. An exemplary work assistance method performs assistance of a work using a work vehicle, wherein the work assistance method performs the following steps of: switching to an automatic travel mode in which the work vehicle automatically travels in the field; when a predetermined condition is satisfied in the automatic travel mode, switching to a manual travel mode in which the work vehicle is manually driven; and performing a switching notification notifying switching from the automatic travel mode to the manual travel mode. The manner of the switching notification differs according to the condition of the work vehicle when switching to the manual travel mode.

Description

Work assistance method, work assistance system, and program

Technical Field

The invention relates to a work assistance method, a work assistance system and a program.

Background

Conventionally, a work vehicle that automatically travels in a field is known (for example, refer to patent document 1). Since there is a case where traveling by an operation of an operator is required, the work vehicle is set to be switchable between an automatic traveling mode and a manual traveling mode. Patent document 1 discloses the following technique: the driver of the work vehicle or a person in the vicinity of the work vehicle is notified of which of the automatic travel mode and the manual travel mode the driving mode of the work vehicle is. Patent document 2 discloses an autonomous traveling work vehicle including: when the traveling direction is changed or the work state is changed, the voice notification means notifies the next operation of the advance notice at the position immediately before the change starting point by the set distance.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2016-16883

Patent document 2: japanese patent No. 6450948

Disclosure of Invention

However, when switching from the automatic travel mode to the manual travel mode, the conditions of the work vehicle are not necessarily the same. For example, when the automatic travel mode is switched to the manual travel mode, the travel may be continued or stopped. In the case of continuing the running and in the case of stopping the running, a difference is sometimes generated in the operation correspondence of the operator thereafter. Therefore, it is considered that there is room for research in guiding after switching of the running mode. In addition, when switching from the automatic travel mode to the manual travel mode, various conditions are required to be satisfied due to safety problems and the like. Thus, for example, a person unfamiliar with the operation may confuse what kind of operation is performed. In addition, when the automatic travel is automatically stopped for some reason, a situation in which the state of the operating system of the work vehicle does not match the actual vehicle behavior and the operator is confused about what operation should be performed next is considered. Further, in a work vehicle provided to be capable of automatic travel, for example, in the case of automatic travel and the case of manual travel, there is a possibility that the content to be guided to the user and the place where the guided subject is located may be changed. The preference of the volume, the sound quality, the type of sound, or the like is different for each user. Therefore, in the case where the setting of the preset sound is against the preference of the user, the user may feel stress on the sound guidance.

In view of the above-described aspects, an object of the present invention is to provide a technique capable of performing appropriate guidance after switching of a travel mode of a work vehicle, a technique capable of performing appropriate guidance in accordance with switching of a travel mode of a work vehicle, and a technique capable of performing appropriate guidance in a work vehicle provided to be capable of automatically traveling.

An exemplary work assistance method of the present invention performs assistance of a work using a work vehicle, wherein the work assistance method performs the steps of: switching to an automatic travel mode in which the work vehicle is automatically driven in a field; when a predetermined condition is satisfied in the automatic travel mode, switching to a manual travel mode in which the work vehicle is manually driven; and performing a switching notification notifying switching from the automatic travel mode to the manual travel mode. The manner of the switching notification differs according to the condition of the work vehicle at the time of switching to the manual travel mode. In addition, an exemplary work assistance method of the present invention performs assistance of a work using a work vehicle, wherein the work assistance method performs the steps of: switching from a manual travel mode in which the work vehicle is manually driven in a field to an automatic travel mode in which the work vehicle is automatically driven; and notifying a predetermined operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied. Further, an exemplary job assistance method of the present invention performs assistance of a job using a work vehicle provided to be capable of automatically traveling in a field, wherein the job assistance method performs the steps of: performing notification related to the work vehicle; and setting the notification mode according to the user setting or the state of the work vehicle.

An exemplary work assistance system according to the present invention is for assisting a work using a work vehicle, and includes: a control unit that switches to a manual travel mode in which the work vehicle is manually moved when a predetermined condition is satisfied in an automatic travel mode in which the work vehicle is automatically moved in a field; and a notification unit that notifies a notification of switching from the automatic travel mode to the manual travel mode. The manner of the switching notification differs according to the condition of the work vehicle at the time of switching to the manual travel mode. Further, an exemplary work support system according to the present invention is a work support system for supporting a work using a work vehicle, the work support system including: a control unit that switches from a manual travel mode in which the work vehicle is manually driven in a field to an automatic travel mode in which the work vehicle is automatically driven; and a notification unit that notifies a predetermined operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied. Further, an exemplary work assistance system according to the present invention is a work assistance system for performing work using a work vehicle that is provided so as to be capable of automatically traveling in a field, the work assistance system including: a notification unit that notifies the work vehicle; and a control unit that sets the notification mode according to a user setting or the state of the work vehicle.

An exemplary program according to the present invention causes a computer to function as a means for performing: switching to an automatic travel mode in which the work vehicle is automatically driven in a field; when a predetermined condition is satisfied in the automatic travel mode, switching to a manual travel mode in which the work vehicle is manually driven; and performing a process of notifying a switching notification to switch from the automatic travel mode to the manual travel mode. The manner of the switching notification differs according to the condition of the work vehicle at the time of switching to the manual travel mode. Further, an exemplary program according to the present invention causes a computer to function as a means for performing: switching from a manual travel mode in which the work vehicle is manually driven in a field to an automatic travel mode in which the work vehicle is automatically driven; and notifying a predetermined operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied. Further, an exemplary program of the present invention causes a computer to execute a job assistance method for assisting a job using a work vehicle provided to be capable of automatically traveling in a field, wherein the program causes the computer to function as a means for executing: performing notification related to the work vehicle; and setting the notification mode according to the user setting or the state of the work vehicle.

Effects of the invention

According to the present invention, it is possible to perform appropriate guidance after switching of the travel mode of the work vehicle, perform appropriate guidance according to switching of the travel mode of the work vehicle, and perform appropriate guidance in the work vehicle provided to be capable of automatic travel.

Drawings

Fig. 1 is a block diagram showing an outline structure of a work support system.

Fig. 2A is a side view showing a schematic structure of the combine harvester.

Fig. 2B is a plan view showing a schematic structure of the combine harvester.

Fig. 3 is a side view showing a schematic structure of the tractor.

Fig. 4 is a side view showing a schematic configuration of the rice transplanter.

Fig. 5 is a block diagram showing a construction of a work vehicle.

Fig. 6 is a block diagram showing the structure of a portable communication terminal.

Fig. 7 is a flowchart showing an example of the process of switching from the manual travel mode to the automatic travel mode.

Fig. 8 is a flowchart showing an example of the process of switching from the automatic travel mode to the manual travel mode.

Fig. 9 is a schematic diagram showing a state of the main shift lever.

Fig. 10 is a schematic view for explaining the operation of discharging the threshed grains in the combine harvester.

Fig. 11 is a block diagram showing a configuration example of an operation unit provided in the work vehicle.

Fig. 12 is a flowchart illustrating the work assistance process after switching to the automatic travel mode.

Fig. 13 is a schematic diagram showing an example of a reverse start after automatic travel.

Fig. 14 is a schematic view showing an example of a reverse start after automatic travel.

Fig. 15 is a flowchart illustrating the work assistance process after switching to the manual travel mode.

Fig. 16 is a schematic diagram for explaining an example of continuation of travel of the work vehicle when switching from the automatic travel mode to the manual travel mode.

Fig. 17 is a schematic diagram for explaining the advantage of using voice notification in the case where travel of work vehicle 1 is continued.

Fig. 18 is a schematic diagram for explaining the state of the main shift lever.

Fig. 19 is a diagram showing an example of a setting screen for setting the presence or absence of a voice notification.

Fig. 20 is a diagram showing an example of a setting screen for setting the presence or absence of a voice notification independently of each other.

Fig. 21 is a diagram showing an example of a setting screen for setting the volume of a voice notification.

Fig. 22 is a diagram showing an example of a setting screen for setting the volume of a voice notification independently of each other.

Fig. 23 is a diagram showing an example of a setting screen for setting details of a sound of a voice notification.

Fig. 24 is a view showing an example of a setting screen for setting sound source data used for voice notification.

Fig. 25 is a flowchart illustrating a notification method setting process according to the state of the work vehicle.

Fig. 26A is a table illustrating a voice notification commonly applied when the work vehicle included in the work support system is any one of a combine, a tractor, and a rice transplanter.

Fig. 26B is a table illustrating a voice notification commonly applied when the work vehicle included in the work support system is any one of a combine, a tractor, and a rice transplanter.

Fig. 27 is a table illustrating a voice notification applied when the work vehicle included in the work support system is a combine.

Fig. 28 is a table illustrating a voice notification applied when the work vehicle provided in the work support system is a tractor.

Fig. 29 is a table illustrating a voice notification applied when the work vehicle included in the work support system is a rice transplanter.

Description of the reference numerals

1 … work vehicle; 1C … combine harvester (work vehicle); 1C2 … engine; 1C7 … cutting unit (working machine); 1R … rice transplanter (work vehicle); 1R2 … planting parts (working machines); 1R5 … engine; 1T … tractor (work vehicle); 1T2 … tiller (working machine); 1T5 … engine; 1C5b, 1R6b, 1T6b … steering; 2 … portable communication terminals (communication-capable terminals); 3 … remote operation device (communication-capable terminal); 10. 20 … control part; 11 … positioning a communication unit; 13 … sensor (including obstacle sensor); 17. 25 … notification unit; 100 … work aid system; 141 … robot mode switch (1 st on off switch); 142 … PTO switch (2 nd on off switch); f … field; LV … main shift lever (shift operating portion).

Detailed Description

Embodiments of the present invention will be described with reference to the accompanying drawings. In this specification, the direction is defined as follows. First, the direction in which the work vehicle travels during work is referred to as "front", and the opposite direction is referred to as "rear". The right side in the traveling direction of the work vehicle is set to the right, and the left side is set to the left. The direction perpendicular to the front-rear direction and the left-right direction of the work vehicle is referred to as the up-down direction. At this time, the gravity direction is downward, and the opposite side is upward. The above directions are names used for illustration only, and are not intended to limit the actual positional relationship and directions.

<1. Overview of work assistance System >

Fig. 1 is a block diagram showing an outline configuration of a work support system 100 according to an embodiment of the present invention. As shown in fig. 1, the work support system 100 includes a work vehicle 1, a portable communication terminal 2, and a remote operation device 3. The work assistance system 100 is a system for performing assistance of a work using the work vehicle 1. Specifically, the work support system 100 is a system for performing work support using the work vehicle 1 provided so as to be capable of automatically traveling in the field. More specifically, work support system 100 is a field work support system for performing support of a field work using work vehicle 1 traveling in a field.

Further, the work support system 100 executes a work support method for performing support of a work using the work vehicle 1. The work support system 100 performs a work support method for supporting a work using the work vehicle 1 provided so as to be capable of automatically traveling in a field.

[1-1. Working vehicle ]

Work vehicle 1 broadly includes a work vehicle that travels in a field. The work vehicle 1 is, for example, a combine, a tractor, a rice transplanter, various harvesters, a spreader for spreading chemical solutions, or the like. Hereinafter, a simple configuration example of the combine harvester 1C, the tractor 1T, and the rice seedling transplanting machine 1R according to the present invention will be described.

Fig. 2A is a side view showing a schematic configuration of a combine harvester 1C according to the embodiment of the present invention. In fig. 2A, reference numeral F denotes a field. Fig. 2B is a plan view showing a schematic configuration of the combine 1C according to the embodiment of the present invention. As shown in fig. 2A and 2B, the combine 1C includes a machine table 1C1, an engine 1C2, a threshing device 1C3, a grain box 1C4, a driving portion 1C5, a discharge auger 1C6, a harvesting portion 1C7, and a pair of traveling portions 1C8.

The machine 1C1 is a frame that supports each part. The engine 1C2 supplies power to each part of the combine harvester 1C. The cutting unit 1C7 as an example of the work implement is disposed at the front end of the machine table 1C 1. The harvesting part 1C7 harvests the stalks growing in the field F. A lifting cylinder (not shown) for lifting and lowering the cutting unit 1C7 is connected to the cutting unit 1C 7. That is, the cutting unit 1C7 is provided to be liftable and lowerable.

Threshing device 1C3 performs threshing treatment on the stalks cut by cutting unit 1C 7. The grain box 1C4 stores the threshed grains. The discharge auger 1C6 conveys the threshed grains so as to discharge the threshed grains in the grain tank 1C4 to the outside of the combine harvester 1C. The driving portion 1C5 is a portion for the driver to ride. The driving unit 1C5 includes a driving seat 1C5a for a driver to sit on, a steering wheel (handle) 1C5b for steering the combine 1C, and various operation units (not shown) for operating the combine 1C. The pair of traveling units 1C8 are arranged at intervals in the left-right direction. The method comprises the following steps: the driving force can be transmitted from the engine 1C2 to the pair of traveling units 1C8, respectively. The combine harvester 1C is driven by the driving unit 1C8 to travel on the field F.

Fig. 3 is a side view showing a schematic configuration of a tractor 1T according to an embodiment of the present invention. In fig. 3, reference symbol F also denotes a field. The tractor 1T includes a traveling body 1T1 traveling in the field F and a tiller 1T2 as a working implement mounted on a rear portion of the traveling body 1T 1. As the working machine, a plowing machine, a fertilizer applicator, a mower, a seeder, or the like can be used in addition to the tiller 1T2, for example.

The traveling machine body 1T1 includes a machine body portion 1T3 and a pair of traveling portions 1T4 that support the machine body portion 1T3 and are disposed at intervals in the lateral direction. Each running section 1T4 includes front wheels 1T4a and rear wheels 1T4b. At least one of the front wheels 1T4a and the rear wheels 1T4b is provided so as to be able to transmit driving force from an engine 1T5 disposed in front of the body portion 1T 3. The traveling machine body 1T1 travels in the field F by driving the traveling unit 1T4. The body 1T3 includes a driving portion 1T6 on which a driver rides. The driving unit 1T6 includes a driver seat 1T6a for the driver to sit on, a steering wheel 1T6b for performing steering of the traveling body 1T1, and an operation unit (not shown) for the driver to perform various operations.

The tiller 1T2 is coupled to the rear of the body portion 1T3 via a lifting link mechanism 1T 7. A PTO shaft (power take-off shaft) 1T8 for taking off the driving force of the engine 1T5 to the tiller 1T2 and a pair of left and right lift cylinders (not shown) for driving the tiller 1T2 up and down are disposed at the rear portion of the body portion 1T 3. The driving force of the engine 1T5 is transmitted to the PTO shaft 1T8 via the transmission 1T 9.

Fig. 4 is a side view showing a schematic configuration of a rice transplanter 1R according to an embodiment of the present invention. The seedling planting machine 1R performs a planting operation of planting seedlings on the ground of the field F while traveling in the field F. The rice transplanter 1R includes a traveling body 1R1 and a planting unit 1R2 as a working machine disposed behind the traveling body 1R 1.

The traveling machine body 1R1 includes a machine body portion 1R3 and a pair of traveling portions 1R4 that support the machine body portion 1R3 and are disposed at intervals in the lateral direction. Each running section 1R4 includes a front wheel 1R4a and a rear wheel 1R4b. At least one of the front wheels 1R4a and the rear wheels 1R4b is provided so as to be able to transmit driving force from the engine 1R5 disposed in front of the body portion 1R 3. The traveling machine body 1R1 travels in the field F by driving the traveling unit 1R4. The body 1R3 includes a driver portion 1R6 on which a driver rides. The driving unit 1R6 includes a driver seat 1R6a for the driver to sit on, a steering wheel 1R6b for performing steering operation of the traveling body 1R1, and an operation unit (not shown) for the driver to perform various operations.

The planting unit 1R2 is connected to the rear of the body 1R3 via a lifting link mechanism 1R 7. The rear part of the body 1R3 is provided with: a PTO shaft 1R8 for outputting the driving force of the engine 1R5 to the planting portion 1R 2; and a lifting cylinder 1R9 for lifting and driving the planting unit 1R 2. The driving force of the engine 1R5 is transmitted to the PTO shaft 1R8 via a transmission (not shown).

Fig. 5 is a block diagram showing a configuration of work vehicle 1 according to the embodiment of the present invention. The structure shown in fig. 5 is applicable to the combine 1C shown in fig. 2A and 2B, the tractor 1T shown in fig. 3, and the rice seedling transplanting machine 1R shown in fig. 4.

As shown in fig. 5, the work vehicle 1 includes a control unit 10. The control unit 10 is, for example, a computer including an arithmetic device, an input/output unit, and a storage unit 101. The computing device is, for example, a processor or microprocessor. The storage unit 101 is a main storage device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 101 may further include an auxiliary storage device such as HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage unit 101 stores various programs, data, and the like. The arithmetic device reads various programs from the storage unit 101 and executes them.

The control unit 10 can be operated as the travel mode control unit 102, the travel control unit 103, the work implement control unit 104, and the notification control unit 105 by cooperation of the hardware and software described above. The control unit 10 may be configured by 1 piece of hardware, or may be configured by a plurality of pieces of hardware capable of communicating with each other.

As described above, each of the functional units 102 to 105 included in the control unit 10 may be implemented by causing an arithmetic device to execute a program, that is, software. The functional units 102 to 105 may be realized by using ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or the like, for example. That is, each of the functional units 102 to 105 may be realized by hardware using a dedicated IC or the like. The functional units 102 to 105 may be realized by using a combination of software and hardware. The functional units 102 to 105 are conceptual components. The functions performed by 1 component may be distributed among a plurality of components. The functions of the plurality of components may be integrated into 1 component.

The control unit 10 is connected to a positioning communication unit 11, a communication processing unit 12, a sensor 13, an operation unit 14, a display unit 15, and a sound output unit 16. That is, work vehicle 1 includes positioning communication unit 11, communication processing unit 12, sensor 13, operation unit 14, display unit 15, and sound output unit 16.

The positioning communication unit 11 includes a positioning antenna, not shown, and acquires the position of the work vehicle 1 as information such as latitude and longitude using a positioning signal received from a positioning satellite by the positioning antenna. The positioning communication unit 11 outputs the position information of the work vehicle 1 to the control unit 10. The positioning communication unit 11 can perform positioning by a known RTK-GNSS (Real Time Kinematic GNSS) method, for example, when receiving a positioning signal from a base station, not shown, by an appropriate method. For example, the positioning communication unit 11 may perform positioning by DGNSS (Differential GNSS) method.

The communication processing unit 12 transmits and receives data to and from the mobile communication terminal 2 via the communication antenna 12 a. The communication antenna 12a is an antenna for performing wireless communication with the portable communication terminal 2. Wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) and short-range wireless communication such as Bluetooth (registered trademark) can be used for wireless communication. Further, the work vehicle 1 may be provided with a portable communication antenna for performing communication using a mobile phone line and the internet. In the case of such a configuration, a part of the information stored in the storage unit 101 included in the control unit 10 can be stored in an external server. The functions of the control unit 10 described above may be realized by cooperation of the control unit 10 and a server.

The sensor 13 monitors information related to the work vehicle 1, and outputs the monitored information to the control unit 10. In the present embodiment, the sensor 13 includes a plurality of sensors. The plurality of sensors are connected to the control unit 10 so as to be able to input signals, respectively. The various sensors may include, for example, an inertial measurement device, an obstacle sensor, a lift position sensor, a lever position sensor, an on/off sensor, or the like.

The inertial measurement device may be a device that includes a 3-axis angular velocity sensor and a 3-direction acceleration sensor and is capable of measuring the posture of the work vehicle 1. The obstacle sensor is a sensor that monitors an obstacle existing around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, a radar, or LiDAR (Light Detection And Ranging). The lifting position sensor may be a sensor that monitors a lifting position of a work implement provided to be capable of lifting. For example, the elevation position sensor may be a sensor that monitors the elevation position of the harvesting unit 1C7 (see fig. 2A and the like), the tiller 1T2 (see fig. 3), or the planting unit 1R2 (see fig. 4). The lever position sensor may be a sensor that monitors the position of an operation lever provided in the work vehicle 1. The operating lever may be, for example, a shift lever or the like. When the work vehicle 1 includes a plurality of levers, a lever position sensor may be provided for each lever. The on/off sensor may be a sensor that monitors whether a switch provided in the work vehicle 1 is in an on state or an off state. When the work vehicle 1 includes a plurality of switches, an on/off sensor may be provided for each switch.

The operation unit 14 broadly includes a portion operated by a driver riding on a driver of the work vehicle 1. The operation unit 14 can give an instruction to the driver's control unit 10. The operation unit 14 may be, for example, a button, a lever, a dial, a touch panel, or the like.

The display unit 15 appropriately displays information in response to an instruction from the control unit 10. The display unit 15 may be, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The display unit 15 may be configured to have a touch panel, and in this case, the display unit 15 may also serve as the operation unit 14.

The sound output unit 16 outputs sound appropriately in response to an instruction from the control unit 10. The sound may include speech, beeping. Specifically, the sound output unit 16 may include at least one of a speaker and a buzzer for outputting sound.

In the present embodiment, the display unit 15 and the sound output unit 16 constitute a notification unit 17 that notifies the user in response to a command from the control unit 10. Note that the notification unit 17 may be constituted by only either the display unit 15 or the sound output unit 16. The notification unit 17 may be configured using a member other than the display unit 15 and the sound output unit 16. The notification unit 17 may be constituted by a light emitting means, a vibration generating means, or the like, for example.

The travel mode control unit 102 controls switching between the manual travel mode and the automatic travel mode. Details of the control of the switching will be described later. The manual travel mode is a mode in which a driver (operator) gets on the driver's part of the work vehicle 1 and the driver drives the work vehicle 1. The automatic travel mode is a mode in which the work vehicle 1 is automatically driven in the field F. Here, the automatic running means: by controlling the travel-related devices by the control unit 10 provided in the work vehicle 1, at least the steering operation is autonomously performed so as to follow a predetermined path. The automatic travel may be configured to: in addition to the steering operation, at least one of the vehicle speed and the work based on the work machine is performed autonomously, for example.

The automatic travel mode may include, for example, at least any 1 of an automatic straight travel mode, a manned automatic travel mode, and an unmanned automatic travel mode. In the automatic straight-running mode, only control of steering operation (operation of a steering wheel, operation of a handle) is automatically performed. In the automatic straight traveling mode, for example, control of the vehicle speed, control of the lifting of the work implement, and control of the turning on/off of the operation of the work implement are performed manually. In the automated traveling mode, the driver automatically performs the straight traveling operation and the turning traveling while riding on the driving section of the work vehicle 1. In the automated traveling mode, for example, the vehicle speed control and the lifting control of the working machine can be switched between automatic and manual modes. In the unmanned automatic travel mode (robot mode), the driver does not ride on the driving section of the work vehicle 1, and all operations are automatically performed.

When the travel mode is the automatic travel mode, travel control unit 103 automatically controls at least a part of the travel system of work vehicle 1. For example, if the automatic travel mode is the automatic straight travel mode, the travel control unit 103 automatically controls the steering operation so that the work vehicle 1 travels along a predetermined path. For example, if the automatic running mode is the manned automatic running mode or the unmanned automatic running mode, the running control unit 103 automatically controls the steering operation and the adjustment of the vehicle speed.

Work implement control unit 104 controls the work system of work vehicle 1 according to the travel mode. When the travel mode is the manual travel mode or the automatic straight travel mode, the work implement control unit 104 controls the elevation of the work implement, for example, in response to a driver's operation of an operation lever provided in the driver's portion of the work vehicle 1. When the travel mode is the manned travel mode or the unmanned travel mode, the work implement control unit 104 automatically controls the lifting of the work implement, for example.

When a predetermined condition is satisfied, the notification control unit 105 controls the display unit 15 and the sound output unit 16 included in the notification unit 17, for example, to perform notification by screen display or voice. For example, the predetermined condition is satisfied when the operator who is a driver who gets on the work vehicle 1, the operator who is located around the work vehicle 1 and performs the operation of the work vehicle 1, or the like needs to be notified.

[1-2. Portable communication terminal ]

Fig. 6 is a block diagram showing the configuration of the mobile communication terminal 2 according to the embodiment of the present invention. The mobile communication terminal 2 is, for example, a tablet terminal, a smart phone, a notebook computer, or the like. As shown in fig. 6, the portable communication terminal 2 includes a communication processing unit 21, an operation unit 22, a display unit 23, a sound output unit 24, and a control unit 20. The communication processing unit 21, the operation unit 22, the display unit 23, and the audio output unit 24 are connected to the control unit 20.

The communication processing unit 21 transmits and receives data to and from the work vehicle 1 via the communication antenna 21 a. Communication processing unit 21 outputs data received from work vehicle 1 to control unit 20. The communication antenna 21a is an antenna for performing wireless communication with the work vehicle 1. The mobile communication terminal 2 may be provided with a mobile communication antenna for performing communication with the internet via a mobile telephone line. The mobile communication terminal 2 may be configured to: even when the mobile communication antenna is not provided, communication using a mobile telephone line and the internet can be performed by using the mobile communication antenna provided in the work vehicle 1. Conversely, the work vehicle 1 may be configured to perform communication using the mobile telephone line and the internet by using the mobile communication antenna provided in the mobile communication terminal 2 even when the mobile communication antenna is not provided.

The operation unit 22 receives an instruction from an operator, and inputs the instruction to the control unit 20. The operation unit 22 includes at least one of a software key such as a touch panel and a hardware key. The touch panel may have the following structure: is provided on the display unit 23, and can detect an operation of an operator's finger or the like. The hardware key may be of the following structure: the push of the finger or the like of the operator can be detected by being disposed on the side surface of the casing of the portable communication terminal 2, around the display unit 23, or the like.

The display unit 23 appropriately displays information in response to an instruction from the control unit 20. The display unit 23 is, for example, a liquid crystal display or an organic EL display. The display unit 23 may be configured to have a touch panel, and in this case, the display unit 23 may also serve as the operation unit 22.

The sound output unit 24 outputs sound appropriately in response to an instruction from the control unit 20. The sound may include speech, beeping. Specifically, the sound output unit 24 may include at least one of a speaker and a buzzer for outputting sound.

In the present embodiment, the display unit 23 and the sound output unit 24 constitute a notification unit 25 that notifies the user in response to a command from the control unit 20. Note that the notification unit 25 may be constituted by only one of the display unit 23 and the sound output unit 24. The notification unit 25 may be configured using a member other than the display unit 23 and the sound output unit 24. The notification unit 25 may be constituted by a light emitting means, a vibration generating means, or the like, for example. In the present embodiment, the notification portions 17 and 25 are provided in both the work vehicle 1 and the mobile communication terminal 2, but the notification portions may be provided only in either one of them.

The control unit 20 is, for example, a computer including an arithmetic device, an input/output unit, and a storage unit 201. The arithmetic device is a processor, a microprocessor, or the like. The storage unit 201 is a main storage device such as ROM and RAM. The storage unit 201 may further include an auxiliary storage device such as an HDD or SSD. The storage unit 201 stores various programs, data, and the like. The arithmetic device reads out various programs from the storage unit 201 and executes them. The control unit 20 functions as an automatic travel processing unit that performs processing related to automatic travel by cooperation of hardware and software, for example. The automatic travel-related process includes: the control unit 20 may perform various processes related to notification described in detail later, such as a process related to the start and end of the automatic travel, a process for creating a route required for the automatic travel, and a process for setting conditions related to the automatic travel.

The function performed by the control unit 20 may be realized by software or by other methods. The functions implemented by the control unit 20 may be implemented by hardware using, for example, an ASIC, FPGA, or the like. The functions performed by the control unit 20 may be performed by a combination of software and hardware.

In the present embodiment, the mobile communication terminal 2 is provided so as to be able to execute various processes related to automatic travel and various processes related to notification, but at least a part of the various processes may be executed by the control unit 10 of the work vehicle 1. Conversely, at least a part of the various processes performed by the control unit 10 of the work vehicle 1 may be performed by the control unit 20 of the mobile communication terminal 2. At least a part of the functions of the control unit 10 of the work vehicle 1 and at least a part of the functions of the control unit 20 of the mobile communication terminal 2 may be realized by the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2 in cooperation. At least a part of the functions of the control unit 20 of the mobile communication terminal 2 may be executed in cooperation with the control unit 20 via a server capable of communicating via a network such as the internet. Further, a part of the information stored in the storage unit 201 included in the control unit 20 may be stored in an external server.

[1-3. Remote operation device ]

The remote operation device 3 (see fig. 1) is used, for example, when a person other than an operator who uses the mobile communication terminal 2 performs a job in the field F. The remote operation device 3 is a simple device capable of performing fewer kinds of operations than the portable communication terminal 2. The remote operation device 3 is provided so as to be able to communicate with the work vehicle 1 in a wireless manner. The remote operation device 3 may be configured to include a switch that enables a person located at a place remote from the work vehicle 1 to start, stop, or restart an automatic traveling operation on the work vehicle 1, for example. The remote operation device 3 preferably has a function of stopping the work vehicle 1, which performs an operation based on automatic travel, in an emergency. The remote operation device 3 may be an emergency stop remote controller.

In the example shown in fig. 1, the number of remote operation devices 3 is 1, but may be plural. The remote operation device 3 is not necessarily configured for the work support system 100, and may be omitted as the case may be. The remote operation device 3 may further include a notification unit that notifies the user by at least one of display and voice.

<2. Details of work assistance >

Next, details of the task assistance (task assistance method) executed by the task assistance system 100 configured as described above will be described.

[2-1 ] work assistance related to switching of travel modes ]

Fig. 7 is a flowchart showing an example of a process of switching from the manual travel mode to the automatic travel mode, which is executed in the work support system 100 according to the embodiment of the present invention. Further, the work vehicle 1 is normally in a manual travel mode at the time of engine start. In detail, the example shown in fig. 7 may be a process in the case of switching from the manual travel mode to the unmanned automatic travel mode.

In step S1, the travel mode control unit 102 (see fig. 5) monitors whether or not preparation for shifting to the automatic travel mode is completed. This preparation is completed by the operator performing a predetermined operation on the work vehicle 1. That is, in step S1, it is monitored whether or not a prescribed preparation operation required for shifting to the automatic travel mode is completed. The predetermined preparatory operation may be 1 operation or a plurality of operations.

The predetermined preparatory operation may include, for example, an operation to turn on a switch for shifting to the automatic travel mode. The predetermined preparatory operation may include, for example, an operation to turn on a PTO switch that switches between a state (on state) in which power is transmitted to the PTO shaft and a state (off state) in which power is not transmitted. The predetermined preparatory operation may include an operation of setting the position of the shift lever to a predetermined position. The predetermined position may be, for example, a neutral position or a minimum position.

In step S1, when it is determined that preparation for shifting to the automatic travel mode is completed (Yes in step S1), the process proceeds to the next step S2.

In step S2, the travel mode control unit 102 monitors whether or not there is a start instruction of the automatic travel mode. In the present embodiment, the start instruction is implemented by the operator operating the portable communication terminal 2 or the remote operation device 3. When a start command is given (Yes in step S2), the travel mode control unit 102 shifts the travel mode to the automatic travel mode. Thereby, automatic travel is started.

As is clear from the above description, in the example shown in fig. 7, even if the operator operates only the start switch of the automatic travel mode in the portable communication terminal 2 and the remote operation device 3, the manual travel mode is not switched to the automatic travel mode. The operation of the start switch of the automatic travel mode in the mobile communication terminal 2 and the remote operation device 3 is performed under the condition that a predetermined preparation operation is performed in the work vehicle 1, so that the manual travel mode is switched to the automatic travel mode. The work assistance method of the present embodiment may include the following structure: when the start switch of the automatic travel mode is operated without performing the predetermined preparation operation, for example, a notification is made that the predetermined preparation operation is not completed. In the work assistance method of the present embodiment, the following configuration may be included: when the start switch of the automatic travel mode is operated without performing a predetermined preparation operation, the content of an operation in which the preparation operation is not completed is notified. The notification can be performed by, for example, display or voice of the notification unit 17 or 25.

Fig. 8 is a flowchart showing an example of a process of switching from the automatic travel mode to the manual travel mode, which is executed in the work support system 100 according to the embodiment of the present invention.

In step S11, the travel mode control unit 102 monitors whether or not a stop condition for stopping the automatic travel mode is satisfied. The stop condition is satisfied, for example, in the case where there is a stop instruction of automatic travel issued by the operator using the portable communication terminal 2 or the remote operation device 3. The stop condition is satisfied when, for example, all the predetermined works performed by the automatic travel are completed. The stop condition is satisfied when the work vehicle 1 reaches a predetermined position, for example. The predetermined position is, for example, a position at which the threshed grains of the harvested stalks are discharged, a replenishment position at which replenishment materials such as seedlings are replenished, or the like. The stop condition is satisfied when, for example, the operator operates the operation member of which operation is prohibited during the automatic travel. When it is determined that the stop condition is satisfied (Yes in step S11), the process proceeds to the next step S12.

In step S12, the travel mode control unit 102 determines whether or not preparation (manual travel preparation) necessary for switching to the manual travel mode is completed. The manual travel preparation is completed when the operator performs a predetermined operation required for switching to the manual travel mode. The prescribed operation may be 1 operation or a plurality of operations. The prescribed operation is, for example, an operation set due to a problem in safety. Details of the prescribed operation will be described later. When it is determined that the manual travel preparation is completed (Yes in step S12), the automatic travel mode is switched to the manual travel mode. On the other hand, when it is determined that the manual travel preparation is not completed (No in step S12), the process proceeds to step S13.

In step S13, the notification control unit 105 (see fig. 5) performs a notification process for prompting the execution of a predetermined operation. By this notification process, notification using at least one of the notification unit 17 of the work vehicle 1 and the notification unit 25 of the mobile communication terminal 2 is performed. Notification of the prescribed operation is preferably performed by at least one of voice and display. The notification of the predetermined operation may be performed using at least 1 of the display unit 15 of the work vehicle 1, the audio output unit 16 of the work vehicle 1, the display unit 23 of the portable communication terminal 2, and the audio output unit 24 of the portable communication terminal 2. When the process of step S13 is completed, the process returns to step S12, and the processes of step S12 and thereafter are repeated.

As described above, the job assistance method of the present embodiment performs the following steps: switching from a manual travel mode in which work vehicle 1 is manually driven in the field to an automatic travel mode in which work vehicle 1 is automatically driven; and notifying a prescribed operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied. In the present embodiment, it is preferable that, when the predetermined operation is not performed by the operator, a notification urging the predetermined operation is performed. However, the notification of the predetermined operation may be performed regardless of whether the predetermined operation is performed by the operator.

Further, a program for causing a computer to execute the job assistance method according to the present embodiment causes the computer to function as a mechanism for executing: switching from the manual travel mode to the automatic travel mode; and notifying a prescribed operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied. In the present embodiment, the computer is the control unit 10 of the work vehicle 1, but the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

The work support system 100 according to the present embodiment includes: a control unit 10 that switches from a manual travel mode to an automatic travel mode; and notification units 17 and 25 for notifying a predetermined operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied. In the present embodiment, the control unit for switching from the manual travel mode to the automatic travel mode is the control unit 10 of the work vehicle 1. However, the control unit for switching from the manual travel mode to the automatic travel mode may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the portable communication terminal 2.

As in the present embodiment, by notifying the operator of an operation (a predetermined operation) necessary for switching the travel mode, the operator can efficiently switch the travel mode.

Further, the work support method performed by the work support system 100 may also perform a stop notification notifying the stop of the automatic travel of the work vehicle 1. The stop notification may be, for example, a display (screen display) such as "automatic travel stop" or voice. In the structure of performing the stop notification, the notification of the prescribed operation required for switching the manual travel mode may be performed after the stop notification. With such a configuration, the operator can grasp that the automatic travel of the work vehicle 1 has stopped, and can notify the content of the operation required to enter the manual travel mode. That is, the operator can grasp the condition of the work vehicle 1 and perform necessary operations. The stop notification may be a beep. The stop notification may be composed of a beep sound and a voice sound. In the case of a buzzer and a voice, for example, the voice may be a structure in which "automatic travel stop" is output after "beep" sounds. The order of beeps and voices may also be reversed.

The predetermined operation required for switching to the manual travel mode may include an operation of moving the shift operation portion of the work vehicle 1 to the neutral position or the minimum position. The shift operating portion may be, for example, a main shift lever. The operator can appropriately notify the necessary operation of the shift operation portion, and can efficiently perform the operation of the shift operation portion.

For example, the main shift lever may have the following structure: the traveling direction of the work vehicle 1 is switched by switching the 3 positions (positions), "forward", "neutral", "reverse", and the speed of the work vehicle 1 is changed by the amount of tilting in the forward and reverse directions. In the case of such a configuration, the predetermined operation may include an operation of moving the main shift lever to the neutral position.

Further, for example, work vehicle 1 may have the following structure: in addition to the main shift lever, a reversing lever is provided that changes the traveling direction by switching the 3 positions of "forward", "neutral" and "reverse". The main shift lever may be configured to change the traveling speed (vehicle speed) in the direction indicated by the reversing lever. In the case of such a configuration, the predetermined operation may include an operation of moving the main shift lever to a minimum position where the vehicle speed is minimized. In this example, since the steering lever is in the neutral position when switching from the manual travel mode to the automatic travel mode, it is not necessary to operate the steering lever in order to switch from the automatic travel mode to the manual travel mode.

The advantage of notifying the operation of moving the position of the shift operation portion will be described, taking as an example a case where an operation of moving the main shift lever to the neutral position is required for switching to the manual running mode. Fig. 9 is a schematic diagram showing a state of the main shift lever LV, where "F" indicates a "forward position", "N" indicates a "neutral position", and "R" indicates a "reverse position". In the example shown in fig. 9, the main shift lever LV is tilted in the forward direction. The main shift lever LV is located at a position forward of a position where the tilting amount in the forward direction is maximum (100%).

In fig. 9, the left side of the outline arrow indicates the state of the main shift lever LV during automatic running, and the right side of the outline arrow indicates the state of the main shift lever LV in the case where automatic running is interrupted (stopped). The position of the main shift lever LV is the same on the left and right sides of the outline arrow. That is, when the automatic running state is changed to the automatic running stop state, the position of the main shift lever LV is not automatically moved. As a result, when the automatic travel is stopped, the actual travel state of the work vehicle 1 may not match the position of the main shift lever LV. The automatic travel in this example is assumed to be, for example, automatic travel based on the above-described automated traveling mode.

In order to switch to the manual running mode, it is necessary to eliminate a mismatch between the actual running state of the work vehicle 1 and the position of the main shift lever LV. That is, the position of the main shift lever LV needs to be temporarily at the "neutral position". By notifying the movement of the position of the main shift lever LV to the "neutral position", the operator can be expected to efficiently perform an appropriate operation of the main shift lever LV. The notification may be at least any of speech and display, but preferably comprises a speech-based notification. In particular, the operator can easily grasp the following operation by notifying the specific operation content of "please bring the main shift lever to the neutral position" by voice.

Fig. 10 is a schematic view for explaining the operation of discharging the threshed grains in the combine harvester 1C. In the example shown in fig. 10, the combine 1C reaches the discharge position P (to be precise, the vicinity of the discharge position P) along the path indicated by the broken line arrow a by the automatic travel, and stops the automatic travel. Here, as shown in fig. 9, the position of the main shift lever LV is operated to the forward position side for the reason of increasing the vehicle speed or the like. In this case, if an operation to move the main shift lever LV to the neutral position is not performed after the automatic running is stopped, the manual running mode is not returned. However, since the combine 1C is stopped, the operator easily perceives that the position of the main lever LV is a neutral position, and forgets to move the main lever LV to the neutral position.

Incidentally, in general, when the discharge position P is reached by automatic travel, the position of the discharge auger 1C6 is matched with the proper position of the discharge position P while the combine 1C is retreated by manual travel as indicated by a broken line arrow B. When the operator forgets to operate the main shift lever LV to the forward position side and the operator feels that the main shift lever LV is in the neutral position, the operator may slightly operate the main shift lever LV to the reverse side without looking at the main shift lever LV in particular. In such a case, the main shift lever LV may not return to the neutral position, and the combine harvester 1C may not start to retreat. If the combine 1C does not start to reverse regardless of whether the main shift lever LV is operated, the operator may not know the reason why the reverse is not started, and thus the operator may be confused. In this regard, in the present embodiment, since notification is made to move the main shift lever to the neutral position, the operator can be prevented from being confused.

Fig. 11 is a block diagram showing a configuration example of the operation unit 14 included in the work vehicle 1. In the example shown in fig. 11, the operation unit 14 includes a robot mode switch 141, a PTO switch 142, and a work implement lifting lever 143. The operation unit 14 may include only any 1 of the robot mode switch 141, the PTO switch 142, and the work implement lifting lever 143, or only any 2 of them. The operation unit 14 may be configured not to include any one of the robot mode switch 141, the PTO switch 142, and the work implement lifting lever 143.

The robot mode switch 141 is turned on when switching from the manual travel mode to the unmanned automatic travel mode, and is turned off when switching from the unmanned automatic travel mode to the manual travel mode. The robot mode switch 141 is an example of a 1 st on/off switch that is turned on/off when the manual travel mode and the automatic travel mode are switched. The robot mode switch 141 may be a physical switch such as a button, lever, dial, or the like, or may be a software switch configured using a touch panel or the like.

When the operation unit 14 includes a 1 st on/off switch such as the robot mode switch 141, a predetermined operation required for switching to the manual travel mode may include an operation of the 1 st on/off switch 141. Specifically, the structure may be as follows: when the work vehicle 1 that has performed automatic travel in the unmanned automatic travel mode stops traveling, the manual travel mode is not switched unless the robot mode switch 141 is turned off. In the case of such a configuration, it is preferable that the notification of the "please turn off the robot mode switch" is made when the stop condition is satisfied. The notification may be at least any of speech and display, but preferably comprises a speech-based notification. This reduces the possibility of forgetting to turn off the robot mode switch 141 when switching to the manual travel mode, and enables the operator to efficiently switch the travel mode.

The PTO switch 142 is turned on when switching from the manual travel mode to the automatic travel mode, and is turned off when switching from the automatic travel mode to the manual travel mode. PTO switch 142 is an example of a 2 nd on/off switch that is turned on/off when switching between the operation and non-operation of the work implement of work vehicle 1. The PTO switch 142 may be a physical switch such as a button, lever, dial, or the like, or may be a software switch configured using a touch panel or the like.

When the operation unit 14 includes a 2 nd on/off switch such as the PTO switch 142, a predetermined operation required for switching to the manual travel mode may include an operation of the 2 nd on/off switch 142. Specifically, the structure may be as follows: when the work vehicle 1 that has performed automatic travel in the automatic travel mode stops traveling, the manual travel mode is not switched unless the operation to turn off the PTO switch 142 is performed. In such a configuration, it is preferable that the notification of the "turn off PTO switch" is made when the stop condition is satisfied. The notification may be at least any of speech and display, but preferably comprises a speech-based notification. As a result, the possibility of forgetting to turn off the PTO switch 142 when switching to the manual travel mode is reduced, and the operator can efficiently switch the travel mode.

The work implement lifting lever 143 is a lever for lifting and lowering the work implement by an operator. In the present embodiment, the work implement lifting lever 143 also serves as an operation unit for switching from the automatic travel mode to the manual travel mode. From a safety standpoint, the work implement needs to be moved to the non-work position when switching from the automatic travel mode to the manual travel mode. In the present embodiment, the non-working position is a position where the working machine is separated from the ground, and is a state where the working machine is lifted upward from the ground by the working machine lifting lever 143.

When the operating unit 14 includes the work implement lifting lever 143, the predetermined operation required for switching to the manual travel mode may include an operation to put the work implement of the work vehicle 1 into a non-work state. Specifically, the structure may be as follows: when the work vehicle 1 that has performed automatic travel in the automatic travel mode stops traveling, the manual travel mode is not switched to if the work implement is not lifted using the work implement lift lever 143. In the case of such a configuration, it is preferable that the notification of the content such as "please lift the working machine" is made when the stop condition is satisfied. The notification may be at least any of speech and display, but preferably comprises a speech-based notification. This reduces the possibility of forgetting to raise the operation of the work implement when switching to the manual travel mode, and enables the operator to efficiently switch the travel mode.

In the example shown in fig. 11, in order to switch from the automatic travel mode to the manual travel mode, an off operation of the robot mode switch 141, an off operation of the PTO switch 142, and an operation of raising the work implement using the work implement raising/lowering lever 143 are required. That is, the predetermined operation required for switching to the manual travel mode includes a plurality of operations. In this way, when a plurality of operations are included in the predetermined operation, the notification of the plurality of operations is preferably performed sequentially by priority. This can avoid notifying the different operation contents at the same timing, and can suppress confusion of the operator.

The priority may be determined appropriately, and may be configured to: among the various operations, the earlier the order (time) in which the operations are required to be performed by the operator, the higher the priority. For example, it is assumed that the on operation of the robot mode switch 141 is performed first, and then the on operation of the PTO switch 142 is performed. In this case, the notification of the operation to turn off the robot mode switch 141 that has been turned on first may be performed in preference to the notification of the operation to turn off the PTO switch 142 that has been turned on later.

Further, as an example of the case of the automated traveling mode, a situation is assumed in which the automatic traveling mode is initially turned on, and thereafter, the main shift lever is operated so that the automated traveling is stopped in an emergency. In this case, the notification of the operation to turn off the automatic running mode may be given priority over the notification of the operation to move the main shift lever to the neutral position or the minimum position. With such a configuration, the operation is performed first, and the priority notification is given to the operation that is easily forgotten to be performed when switching to the manual travel mode. As a result, when a plurality of operations are required, the occurrence of forgetting to operate can be suppressed.

[2-2 ] work assistance after switching of travel modes ]

Fig. 12 is a flowchart illustrating a task assistance process after switching to the automatic travel mode, which is executed in the task assistance system 100 according to the embodiment of the present invention. Fig. 12 is a diagram for explaining the work assistance process performed after the manual travel mode is switched to the automatic travel mode by the process shown in fig. 7. Fig. 12 is a flowchart of a case where the automatic travel mode is assumed to be the unmanned automatic travel mode, and the work vehicle 1 is stopped at the time of switching to the automatic travel mode.

In step S21, in response to the start of the automatic travel, the notification control unit 105 (see fig. 5) performs a process of emitting a beep (beep emitting process) notifying the start of the automatic travel from the sound output unit 16. The beep sounds three times, for example. The beeping sound is, for example, "beep, beep. Note that, the notification control unit 105 may generate a beep from the sound output unit 24 provided in the portable communication terminal 2 via the control unit 20 of the portable communication terminal 2 instead of or in addition to the sound output unit 16 provided in the work vehicle 1. In addition, the beep notifying the start of the automatic travel may be a sound different from the unmanned automatic travel mode in the case of the unmanned automatic travel mode, for example, "pop, pop". When the beep sound generation processing is performed, the processing proceeds to the next step S22.

In step S22, the notification control unit 105 performs a process (voice notification process) of notifying the start of the automatic travel from the voice output unit 16. In other words, the job assistance method of the present embodiment executes an automatic travel mode shift notification in the case where notification has shifted from the manual travel mode to the automatic travel mode. The notification may be, for example, a voice notification such as "start automatic travel". The above-described beep may be interpreted as being included in the automatic travel mode shift notification. After the voice notification process is performed, the process advances to the next step S23.

The notification control unit 105 may be configured to: instead of the audio output unit 16 of the work vehicle 1, or in addition to the audio output unit 16, the control unit 20 of the mobile communication terminal 2 outputs speech from the audio output unit 24 of the mobile communication terminal 2. In addition, the structure may be as follows: instead of or in addition to the voice notification, notification using a display (screen display) is performed. In the case of performing the voice notification as in the present embodiment, it is preferable to perform the voice notification so that the voice does not overlap with the above-described beep. That is, it is preferable that the voice of "start automatic travel" is played after "beep" is set. The configuration in which the beeps and voices are not overlapped is preferably applied to other beeps and voices. Examples of the other beeps include beeps that sound when the box is full. In the present embodiment, the voice is output after the beeping, but the reverse may be also adopted. That is, the order of step S21 and step S22 may be reversed.

In step S23, the notification control unit 105 determines whether or not the traveling direction of the work vehicle 1 that is automatically traveling is reverse. In this example, the work vehicle 1 starts to travel automatically after the generation of the beep and the notification of the voice. The traveling direction at the start of the automatic traveling can be determined from a preset path of the automatic traveling. When the traveling direction at the start of the automatic traveling is backward (Yes in step S23), the process proceeds to the next step S24. If the traveling direction at the start of the automatic traveling is not backward (No in step S23), the process proceeds to step S25.

In addition, for example, in the case of the automated traveling mode, the automated traveling may be started while the work vehicle 1 is traveling, and in this case, the generation of the beep and the notification of the voice may be performed in the traveling state, and the automated traveling may be started. In the case of such a configuration, the processing of step S23 and subsequent steps may not be performed.

In step S24, the notification control unit 105 performs a notification process of the traveling direction of the work vehicle 1. That is, when automatic travel is started during reverse travel, the work vehicle 1 is notified of reverse. The notification may be at least any of speech and display, but preferably comprises a speech-based notification. The notification may be performed by at least any one of the work vehicle 1 and the portable communication terminal 2. The notification may be, for example, "back-off". Note that.

In step S25, the notification control unit 105 determines not to notify the traveling direction of the work vehicle 1. That is, when automatic travel is started during forward travel, notification of the traveling direction of work vehicle 1 is not performed. However, when automatic travel is started during forward travel, notification of the traveling direction of the work vehicle 1 may be performed.

As described above, the work assistance method according to the present embodiment performs the traveling direction notification for notifying the traveling direction of the work vehicle 1 after the automatic traveling mode transition notification. A person or the like in the vicinity of work vehicle 1 may not recognize whether work vehicle 1 is traveling forward or traveling backward at the start of the automatic traveling. In this regard, if the traveling direction is notified as in the present embodiment, a person or the like in the vicinity of the work vehicle 1 can recognize the traveling direction of the work vehicle 1 at the time of automatic travel start, and therefore safety can be improved.

Fig. 13 and 14 are schematic diagrams showing examples of the start of the reverse travel after the automatic travel. In the example shown in fig. 13, work vehicle 1 parks the front side of the vehicle body toward field end FE. For example, when the working vehicle 1 is the rice transplanter 1R, and the vehicle is stopped for replenishment of seedlings, such a situation occurs. When the seedling replenishment is completed and the automatic running is started, the automatic running is started by the backward running. In such a case, a traveling direction notification notifying the traveling direction of the work vehicle 1 may be performed.

In the example shown in fig. 14, assuming that the work on one straight path S1 in the field F is completed, the left turn is performed to face the next straight path S2. Here, the interval between the 2 straight paths S1, S2 is narrow, and if only left turning is simply performed, the straight path S2 is greatly deviated from the next straight path S2, and thus the user cannot properly enter the straight path S2. In this case, work vehicle 1 advances to point P1 while turning left, and temporarily stops. After the temporary stop, the vehicle moves backward to the point P2, turns leftward from the point P2, and moves forward to the next straight-going path S2. In the case of performing such a tail turn, a traveling direction notification notifying the traveling direction of the work vehicle 1 may be executed at the time of the backward movement after the temporary stop.

Fig. 15 is a flowchart illustrating a task assistance process after switching to the manual travel mode, which is executed in the task assistance system 100 according to the embodiment of the present invention. Fig. 15 is a diagram for explaining the work assistance process performed after the process shown in fig. 8 is switched from the automatic travel mode to the manual travel mode.

In step S31, notification control unit 105 determines whether or not work vehicle 1 continues traveling when the automatic traveling mode is switched to the manual traveling mode. Whether or not the work vehicle 1 continues traveling is determined by how the above-described stop condition (see fig. 8) is satisfied. Details of this will be described later. When the work vehicle 1 continues to travel (Yes in step S31), the process proceeds to the next step S32. On the other hand, when the work vehicle 1 stops traveling (No in step S31), the process proceeds to step S33.

In step S32, the notification control unit 105 notifies the switching to the manual travel mode by voice. The voice notification may be, for example, "return to manual travel". The voice notification may be performed using at least one of the sound output unit 16 provided in the work vehicle 1 and the sound output unit 24 provided in the portable communication terminal 2. In addition to the voice notification, a notification based on display may be performed. However, in this case, attention is required to the display mode. In this regard, this will be described later. The notification based on the display may be performed using at least one of the display unit 15 provided in the work vehicle 1 and the display unit 23 provided in the portable communication terminal 2.

In step S33, the notification control unit 105 notifies switching to the manual travel mode by display. The notification based on the display may be, for example, "return to manual travel" similarly to the voice notification described above. The notification based on the display may be performed using at least one of the display unit 15 provided in the work vehicle 1 and the display unit 23 provided in the portable communication terminal 2. In addition, it is preferable to perform notification based on voice in addition to the notification based on display. The voice notification may be performed using at least one of the sound output unit 16 provided in the work vehicle 1 and the sound output unit 24 provided in the portable communication terminal 2.

Further, as described above, in the case of stopping the automatic travel based on the automatic travel mode, the voice notification of "automatic travel stop" may be made. In the configuration in which both of such a configuration and a configuration in which notification of switching to the manual travel mode is performed are adopted, if the manual travel preparation (see fig. 8) is completed in a short time, there is a possibility that a part of the notification timing of the voice is repeated. That is, if the voice notification "return to the manual travel" is originally performed after the voice notification "automatic travel stop", the voice notification timing may be repeated and the voice notification "automatic travel … may return to the manual travel". Further, the portion denoted by "…" represents a portion overlapping with at least a portion of "return to manual travel" in the voice notification of "automatic travel stop".

In view of such a point, when the timing of the notification of the plurality of types of sounds is partially overlapped and the notification of the 2 nd sound of the next timing needs to be outputted in the output of the 1 st notification sound of the previous timing, it is preferable to finish the 1 st notification sound in the middle, and to set a separate period after the finish, and output the 2 nd notification sound. Specifically, the following is preferable when the above example is used: the "automatic travel stop" (notification 1) ends with the "automatic travel", and the output "returns to the manual travel" with the interval between the intervals (notification 2). The separation period may be silent or may be added with sound. For example, in the case where the sound is "beep", the sound may be "automatic travel, beep, return to manual travel". With this configuration, the sound can be prevented from being covered, and the content of the voice notification can be easily grasped.

As is clear from the description of fig. 15, the job assistance method according to the present embodiment executes the following steps: switching to an automatic travel mode in which work vehicle 1 is automatically driven in the field; when the predetermined condition is satisfied in the automatic travel mode, the operation mode is switched to a manual travel mode in which the work vehicle 1 is manually driven; and performing a switching notification notifying switching from the automatic travel mode to the manual travel mode. The manner of the switching notification differs depending on the condition of the work vehicle 1 when switching to the manual travel mode. A specific example of the switching notification is the above-described "return to manual travel".

Further, a program for causing a computer to execute the job assistance method according to the present embodiment causes the computer to function as a mechanism for executing: switching to an automatic travel mode in which work vehicle 1 is automatically driven in the field; when the predetermined condition is satisfied in the automatic travel mode, the operation mode is switched to a manual travel mode in which the work vehicle 1 is manually driven; and processing for notifying a switching notification to switch from the automatic travel mode to the manual travel mode. The manner of the switching notification differs depending on the condition of the work vehicle 1 when switching to the manual travel mode. As described above, the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the portable communication terminal 2.

The work support system 100 according to the present embodiment includes: a control unit 10 that switches to a manual travel mode in which the work vehicle 1 is manually moved when a predetermined condition is satisfied in an automatic travel mode in which the work vehicle 1 is automatically moved in the field; and notification units 17 and 25 for notifying a switching notification to switch from the automatic travel mode to the manual travel mode. The manner of switching notification differs depending on the condition of the work vehicle at the time of switching to the manual travel mode. As described above, the control unit that switches from the manual travel mode to the automatic travel mode may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the portable communication terminal 2.

As in the present embodiment, if the mode of the switching notification is different depending on the condition of the work vehicle 1 when the manual travel mode is switched, it is possible to appropriately notify the operator or the like in accordance with the condition of the work vehicle 1. As a result, the operability of the operator can be improved, and the work efficiency can be improved.

In detail, the difference in the manner of switching the notification may include at least any one of a difference in the devices used for notification and a difference in the implementation of the notification using the same device. For example, a notification using a display device is different from a notification using an audio output device. For example, even if the notification using the same display device is a notification, if the notification using the display screen is displayed differently, the notification mode is different. The difference in display method may be, for example, a difference in display place, display color, display size, or the like. In addition, for example, even if the notification using the same sound output device is performed, if, for example, the volume, the sound level, and the like are different, the notification manner is different.

In the present embodiment, a preferable configuration is configured as follows: the manner of the switching notification is different between the case where the work vehicle 1 continues to travel when switching to the manual travel mode and the case where the work vehicle 1 stops traveling when switching to the manual travel mode. The constitution is as follows: when the work vehicle 1 continues to travel while switching to the manual travel mode, the switching notification is performed using voice. This will be described with reference to fig. 16 and 17.

Fig. 16 is a schematic diagram for explaining an example in which the work vehicle 1 continues to travel when switching from the automatic travel mode to the manual travel mode. In the example shown in fig. 16, the automatic travel mode is a man-made automatic travel mode, and a driver (operator) is seated on the work vehicle 1. In fig. 16, a thick solid line is a job path. In the example shown in fig. 16, the driver operates the steering wheel (handle) during automatic travel, and wants to move the position of the work vehicle 1 from the work path α to the work path β. In such a situation, if the travel of the work vehicle 1 is stopped due to the steering operation being performed during the automatic travel, the work efficiency is deteriorated. Therefore, the constitution is as follows: when the steering operation is performed during the automatic travel, the travel of the work vehicle 1 is continued, and the automatic travel mode is switched to the manual travel mode.

That is, in the present embodiment, the case where the work vehicle 1 continues to travel when switching to the manual travel mode includes: when the operator who rides on the work vehicle 1 performs a steering operation, a condition (the predetermined condition) for switching the automatic travel mode to the manual travel mode is satisfied. Further, the case where the work vehicle 1 continues to travel when switching to the manual travel mode may include, for example: when the reversing lever, which changes the traveling direction, is operated from the neutral position to the forward position or the reverse position during the automatic traveling, the condition for switching the automatic traveling mode to the manual traveling mode is satisfied.

Fig. 17 is a schematic diagram for explaining the advantage of using voice notification in the switching notification when the travel of work vehicle 1 is continued. In the example shown in fig. 16, the work vehicle 1 continues to travel when switching to the manual travel mode. Therefore, when the switching notification using the display shown in fig. 17 is performed ("returning to the manual travel"), the work paths α and β displayed on the screens of the display units 15 and 23 are blocked for several seconds, and there is a possibility that the alignment to the work path β is delayed. The aforementioned several seconds are a period for which a handover notification is performed, and this period can be appropriately set.

In this regard, as in the present embodiment, if the voice notification is used for the switching notification when the travel of the work vehicle 1 is continued, the work paths α, β displayed on the screens of the display units 15, 23 are not blocked by the notification, and therefore, the alignment to the work path β can be appropriately performed. That is, the work can be efficiently performed. Further, since the operation route displayed on the screen is not blocked, the switching notification using the display may be performed by using the position on the screen where the operation route α and β are not displayed.

In the present embodiment, it is preferable that the display is used to perform the switching notification when the work vehicle 1 stops traveling when switching to the manual traveling mode. As shown in fig. 17, the notification content may be displayed on the screen of the display unit 15 or 23 in a large scale. The structure is formed in consideration of the following conditions: since the travel is stopped, a large problem does not occur even if the work paths α, β displayed on the screen are blocked for several seconds; and by making the display conspicuous, the operator or the like can easily notice the notification.

Further, in the case where the work vehicle 1 stops traveling when switching to the manual traveling mode, it is more preferable to perform the switching notification using the display and the voice. This enables the operator to recognize the switching of the travel mode more reliably. In either case of continuing the running and stopping the running, the switching notification may be performed using voice and display, but it is preferable that in the case of continuing the running, the switching notification based on the display is displayed smaller than in the case of stopping the running. With such a configuration, it can be said that the manner of switching notification differs depending on the situation of the work vehicle 1.

Further, the case where the work vehicle 1 stops traveling when switching to the manual traveling mode may include, for example: when the condition (the predetermined condition) for switching the automatic travel mode to the manual travel mode is satisfied due to occurrence of a failure in the positioning communication unit 11 included in the work vehicle 1. Examples of the trouble of the positioning communication unit 11 include a case where positioning accuracy is lowered, a case where a signal cannot be received from a positioning satellite, and the like. Further, the case where the work vehicle 1 stops traveling when switching to the manual traveling mode may include, for example: when the condition for switching the automatic travel mode to the manual travel mode is satisfied by detecting an obstacle by the obstacle sensor provided in the work vehicle 1. The obstacle may be a moving body or a stationary body, and may be, for example, a person, another work vehicle, an agricultural implement, or Dan Toudeng.

When the automatic travel mode is switched to the manual travel mode and the work vehicle 1 continues to travel, a specific situation may occur in which attention needs to be called. When the specific condition occurs, it is preferable to notify that the specific condition occurs. Specific conditions include, for example, a condition in which the vehicle speed of the work vehicle 1 is limited. The specific situation includes, for example, a situation in which the position of the main shift lever does not coincide with the traveling direction of the work vehicle 1. Hereinafter, these will be described in detail.

First, an example of the generation of the above-described limitation of the vehicle speed will be described. When the automatic running mode is switched to the manual running mode by the steering operation (see fig. 16), the tilting amount of the main shift lever LV in the forward direction is maximized (100%) as shown in fig. 18. And, the following conditions are assumed: in the automatic running, the speed of the main shift lever is set to be less than 100% by setting the vehicle speed limit of the operation unit 22 of the portable communication terminal 2 or the like in advance. The speed of less than 100% may be, for example, 50% speed or the like.

In such a hypothetical case, when the steering operation is performed during the automatic travel and the automatic travel is switched to the manual travel, the work vehicle 1 is rapidly accelerated. This is not preferable in terms of safety. Therefore, in the work vehicle 1 of the present embodiment, the configuration is as follows: in order to avoid rapid acceleration, the vehicle speed is automatically limited at the time of switching from the automatic running mode to the manual running mode. As described above, the limit of the vehicle speed may be, for example, a vehicle speed of 50% of the maximum vehicle speed or the like.

When the vehicle speed is limited, the position of the main shift lever LV does not match the actual speed of the work vehicle 1, and thus the operator may feel uncomfortable. Therefore, in the present embodiment, the notification of the fact that the vehicle speed is being limited is provided. That is, the work assistance method of the present embodiment is configured to: after the switching notification is performed by satisfying the condition for switching the automatic travel mode to the manual travel mode by the steering operation, the vehicle speed limit notification is performed that notifies that the vehicle speed of the work vehicle 1 is limited. The vehicle speed limit notification may be at least any one of voice and display, but preferably includes a voice-based notification. The vehicle speed limit notification may be performed by at least any one of the work vehicle 1 and the portable communication terminal 2. The vehicle speed limit notification may be, for example, "in vehicle speed limit". In the case where the vehicle speed is limited, the vehicle speed may be gradually increased so as to eventually become the vehicle speed corresponding to the position of the main shift lever LV. In such a configuration, the period during which the vehicle speed gradually increases may be included in the vehicle speed limit. In such a configuration, the notification of the intention of the limitation of the vehicle speed may be a configuration in which the vehicle is automatically stopped at the time when the vehicle speed of the work vehicle 1 becomes a speed corresponding to the position of the main shift lever LV.

Next, an example of a situation in which the position of the main shift lever LV does not match the traveling direction of the work vehicle 1 will be described. For example, it is assumed that an operation for bringing the main shift lever LV into the forward direction is performed during the reverse travel in the fishtail turn (see fig. 14), and the automatic travel mode is switched to the manual travel mode while the travel is continued.

In this case, in order to change from automatic running to manual running in a state where the main shift lever LV is in the forward position, the work vehicle 1 suddenly starts forward running from backward running. In the present embodiment, the forward travel is notified in consideration of safety and the like. That is, the work assistance method of the present embodiment is configured to: when the work vehicle 1 is switched to the manual travel mode at the time of backward travel in the automatic travel mode, a forward travel notification is performed to notify the work vehicle of forward travel after the switch notification is performed. This allows the operator and the person around the work vehicle 1 to appropriately grasp the transition from the backward travel to the forward travel.

The forward travel notification may be at least any one of voice and display, but preferably includes a voice-based notification. The forward travel notification may be performed by at least any one of the work vehicle 1 and the portable communication terminal 2. The forward travel notification may be, for example, "start forward travel".

In the case of forward running from the backward running, it is preferable to limit the vehicle speed for safety reasons and the like. Therefore, the work support method preferably executes the vehicle speed limit notification that notifies that the vehicle speed of the work vehicle 1 is limited after executing the forward travel notification. Thus, operator confusion can be suppressed.

[2-3 ] means for notifying work assistance

The job assistance method of the present embodiment performs the steps of: performing notification concerning work vehicle 1; and a mode of setting the notification according to the user's setting or the state of the work vehicle 1. The notification relating to work vehicle 1 may include: at least 1 of a notification concerning various operations performed in the work vehicle 1, a notification concerning operations to be performed by an operator or the like with respect to the work vehicle 1, and a notification concerning the portable communication terminal 2 and the remote operation device 3 used in cooperation with the work vehicle 1. The various operations may include not only the external operations of the work vehicle 1 but also control operations. The notification relating to the work vehicle 1 preferably includes a notification relating to automatic travel. Further, the user may broadly include a person, such as an operator, who uses the work support system 100 of the present embodiment.

Further, a program for causing a computer to execute the job assistance method according to the present embodiment causes the computer to function as a mechanism for executing: performing notification concerning work vehicle 1; and a mode of setting the notification according to the user's setting or the state of the work vehicle 1. As described above, the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the portable communication terminal 2.

The work support system 100 according to the present embodiment includes: notification units 17 and 25 that notify the work vehicle 1; and a control unit that sets a notification mode according to a user setting or the state of the work vehicle 1. The control unit may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the portable communication terminal 2.

With such a configuration, notification according to the preference of the user can be performed. Further, by adopting such a configuration, it is possible to appropriately notify the work vehicle 1 in accordance with the state thereof. That is, the work vehicle 1 provided to be capable of traveling automatically can be guided appropriately.

The notification method may include at least one of the presence or absence of a voice notification, the volume of the voice notification, the number of times of repetition of the voice notification, the repetition time of the voice notification, the tone of the voice notification, the speed of the voice notification, the height of the voice notification, the sex of the voice notification, and the selection of an output source in the case where a plurality of sound output sources are present.

The plurality of audio output sources may include, for example, the audio output unit 16 of the work vehicle 1, the audio output unit 24 of the portable communication terminal 2, and an audio output unit (not shown) provided in the remote operation device 3. The sound output unit may be a speaker in detail. In the case where the work vehicle 1 includes an in-vehicle space such as a cab, the sound output unit 16 of the work vehicle 1 may include an in-vehicle speaker and an out-of-vehicle speaker.

For example, in the case of performing automatic traveling in an automatic straight traveling mode or a manned automatic traveling mode in which the operator is in the cab, the in-vehicle speaker may be selected from a plurality of sound output sources. In addition, when the portable communication terminal 2 is brought into the cab, a speaker of the portable communication terminal 2 may be selected instead of or in addition to the in-vehicle speaker. In the case where the mobile communication terminal 2 is brought into the cab, only the in-vehicle speaker may be selected.

In addition, for example, in the case of the unmanned traveling mode, the speaker of the portable communication terminal 2 and the speaker of the remote operation device 3 may be selected from a plurality of sound output sources. In addition, in the unmanned traveling mode and in the case where the content of the predetermined notification is the content to be notified to the surroundings of the work vehicle 1, the off-vehicle speaker may be selected. The content to be notified to the surroundings of the work vehicle 1 corresponds to, for example, notifying that a person in the surroundings of the work vehicle 1 is at risk.

(2-3-1. User setting of notification means)

The user sets the notification method using, for example, the operation unit 22 of the mobile communication terminal 2. However, the notification method may be set using a component other than the mobile communication terminal 2, for example, the operation unit 14 of the work vehicle 1.

Fig. 19 to 24 are examples of setting screens used when the user sets the notification method. Fig. 19 is a diagram showing an example of a setting screen for setting the presence or absence of a voice notification. When "ON" is selected in the setting unit 40a of the setting screen shown in fig. 19, the voice notification is performed at the timing at which the voice notification is to be performed for all the items to be the target of the voice notification in advance. When "OFF" is selected in the setting unit 40a of the setting screen shown in fig. 19, no voice notification is performed for all items to be the target of the voice notification in advance. The setting unit 40a may be operated by a touch panel, a mouse, a button, a lever, a dial, or the like.

The setting of the presence or absence of the voice notification may be configured to: at least 1 item to be notified in advance can be set independently of each other. Fig. 20 is a diagram showing an example of a setting screen for setting the presence or absence of a voice notification independently of each other. In fig. 20, the presence or absence of a voice notification at the time of automatic travel start and at the time of automatic travel stop can be set. If "ON" is selected in the setting unit 40b located ON the right side of the "automatic travel start time", a voice notification is made at the automatic travel start time. If "OFF" is selected in the setting unit 40b of "automatic travel start time", no voice notification is made at the automatic travel start time. If "ON" is selected in the setting unit 40c located ON the right side in the lateral direction of "at the time of automatic travel stop", a voice notification is made at the time of automatic travel stop. If "OFF" is selected in the setting unit 40c of "automatic travel stop time", no voice notification is made at the automatic travel stop time.

Further, it is preferable that at least 1 of the respective timings of the change in the operation state of the work vehicle 1 is set individually with or without the voice notification. That is, the user-operable settings preferably include settings that include whether or not to perform voice notification at the timing of the change in the operating state of the work vehicle 1. Examples of the timing of the operation state change include the timing of switching between the automatic driving mode and the manual driving mode, the timing of switching between forward running and backward running, the timing of switching between forward running and running stop, and the timing of switching between backward running and running stop.

Fig. 21 is a diagram showing an example of a setting screen for setting the volume of a voice notification. In the example shown in fig. 21, the volume of the voice notification can be set to be between 0 and 100% by the setting unit 40d existing on the right side in the lateral direction of the "total volume". In the example shown in fig. 21, since the overall volume is set to 80%, the volume at the time of voice notification of all the items to be voice-notified is set to 80% of the maximum volume.

The setting of the sound volume may be configured as follows: at least 1 item to be notified by voice can be set independently of each other. Fig. 22 is a diagram showing an example of a setting screen for setting the volume of a voice notification independently of each other. In fig. 22, the volume of the voice notification at the time of automatic travel start and at the time of automatic travel stop can be set. The sound volume of the voice notification at the time of the automatic travel start can be set to be between 0 and 100% by the setting unit 40e located on the right side of the "at the time of the automatic travel start". The sound volume of the voice notification at the time of automatic stop travel can be set to be 0 to 100% by the setting unit 40f located on the right side of the "at the time of automatic stop travel". In fig. 22, the volume of the voice notification at the time of automatic travel start is 80%, and the volume of the voice notification at the time of automatic travel stop is 30%.

Fig. 23 is a diagram showing an example of a setting screen for setting details of a sound of a voice notification. In fig. 23, as an example, the intonation of a voice, the sex of a voice, the height of a voice, and the speed of a sound can be set. For example, the setting of each item can be selected from a plurality of items by the setting units 40g to 40j existing on the right-and-left sides of each item. In the example shown in fig. 23, "guan xi Chamber wind" is selected as the intonation of the voice. In addition, "male" is selected as the sex of the voice. In addition, "low" is selected as the height of sound. In addition, "1.2 times" is selected as the speed of the voice. The speed of speech may be "1.0 times" at normal times. For example, it may be configured such that: corresponding sound source data is selected from a plurality of sound source data stored in advance in the storage units 101 and 201 according to settings of the respective items.

The detailed setting of the sound may be set independently of each other for at least 1 of the items to be notified by the voice.

Fig. 24 is a view showing an example of a setting screen for setting sound source data used for voice notification. In the example shown in fig. 24, it is assumed that sound source data other than sound source data prepared by default is used. For example, the user can download sound source data to be used by himself from the cloud to the storage units 101 and 201 of the work vehicle 1 and the mobile communication terminal 2, and use the downloaded sound source data. In the example shown in fig. 24, sound source data that the user likes can be selected as a voice that is used during automatic traveling. For example, when sound source data to be used is selected by touching or the like and "OK" is operated, the selected sound source data is used for voice notification at the time of automatic traveling.

(2-3-2. Setting of notification means according to the state of the work vehicle)

Fig. 25 is a flowchart illustrating a notification method setting process according to the state of the work vehicle 1, which is executed in the work support system 100 according to the embodiment of the present invention.

In step S41, the notification control unit 105 (see fig. 5) monitors the timing of whether or not the notification (for example, the voice notification) is made. The timing of the notification may be determined by a preset configuration, for example. If it is determined that the notification is made (Yes in step S41), the process proceeds to the next step S42.

In step S42, notification control unit 105 confirms the state of work vehicle 1. The state of the work vehicle 1 may include, for example, a state (relationship) between the work vehicle 1 and an object existing around the work vehicle 1, and a state (relationship) between the work vehicle 1 and a device capable of communicating with the work vehicle, in addition to the state of the work vehicle itself. The object present around work vehicle 1 may be a person, another work vehicle, or the like; stationary objects such as crops and stones. The devices capable of communicating with the work vehicle 1 may be the portable communication terminal 2 and the remote operation device 3. The number of items to be checked as the state of work vehicle 1 may be single or plural. The following will exemplify an item that is a status check of the work vehicle 1. When the state of the work vehicle 1 is confirmed, the process advances to the next step S43.

In step S43, the notification control unit 105 sets the notification method based on the state of the work vehicle 1 confirmed previously. The notification mode may be a preset configuration depending on how the state of work vehicle 1 is set. The setting may be changed according to the preference of the user. Note that, in the case where the notification method is set by the user, the notification method set by the user may be prioritized over the notification method determined according to the state of the work vehicle 1 with respect to the notification at the timing of the notification in step S41. In contrast, even when the notification method is set by the user, the notification method determined according to the state of the work vehicle 1 may be set to be prioritized over the notification method set by the user for the notification at the timing of the notification in step S41. In addition, it is also possible to determine, based on the content of the notification, which of the notification method determined based on the state of the work vehicle 1 and the notification method set by the user is to be prioritized, independently of each other. When the notification method is set, the process advances to the next step S44.

In step S44, the notification control unit 105 performs notification processing so as to notify the user in accordance with the set notification method. This makes notification using an appropriate speaker or the like.

Specific examples will be described below.

The confirmation of the state of work vehicle 1 may be, for example, a confirmation of whether work vehicle 1 is traveling. This confirmation can be performed using a vehicle speed sensor or the like provided in the work vehicle 1. The notification method may be changed according to whether or not work vehicle 1 is traveling. For example, in the case where the work vehicle 1 is traveling, the volume of the voice notification may be increased as compared with the case where the work vehicle 1 is stopped. This makes it possible to provide a notification method that matches the job status.

The confirmation of the state of the work vehicle 1 may be, for example, a confirmation of at least one of a driving state of an engine of the work vehicle 1 and an operating state of the work machine. The confirmation of the driving state of the engine can be confirmed by a sensor or the like that measures the rotational speed of the engine. The operating state of the work implement can be checked by, for example, an operation button for operating each work implement, a state of an operation lever, or the like. The notification method may be changed according to at least one of the driving state of the engine of the work vehicle 1 and the operating state of the work machine. For example, when the rotation speed is high, the volume of the voice notification may be increased as compared to when the rotation speed of the engine of the work vehicle 1 is low. In addition, the volume of the voice notification can be increased in the case of operation as compared with the case of non-operation of the work machine. This makes it possible to provide a notification method that matches the job status.

The working machine may be, for example, a harvesting unit 1C7 of the combine 1C, a threshing device 1C3, or the like. The working machine may be a tiller 1T2, a plowing machine, a fertilizer applicator, a mower, a seeder, or the like mounted on the rear portion of the tractor 1T. The working machine may be a planting unit 1R2 of the transplanting machine 1R, or the like.

The confirmation of the state of the work vehicle 1 may be, for example, a confirmation of at least one of the environment around the work vehicle 1 and a predetermined operation performed by the work vehicle 1. The surrounding environment can be confirmed by, for example, an obstacle sensor. Further, the predetermined operation performed by the work vehicle 1 can be confirmed in the automatic travel mode. The notification method may be changed according to at least one of the environment surrounding work vehicle 1 and the predetermined operation performed by work vehicle 1. By checking the environment around the work vehicle 1 and the predetermined operation performed by the work vehicle 1 in advance, the risk of the work vehicle itself and the risk of the work vehicle to the surroundings can be predicted. Therefore, according to the configuration of the present embodiment, the notification mode can be set according to the risk level.

For example, when an obstacle such as a person is present on the travel path of work vehicle 1, the volume of the voice notification may be made larger than usual. In addition, for example, the volume of the voice notification may be increased as the work vehicle 1 approaches an obstacle such as a person. In addition, for example, when traveling in the automatic straight traveling mode, the volume of the voice notification may be increased as the outer edge of the field is approached. For example, when the work vehicle 1 is scheduled to perform a highly dangerous operation such as a backward travel, a sharp turn, or a turn of the discharge auger 1C6 (see fig. 2A or the like), the volume of the voice notification may be made larger than that in the normal case. Instead of increasing the volume, it is also possible to, for example, increase the speed of the voice notification, emphasize the intonation of the voice notification, increase the number of repetitions of the voice notification, or extend the repetition time of the voice notification.

The confirmation of the state of the work vehicle 1 may be, for example, confirmation of the vehicle speed of the work vehicle 1. This confirmation can be performed using a vehicle speed sensor or the like provided in the work vehicle 1. The notification method may be changed according to the vehicle speed of the work vehicle 1. For example, the volume of the voice notification may be increased as the speed of the work vehicle 1 increases. This makes it possible to easily listen to the voice notification and to easily avoid the danger.

The confirmation of the state of the work vehicle 1 may be, for example, confirmation of the type of the automatic travel mode. The automatic travel mode can be checked by setting the automatic travel mode at the start of the automatic travel. The notification method may be changed depending on whether the operator is traveling by a person who is riding on the work vehicle 1 or by an unmanned automatic operation in which the operator is not riding. Further, the automated traveling by a person as referred to herein may include both the automated traveling by the automated straight traveling mode and the automated traveling by a person. This makes it possible to perform an appropriate voice notification in accordance with the location where the operator is located.

For example, as described above, the output source of sound may be changed in the case of the automated traveling with a person or the automated traveling without a person. In addition, for example, in the case of unmanned automatic traveling, the volume of the voice notification to the surroundings of the work vehicle 1 may be increased as compared with the case of unmanned automatic traveling. In addition, for example, in the case of the automated traveling by a person, the instruction content based on the notification can be made finer than in the case of the automated traveling by no person. That is, the case of the automated traveling by a person can broadcast a minute action one by one as compared with the case of the automated traveling by no person. For example, in the case where the operator is urged to operate the operation units 14 and 22 during the automated traveling, the notification may be repeated until the operation is performed or the notification is stopped. For example, in the case of automatic traveling of a person, the notification using the screen display may be continued even after the operation of stopping the voice notification is performed, or the voice notification may be repeated by the dozing function.

For example, in the unmanned automatic travel, only the notification content having a high urgency may be notified. Whether or not emergency is detected can be determined by classifying each notification content in advance and storing the classified notification content in the storage units 101 and 201. As a notification content of the high urgency, for example, a notification when abnormality occurs and the work vehicle 1 is stopped in an emergency. In addition, for example, in the unmanned automatic travel, since the operator may not be in the vicinity of the mobile communication terminal 2, the notification may be repeated until the operation of stopping the notification is performed or at predetermined intervals.

The confirmation of the state of the work vehicle 1 may be, for example, confirmation of the number of times or time that the voice notification is repeated from the start of the voice notification. The notification method may be changed according to the number of times or the time for which the voice notification is repeated from the start of the voice notification. For example, the volume of the voice notification may be increased with the increase of the number of repetitions and the time. In addition, for example, the speed of the voice notification may be increased as the number of repetitions, time increases, or the time interval of the voice notification may be shortened. In addition, for example, the intonation of the voice notification may be emphasized as the number of repetitions and time increases.

The confirmation of the state of work vehicle 1 may be at least any one of the number of devices that can communicate with work vehicle 1 and the distance from work vehicle 1 to the devices, for example. The devices that can communicate with the work vehicle 1 may be, for example, the portable communication terminal 2 and the remote operation device 3. The distance between these devices and work vehicle 1 can be confirmed by a GPS (Global Positioning System) sensor, for example. For example, in a case where the remote operation device 3 does not include a GPS sensor, the position of the remote operation device 3 may be checked via a mobile terminal included in an operator such as a smartphone capable of communicating with the remote operation device 3, and the distance between the remote operation device 3 and the work vehicle 1 may be obtained.

The notification method may be changed according to at least one of the number of devices 2 and 3 capable of communicating with the work vehicle 1 and the distance from the work vehicle 1 to the devices 2 and 3. For example, the volume of the voice notification of the off-vehicle speaker may be increased as the distance between the work vehicle 1 and the communication-enabled devices 2 and 3 becomes longer. Here, the structure may be as follows: when there are a plurality of devices capable of communicating with work vehicle 1, notification is performed in order from near to far. For example, when the notification content is an instruction to prompt the restoration of the abnormality that has occurred, the notification to the communication-enabled device may be stopped at the time when the restoration of the abnormality is performed. Further, the constitution may be as follows: the device that has notified the instruction to urge the abnormal recovery device is notified that the abnormal recovery measure is performed.

(2-3-3. Concrete example of Voice Notification)

Hereinafter, the type of voice notification applied to the work support system 100 according to the present embodiment will be described as an example. Fig. 26A and 26B are tables illustrating voice notifications commonly applied when the work vehicle 1 included in the work support system 100 is any one of the combine 1C, the tractor 1T, and the rice seedling transplanting machine 1R.

Nos. 1 to 6 in fig. 26A are voice notifications related to preparation for enabling an automatic travel-based job. No1, no2 are voice notifications related to the positioning communication unit 11. No. 1 indicates a decrease in positioning accuracy, and No. 2 indicates that positioning with high accuracy is possible. No3, no4 are voice notifications related to registration of the orientation of the work vehicle 1. No3 supervises registration of orientation, no4 informs registration completion. In addition, the structure may be as follows: the notification will be the RTK "after No2 and No3 are summarized. Please start initializing such voices. No5 urges an inspection of the safety brake before the automatic running. The color monitor is, for example, a display unit 15 provided in the work vehicle 1. No6 urges selection of a predetermined field for performing an automatic travel-based job.

Nos. 7 to 12 in fig. 26A are voice notifications related to registration of a field in which an automatic travel-based job is performed. No7 and No8 are voice notifications related to the start and completion of the measurement work in the field in which the work vehicle 1 is used. No. 9 informs of the interruption of the started field measurement, and No. 10 informs of the restart of the interrupted field measurement. The interruption is caused, for example, by the presence of an obstacle or a decrease in positioning accuracy. No11 and 12 are voice notifications when the field is registered after the measurement of the field is completed, and specifically, voice notifications for confirming the registration contents.

Nos. 13 to 28 in fig. 26A are voice notifications related to an operation performed by automatic traveling, and relate to voice notifications generated by a route and voice notifications issued until the start to end of the operation performed by automatic traveling. No13 supervises the work required to generate the path of the automatic straight traveling mode. No. 14 informs of the start of the automatic running, no. 15 informs of the stop of the automatic running. No. 16, no. 21 to No. 24 inform the state of the work vehicle 1 during automatic travel. Further, the sensitivity limitation of No21 means that the steering sensitivity is limited according to the vehicle speed. The route deviation of No22 indicates a deviation of the position of the work vehicle 1 with respect to the automatic travel route. Further, no24 contains an operation instruction based on the state of the work vehicle 1. No17 performs an attention call based on the surrounding situation of the work vehicle 1. No18 tells that the running mode is returned from the automatic running mode to the manual running mode. No19 informs of completion of a predetermined job based on automatic travel. No20 notifies that an automatic travel-based operation is started for a surrounding area (a field area used as a turning path) of an operation area where an operation is performed in a straight travel. No. 25 and No. 26 inform completion of the learning work automatically performed during the automatic travel. No27 informs of the remaining work amount of the work by the automatic travel. No28 notifies that the job is to be restarted from a position different from the position where the automatic travel-based job was previously interrupted.

No29 in fig. 26B is a voice notification related to switching of the automatic travel mode. Specifically, the operation required for switching to the unmanned automatic travel mode is notified.

No30 and No31 in fig. 26B are voice notifications related to the traveling direction. No30 urges the start of the reverse travel, no31 notifies the person in the vicinity of the work vehicle 1 of the start of the reverse travel.

No32 and No33 in fig. 26B are voice notifications notifying the start of movement to a predetermined position. No32 notifies the start position of the start of the movement to the job based on the automatic travel. No33 notifies that, after the completion of the work by the automatic travel, the movement to the position where the travel is completed is started.

Nos. 34 to 42 in fig. 26B are voice notifications related to fail-safe in the work vehicle 1. Nos. 34 to 36 are voice notifications related to obstacles in the automatic travel path. No34 informs the detection of the obstacle. No35 informs that the vehicle speed of the work vehicle 1 is limited in accordance with the condition that the obstacle is detected. No36 is a voice notification confirming the restart of the automatic travel stopped by the detection of the obstacle. Nos. 37 to 40 are voice notifications related to devices that communicate with the work vehicle 1. No37 urges the communication connection in the case where the communication connection of the emergency stop remote controller (the above-described remote operation device 3) is incomplete. No38 informs the tablet pc (portable communication terminal 2 described above) of the poor communication environment and the response thereto. No39, no40 make an attention call concerning the power supply of the devices 2, 3 communicating with the work vehicle 1. No. 41, no. 42 are voice notifications related to the status of the field. No41 or No42 may be an notice based on information obtained at the time of field registration or the like, or an notice of a dangerous part detected during automatic travel, for example.

No43, no44 in fig. 26B are voice notifications related to remote operations. No43 informs that an instruction for temporary stop is received from the remote controller (the above-described remote operation device 3). No44 informs that an instruction for emergency stop is received from the remote controller (the above-described remote operation device 3).

Nos. 45 to 51 in fig. 26B are voice notifications related to the guidance of the work in the work vehicle 1. No. 45 and No. 46 inform the replenishment timing of materials required for the operation of the work vehicle 1. No47 indicates the timing at which the regeneration is required for DPF (Diesel particulate filter) provided in the diesel engine. No. 48 and No. 49 are voice notifications related to the work machine. No48 is a voice notification for preventing the work machine from forgetting to descend when the work based on the automatic travel starts. No. 49 urges the lowering speed of the working machine to be increased. No50 is a voice notification issued in the case where the rotation of the engine is reduced and overloaded. No51 is a voice notification notifying that the management content is changed when the job is performed in a different field from the previously performed field.

Fig. 27 is a table illustrating a voice notification applied when the work vehicle 1 included in the work support system 100 is the combine 1C.

No1 in fig. 27 is a voice notification related to registration of a field in which an operation based on automatic travel is performed. Specifically, when traveling for measurement for field registration, the operation of the harvesting clutch is urged to avoid forgetting to use the harvesting operation of the harvesting unit 1C 7.

No2 in fig. 27 notifies the start of the movement to the cutting start position by the same voice notification as No32 in fig. 26B described above.

No3 to No6 in fig. 27 are voice notifications related to the operation of discharging the threshed grains in the grain tank 1C4 to the outside of the combine 1C. No. 3 indicates the time of moving to the discharge position in advance when the cutting operation is performed. No4 informs of completion of the discharge operation. No. 5 indicates that the grain storage section in the transport vehicle for transporting grains (rice) is nearly full. No6 urges adjustment of the position of the discharge port of the discharge auger 1C 6. For example, the adjustment instruction is performed so that grains discharged to the conveyor are discharged while avoiding a portion formed in a mountain shape.

No7 in fig. 27 is a voice notification related to switching of the automatic travel mode. Specifically, the switching to the automated manned mode is urged at a stage where the unclamped area is specified by a voice notification concerning the automated manned mode (automated mode).

Nos. 8 to 12 of fig. 27 are voice notifications related to the fail-safe in the combine harvester 1C. No. 8 tells that it is in the vehicle speed limit. This voice notification notifies that the vehicle speed is being limited when, for example, the combine harvester 1C is retreated and when rice lodging is detected (lodging monitoring mode). No. 9 urges the cutting unit 1C7 to rise. When traveling starts with the cutting unit 1C7 lowered, the cutting unit 1C7 may collide with asphalt or the like, and thus the voice notification may be performed to avoid this. No10 is a voice notification for safety assurance of the combine 1C of the cab specification. No11 urges the discharge auger 1C6 to be disposed at an appropriate position for safety assurance. No12 notifies the case where the engine is under a high load and the response specific to the combine harvester 1C for the case.

No13 to No22 in fig. 27 are voice notifications related to the guidance of the work in the combine 1C. No. 13 and No. 14 notify the location when the jam occurs. No. 15 indicates that in the case where the grain that should have been harvested is not harvested. No. 16 to No. 18 are voice notifications notifying the status related to the job setting. No. 16 informs of harvest height. No. 17 and No. 18 inform the state of the threshing mouth. No19 is a voice notification relating to the capacity of the grain bin 1C 4. In detail, the box in which the grains are accumulated is informed. No20 confirms the notification of the result of the harvest and whether the job can be continued. To mode notifications of long size, short size, etc. No21 informs the harvest amount in each field. No. 22 is a voice notification for calling when the work is performed in a field in which a variety different from the field in which the work was previously performed is planted.

Fig. 28 is a table illustrating a voice notification applied when work vehicle 1 included in work support system 100 is tractor 1T.

No1 and No2 in fig. 28 are voice notifications related to the PTO provided in the tractor 1T. Specifically, no1 and No2 are voice notifications related to on/off of the PTO switch.

No3 of fig. 28 is a voice notification related to fail-safe in the tractor 1T. No3 is a voice notification for ensuring safety in the tractor 1T of the cab specification in detail.

No4, no5 of fig. 28 are voice notifications related to the guidance of the work in the tractor 1T. No. 4 is a voice notification concerning the PTO shift position, and specifically, a content and confirmation of an improper state are urged. Further, whether the PTO shift position is correct or not can be determined by the PTO rotational speed. No5 is a voice notification notifying that there is a difference between the content set in the portable communication terminal 2 and the setting of the work vehicle 1. The travel drive setting includes, for example, a setting of four-wheel travel drive mode and a setting of two-wheel travel drive mode.

Fig. 29 is a table illustrating a voice notification applied when the work vehicle 1 included in the work support system 100 is the rice transplanter 1R.

No1 in fig. 29 notifies the start of the movement to the planting start position by the same voice notification as No32 in fig. 26B and No2 in fig. 27.

Nos. 2 to 4 in fig. 29 are voice notifications related to guidance of supply of materials by the rice transplanter 1R during the course of the operation. The supply of materials is, for example, seedling supply, chemical supply, fertilizer supply, fuel supply, or the like. No2 indicates, for example, that the route for replenishment is displayed on the display unit 23 or the like of the mobile communication terminal 2, and that replenishment travel using the route is started. No3 informs that traveling toward the replenishment point is started. No. 4 tells that the replenishment point is reached.

No5 of fig. 29 is a voice notification relating to the transmission. In detail, no. 5 is a notice concerning the shift pedal at the start of automatic running.

Nos. 6 to 11 in fig. 29 are voice notifications related to the guidance of the work in the rice transplanter 1R. No.6 urges the running speed of the vehicle body to be set to a speed suitable for planting seedlings by the planting section 1R 2. No. 7 and No. 8 are voice notices for urging the replenishment of materials, no. 7 urges the replenishment of seedlings, and No. 8 urges the replenishment of fertilizer. No9 urges the soil preparation rotor as the soil preparation device for levelling the field floor to be located at a position suitable for the work. No. 10 and No. 11 are voice notifications of errors notifying the work, no. 10 notifies the blockage of fertilizer, and No. 11 notifies that the seedling conveyance is not performed normally.

<3. Notes et al >

The various technical features disclosed in the present specification can be variously modified within a range not departing from the gist of the technical creation. In addition, the plurality of embodiments and modifications shown in the present specification may be implemented in combination as far as possible.

<4. Additional notes >

An exemplary job assistance method of the present invention may be the following structure (structure 1): a work assistance method for performing assistance of a work using a work vehicle, wherein the work assistance method performs the steps of: switching to an automatic travel mode in which the work vehicle is automatically driven in a field; when a predetermined condition is satisfied in the automatic travel mode, switching to a manual travel mode in which the work vehicle is manually driven; and performing a switching notification notifying switching from the automatic travel mode to the manual travel mode, the manner of the switching notification being different according to the condition of the work vehicle at the time of switching to the manual travel mode.

In addition to the above structure 1, the following structure (structure 2) may be formed: the different ways of the handover notification include: at least one of a difference in devices used for notification and a difference in implementation of notification using the same device.

On the basis of the above 1 st or 2 nd structure, the following structure (3 rd structure) may be formed: the manner of the switching notification is different between a case where the work vehicle continues to travel when switching to the manual travel mode and a case where the work vehicle stops traveling when switching to the manual travel mode.

In addition to the above structure 3, the following structure (structure 4) may be formed: the switching notification is performed using voice when the work vehicle continues to travel when switching to the manual travel mode.

On the basis of the above 3 rd or 4 th structure, the following structure (5 th structure) may be formed: the case where the work vehicle continues to travel when switching to the manual travel mode includes a case where an operator who rides on the work vehicle performs a steering operation so as to satisfy the prescribed condition.

On the basis of any one of the structures 3 to 5 described above, the following structure (structure 6) may be formed: the switching notification is performed using a display when the work vehicle stops traveling when switching to the manual traveling mode.

On the basis of any one of the structures 3 to 6 described above, the following structure (structure 7) may be formed: the case where the work vehicle stops traveling when switching to the manual traveling mode includes at least one of a case where the predetermined condition is satisfied due to occurrence of a failure in a positioning communication unit provided in the work vehicle and a case where the predetermined condition is satisfied due to detection of an obstacle by an obstacle sensor provided in the work vehicle.

In addition to the above structure 5, the following structure (structure 8) may be formed: after the switching notification is performed by the steering operation satisfying the prescribed condition, a vehicle speed limit notification notifying that the vehicle speed of the work vehicle is limited is performed.

On the basis of any one of the structures 1 to 8 described above, the following structure (structure 9) may be formed: when the working vehicle is switched to the manual travel mode when traveling backward in the automatic travel mode, a forward travel notification notifying the working vehicle to travel forward is executed after the switching notification is executed.

In addition to the above structure 9, the following structure (structure 10) may be formed: after the forward running notification is executed, a vehicle speed limit notification notifying that the vehicle speed of the work vehicle is limited is executed.

On the basis of any one of the structures 1 to 10 described above, the following structure (structure 11) may be formed: an automatic travel mode shift notification that a notification is shifted from the manual travel mode to the automatic travel mode is performed.

In addition to the 11 th structure, the following structure (12 th structure) may be formed: after the automatic travel mode shift notification is executed, a travel direction notification notifying a direction in which the work vehicle travels is executed.

On the basis of any one of the structures 1 to 12 described above, the following structure (structure 13) may be formed: when the notification of the plurality of types of sounds is repeated at a part of the timing and the notification of the 2 nd sound of the next timing needs to be outputted in the output of the 1 st notification sound of the previous timing, the 1 st notification sound is terminated halfway, and a separate period is provided after the termination, and the notification of the 2 nd sound is outputted.

In addition, the exemplary job assistance method of the present invention may be the following structure (structure 14): a work assistance method for performing assistance of a work using a work vehicle, wherein the work assistance method performs the steps of: switching from a manual travel mode in which the work vehicle is manually driven in a field to an automatic travel mode in which the work vehicle is automatically driven; and notifying a predetermined operation required for switching to the manual travel mode when a stop condition for stopping the automatic travel mode is satisfied.

In addition to the 14 th structure, the following structure (15 th structure) may be formed: the predetermined operation includes an operation to move the shift operation portion of the work vehicle to a neutral position or a minimum position.

On the basis of the 14 th or 15 th structure described above, the following structure (16 th structure) may be formed: the prescribed operation includes an operation of a 1 st on-off switch that is turned on and off when the manual travel mode and the automatic travel mode are switched.

On the basis of any one of the structures 14 to 16 described above, the following structure (structure 17) may be formed: the prescribed operation includes an operation of a 2 nd on-off switch that is turned on and off when switching between an operation and a non-operation of a work machine of the work vehicle.

On the basis of any one of the structures 14 to 17 described above, the following structure (structure 18) may be formed: the predetermined operation includes an operation to put a work machine of the work vehicle into a non-work state.

On the basis of any one of the structures 14 to 18 described above, the following structure (structure 19) may be formed: the prescribed operation includes a plurality of operations, and the notification of the plurality of operations is performed sequentially according to priority.

In addition to the above structure 19, the following structure (structure 20) may be formed: among the plurality of operations, the earlier the order in which the operations are required to be performed by the operator, the higher the priority.

On the basis of any one of the structures 14 to 20 described above, the following structure (structure 21) may be formed: and executing an operation of performing a stop notification notifying a stop of the travel of the work vehicle by the automatic travel, the notification of the predetermined operation being executed after the stop notification.

On the basis of any one of the structures 14 to 21 described above, the following structure (structure 22) may be formed: the notifying of the prescribed operation is performed by at least one of voice and display.

In addition, the exemplary job assistance method of the present invention may be the following structure (23 rd structure): which performs assistance of a work using a work vehicle provided to be capable of automatically traveling in a field, wherein the work assistance method performs the steps of: performing notification related to the work vehicle; and setting the notification mode according to the user setting or the state of the work vehicle.

On the basis of the 23 rd structure, the following structure (24 th structure) may be formed: the notification method includes at least any one of the presence or absence of a voice notification, the volume of the voice notification, the number of times of repetition of the voice notification, the repetition time of the voice notification, the tone of the voice notification, the speed of the voice notification, the height of the voice notification, the sex of the voice notification, and the selection of the output source in the case where a plurality of output sources of the voice exist.

On the basis of the 23 rd or 24 th structure described above, the following structure (25 th structure) may be formed: the setting by the user includes setting whether or not a voice notification is performed at the timing of the change of the operation state of the work vehicle.

On the basis of any one of the above 23 to 25, the following structure (26 th structure) may be formed: the notification method is changed according to whether or not the work vehicle is traveling.

On the basis of any one of the above 23 to 26, the following structure (27 th structure) may be formed: the notification method is changed according to at least one of a driving state of an engine of the work vehicle and an operating state of the work machine.

On the basis of any one of the above 23 to 27, the following structure (28 th structure) may be formed: the notification method is changed according to at least one of the environment surrounding the working vehicle and a predetermined operation performed by the working vehicle.

On the basis of any one of the above 23 to 28, the following structure (29 th structure) may be formed: the notification method is changed according to the vehicle speed of the working vehicle.

On the basis of any one of the above 23 to 29, the following structure (30 th structure) may be formed: the notification method is changed according to whether the operator is traveling automatically by a person or not riding by an unmanned aerial vehicle.

On the basis of any one of the above 23 to 30, the following structure (31 st structure) may be formed: the notification method includes at least one of the number of repetitions of the voice notification and the repetition time of the voice notification, and the notification method is changed according to the number of repetitions or the time of the voice notification from the start of the voice notification.

On the basis of any one of the above 23 to 31, the following structure (32 nd structure) may be formed: the notification method is changed according to at least one of the number of devices that can communicate with the work vehicle and the distance from the work vehicle to the devices.

Claims

1. A work assistance method for performing work assistance using a work vehicle, wherein,

the job assistance method performs the steps of:

switching to an automatic travel mode in which the work vehicle is automatically driven in a field;

when a predetermined condition is satisfied in the automatic travel mode, switching to a manual travel mode in which the work vehicle is manually driven; and

a switching notification notifying switching from the automatic running mode to the manual running mode is made,

the manner of the switching notification differs according to the condition of the work vehicle at the time of switching to the manual travel mode.

2. The job assistance method according to claim 1, wherein,

the different modes of the switching notification comprise: at least one of a difference in devices used for notification and a difference in implementation of notification using the same device.

3. The job assistance method according to claim 1 or 2, wherein,

the manner of the switching notification is different between a case where the work vehicle continues to travel when switching to the manual travel mode and a case where the work vehicle stops traveling when switching to the manual travel mode.

4. The job assistance method according to claim 3, wherein,

in the case where the work vehicle continues to travel when switching to the manual travel mode, the switching notification is performed using voice.

5. The job assistance method according to claim 3, wherein,

the case where the work vehicle continues traveling while switching to the manual traveling mode includes: and a case where an operator who rides on the work vehicle performs a steering operation so as to satisfy the predetermined condition.

6. The job assistance method according to claim 3, wherein,

the switching notification is performed using a display when the work vehicle stops traveling when switching to the manual traveling mode.

7. The job assistance method according to claim 3, wherein,

the case where the work vehicle stops traveling when switching to the manual traveling mode includes: at least one of the predetermined condition is satisfied due to occurrence of a failure in the positioning communication means provided in the work vehicle and the predetermined condition is satisfied due to detection of an obstacle by the obstacle sensor provided in the work vehicle.

8. The job assistance method according to claim 5, wherein,

after the switching notification is performed by the steering operation satisfying the prescribed condition, a vehicle speed limit notification notifying that the vehicle speed of the work vehicle is limited is performed.

9. The job assistance method according to claim 1, wherein,

when the working vehicle is switched to the manual travel mode when traveling backward in the automatic travel mode, a forward travel notification notifying the working vehicle to travel forward is executed after the switching notification is executed.

10. The job assistance method according to claim 9, wherein,

after the forward running notification is executed, a vehicle speed limit notification notifying that the vehicle speed of the work vehicle is limited is executed.

11. The job assistance method according to claim 1, wherein,

an automatic travel mode shift notification that a notification is shifted from the manual travel mode to the automatic travel mode is performed.

12. The job assistance method according to claim 11, wherein,

after the automatic travel mode shift notification is executed, a travel direction notification notifying a direction in which the work vehicle travels is executed.

13. The job assistance method according to claim 1, wherein,

when the notification of the plurality of types of sounds is repeated at a part of the timing and the notification of the 2 nd sound of the next timing needs to be outputted in the output of the 1 st notification sound of the previous timing, the 1 st notification sound is terminated halfway, and a separate period is provided after the termination, and the notification of the 2 nd sound is outputted.

14. A work assistance system for assisting a work using a work vehicle, wherein,

the work assistance system is provided with:

a control unit that switches to a manual travel mode in which the work vehicle is manually moved when a predetermined condition is satisfied in an automatic travel mode in which the work vehicle is automatically moved in a field; and

A notification unit that notifies a notification of switching from the automatic travel mode to the manual travel mode,

15. A program for causing a computer to execute a work assistance method for performing assistance of a work using a work vehicle,

the program causes the computer to function as a means for executing:

a process of notifying a switching notification of switching from the automatic travel mode to the manual travel mode is performed,

16. A work assistance method for performing work assistance using a work vehicle, wherein,

the job assistance method performs the steps of:

switching from a manual travel mode in which the work vehicle is manually driven in a field to an automatic travel mode in which the work vehicle is automatically driven; and

When a stop condition for stopping the automatic travel mode is satisfied, a predetermined operation required for switching to the manual travel mode is notified.

17. A work assistance method for performing work assistance using a work vehicle provided so as to be capable of automatically traveling in a field,

the job assistance method performs the steps of:

performing notification related to the work vehicle; and

the notification mode is set according to the user setting or the state of the work vehicle.