JP2019068844A - Operation support device for agricultural machine, and agricultural machine - Google Patents

Abstract

To view simply the degree of deviation between a reference position determined beforehand and the position of a traveling vehicle body.SOLUTION: An operation support device for an agricultural machine includes a detector for detecting the position of a traveling vehicle body based on a signal from a positioning satellite, and a display device for displaying acquisition of a reference line for connecting a first position which is a position detected by the detector to a second position which is a position detected by the detector after detection of the first position, in which the display device displays that a traveling vehicle body is deviated from the reference line.SELECTED DRAWING: Figure 3

Description

  The present invention relates to, for example, a driving support device for an agricultural machine such as a tractor, a combine, a rice transplanter, and the like, and an agricultural machine.

  DESCRIPTION OF RELATED ART Conventionally, the technique shown to patent document 1 is known as an apparatus which displays the position at the time of driving | running | working in the field of a tractor. Patent document 1 shows the working line of the tractor in a field on a display device, and shows by arrows that the traveling tractor deviates from the working line. In addition, the amount of deviation from the work line is indicated by a numerical value for the tractor during traveling.

Patent No. 5667731 gazette

In Patent Document 1, the arrow indicates that the tractor in motion is displaced from the work line, and the displacement amount is indicated by a numerical value. However, the degree of displacement from the work line can be obtained only by looking at the displacement amount. It was difficult to intuitively see how much it was.
Therefore, in view of the above problems, it is an object of the present invention to provide a display device capable of easily visually recognizing the degree of deviation between a predetermined reference position and the position of a traveling vehicle body.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The driving support device for an agricultural machine detects a position of a traveling vehicle based on a signal of a positioning satellite, a first position which is the position detected by the detection device, and the detection of the first position. And a display device for displaying that a reference line connecting the second position, which is the position detected by the detection device, is obtained, the display device being configured such that the traveling vehicle body is shifted with respect to the reference line Show that.

The display device includes a one-way display unit that indicates that the traveling vehicle body is shifted to the left, and another direction display unit that indicates that the traveling vehicle body is shifted to the right.
The one-way display unit and the other-direction display unit change the display state according to the degree of the shift.
The display device includes a direction display unit that displays a direction in which the traveling vehicle body is returned in order to eliminate the displacement, and the direction display unit is a one-way display unit that displays when the traveling vehicle body is returned to the left. And a second direction display unit that displays when the traveling vehicle body is returned to the right.

The one-way indicator includes an arrow returning to the left side of the traveling vehicle, and the other-direction indicator includes an arrow returning to the right of the traveling vehicle.
The one-way display unit and the other-direction display unit are arranged side by side.
The display device displays the reference line indicating that the traveling vehicle body travels straight.
The agricultural machine includes a traveling vehicle provided with a work device, a detection device for detecting the position of the traveling vehicle based on a signal of a positioning satellite, a first position which is the position detected by the detection device, and A display device for displaying that a reference line connecting a reference line connecting the second position, which is the position detected by the detection device, after the detection of the first position is obtained; It indicates that the vehicle body is offset with respect to the reference line.

The display device includes a one-way display unit that indicates that the traveling vehicle body is shifted to the left, and another direction display unit that indicates that the traveling vehicle body is shifted to the right.
The one-way display unit and the other-direction display unit change the display state according to the degree of the shift.
The display device includes a direction display unit that displays a direction in which the traveling vehicle body is returned in order to eliminate the displacement, and the direction display unit is a one-way display unit that displays when the traveling vehicle body is returned to the left. And a second direction display unit that displays when the traveling vehicle body is returned to the right.

The one-way indicator includes an arrow returning to the left side of the traveling vehicle, and the other-direction indicator includes an arrow returning to the right of the traveling vehicle.
The one-way display unit and the other-direction display unit are arranged side by side.
The display device displays the reference line indicating that the traveling vehicle body travels straight.

  According to the present invention, it is possible to easily visually recognize the degree of deviation between the predetermined reference position and the position of the traveling vehicle body.

BRIEF DESCRIPTION OF THE DRAWINGS It is a general view of the work assistance system in 1st Embodiment. It is a figure which shows transition of the screen displayed on the display part of a display apparatus. It is a figure which shows the screen at the time of operating a display apparatus as a driving assistance device. It is a figure which shows the detail of a 3rd icon part. It is a figure which shows the detail of a 4th icon part. It is a figure which shows the display state of a one way display part. It is a general view of the work support system in a 2nd embodiment. It is a figure which shows a work plan setting screen. FIG. 7 is a diagram in which the direction of displacement of the traveling vehicle body coincides with the direction indicated by the arrow of the direction display unit. It is a figure which the direction shown by the arrow of a direction display part is opposite with respect to the direction of the shift | offset | difference of a traveling vehicle body. It is the general view which connected the scattering device to the traveling vehicle body.

Hereinafter, embodiments of the present invention will be described based on the drawings.
First Embodiment
FIG. 1 shows a work support system in the first embodiment.
The work support system is a system capable of supporting the work machine 1 performing a work. The working machine is an agricultural machine, a construction machine, etc., and the agricultural machine is a tractor, a combine, a rice planter, etc. Hereinafter, the tractor 1 which is one of agricultural machines will be described as an example. The tractor 1 can be provided with a work device 2.

First, the entire configuration of the tractor 1 will be described.
As shown in FIG. 9, the tractor 1 includes a traveling vehicle (a traveling vehicle body) 3 having wheels, a prime mover 4 such as a diesel engine, and a transmission 5. A driver's seat 6 and a cabin 7 surrounding the driver's seat 6 are provided on the traveling vehicle body 3. Further, at the rear of the traveling vehicle body 3, a connecting portion 8 constituted by a three-point link mechanism or the like is provided. The working device 2 is attachable to and detachable from the connecting portion 8. The work device 2 can be pulled by the traveling vehicle body 3 by connecting the work device 2 to the connecting portion 8.

  The work device 2 is a spraying device capable of spraying a spraying agent such as a fertilizer or a drug. The spraying device 2 includes a container 2a capable of storing a spraying agent, and a spraying mechanism 2b provided in the container 2a and spraying the spraying agent in the container 2a to the outside. The spreading mechanism 2 b is, for example, an open / close shutter or the like, and can spread the spreading agent by the opening / closing operation of the shutter. In addition, the spreading device 2 (spreading mechanism 2b) is not limited to what was shown in FIG. 9, As long as it spreads the spreading agent in the container 2a outside, what kind of structure may be sufficient.

As shown in FIG. 1, the spraying device 2 includes a control device 2c that controls the spraying mechanism 2b, and a display device 2d connected to the control device 2c. In the display unit 2d, the spread amount per unit area (for example, 10 kg / 10 a (1000 m ² )), the spread width of the spread agent (unit: m), the amount of the spread agent charged into the container 2a Unit: kg) can be input etc. The control device 2c controls the opening / closing amount (opening degree) of the scattering mechanism 2b, the timing of opening / closing, etc. based on the scattering amount, the scattering width, etc. Note that the scattering device 2 It is preferable that the spraying according to the vehicle speed interlocking with the moving speed (vehicle speed) changes the spraying amount per unit time, and the control device 2c operates a switch or the like provided in the display device 2d. When spraying starts, a signal (start signal) indicating the start of spraying is output to the on-vehicle network N1 described later, and when the switch is operated and the spraying is finished, the control device 2c ends spraying. The output signal (end signal) to the in-vehicle network N1 shown.

As shown in FIG. 1, the tractor 1 includes a detection device 10, a control device 11, and a display device 12. The detection device 10, the control device 11, and the display device 12 are connected by an in-vehicle network N1 such as CAN.
The detection device 10 is a device that detects a traveling state of the tractor 1 (traveling state), that is, a traveling state of the traveling vehicle body 3. The detection device 10 can detect, for example, the moving distance and the moving speed (vehicle speed) of the traveling vehicle body 3 as the traveling state. In this embodiment, the detection device 10 is used for a satellite positioning system (Global Positioning System, Galileo, GLONASS, etc.) to calculate the position of the traveling vehicle 3 and to detect the movement distance and movement speed from the calculated position.

  The detection device 10 receives the satellite signal (radio wave) of the positioning satellite 15 by the receiving unit 10a, and calculates the traveling state of the tractor 1 (the traveling vehicle body 3) based on the satellite signal received by the receiving unit 10a. And. The receiving unit 10a and the state calculating unit 10b are composed of electric / electronic parts, programs incorporated in a CPU, and the like. As illustrated in FIG. 9, the detection device 10 includes a housing 10 c that houses the reception unit 10 a and the state calculation unit 10 b. The housing 10 c is attached to the top plate of the cabin 7. The housing 10 c may be attached to other than the cabin 7, and may be provided to the work device 2, for example.

  The state calculation unit 10 b calculates the position of the reception unit 10 a based on the carrier wave phase of the satellite signal transmitted from the positioning satellite 15. Then, the state calculation unit 10b obtains the movement distance when the position of the reception unit 10a changes in a predetermined time, converts the movement distance into a speed, and sets the conversion value as the movement speed (vehicle speed) of the tractor 1. Note that the state calculation unit 10b is based on the difference between the frequency of the satellite signal transmitted by the positioning satellite 15 and the frequency of the satellite signal when the reception unit 10a receives the satellite signal (Doppler shift value) and the satellite signal. The position of the reception unit 10a may be calculated, and the method of calculating the position is not limited. Further, the state calculation unit 10b may calculate only the movement distance, or may calculate only the movement speed (vehicle speed). The travel distance and travel speed calculated by the state calculation unit 10b are output to the in-vehicle network N1. Therefore, the control device 11, the display device 12, and the like can acquire the traveling state (moving distance, moving speed).

  The control device 11 uses an operation signal when operating an operation tool (operation lever, operation switch, operation volume, etc.) installed around the driver's seat 6, detection signals of various sensors mounted on the traveling vehicle body 3, etc. Control of the traveling system and the working system of the tractor 1 is performed based on it. For example, the control device 11 performs control of moving up and down the connecting portion 8 based on an operation signal of the operating tool, or controls the number of rotations of the diesel engine based on an accelerator pedal sensor. The control device 11 only needs to control the working system and the traveling system of the tractor 1, and the control method is not limited.

  The display device 12 includes a control unit 12a, a storage unit 12b, and a display unit 12c. The control unit 12 a is configured of a CPU or the like and performs various controls regarding the display device 12. The storage unit 12 b is a non-volatile memory or the like, and stores various information. The storage unit 12 b stores, for example, various application software. The display unit 12 c is a touch panel that can perform display and input.

The control unit 12 a includes a state acquisition unit 21, a width acquisition unit 22, an input amount acquisition unit 23, a scatter amount acquisition unit 24, and a calculation unit 25. The state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the scatter amount acquisition unit 24, and the calculation unit 25 are composed of electric / electronic parts, programs incorporated in the control unit 12 a, and the like.
The state acquisition unit 21 acquires the moving speed as the traveling state detected by the state calculation unit 10b. That is, the moving speed calculated by the state calculation unit 10b of the detection device 10 is acquired via the in-vehicle network N1.

The width acquisition unit 22 acquires a work width in the work device 2. When the work device 2 is the spreader 2, the work width is a range (spread width) in which the spread agent is spread. For example, a cable 2e is connected to the control device 2c of the spraying device 2. The cable 2e can be connected to a connector 16 or the like connected to the in-vehicle network N1. That is, the control device 2c of the spraying device 2 and the display device 12 can be connected to the in-vehicle network N1. The width acquisition unit 22 requests the control device 2 c of the spray device 2 to apply the spray width. The control device 2c transmits the spread width input to the display device 2d to the display device 12 (width acquisition unit 22) in response to the response of the width acquisition unit 22. Thereby, the width acquisition unit 22 acquires the spread width of the spreading agent set (input) to the spreading device 2. The display unit 12 may be provided with an input unit for inputting the spread width, and the width obtaining unit 22 may obtain the spread width input to the input unit of the display unit 12.

  The input amount acquisition unit 23 acquires the input amount of the spray agent input to the container 2 a of the spray device 2. For example, the input amount acquiring unit 23 requests the control device 2 c of the spraying device 2 to input the input amount. In response to the response of the input amount acquiring unit 23, the control device 2c transmits the input amount input to the display device 2d to the display device 12 (input amount acquiring unit 23). Thereby, the input amount acquiring unit 23 acquires the input amount of the spray agent input into the container 2 a of the spraying device 2. Note that the display unit 12 may be provided with an input unit for inputting the input amount, and the input amount acquiring unit 23 may acquire the input amount input to the input unit of the display unit 12.

  The spread amount acquisition unit 24 obtains the spread amount of the spread agent. The spread amount acquisition unit 24 requests the control device 2 c of the spread device 2 to set the spread amount. The control device 2c transmits the spread amount input to the display device 2d to the display device 12 (spread amount acquisition unit 24) in response to the response of the spread amount acquisition unit 24. Thereby, the spread amount acquisition unit 24 obtains the spread amount of the spread agent set (input) in the spread device 2. Note that the display unit 12 may be provided with an input unit for inputting the spread amount, and the spread amount acquisition unit 24 may obtain the spread amount input to the input unit of the display device 12.

The calculation unit 25 is based on the traveling state acquired by the state acquisition unit 21, the spread width acquired by the width acquisition unit 22, the input amount acquired by the input amount acquisition unit 23, and the scatter amount acquired by the scatter amount acquisition unit 24. Determine the remaining amount of the spray agent in the container 2a. Specifically, when the display device 12 acquires the start signal output to the in-vehicle network N1, the calculation unit 25 calculates an elapsed time from the start of spraying to the present time. In addition, the calculation unit 25 obtains the spread amount per second by the product of the moving speed of the traveling vehicle body 3 per second, the spread width and the spread amount [spread amount per second (kg / sec) = move Speed (m / sec) x spread width (m) x spread amount per unit area (kg / m ² ) and the time from the start of the spread of the spread agent to the present (elapsed time) The spray amount (kg), that is, the theoretical spray amount (kg) is determined by multiplying the spray amount per second by the theoretical spray amount (kg) = elapsed time (sec) × spray amount per second (sec) kg / sec)] Next, the operation unit 25 determines the remaining amount of the spray agent remaining in the container 2a, that is, the theoretical remaining amount (kg), using the input amount and the theoretical application amount. In form, although the amount of spread per second is calculated, it is not limited to this, If the display device 12 acquires the end signal output to the in-vehicle network N1, the calculation unit 25 ends the calculation of the remaining amount of the spread agent and resets the elapsed time. Do.

  The display unit 12c displays the remaining amount (theoretical remaining amount) obtained by the calculation unit 25 as a number, a figure, a character, or the like. As shown in FIG. 3, for example, an application screen M2 which is a screen after starting an application for agricultural work support is displayed on the display unit 12c, and the third display area 48c of the application screen M2 shows characters indicating the remaining amount and Display numbers. The display unit 12c updates the remaining amount to be displayed each time the calculation unit 25 calculates the remaining amount of the spray. The display unit 12c may display the remaining amount every predetermined time, or may display the remaining amount every predetermined moving distance.

As described above, the work support system and the agricultural machine include the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the scatter amount acquisition unit 24, and the calculation unit 25. Therefore, for example, the vehicle speed that is the traveling state of the traveling vehicle body 3 (agricultural machine 1) acquired by the state acquisition unit 21, the work width (for example, the dispersion width) acquired by the width acquisition unit 22, and the scatter amount acquisition unit 24 The remaining amount of the spreading agent can be determined by the calculation unit 25 using the acquired spreading amount. Further, according to the work support system and the agricultural machine, since the display unit 12c displays the spread amount obtained by the calculation unit 25, the worker can easily grasp the remaining amount of the spread agent. Therefore, the remaining amount of the spreading agent can be determined also in the spraying device 2 in which the sensor for detecting the remaining amount of the spreading agent is not mounted. In addition, the remaining amount of the spreading agent can be grasped regardless of the presence or absence of the transparency of the container 2a storing the spreading agent.

In the embodiment described above, the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the scatter amount acquisition unit 24, and the calculation unit 25 are provided in the display device 12, but the present invention is not limited thereto. , It may be provided in the control apparatus 11, and may be provided in the other electric equipment etc. which were provided in the agricultural machine.
Now, as shown in FIG. 2, various screens (a plurality of screens) can be displayed on the display unit 12 c of the display device 12 corresponding to the operation, and mainly the main screen (home screen) M 1 and , A screen (application screen) M2 corresponding to the application and a setting screen M3 are individually displayed. In addition, when showing several screens for convenience of explanation, it may only be called screen M1, M2, M3.

  The sizes of the screens M1, M2, and M3 have substantially the same aspect ratio, and a common designation unit (selection unit) 40 is displayed on the screens M1, M2, and M3. The designation unit (selection unit) 40 is for designating a screen, and can switch, for example, the screens M1, M2, and M3. Including a home button 40a for designating display of the home screen M1 (switching to the home screen M1), and a return button 40b for returning to the previous screen from the currently displayed screen (switching to the previous screen) There is. The position of the home button 40a is the same on any of the home screen M1, the application screen M2, and the setting screen M3. The home button 40a is located, for example, at the lower left of the screens M1, M2, and M3. The position of the return button 40b is also the same on any of the home screen M1, the application screen M2, and the setting screen M3. The return button 40b is located, for example, on the right of the home button 40a on the screens M1, M2, and M3. That is, the home button 40a and the return button 40b are located at the lower left corner 43LD of the screens M1, M2 and M3.

  Specifically, in the screens M1, M2, and M3, a first display area 45 for displaying the designation unit 40 (home button 40a, return button 40b) is set. The first display area 45 includes a first horizontal line 42a extending in the horizontal direction, a second horizontal line 42b spaced apart from the first horizontal line 42a by a predetermined distance and parallel to the first horizontal line 42a, and a vertical direction. It is configured by being surrounded by the extending first vertical line 42c and the second vertical line 42d which is separated from the first vertical line 42b by a predetermined distance and which is parallel to the first vertical line 42a. In the application screen M2 and the setting screen M3, the second vertical line 42d is inclined so as to be easily distinguishable from other areas.

  The specification unit (selection unit) 40 may have a setting button 40c for specifying that the setting screen M3 is displayed. The setting button 40c is away from the home button 40a and the return button 40b, and a corner on the opposite side to the corner 43LD where the home button 40a and the return button 40b are disposed (the lower right corner of the screen M1, M2) It is located at 43 RD.

  When the application screen M2 is displayed, the first display area 45 is divided into two areas of one corner side and the other corner side. That is, in the application screen M2, the first display area 45 is the first left display area 45a for displaying the home button 40a and the return button 40b at the lower left corner 43LD and the lower right corner RD. And a first right display area 45b for displaying the button 40c. Therefore, in the application screen M2, an area between the lower left corner 43LD and the lower right corner 43RD can be used as a display area for the application, and characters, numbers, patterns, etc. corresponding to the application can be used. Can be displayed widely.

The home screen M1 has an icon display area 46 for displaying an icon of application software (application) stored in the display device 12, and a basic display area 47 for displaying basic information. Basic information is the name of a user (for example, a farm worker), an e-mail address, and the like. The application screen M2 is a screen for displaying various information corresponding to the application, and has an application display area 48. In addition, the application screen M2 of FIG. 2 has shown the screen of the application of farming support. In the application screen M2, a work plan performed by the farmer, that is, a work plan described later can be displayed. The setting screen M3 displays information on settings and the like of the display device 12.

FIG. 3 shows an application screen M2 after starting the application for agricultural work support. Here, the application for agricultural work support is software for supporting the operation (steering) of an agricultural machine by displaying the traveling state and the like of the agricultural machine (tractor). That is, the display device 12 operates as a support device (drive support device) that supports the driving of the agricultural machine after the application is started.
Next, the case where the display device 12 operates as the driving support device will be described in detail.

  As shown in FIG. 3, when the display device 12 is operated as a driving assistance device, the application display area 48 of the application screen M2 mainly includes a first display area 48a, a second display area 48b, and a third display. It is divided into area 48c. The direction display unit 50 and the displacement amount display unit 51 are displayed in the first display area 48a. A field display unit 52 is displayed in the second display area 48b. In the third display area 48c, the remaining amount (theoretical remaining amount) obtained by the calculation unit 25 is displayed in numbers and characters. Note that the display device 12 is also applicable to the case where the remaining amount is not displayed, and in this case, the third display area 48c may be omitted.

  The direction display unit 50 is a portion that indicates that the position of the traveling vehicle 3 (the position of the tractor 1) determined based on the satellite signal from the positioning satellite 15 is shifted with respect to a predetermined reference position. . The reference position can be set by the field display unit 52 as described later. The direction display unit 50 indicates, for example, that the current position of the traveling vehicle body 3 is shifted to the left from the reference position, or indicates that the current position of the traveling vehicle body 3 is shifted to the right from the reference position.

The shift amount display unit 51 is a portion that displays the shift amount between the position of the traveling vehicle body 3 and the reference position by a numeral or the like. For example, when the amount of deviation between the current position of the traveling vehicle body 3 and the reference position is 0.5 m, “0.5 m” indicating the amount of deviation is displayed.
Hereinafter, the direction display unit 50 and the displacement amount display unit 51 will be described in detail.
The direction display unit 50 includes a reference display unit 50a, a one-way display unit 50b, and another direction display unit 50c. The reference display unit 50a is a graphic indicating the reference position, and is located at the center of the first display area 48a in the lateral direction. The reference display unit 50a and the deviation amount display unit 51 are located at the same position. That is, the reference display unit 50a and the displacement amount display unit 51 overlap on the image. Further, the horizontal width and the vertical width of the reference display unit 50a are larger than the shift amount display unit 51, and the shift amount display unit 51 is accommodated in the reference display unit 50a on the image.

  The one-way display unit 50b is a graphic showing an offset of the traveling vehicle body 3 with respect to the reference position by an arrow directed to one direction (for example, the left), and is disposed on the left side of the reference display unit 50a. The other direction display unit 50c is a graphic showing an offset of the traveling vehicle body 3 with respect to the reference position by an arrow directed to the other direction (for example, right) opposite to the one direction, and is disposed on the right side of the reference display unit 50a. It is done. For example, when the traveling vehicle body 3 is shifted to the left from the reference position, the one-way display unit 50b indicates that the traveling vehicle body 3 is shifted to the left from the reference position. Further, when the traveling vehicle body 3 is shifted to the right from the reference position, the other direction display unit 50b indicates that the traveling vehicle body 3 is shifted to the right from the reference position. Therefore, in this embodiment, the direction in which the traveling vehicle body 3 is shifted with respect to the reference position coincides with the arrow of the direction display unit 50 (one-direction display unit 50b, other direction display unit 50c).

The reference display unit 50a is located between the one-way display unit 50b and the other-direction display unit 50c. In other words, the displacement amount display unit 51 is located between the one-way display unit 50b and the other-direction display unit 50c.
When indicating the direction of the shift, the one-way display unit 50b and the other direction display unit 50c simultaneously display the magnitude (degree) of the shift amount together with the direction of the shift. Specifically, the one-way display unit 50b can display the size (degree) of the amount of deviation stepwise while indicating the direction of deviation, and indicates a plurality of one-way arrows indicating that the amount is deviated in one direction. Have a department. The display state (color depth) of the plurality of one-way arrow parts changes in accordance with the amount of deviation.

The plurality of one-way arrows include a first arrow 50b1, a second arrow 50b2, a third arrow 50b3, a fourth arrow 50b4, and a fifth arrow 50b5. The first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3, the fourth arrow portion 50b4, and the fifth arrow portion 50b5 are arranged in a straight line in one direction.
The first arrow portion 50b1 indicates that the magnitude of the amount of displacement is the smallest step, and if the amount of displacement exceeds a predetermined value and is equal to or less than the predetermined value, the display color becomes dark (increases saturation and lightness) ). The fifth arrow portion 50b5 indicates that the magnitude of the amount of displacement is the largest step, and if the amount of displacement is a predetermined value or more, the display color becomes dark. In the second arrow portion 50b2, the third arrow portion 50b3 and the fourth arrow portion 50b4, the amount of deviation exceeds a predetermined value and is a predetermined value at a stage where the magnitude of the amount of deviation is the smallest and the largest If it is less, the display color becomes darker.

  FIG. 5 shows changes in the display state of a plurality of one-way arrows in one-way display unit 50b. As shown in FIG. 5, when the position of the traveling vehicle body 3 is shifted leftward from the reference position and the amount of shift is 0.5 m or less, the display color of the first arrow portion 50b1 becomes dark. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the deviation amount exceeds 0.5 m and is 1.0 m or less, the display color of the first arrow portion 50 b 1 and the second arrow portion 50 b 2 becomes dark. If the position of the traveling vehicle body 3 is shifted leftward from the reference position and the shift amount is more than 1.0 m and 1.5 m or less, the display colors of the first arrow portion 50 b 1, the second arrow portion 50 b 2 and the third arrow portion 50 b 3 are It gets darker. If the position of traveling vehicle body 3 is shifted left from the reference position and the amount of displacement is more than 1.5 m and 2.0 m or less, first arrow portion 50 b 1, second arrow portion 50 b 2, third arrow portion 50 b 3 and fourth arrow The display color of section 50b4 becomes dark. If the position of the traveling vehicle 3 shifts left from the reference position and the amount of shift exceeds 2.0 m, the first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3, the fourth arrow portion 50b4, and the fifth arrow portion Display color of 50b5 becomes darker. That is, in the plurality of one-way arrows in the one-way display unit 50b, the display state changes in steps of 0.5 m. Note that the threshold (predetermined value) of the amount of deviation for darkening the display color of the arrow portion, that is, the degree of the amount of deviation is, for example, the width of the work performed by the work device 2 or the width of the traveling vehicle 3 It may be set on the basis of the ratio of the amount of deviation, or may be performed by another method.

  The other direction display unit 50c has a plurality of other arrow parts that can display the size (degree) of the amount of deviation stepwise while indicating the direction of deviation, and indicate that the amount of deviation is in the other direction. . In the plurality of other direction arrows, the display state (color density) changes in accordance with the amount of deviation. The plurality of other direction arrow portions include a first arrow portion 50c1, a second arrow portion 50c2, a third arrow portion 50c3, a fourth arrow portion 50c4, and a fifth arrow portion 50c5.

  The first arrow portion 50c1 indicates that the magnitude of the amount of displacement is the smallest step, and if the amount of displacement exceeds a predetermined value and is equal to or less than the predetermined value, the display color becomes dark. The fifth arrow portion 50c5 indicates that the magnitude of the amount of displacement is the largest step, and if the amount of displacement is a predetermined value or more, the display color becomes dark. In the second arrow portion 50c2, the third arrow portion 50c3 and the fourth arrow portion 50c4, the amount of deviation exceeds a predetermined value at the stage between the smallest and the largest stages of the magnitude of the amount of deviation and If the value is less than the predetermined value, the display color becomes dark.

  Therefore, when the position of the traveling vehicle body 3 is shifted to the right from the reference position, the first arrow portion 50c1, the second arrow portion 50c2, the third arrow portion 50c3, the fourth arrow portion 50c4, and the fourth arrow portion 50c of the other direction display portion 50c. In the 5 arrow portion 50c5, the display color changes in accordance with the size of the amount of deviation, as in the one-way display portion 50b. That is, the display states of the plurality of other direction arrow parts are the same as the plurality of one direction arrow parts except for the direction of deviation.

  As described above, according to the direction display unit 50, the one-way display unit 50b (the first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3) according to the amount of deviation between the position of the traveling vehicle body 3 and the reference position. The display state of the fourth arrow portion 50b4 and the fifth arrow portion 50b5) changes. Therefore, it is possible to intuitively check how large the degree of deviation of the traveling vehicle body 3 in one direction is by looking at not only the numerical values displayed on the deviation amount display unit 51 but also a plurality of arrow parts. Further, according to the direction display unit 50, the display state of the other direction arrow portion 50c changes in accordance with the amount of deviation. Therefore, it is possible to intuitively check how large the degree of deviation of the traveling vehicle body 3 in the other direction is by looking at a plurality of arrow parts in addition to the numerical values displayed on the deviation amount display unit 51.

The plurality of unidirectional arrow portions and the plurality of other directional arrow portions are linearly arranged. Therefore, the space for arranging a plurality of arrow parts (a plurality of one-direction arrow parts and a plurality of other direction arrow parts) can be reduced as much as possible, and other information is displayed in a part where space is available. can do.
The displacement amount display unit 51 is provided between the one-way display unit 50 b and the other-direction display unit 50 c. Therefore, it is possible to immediately grasp how much and in which direction the traveling vehicle 3 deviates, and to easily confirm the relationship between the deviation direction and the amount of deviation.

  Further, the direction display unit 50 and the displacement amount display unit 51 are provided at the same position. That is, the direction display unit 50 and the displacement amount display unit 51 are displayed in an overlapping manner. Therefore, the direction display unit 50 and the displacement amount display unit 51 can be viewed at the same focal point, that is, both can be viewed without shifting the viewpoint (line of sight). Therefore, it is possible to visually recognize at a glance how much and in which direction the position of the traveling vehicle body 3 which is actually traveling deviates from the reference position which is the reference.

  The direction display unit 50 has a reference display unit 50a, a one-way display unit 50b, and another direction display unit 50c, and the displacement amount display unit 51 is superimposed on the reference display unit 50a. Therefore, by looking at the reference display unit 50a, it is possible to grasp at a glance how much the traveling vehicle body 3 deviates from the reference position. In addition, the directions of deviation can be grasped only by looking at the one-way display unit 50b and the other-direction display unit 50c arranged on one side and the other side with the reference display unit 50a as the center. That is, if the reference display unit 50a can be regarded as the traveling vehicle body 3 and the numerical value of the displacement amount display unit 51 displayed in the reference display unit 50a is zero, the position of the traveling vehicle body 3 matches the reference position. If the numerical value of the displacement amount display unit 51 displayed in the reference display unit 50a is other than zero, it is understood that the position of the traveling vehicle body 3 is deviated from the reference position, and the current traveling vehicle body 3 position is simplified. Can be grasped.

  Now, as shown in FIG. 3, the field display unit 52 is a portion virtually showing fields such as a field, a farm or the like in which the traveling vehicle body 3 travels. Further, the field display unit 52 senses that the driver sitting on the driver's seat of the tractor 1 (traveling vehicle body 3) looks at the actual field and the field (field image) displayed on the field display unit 52 The field image is displayed diagonally to match. For convenience of explanation, the virtual field displayed on the field display unit 52 may be referred to as "virtual field" or "field image".

Further, the machine display unit 53 is shown in the field display unit 52. The machine display unit 53 virtually shows the tractor 1 (the traveling vehicle body 3), and the display position of the machine display unit 53 with respect to the field display unit 52 is fixed. The center position P1 of the machine display unit 53 is the current position of the tractor 1 (traveling vehicle body 3) on the virtual field.
Therefore, when the tractor 1 is actually traveled, the display position of the machine display unit 53 of the virtual field remains fixed, and the field display unit 52 is displayed along with the change of the position of the traveling vehicle body 3 detected by the detection device 10. The virtual field (field image) shown in is scrolled.

  Further, in the virtual field, it is possible to display the movement trajectory of the tractor 1, that is, the virtual work area (worked part) W1 in which the work is performed by the tractor 1. The virtual work width corresponding to the work width of the tractor 1 (traveling vehicle body 3) is set in the virtual field, and the center position of the virtual work width coincides with the center position P1 of the machine display unit 53. Then, when the field image is scrolled in correspondence with the traveling of the tractor 1, the area corresponding to the virtual work width is colored in a color different from that of the other parts in the field image after the scroll based on the machine display unit 53. Thus, the virtual work area W1 is depicted in the virtual field. Data of the virtual work area W1 is stored in the storage unit 12b. In addition, working width is the range of agricultural work carried out when tractor 1 runs a field. In this embodiment, in the case of a spreading operation it is the spreading width.

The virtual field can display a plurality of reference lines L indicating at least a reference position. The plurality of reference lines include a first reference line L1 indicating a current reference position and a second reference line L2 indicating a past or future reference position. The first reference line L1 is located at the center of the field display unit 52 in the horizontal direction even if the virtual field (field image) is scrolled. That is, in the application screen M2, the deviation amount display unit 51 is positioned on the extension of the first reference line L1. Further, in the application screen M2, the reference display unit 50a is located on the extension of the first reference line L1.

The second reference line L2 is a line depicted in the field image based on a virtual work width virtually indicating the work width of the tractor 1 (traveling vehicle body 3), and is shown in the field image for each virtual work width There is.
In the field display unit 52, a plurality of icon units 55 are shown. The plurality of icon units 55 includes a first icon unit 55a, a second icon unit 55b, a third icon unit 55c, and a fourth icon unit 55d.

  The first icon portion 55a and the second icon portion 55b are icons for instructing creation of points in the virtual field. When the first icon portion 55a is selected, a first point graphic A indicating a first point is displayed in the virtual field. When the second icon portion 55b is selected, a second point graphic B indicating a second point is displayed in the virtual field. The display device (drive support device) 12 holds the position (referred to as a first position) of the traveling vehicle 3 detected by the detection device 10 when the first icon portion 55a is selected, and selects the second icon portion 55b. At the same time, the position of the traveling vehicle body 3 detected by the detection device 10 (referred to as a second position) is held. Further, the display device (drive support device) 12 holds the position (referred to as an intermediate position) of the traveling vehicle 3 from the selection of the first icon portion 55a to the selection of the second icon portion 55b.

  The third icon portion 55c is an icon for instructing creation of a straight reference line L passing through a plurality of points. For example, when the third icon portion 55c is selected in a state in which the first point graphic A and the second point graphic B are shown, a straight line passing the first position on the virtual field and the second position on the virtual field A first reference line L1 of the shape is created on the virtual field. In addition, a line having the same shape as the first reference line L1 created by an instruction from the third icon portion 55c is copied on the virtual field with a virtual work width, so that the second reference line L2 is on the virtual field. Multiple created.

Here, the third icon portion 55c is designed to be easy to visually recognize that the third icon portion 55c is an icon for instructing creation of a straight reference line L. As shown in FIG. 4A, the third icon portion 55c has a rectangular frame 56 formed of a first side 56a, a second side 56b, a third side 56c, and a fourth side 56d.
In addition, the third icon portion 55c has a first figure 57 indicating that it is a first point, a second figure 58 indicating that it is another point, and a third that indicates that it is a straight reference line L. And a figure 59. The first graphic 57, the second graphic 58 and the third graphic 59 are shown in the frame 56.

  The first figure 57 is disposed in the vicinity of the corner portion 60 where the first side 56 a and the second side 56 b intersect. The second figure 58 is disposed in the vicinity of the corner portion 61 where the third side 56 c and the fourth side 56 d intersect. That is, the second figure 58 is disposed at the corner 60 where the first figure 57 is shown and the corner 61 on the diagonal. The third figure 59 is a figure showing a straight line, and the start point is arranged near the corner portion 60, the end point is close to the second figure 58, and an arrow is shown at the end point.

  Therefore, in the third icon portion 55c, at least the figures (the first figure 57 and the second figure 58) indicating points are arranged at the diagonal corner parts 60 and 61, and the third icon part 55c crosses the figures indicating the points. It is configured by arranging the figure 59. Therefore, since the third icon portion 55 c emphasizes connecting two points by a straight line, it is possible to easily visually recognize that the third icon portion 55 c is an icon for creating a straight line connecting the two points.

  The fourth icon portion 55d is an icon for instructing creation of a curved reference line L passing through a plurality of points. For example, when the fourth icon portion 55d is selected in a state in which the first point graphic A and the second point graphic B are shown, the first position on the virtual field and the second position on the virtual field are passed, Also, a curved first reference line L1 passing through an intermediate position from the first point graphic A to the second point graphic B on the virtual field is created on the virtual field. In addition, a line having the same shape as the first reference line L1 created by an instruction from the fourth icon portion 55d is copied on the virtual field with the virtual work width, so that the second reference line L2 is on the virtual field. Multiple created.

Here, the fourth icon portion 55d is designed to make it easy to visually recognize that the fourth icon portion 55d is an icon for instructing creation of a curved reference line L. As shown in FIG. 4B, the fourth icon portion 55d has a rectangular frame 63 formed of a first side 63a, a second side 63b, a third side 63c, and a fourth side 63d.
In addition, the fourth icon portion 55d includes a first graphic 64 indicating that it is a first point, a second graphic 65 indicating that it is another point, and a third that indicates that it is a curved reference line L. And a graphic 66. The first graphic 64, the second graphic 65 and the third graphic 66 are shown in the frame 63.

  The first figure 64 is disposed in the vicinity of the corner portion 71 where the first side 63a and the second side 63b intersect. The second graphic 65 is disposed in the vicinity of the corner portion 72 where the third side 63 c and the fourth side 63 d intersect. That is, the second graphic 65 is disposed at the corner 71 where the first graphic 64 is shown and the corner 72 on the diagonal. The third figure 66 is a figure showing a curve, and the start point is arranged near the corner 71, the end point is close to the second figure 65, and the arrow is shown at the end point. In addition, the third graphic 66 has at least two bends (a) 66a and 66b to represent a curve. In the third graphic 66, the portion of the bending portion 66a extends from the starting point toward the fourth side 63d, and the bending portion 66a is close to the fourth side 63d. In the third graphic 66, the portion from the bending portion 66a to the bending portion 66b extends toward the second side 63b.

Therefore, in the fourth icon portion 55d, at least the figures indicating the point (the first figure 64 and the second figure 65) are arranged at the corner portions 71 and 72 on the diagonal, and the third icon part 55d extends across the figure indicating the point. It is configured by arranging the figure 66. In addition, the bent portions 66a and 66b of the third graphic 66 are drawn so as to approach the fourth side 63d and the second side 63b.
Therefore, the fourth icon portion 55d emphasizes connecting two points with a curve, so that it is possible to easily visually recognize that the fourth icon portion 55d is an icon for creating a curve connecting the two points.

  In addition, as shown in FIG. 3, the plurality of icon parts 55 include a fifth icon part 55 e, a sixth icon part 55 f, and a seventh icon part 55 g. The fifth icon portion 55e is an icon instructing to display the virtual work area W1 in the virtual field. The sixth icon portion 55f is an icon for instructing not to display the virtual work area W1 in the virtual field. The fifth icon portion 55e and the sixth icon portion 55f have a first figure 68 indicating the work area W1 and a second figure 69 indicating an eye (pupil). Further, the sixth icon portion 55 f has a linear third graphic 70 intersecting the second graphic 69 indicating the eyes (pupils). Therefore, the fifth icon portion 55e and the sixth icon portion 55f are configured by the second graphic 69 showing the first graphic 68 showing the work area W1 and showing the eyes. Therefore, in the fifth icon portion 55e and the sixth icon portion 55f, the display of the work area W1 and the non-display of the work area W1 are emphasized, and it is easily visually recognized that the icons are the display and non-display of the work area W1. can do.

The seventh icon unit 55g is an icon for instructing deletion of data of the virtual work area W1 stored in the storage unit 12b. In the seventh icon portion 55g, not a figure corresponding to an eye (pupil) but a figure indicating a cross (x) is shown. Therefore, it is easy to distinguish from the above-described icon for displaying / non-displaying the virtual work area W1, and it is possible to easily visually recognize that the icon is for deleting data of the virtual work area W1.
Second Embodiment
FIG. 6 shows a work support system of the second embodiment. The work support system according to the second embodiment includes a plurality of computers 27. The plurality of computers (support devices) 27 are a worker computer 27A, a manager computer 27B, and a production management computer 27C.

The worker computer 27A is operable by a farm worker who performs farming work, and is a communication terminal (mobile terminal) assigned to the farm worker and possessed by the farm worker. The administrator computer 27B is operable by the administrator who manages the farm worker, and is a personal computer (PC) or the like assigned to the administrator. The production management computer 27C is a server to which the worker computer 27A and the administrator computer 27B can be connected.

First, the server (production management computer) 27C will be described.
The server 27C includes a work plan creation unit 30 that creates a work plan, and a work plan storage unit 31 that stores the work plan. The work plan creation unit 30 is configured of a program and the like stored in the server 27C. The work plan is a plan relating to agricultural work carried out in the field, and at least as a farm work, includes spreading work carried out in the field. The spraying operation is, for example, a spraying operation (fertilizing operation), a spraying operation of a pesticide (agrochemical spraying operation) or the like. In addition, in agricultural work, things related to the work of spreading may be considered as the spreading work. In addition, in server 27C, it is possible to set, for example, plans such as floor soil making, viscose coating, tilling, rice planting, scraping, grooving, weeding, harvesting, sowing, fertilization (fertilization work), drug dispersion, etc. is there.

When the administrator computer 27B logs in to the server 27C, and there is a request for work plan creation from the manager computer 27B, the work plan creation unit 30 responds to the request as shown in FIG. A work plan setting screen 32 for making a plan is displayed on the administrator computer 27B.
The work plan setting screen 32 includes a date setting unit 80 for setting a date on which agricultural work is performed, a work place setting unit 81 for setting a work place such as a field, a work setting unit 82 for setting agricultural work (work items for agricultural work), and agricultural work It includes an operator setting unit 83 for setting a person, and a time setting unit 84 for setting a working time. In addition, the work plan setting screen 32 includes a machine setting unit 85 for setting the machine, a spreading agent setting unit 86 for setting the type of spreading agent, and a spreading amount setting portion 87 for setting spreading amount of the spreading agent. There is.

  A map of the work place is displayed on the work place setting unit 81, and by selecting the work place shown on the map, it is possible to set a work place on which a work is scheduled to be performed. The work setting unit 82 is a work item of various farming operations described above (floor soil making, vermilion painting, tilling, rice planting, scraping, cutting, weeding, harvesting, sowing, fertilization (fertilization work), drug dispersion), that is, work items Is selectable or input.

  The worker setting unit 83 displays a list of worker names (farm worker names) registered in advance in the administrator computer 27B or the server 27C in a list, and selects a worker from the list by selecting a worker name to be operated. It can be decided. Further, the time setting unit 84 can set a time zone in which the farm work is performed. The machine setting unit 85 can set a working device when working with an agricultural machine. In the spreading agent setting unit 86, the type of spreading agent used for sowing, fertilization, drug dispersion and the like can be set. The spread rate setting unit 87 can set the spread rate of the spread agent per predetermined area. The work plan [date, work place, work item (work content), worker name, work time, machine (work device), type of spreading agent, spread amount] set by the work plan setting screen 32 is the work plan storage unit Make it memorize in 31.

Therefore, by connecting the administrator computer 27B to the server 27C, the work plan can be easily created in association with the farm worker, and the created work plan can be stored in the work plan storage unit 31.
In addition, the server 27C includes a work instruction unit 33. The work instruction unit 33 is configured of a program or the like stored in the server 27C. The work instruction unit 33 can transmit a work plan to the communication terminal 27A.

  When the communication terminal 27A assigned to the farm worker logs in to the server 27C and there is a request for transmission of the work plan from the communication terminal 27A, the work instruction unit 33 is assigned to the communication terminal 27A in response to the request. A work plan including the selected worker is extracted from the work plan storage unit 31. Then, the work instruction unit 33 transmits the extracted work plan to the communication terminal 27A. In addition, the field where you want to acquire the work plan to the communication terminal 27A is input, and the field where you want to acquire the work plan from the communication terminal 27A is requested to the server 27C, and the server 27C (work instruction unit 33) corresponds to the requested field The work plan to be performed may be transmitted to the communication terminal 27A.

The communication terminal 27A can display the work plan acquired from the server 27C or can transmit it to the agricultural machine 1 such as a tractor. The communication terminal 27A is configured of, for example, a smartphone (multifunctional mobile phone), a tablet PC, or the like, which has a relatively high computing ability. The communication terminal 27A includes a first communication unit 27A1, a first storage unit 27A2, and a display unit 27A3.
The first communication unit 27A1 is a device that performs wireless communication with a communication unit (second communication unit 35A) of the tractor 1 described later and the server 27C. The first communication unit 27A1 can perform wireless communication by, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series which is a communication standard. In addition, the first communication unit 27A1 can perform wireless communication via, for example, a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. The first storage unit 27A2 can store various information such as a work plan. The display unit 27A3 can display various information such as a work plan.

  The tractor 1 is provided with the communication device 35. The communication device 35 is connected to the in-vehicle network N1. The communication device 35 includes a second communication unit 35A and a second storage unit 35B. The second communication unit 35A is configured by a device that performs short distance or long distance communication, and can be connected to an external device (computer). For example, the second communication unit 35A is a device that performs wireless communication using the communication standard IEEE 802.11 series Wi-Fi (Wireless Fidelity, registered trademark) or the like. The second communication unit 35A may be a device that performs wireless communication by a mobile phone communication network or a device that performs wireless communication by a data communication network. Therefore, when the second communication unit 35A of the communication device 35 and the first communication unit 27A1 of the communication terminal 27A are connected, the communication device 35 can receive the work plan obtained by the communication terminal 27A. The second storage unit 35B stores various data, and temporarily stores, for example, a work plan.

  The spread amount acquisition unit 24 of the display device 12 can obtain the spread amount included in the work plan received by the communication device 35 (second communication unit 35A). For example, when performing the spreading work, the farmer operates the communication terminal 27A to connect the communication terminal 27A and the server 27C. And 27 A of communication terminals allocated to a farm worker receive the work plan corresponding to the field which performs scattering work from server 27C (work instruction part 33). Further, after receiving the work plan, the communication terminal 27 connects to the communication device 35 and transmits the work plan to the communication device 35. When the communication device 35 receives the work plan, the spread amount acquisition unit 24 acquires at least the spread amount included in the work plan among the work plans received by the communication device 35.

  As described above, the work support system and the agricultural machine include the server 27C and the communication device 35 (second communication unit 35A). Therefore, from the work plan transmitted from the server 27, it is possible to easily acquire the spread amount of the spreading agent to be spread by the work device (spreading device) 2. That is, since the communication device 35 (the second communication unit 35A) can automatically receive the spread amount, it is easy even if the spread amount of the spread agent is not manually input to obtain the remaining amount of the spread agent. You can ask for the remaining amount.

It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is indicated not by the above description but by claims, and is intended to include all modifications within the meaning and scope equivalent to claims.
For example, the display device 12 may be provided with the configuration of the communication device 35, for example, the second communication unit 35A. The display device 12 and the communication device 35 may be configured as an integrated device. Further, the communication terminal 27A may be provided with the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the scatter amount acquisition unit 24, and the calculation unit 25 so that the remaining amount can be displayed. Further, any one of the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the scatter amount acquisition unit 24, and the calculation unit 25 may be provided in the communication terminal 27A.

Further, in the embodiment described above, the number of arrow parts to be darkened is changed according to the degree (degree) of the amount of deviation in the one-way display portion 50b and the other direction display portion 50c. The size of the arrow may be changed accordingly. For example, the one-way display unit 50b includes at least one first arrow unit 50b1 indicating that the one-way display unit 50b is shifted in one direction. In addition, the other direction display unit 50c has at least one first arrow portion 50c1 indicating that the other direction is deviated. The shape of the first arrow portion 50b1 and the first arrow portion 50c1 becomes large when the degree of displacement amount is large, and the shape becomes small when the degree of displacement amount is small.

  In the embodiment described above, as shown in FIG. 8A, the deviation of the traveling vehicle 3 with respect to the reference position (for example, the first reference line L1) is indicated by the one-way display unit 50b of the direction display unit 50. That is, in the embodiment described above, the direction of the deviation of the traveling vehicle 3 and the direction of the arrow indicated by the direction display unit 50 are made to coincide with each other. Instead of this, as shown in FIG. 8B, the shift of the traveling vehicle 3 with respect to the reference position (for example, the first reference line L1) may be indicated by the other direction display unit 50c instead of the one direction display unit 50b. That is, the direction display unit 50 may indicate the deviation of the traveling vehicle 3 with respect to the reference position by an arrow portion (for example, right) facing the opposite direction (for example, the left) of the deviation. That is, in FIG. 8B, the direction of the shift indicated by the direction display unit 50 (the direction indicated by the arrow portion) indicates the direction of returning the traveling vehicle body 3 to the reference position. Therefore, the present invention is also applied to the direction display unit 50 indicating the direction of returning the traveling vehicle body 3 to the reference position, that is, the direction display unit 50 indicating the direction opposite to the direction of the displacement of the traveling vehicle 3 with respect to the reference position. It is possible.

Reference Signs List 1 work machine 2 work device 3 traveling vehicle body 12 display device 50 direction display unit 50a reference display unit 50b one-way display unit 50b first arrow unit 50b2 second arrow unit 50b3 third arrow unit 50b4 fourth arrow unit 50b5 fifth arrow unit 50c Other direction display unit 50c1 first arrow unit 50c2 second arrow unit 50c3 third arrow unit 50c4 fourth arrow unit 50c5 fifth arrow unit 51 shift amount display unit 52 field display unit 55 icon unit L reference line L1 first reference line L2 second reference line

Claims (14)

A detection device for detecting the position of a traveling vehicle based on signals of positioning satellites;
A display indicating that a reference line connecting a first position, which is the position detected by the detection device, and a second position, which is the position detected by the detection device after detection of the first position, has been obtained A device,
Equipped with
The driving support device for an agricultural machine, wherein the display device displays that the traveling vehicle body is shifted with respect to the reference line.   The display device according to claim 1, further comprising: a one-way display unit indicating that the traveling vehicle body is shifted to the left, and another direction display unit indicating that the traveling vehicle body is shifted to the right. Support equipment for agricultural machinery.   The driving support device for the agricultural machine according to claim 2, wherein the one-way display unit and the other-direction display unit change the display state according to the degree of the shift.   The display device includes a direction display unit that displays a direction in which the traveling vehicle body is returned in order to eliminate the displacement, and the direction display unit is a one-way display unit that displays when the traveling vehicle body is returned to the left. 2. The driving support device for an agricultural machine according to claim 1, further comprising: another direction display unit for displaying when the traveling vehicle body is returned to the right.   The driving support device for the agricultural machine according to claim 4, wherein the one-way display unit includes an arrow returning to the left side of the traveling vehicle body, and the other-direction display unit includes an arrow returning to the right side of the traveling vehicle body.   The driving support device for an agricultural machine according to any one of claims 2 to 5, wherein the one-way display unit and the other-direction display unit are arranged side by side.   The driving support device for an agricultural machine according to any one of claims 1 to 6, wherein the display device displays the reference line indicating that the traveling vehicle body travels straight. A traveling vehicle provided with a work device;
A detection device for detecting the position of the traveling vehicle based on a signal of a positioning satellite;
A reference line connecting a first position, which is the position detected by the detection device, and a second position, which is the position detected by the detection device after detection of the first position, is acquired A display device for displaying
Equipped with
The agricultural machine, wherein the display device indicates that the traveling vehicle body is deviated with respect to the reference line.   9. The display device according to claim 8, further comprising: a one-way display unit indicating that the traveling vehicle body is shifted to the left, and another direction display unit indicating that the traveling vehicle body is shifted to the right. Agricultural machinery.   The agricultural machine according to claim 9, wherein the one-way display unit and the other-direction display unit change the display state according to the degree of the shift. The display device includes a direction display unit that displays a direction in which the traveling vehicle body is returned in order to eliminate the displacement, and the direction display unit is a one-way display unit that displays when the traveling vehicle body is returned to the left. 9. The agricultural machine according to claim 8, further comprising: another direction display unit for displaying when the traveling vehicle body is returned to the right.   The agricultural machine according to claim 11, wherein the one-way indicator includes an arrow returning to the left side of the traveling vehicle, and the other-direction indicator includes an arrow returning to the right of the traveling vehicle.   The agricultural machine according to any one of claims 10 to 12, wherein the one-way display unit and the other-direction display unit are arranged side by side.   The agricultural machine according to any one of claims 9 to 13, wherein the display device displays the reference line indicating that the traveling vehicle body travels straight.