JP2022002133A - Work screen display system - Google Patents

Abstract

To make a display unit display a display screen with excellent operability for a user.SOLUTION: A display control unit displays a map image 52 on a display unit. When a specific area for autonomously traveling a work vehicle is in a first display state in which the specific area is displayed on the display unit based on a movement locus of the work vehicle, the display control unit controls a display magnification of the map image 52 based on the specific area while, when the specific area is in a second display state in which the movement locus of the work vehicle before the specific area is specified has been displayed on the display unit, the control unit controls the display magnification of the map image 52 based on the movement locus.SELECTED DRAWING: Figure 8

Description

The present invention relates to a work screen display system that displays a display screen on a display unit when a work vehicle is autonomously driven.

The work screen display system as described above is used in an autonomous traveling system for autonomously traveling a work vehicle (see, for example, Patent Document 1). The system described in Patent Document 1 includes a wireless communication terminal such as a tablet terminal and a work vehicle capable of autonomous driving, and a user operates the wireless communication terminal to start autonomous driving with respect to the work vehicle. By giving various instructions, autonomous driving is performed. The wireless communication terminal is provided with a display unit such as a display, and the screen of the display unit displays the state of the work vehicle and an operation unit for giving various instructions.

International Publication No. 2015/119263

In the case of autonomous driving, the user operates the wireless communication terminal while looking at the display screen of the display unit not only before the autonomous driving is started but also after the autonomous driving is started. However, in the system described in Patent Document 1, although a display screen showing a state of a work vehicle and an operation unit for giving various instructions is displayed on the display unit, what kind of display screen is specifically used? It is not described up to. Therefore, when autonomous driving is performed, it is desired to display a display screen having excellent user operability on the display unit.

In view of this situation, a main problem of the present invention is to provide a work screen display system capable of displaying a display screen excellent in operability for the user on the display unit.

The work screen display system according to one aspect of the present invention includes a display control unit that displays a map image on the display unit. The display control unit is specified based on the movement locus of the work vehicle, and when the specific area for autonomously traveling the work vehicle is displayed on the display unit in the first display state, the map is based on the specific area. When the display magnification of the image is controlled and the movement locus before the specific area is specified is displayed on the display unit in the second display state, the display magnification of the map image is set based on the movement locus. Control.

The figure which shows the schematic structure of the autonomous driving system Block diagram showing the schematic configuration of the autonomous driving system The figure which shows the top screen displayed on the display part of a wireless communication terminal. The figure which shows the field registration screen displayed on the display part of a wireless communication terminal. The figure which shows the field list screen displayed on the display part of a wireless communication terminal. The figure which shows the path list screen displayed on the display part of a wireless communication terminal. The figure which shows the path detail screen displayed on the display part of a wireless communication terminal. The figure which shows the work screen displayed on the display part of a wireless communication terminal. The figure which shows the work screen displayed on the display part of a wireless communication terminal. The figure which shows the work screen displayed on the display part of a wireless communication terminal. The figure which shows the work screen displayed on the display part of a wireless communication terminal. The figure which shows the work screen displayed on the display part of a wireless communication terminal.

An embodiment of an autonomous driving system using the work screen display system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, this autonomous driving system includes a tractor 1 as a work vehicle that autonomously travels along a predetermined traveling route, and a wireless communication terminal 2 capable of instructing the tractor 1 of various information. And are provided. In this embodiment, the reference station 4 capable of transmitting the positioning correction information to the tractor 1 when acquiring the position information of the tractor 1 is provided.

In FIG. 1, the tractor 1 is illustrated as a work vehicle, but in addition to the tractor, a walking type work vehicle can be applied in addition to a passenger type work vehicle such as a rice transplanter, a combine, a civil engineering / construction work device, and a snowplow.

As shown in FIG. 2, the tractor 1 is provided with a vehicle-side wireless communication unit 14, the wireless communication terminal 2 is provided with a terminal-side wireless communication unit 21, and the reference station 4 is provided with a reference station-side wireless communication unit 41. ing. Various information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and the vehicle-side wireless communication unit 14 and the reference station. Various information can be transmitted and received between the tractor 1 and the reference station 4 by wireless communication with the side wireless communication unit 41. The wireless communication terminal 2 and the reference station 4 are configured to be able to transmit and receive various information via the tractor 1. Further, the wireless communication terminal 2 and the reference station 4 can directly transmit and receive various information without going through the tractor 1 by wireless communication between the terminal side wireless communication unit 21 and the reference station side wireless communication unit 41. You can also. The frequency band used for wireless communication between the wireless communication units may be a common frequency band or may be a different frequency band from each other.

As shown in FIG. 2, the tractor 1 is provided with a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a storage unit (not shown), and the like. The vehicle-side control unit 12 is provided in the tractor 1 of the governor device, the transmission device, the steering device, and the like (not shown) while acquiring its own current position information (current position of the tractor 1) by the position information acquisition unit 13. The tractor 1 is configured to be able to run autonomously by controlling various devices. Further, the tractor 1 is provided with an inertial measurement unit (not shown) having a three-axis gyro and a three-direction accelerometer, and the vehicle-side control unit 12 determines the tractor 1 based on the measurement information of the inertial measurement unit. It is configured to be able to detect the posture of the vehicle and the direction of travel.

As shown in FIG. 1, the positioning antenna 11 is configured to receive, for example, a signal from a positioning satellite 3 constituting a satellite positioning system (GNSS). The positioning antenna 11 is arranged, for example, on the upper surface of the roof of the cabin of the tractor 1.

As a positioning method using a satellite positioning system, as shown in FIG. 1, a reference station 4 installed at a predetermined reference point is provided, and satellite positioning of the tractor 1 (mobile station) is performed based on the positioning correction information from the reference station 4. It is possible to apply a positioning method for obtaining the current position of the tractor 1 by correcting the information. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, as for the positioning method, it is also possible to use independent positioning without providing the reference station 4.

In this embodiment, for example, since RTK positioning is applied, as shown in FIGS. 1 and 2, the tractor 1 on the mobile station side is provided with the positioning antenna 11 and the reference station 4 is provided. Has been done. The position information of the reference point, which is the installation position of the reference station 4, is set and grasped in advance. The reference station 4 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The reference station 4 is provided with a reference station side wireless communication unit 41 and a reference station positioning antenna 42.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 on the mobile station side for which position information is to be obtained. is doing. The reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 3 or every time the setting cycle elapses, and the reference station side radio Positioning correction information is transmitted from the communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 by using the positioning correction information transmitted from the reference station 4, and obtains the current position information of the tractor 1. The position information acquisition unit 13 requests, for example, latitude information / longitude information as the current position information of the tractor 1.

The wireless communication terminal 2 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. By operating the touch panel, various information can also be input. The wireless communication terminal 2 can be carried and used by the user outside the tractor 1, and can also be mounted on the side of the driver's seat of the tractor 1 and used.

As shown in FIG. 2, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, a display control unit 22, a recording control unit 23, a route generation unit 24, a region shape specifying unit 25, a display unit 26 (touch panel), and the like. It is prepared. The display control unit 22 is configured to display various screens on the display screen of the display unit 26. In the following description, when the display control unit 22 displays a predetermined screen, the display on the display unit 26 shall be indicated unless otherwise specified. The route generation unit 24 is configured to generate a travel route on which the tractor 1 autonomously travels. Further, the wireless communication terminal 2 is provided with a storage unit (not shown), and various types of information such as information registered by the user are stored in this storage unit.

In the case of autonomous driving of the tractor 1, first, before the autonomous driving is started, the user operates the wireless communication terminal 2 to autonomously drive the tractor 1 in the field H (see FIG. 3, in a specific area). Field information about the field H, such as the shape of (corresponding), is registered, and the route generation unit 24 generates a traveling route P (see FIG. 6) for the registered field H. Then, by operating the wireless communication terminal 2, the user selects the field H to be worked on this time, and selects the traveling path P to be autonomously traveled this time from the traveling paths P generated for the field H. I am doing it. After the selection of the field H and the traveling route P is performed, the autonomous driving start condition is satisfied, so that the wireless communication terminal 2 can instruct the start of the autonomous driving. Then, by operating the wireless communication terminal 2, the user can instruct the tractor 1 to start autonomous driving and start autonomous driving.

Since the route generation unit 24 of the wireless communication terminal 2 generates the travel route P, it is necessary to transmit the route information related to the travel route P from the wireless communication terminal 2 to the tractor 1. Therefore, the wireless communication terminal 2 transmits the route information to the tractor 1 at a predetermined timing before the autonomous driving is started or after the autonomous driving is started. As a result, in the tractor 1, the vehicle-side control unit 12 acquires the current position information of the tractor 1 by the position information acquisition unit 13, and follows the travel route P based on the route information transmitted from the wireless communication terminal 2. The tractor 1 is made to run autonomously. Further, the current position information of the tractor 1 acquired by the position information acquisition unit 13 is obtained from the tractor 1 in real time (for example, in a cycle of several seconds) not only before the autonomous driving is started but also after the autonomous driving is started. It is transmitted to the wireless communication terminal 2, and the current position T (see FIG. 8) of the tractor 1 can be displayed on the display unit 26 of the wireless communication terminal 2.

Hereinafter, the control of the display screen by the display control unit 22 in the wireless communication terminal 2 will be described when the tractor 1 is autonomously driven based on FIGS. 3 to 12. 3 to 12 both show a display screen displayed on the display unit 26 of the wireless communication terminal 2.

The display control unit 22 displays the splash screen, the disclaimer screen, and the like after the power of the wireless communication terminal 2 is turned on, and then displays the top screen shown in FIG. The top screen shown in FIG. 3 is divided into an upper display area 53 on the upper end side of the screen and a lower display area 54 on the lower side of the screen, and the upper display area 53 is displayed after this top screen. It is a common display screen on various screens (FIGS. 4 to 12). The upper display area 53 is a fixed display area in which the display content does not change. On the other hand, the lower display area 54 is a non-fixed display area in which a different display screen is displayed by the user selecting and operating the operation unit 51.

In the top screen shown in FIG. 3, the display control unit 22 displays a plurality of user-selectable operation units 51 (various icons in the figure) and a map image 52 in the lower display area 54. Then, the display control unit 22 can transition to another screen (see FIG. 4 or the like) by selecting one operation unit 51 from the plurality of operation units 51.

A map image 52 is displayed in the center of the screen of the lower display area 54 so as to include the registered fields H1 to H7, and the display control unit 22 displays the map image 52 at a constant display magnification. (Corresponds to the third display state). Then, the display control unit 22 displays the shapes of the fields H1 to H7 so that they can be identified on the map image 52. The top screen shown in FIG. 3 shows, for example, the case where the fields H1 to H7 have a quadrangular shape. Incidentally, at the first startup in which the field H is not registered, the center of the map image 52 is displayed so as to be at a preset predetermined position.

When displaying the map image 52, the display control unit 22 displays the map image 52 so that the center thereof is the same as the center on the previous display screen. Further, when the operation unit 51 of the "current position" is operated, the center of the map image 52 is displayed so as to be the current position of the tractor 1.

When displaying the map image 52, the display control unit 22 makes the previous work position 55 with respect to the position of the tractor 1 when the tractor 1 autonomously travels last time identifiable. The previous work position 55 is indicated by a predetermined mark (pin), and is displayed in the central portion of the field H2 where the tractor 1 previously autonomously traveled. The position where the previous work position 55 is displayed may be a position where it is possible to identify which field H is, for example, the work start position when the work for registering the field H is performed or the tractor 1 to the field H. It is also possible to display the previous work position 55 at the entrance of. The display control unit 22 is located at the center of the field H not only when the previous autonomous driving is completed by completing the work in the field H but also when the previous autonomous driving is completed during the work of the field H. The previous work position 55 is displayed.

Further, in the lower display area 54, the field list display operation unit 51a (icon indicated by "←" in the figure) and the previous work operation unit 51b (icon indicated by "start work with the previously worked path" in the figure). ) And other operation units 51 are displayed so as to surround the periphery except for the upper part of the map image 52.

In the upper display area 53, the operation unit 51 of "to map" and "help" is displayed at the left end, and the operation unit 51 of "GNSS" and "MENU" is displayed at the right end. The display content is displayed as to whether such a screen is displayed. The operation unit 51 of "to map" is an operation unit for displaying the map image 52, and the operation unit 51 of "GNSS" is a satellite 3 that acquires latitude, longitude, GNSS status, and satellite positioning information. It is an operation unit for displaying detailed information of the satellite positioning system such as the number of satellites, the serial number of the reference station 4, and the remaining battery level of the base station 4. Further, the operation unit 51 of the "MENU" is an operation unit for operating the field H when registering the field H or when the route generation unit 24 generates the travel route P.

Here, a field registration screen when registering a field H (corresponding to a specific area) will be described with reference to FIG. When registering the field H, it is necessary to specify the shape of the field H. Therefore, as shown in FIG. 2, the wireless communication terminal 2 has a region shape specifying unit 25 for specifying the shape of the field H. It is prepared. Then, by inputting various conditions, the route generation unit 24 generates a traveling route P (path) for the field H specified by the region shape specifying unit 25.

When registering the field H, the user drives the tractor 1 so as to orbit the outer end portion in the field H while acquiring the position information of the tractor 1 by the position information acquisition unit 13. The position information acquisition unit 13 acquires the current position information of the tractor 1 using the positioning correction information from the reference station 4, and the current position information is transferred from the tractor 1 to the wireless communication terminal 2 in real time (for example, in a cycle of several seconds). It has been sent. As a result, on the field registration screen shown in FIG. 4, the display control unit 22 displays the movement locus K of the tractor 1 based on the current position information of the tractor 1 transmitted in real time. As a result, the movement locus K of the tractor 1 indicating the shape of the field H can be acquired, so that the region shape specifying unit 25 specifies the shape of the field H based on the movement locus K of the tractor 1. For example, by acquiring a square-shaped movement locus K as the movement locus K of the tractor 1 when the outer end portion in the field H is orbited, the region shape specifying portion 25 is shown on the top screen of FIG. As described above, the shapes of the fields H1 to H7 are specified in a square shape.

In the field registration screen shown in FIG. 4, the display control unit 22 displays the movement locus K of the tractor 1 before the shape of the field H is specified by the area shape specifying unit 25 in the map image 52 (No. 1). Corresponds to the display state of 2). Then, the display control unit 22 displays the movement locus K of the tractor 1 until the area shape specifying unit 25 specifies the shape of the field H.

Then, in the field registration screen shown in FIG. 4, the display control unit 22 controls the display magnification of the map image 52 based on the movement locus K of the tractor 1. For example, the display control unit 22 controls the display magnification so that the entire movement locus K of the tractor 1 is displayed, and the map is such that the center of the display screen is the center of gravity position K1 of the movement locus K of the tractor 1. The image 52 is displayed.

Returning to the top screen shown in FIG. 3, a description will be given to a display mode in which the display control unit 22 displays the registered field H. As shown in FIG. 4, when registering the field H, the positioning correction information from the reference station 4 (corresponding to the second reference station) is used in order to acquire the position information of the tractor 1. Further, in order to acquire the current position information of the tractor 1, the positioning correction information from the reference station 4 (corresponding to the first reference station) is used. However, a plurality of reference stations 4 are arranged, and each of the plurality of reference stations 4 is arranged at different locations. Therefore, simply displaying the field H is the reference station 4 (corresponding to the second reference station) used when the field H was registered and the reference station 4 (corresponding to the second reference station) used when acquiring the current position of the tractor 1. It is unknown whether the reference station 4 (corresponding to the reference station 1) is the same reference station 4 or a different reference station 4.

Therefore, when the display control unit 22 acquires the current positions of the reference station 4 and the tractor 1 used when the field H is registered when displaying the registered field H (corresponding to the specific area display unit). When the reference station 4 used is a common reference station 4, and the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4. The field H is displayed in different display forms depending on the case. As shown in FIG. 3, for the field H1 in which the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are the common reference station 4, the field H1 is used. For fields H2 to H7, which are displayed in gray and the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4. The fields H2 to H7 are displayed in white, and the display forms are different from each other by changing the displayed color. As for the display form, various display forms can be applied, such as blinking the field H1 which is the common reference station 4 and lighting the fields H2 to H7 which are not the common reference station 4, and change the display color. It is not limited to the display form.

On the top screen shown in FIG. 3, when the user selects and operates the farm field list display operation unit 51a (icon indicated by “←” in the figure), the display control unit 22 shows from the top screen shown in FIG. 3 to FIG. Transition to the field list screen.

In the field list screen shown in FIG. 5, the lower left display area 54 is divided into a lower left display area 54a and a lower right display area 54b, and the lower left display area 54a is a lower display area of the top screen shown in FIG. The plurality of operation units 51 and the map image 52 displayed on the 54 are displayed. In the lower right display area 54b, a list 56 of field information stored in the wireless communication terminal 2 and a travel route list display for displaying a list of travel routes P (paths) generated in the past in a specific field H. The operation unit 51c (in the figure, the icon of "display the path list of this field") is displayed. In the field information list 56, by selecting and operating the operation units 51 such as "distance order", "name order", and "registration order", the fields can be sorted and displayed in the operated order. As the field information in the field H, the distance from the current position of the tractor 1 to the field H, the registration date to the wireless communication terminal 2, the field position information, and the like are displayed. Further, when displaying the list 56 of the field information, the previous field information 57 (pin) indicated by a predetermined mark is displayed for the field H in which the tractor 1 has autonomously traveled last time.

Further, in the field list screen shown in FIG. 5, when the display control unit 22 acquires the current positions of the reference station 4 and the tractor 1 used when the field H is registered when displaying the field information list 56. When the reference station 4 used is a common reference station 4, and the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4. The field information in each field H can be displayed in different display forms depending on the case. Although not shown, for example, in the column for displaying each field information, the display form can be made different from each other by changing the color for displaying the portion indicated by “Δ”. For example, for the field information in which the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are the common reference station 4, the portion indicated by “Δ” is shown. For field information that is displayed in red and the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4, "△" is displayed. The part shown in the above can be displayed in white. In addition to the part indicated by "△", the color for displaying the entire field information display column can be changed, and the display form of the part can be changed as appropriate. .. Further, the display form is not limited to the one that changes the color, and various other display forms such as changing by lighting and blinking can be applied. Further, if the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4, "Δ" is not displayed and the field is not displayed. It is also possible to display "Δ" only when the reference station 4 used when H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are a common reference station 4.

When the user selects a specific field H on the field list screen shown in FIG. 5 (for example, a column for displaying each field information is selected), the display control unit 22 performs the selected field H (in the figure, the field H). By changing the color of the frame of H3) and surrounding it with a thick line (for example, surrounding it with a thick red line), the selected field H can be displayed so as to be distinguishable from other fields H, and the selected operation unit is operated. For 51 (in the figure, the "distance order" icon), the operation unit 51 selected and operated by changing the color of the frame and surrounding it with a thick line (for example, surrounding it with a thick red line) is surrounded by another operation unit. It is displayed so as to be distinguishable from 51. At this time, the display control unit 22 is displaying any of the displayed fields H1 to H7 in a selectable manner. That is, among the fields H1 to H7, not only the field H1 in which the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are common reference stations 4 are not only. The user can also select fields H2 to H7 in which the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4.

On the field list screen shown in FIG. 5, when the user selects and operates the travel route list display operation unit 51c with the specific field H selected, the display control unit 22 changes from the field list screen shown in FIG. 5 to FIG. Transit to the path list screen shown.

In the path list screen shown in FIG. 6, a map image 52 in which the selected field H is enlarged and displayed is displayed in the lower left display area 54a, and past generated path information (related to the traveling route) is displayed in the lower right display area 54b. List 59 of information) and the path transfer operation unit 51d for transferring the selected path information (information about the travel route) to the tractor 1 (in the figure, the icon indicated by "Start work with this path"). ) Is displayed.

In the map image 52 in which the field H is enlarged and displayed, the traveling route P generated by the route generation unit 24 is displayed. In FIG. 6, for example, a plurality of linear traveling paths P are displayed so as to be arranged at intervals in the left-right direction thereof.

In the path information list 59, by selecting and operating the operation units 51 such as "distance order", "name order", and "registration order", the path information can be sorted and displayed in the operated order. As the path information, the distance from the current position of the tractor 1 to the start position of the path, the registration date to the wireless communication terminal 2, the start position information of the path, and the like are displayed. Further, in the path information list 59, the path detail display operation unit 51e (icon indicated by "details" in the figure) for displaying the detailed information of the path information is displayed, and the selected path information (the selected path information) is displayed. In the figure, the path A) and the selected operation unit 51 (in the figure, the icon of "name order" in the figure) change the color of the frame and surround it with a thick line (for example, surround it with a thick red line). , Other path information and other operation unit 51 are displayed so as to be distinguishable from each other.

On the path list screen shown in FIG. 6, when the user selects and operates the path detail display operation unit 51e with a specific path selected, the display control unit 22 changes the path shown in FIG. 7 from the path list screen shown in FIG. Transition to the details screen.

In the path detail screen shown in FIG. 7, the display content is changed only in the lower right display area 54b from the path list screen shown in FIG. 6, and the path detailed information 60 is displayed. The path detailed information 60 is used for the field area, the presence or absence of obstacles, the width of the non-work area (headland, etc.) surrounding the work area for generating the path (traveling route), and when the path is generated (when the field is registered). Reference station information at the time of path generation for the existing reference station 4 (corresponding to the second reference station), currently connected reference station information for the reference station 4 (corresponding to the first reference station) with which the tractor 1 is currently communicating, and the tractor. Information, information on the work equipment mounted on the tractor 1, the number of paths (traveling routes), and the like are displayed.

In the path detailed information 60, the reference station information at the time of path generation for the reference station 4 (corresponding to the second reference station) used at the time of path generation (at the time of field registration), and the reference station 4 with which the tractor 1 is currently communicating. Since the information on the currently connected reference station (corresponding to the first reference station) is displayed, the identification information of the reference station 4 (corresponding to the second reference station) used at the time of path generation (when registering the field). , And the identification information of the reference station 4 (corresponding to the first reference station) with which the tractor 1 is currently communicating is displayed. As a result, for the field H selected by the user, is the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 a common reference station 4? , It is possible to recognize whether the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4.

Here, if the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4, the reference station 4 for acquiring the positioning correction information is used. Since they are different, there may be a discrepancy between the current position T of the tractor 1 displayed on the map image 52 and the current position of the tractor 1 actually acquired by the position information acquisition unit 13. Therefore, if the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4, the path list screen shown in FIG. 6 or FIG. 7 On the path detail screen shown in the above, the display control unit 22 sets the path transfer operation unit 51d in an inactive state so that the path transfer operation unit 51d cannot be selected and operated. As a result, if the reference station 4 used when the field H is registered and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4, autonomous driving cannot be started. The path transfer operation unit 51d is not limited to the one that is in the inactive state, and the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are common. When it is not the reference station 4, for example, the display control unit 22 may prevent the path transfer operation unit 51d from being displayed. Further, when the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are not the common reference station 4, the path transfer operation unit 51d is inactive. It is also possible to select whether to display or not to display.

If the reference station 4 used when registering the field H and the reference station 4 used when acquiring the current position of the tractor 1 are the common reference station 4, the display control unit 22 sets the path transfer operation unit 51d. Switching from the inactive state to the active state. The display control unit 22 may change the display form of the path transfer operation unit 51d, for example, by lighting the path transfer operation unit 51d in the inactive state and blinking the path transfer operation unit 51d in the active state. , The inactive state and the active state can be distinguished by the user.

When the user selects and operates the path transfer operation unit 51d in the active state on the path list screen shown in FIG. 6 or the path detail screen shown in FIG. 7, the path information (information about the traveling route) is transmitted to the terminal side wireless communication unit 21 and the terminal side wireless communication unit 21. The information is transferred from the wireless communication terminal 2 to the tractor 1 by the vehicle-side wireless communication unit 14. At this time, the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 and the path information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 are A wireless communication check process for checking whether or not they match is performed.

The display control unit 22 receives the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 by the wireless communication check process, and the path information via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. When it is confirmed that the path information acquired by the tractor 1 matches, the work screen shown in FIG. 8 is displayed.

In the work screen shown in FIG. 8, the lower display area 54 has a lower upper display area 54c located on the upper end side, a lower lower display area 54d located on the lower end side, a lower upper display area 54c, and a lower portion in the vertical direction. It is divided into three display areas, a lower intermediate display area 54e and a lower intermediate display area 54e located between the lower display area 54d. In the lower intermediate display area 54e, a map image 52 and a plurality of operation units 51 in which the field H displayed in the lower left display area 54a on the path list screen shown in FIG. 6 or the path detail screen shown in FIG. 7 is enlarged and displayed are displayed. Is displayed, and as the operation unit 51, the enlargement operation unit 51h (in the figure, the icon of “enlargement”), the entire operation unit 51i (in the figure, the icon of “overall view”) and the like are additionally displayed. Then, the display control unit 22 displays the current position T of the tractor 1 on the map image 52 in which the field H is enlarged and displayed, and the map image 52 in which the field H is enlarged and displayed is displayed at a constant display magnification. It is displayed (corresponding to the third display state).

In the lower upper display area 54c, a start operation unit 51f capable of instructing the start of autonomous driving is arranged at the left end portion, and a stop operation unit 51g capable of instructing the stop of autonomous driving is arranged at the right end portion. In the lower lower display area 54d, a recording start operation unit 51j (in the figure, the "recording start" icon), a recording instruction operation unit 51k (in the figure, the "record saving" icon), and a recording erasing operation unit 51m (in the figure). In the middle, the operation unit 51 such as the "record discard" icon), the work progress rate by autonomous driving, the remaining work time, and the like are displayed.

The display control unit 22 puts the start operation unit 51f in an inactive state in which the start operation unit 51f cannot be selectively operated until various conditions for starting autonomous driving are satisfied, and when various conditions for starting autonomous driving are satisfied, the display control unit 22 makes a start operation. The unit 51f is in an active state so that it can be selected and operated. The display control unit 22 is active by differentiating the display form of the start operation unit 51f, for example, lighting the start operation unit 51f in the inactive state and blinking the start operation unit 51f in the active state. The state can be identified by the user.

When the display control unit 22 is instructed by the start operation unit 51f to start autonomous driving and the tractor 1 starts autonomous driving, the display control unit 22 temporarily stops the start operation unit 51f as shown in FIG. Is changed to the pause operation unit 51f that can be instructed. Then, when the pause operation unit 51f is selected, the display control unit 22 changes the start operation unit 51f from the pause operation unit 51f to the original display form, and the start operation unit 51f starts autonomous driving. It is configured to be switchable between the display mode for instructing and the display mode for instructing the temporary stop of autonomous driving. In this way, by changing the display form of the start operation unit 51f, the display control unit 22 can make one operation unit function as two operation units, and at the same time, autonomous driving is started or paused. It becomes easier for the user to grasp the work status of autonomous driving, such as whether or not the vehicle is doing so.

In the work screen shown in FIG. 8, at the right end of the lower intermediate display area 54e, in the travel path P in which the tractor 1 is currently autonomously traveling, from the current position of the tractor 1 to the end (headland) of the travel path P. A distance display unit 62 for displaying the distance of the above is arranged. The distance display unit 62 is a rod-shaped display unit extending in the vertical direction, and displays when the current position of the tractor 1 reaches a position in front of the end (headland) of the traveling path P by a set distance (for example, 20 m). The control unit 22 expands the area in which the tractor 1 is sequentially turned on from the lower end portion to the upper end portion of the distance display unit 62 as the tractor 1 moves. Then, when the tractor 1 reaches the end portion (headland) of the traveling path P, the display control unit 22 sets the entire distance display unit 62 into a lighting state. After that, when the tractor 1 reaches the start position of the next travel path P, the display control unit 22 resets the entire distance display unit 62 to the off state. Incidentally, the timing for resetting the entire distance display unit 62 to the off state may be the timing when the tractor 1 reaches the end portion (headland) of the traveling path P. The display control unit 22 controls the lighting state of the distance display unit 62 when traveling on the linear travel path P as shown in FIG. 8, for example, a turning-shaped travel path or the like. When traveling on the route of No. 1, the lighting state of the distance display unit 62 is not controlled.

When the user selects and operates the entire operation unit 51i on the work screen shown in FIG. 8 or 9, the display control unit 22 of the operation unit 51 and the distance display unit 62 in the lower intermediate display area 54e, as shown in FIG. A map image 52 in which the field H is enlarged is displayed in the entire area to be excluded (corresponding to the first display state). In this way, the display control unit 22 controls the display magnification of the map image 52 based on the field H when the front surface operation unit 51i is selected, and the position of the center of gravity of the field H is the center position of the map image 52. The map image 52 is displayed as. Then, the display control unit 22 maintains the operation unit 51, which is arranged close to the front surface operation unit 51i, in the display state when the user's selection operation is performed on the front surface operation unit 51i.

When the user selects and operates the enlargement operation unit 51h on the work screen shown in FIG. 8 or 9, the display control unit 22 of the operation unit 51 and the distance display unit 62 in the lower intermediate display area 54e, as shown in FIG. A map image 52 with an enlarged setting range based on the current position T of the tractor 1 in the field H is displayed in the entire area to be excluded. Then, as shown in FIG. 11, the display control unit 22 hides the operation unit 51 arranged close to the enlargement operation unit 51h when the user's selection operation is performed on the enlargement operation unit 51h. There is. In FIG. 11, two operation units 51 (“+” icon and “-” icon in the figure), a full-scale operation unit 51i, and one operation unit 51 are located on the lower side of the enlarged operation unit 51h in order from the upper side. (In the figure, the icon of "GNSS position") is arranged so as to be lined up in a row, and these five operation units 51 are hidden.

Then, when the user selects and operates the enlargement operation unit 51h on the work screen shown in FIG. 11, the display control unit 22 returns to the work screen shown in FIG. 8 or FIG. 9 and displays the hidden operation unit 51. I am trying to display it. Further, when the user selects and operates the enlargement operation unit 51h on the work screen shown in FIG. 8 or 9, the display control unit 22 stores the display setting of the map image 52 at that time, and the work shown in FIG. 11 When the user selects and operates the enlargement operation unit 51h on the screen, the map image 52 is displayed on the work screen shown in FIG. 8 or 9 based on the stored display setting. For example, when the user selects and operates the enlargement operation unit 51h on the work screen shown in FIG. 8, display settings such as the display magnification of the map image 52 at that time are stored, and the screen transitions to the work screen shown in FIG. Then, when the user selects and operates the enlargement operation unit 51h on the work screen shown in FIG. 11, the screen returns to the work screen shown in FIG. 8 in a state where the map image 52 is displayed with the display settings such as the stored display magnification. Can be done.

As shown in FIG. 9, the display control unit 22 performs a predetermined history display 63 on the travel path P based on the travel locus of the tractor 1 in the travel path P generated in the field H during autonomous driving. ing. The history display 63 is performed on the portion of the travel path P on which the tractor 1 has already traveled, and display processing such as painting the already traveled portion with a predetermined color is performed. As a result, the user can easily recognize which part of the traveling path P is the portion where the work is performed by autonomous driving.

Then, the display control unit 22 performs the history display 63 based on the work state information indicating the work state of the tractor 1 acquired from the tractor 1 when performing the predetermined history display, and the first history display mode and the work state information. The history display 63 is performed in one of the second history display modes in which the history display 63 is performed without being based on the above.

In the first history display mode, since the vehicle-side control unit 12 of the tractor 1 grasps the operating state of the working machine mounted on the tractor 1, the working state information is generated from the operating state of the working machine and the like. ing. Then, the tractor 1 transmits the work state information to the wireless communication terminal 2, and the display control unit 22 of the wireless communication terminal 2 acquires the work state information together with the position information of the tractor 1. As a result, the display control unit 22 can grasp in which part of the traveling path P the tractor 1 is working, and displays the history 63 on the part where the tractor 1 is working. I am doing it. As described above, in the first history display mode, the display control unit 22 automatically performs the history display 63 based on the position information and the work state information of the tractor 1.

In the second history display mode, the display control unit 22 does not automatically display the history 63 based on the position information and the work state information of the tractor 1, but as shown in FIG. 12, the user manually operates the display control unit 22. Based on this, the history display 63 is performed. For example, when the user selects and operates the recording start operation unit 51j to start the history display 63 and move the current position T of the tractor 1 on the screen of the display unit 26, the display control unit 22 causes the tractor 1 to move. The history display 63 is performed for the portion where the current position T has been moved. As described above, for example, even when a work machine whose work state information cannot be acquired is attached to the tractor 1, the history display 63 can be performed based on the manual operation of the user by switching to the second history display mode.

Although not shown, the switching between the first history display mode and the second history display mode is omitted, but the mode switching operation unit is displayed by selecting and operating a specific operation unit 51. When the first history display mode is selected and operated by this mode switching operation unit, the display control unit 22 performs the history display 63 in the first history display mode, and the second history display mode is selected by the mode switching operation unit. When operated, the display control unit 22 performs the history display 63 in the second history display mode. Then, by changing the color for displaying the recording start operation unit 51j between the case where the first history display mode is selected and operated in the mode switching operation unit and the case where the second history display mode is selected and operated. , The display form of the recording start operation unit 51j is made different. Further, when the display control unit 22 performs the second history display mode, for example, the display of "recording start" is changed to the display of "recording pause", and the recording start operation unit 51j is set to the second. In the history display mode, the operation unit 51 for starting the history display 63 and the operation unit 51 for temporarily stopping the history display 63 are used in combination.

Here, in the first history display mode, the display control unit 22 automatically displays the history 63 based on the position information and the work state information of the tractor 1, but only when the tractor 1 is autonomously driven. The display control unit 22 can perform the first history display mode even when the tractor 1 is driven by the user's manual operation. Then, the display control unit 22 performs the history display 63 performed in the first history display mode when the tractor 1 is autonomously driven, and the first history display mode when the tractor 1 is driven by the user's manual operation. The display form of the history display 63 is different from that of the history display 63. For example, various display forms can be applied, such as changing the color to be filled or changing the part to be filled by lighting and blinking.

Further, also in the second history display mode, as in the first history mode, the display control unit 22 is not only when the tractor 1 is autonomously driven, but also when the tractor 1 is driven by the user's manual operation. The history display mode can be performed. Then, the display control unit 22 performs the history display 63 performed in the second history display mode when the tractor 1 is autonomously driven, and the second history display mode when the tractor 1 is driven by the user's manual operation. The display form of the history display 63 is different from that of the history display 63. For example, various display forms can be applied, such as changing the color to be filled or changing the part to be filled by lighting and blinking.

When the history display 63 is performed by the display control unit 22, as shown in FIG. 2, the recording control unit 23 records the history display 63 displayed by the display control unit 22 in the recording unit 27 on the wireless communication terminal 2. Is provided. The recording control unit 23 is configured to automatically record the history display 63 on the recording unit 27 after a predetermined period has elapsed since the history display 63 was started by the display control unit 22. The recording control unit 23 records the history display 63 in the recording unit 27 in association with each of the plurality of fields H, and the recording unit 23 can identify which field H the history display 63 is. It is recorded in 27. Then, the recording control unit 23 records the history display 63 in the recording unit 27 at various timings after a predetermined period has elapsed from the start of the history display 63. Regarding various timings, for example, the timing when the power of the wireless communication terminal 2 is turned on, the timing when the work screen shown in FIG. 9 or the like is displayed, and the work screen shown in FIG. 9 or the like to another screen (for example, FIG. It is the timing etc. of the transition to the top screen etc. shown in 3.

Further, the recording control unit 23 not only automatically records the history display 63 in the recording unit 27, but also records the history display 63 in response to the user's selection operation of the recording instruction operation unit 51k on the work screen shown in FIG. Can also be recorded in the recording unit 27. In this way, the recording control unit 23 can record the history display 63 in the recording unit 27 at the timing when the user wants to record the history display 63.

When the recording control unit 23 records the history display 63 in the recording unit 27, the history display 63 displayed by the display control unit 22 is reset. Then, the display control unit 22 can display the history display 63 when displaying the field H by calling the history display 63 recorded in the recording unit 27.

On the work screen shown in FIG. 9, when the user selects and operates the recording / erasing operation unit 51m, the recording control unit 23 deletes the history display 63 recorded in the recording unit 27. As a result, the history display 63 can be deleted at the timing when the user wants to delete the history display 63.

As described above, the display control unit 22 shows a setting screen for setting the autonomous driving of the tractor 1 (for example, a top screen shown in FIG. 3, a field registration screen shown in FIG. 4, a field list screen shown in FIG. 5, and FIG. 6). A plurality of screens including a path list screen) and a work screen (for example, the work screen shown in FIGS. 8 and 9) capable of instructing the start and stop of autonomous driving of the tractor 1 can be displayed.

When the tractor 1 is autonomously driven, the tractor 1 has a normal autonomous driving mode in which the autonomous driving is started by the setting related to the autonomous driving on the setting screen of the wireless communication terminal 2 and the instruction to start the autonomous driving on the work screen. , It is possible to operate in a plurality of modes including an autonomous driving preparation mode in which autonomous driving is started by an instruction to start autonomous driving on the work screen without making settings related to autonomous driving on the setting screen of the wireless communication terminal 2. ing.

When performing normal work, the tractor 1 is normally set to the autonomous driving mode, but when some abnormality occurs in the control by the display control unit 22 in the wireless communication terminal 2 during the autonomous driving, and when the tractor 1 and the tractor 1 are used. When the wireless communication with the wireless communication terminal 2 is cut off, the vehicle-side control unit 12 suspends the autonomous driving of the tractor 1 and sets the autonomous driving preparation mode in which the autonomous driving can be resumed.

Then, when the tractor 1 is in the normal autonomous driving mode, the display control unit 22 shows a setting screen (for example, FIG. 3) before displaying the work screen (for example, the work screen shown in FIGS. 8 and 9). (Top screen, etc.) is displayed. As a result, in the normal autonomous driving mode, various settings related to autonomous driving are made on the setting screen, and then a work screen capable of instructing the start of autonomous driving of the tractor 1 is displayed.

On the other hand, when the tractor 1 is in the autonomous driving preparation mode, the display control unit 22 does not display the setting screen (for example, the top screen shown in FIG. 3) and the work screen (for example, FIGS. 8 and 9). The work screen shown) is displayed. As a result, in the autonomous driving preparation mode, the work screen that can instruct the start of the autonomous driving of the tractor 1 is displayed without displaying the setting screen, and the autonomous driving can be started on the work screen. , Autonomous driving can be resumed quickly.

<Supplementary note of invention>
The present invention includes a position information acquisition unit that acquires position information of a work vehicle based on positioning correction information acquired from a first reference station.
A region shape specifying unit that specifies the shape of a specific region that autonomously drives the work vehicle based on the positioning correction information acquired from the second reference station.
A display control unit for displaying a specific area display unit indicating the specific area specified by the region shape specifying unit on the display unit is provided.
The display control unit specifies the display control unit in a display form different from each other depending on whether the first reference station and the second reference station are common reference stations or the first reference station and the second reference station are not common reference stations. It is preferable to display the area display unit.

According to this configuration, the display control unit displays the specific area display unit indicating the specific area on the display unit, so that the specific area display unit is the position acquired based on the positioning correction information acquired from the second reference station. Have information. On the other hand, the position information acquisition unit acquires the position information of the work vehicle based on the positioning correction information acquired from the first reference station. Therefore, when the first reference station and the second reference station are not a common reference station, the positioning correction information is different, so that there is a possibility that a deviation occurs between the position of the specific area display unit and the position of the work vehicle. .. Therefore, the display control unit specifies different display forms depending on whether the first reference station and the second reference station are common reference stations or the first reference station and the second reference station are not common reference stations. The area display is displayed. As a result, the user can easily grasp whether or not there is a possibility of a deviation between the position of the specific area display unit and the position of the work vehicle by recognizing the display form of the specific area display unit. Therefore, it is possible to easily recognize in which specific area the autonomous driving should be performed, and it is possible to easily and appropriately perform operations such as selecting the specific area. Therefore, before starting autonomous driving, it is possible to display a display screen having excellent operability for the user on the display unit.

In the present invention, in the display control unit, even if the first reference station and the second reference station are common reference stations, the first reference station and the second reference station are not common reference stations. However, the specific area display unit is displayed in a selectable manner,
When the specific area display unit is selected, it is preferable that at least the identification information of the second reference station can be displayed.

According to this configuration, when the specific area display unit is selected, the display control unit can display at least the identification information of the second reference station used to specify the shape of the specific area, so that the user can display the identification information. , The identification information makes it possible to easily grasp which reference station the second reference station is. As a result, in order for the first reference station and the second reference station to be a common reference station, the user can grasp to which reference station the first reference station should be changed, and operations and operations for that purpose. Etc. can be performed appropriately.

The present invention includes a position information acquisition unit that acquires position information of a work vehicle based on positioning correction information acquired from a first reference station.
A region shape specifying unit that specifies the shape of a specific region that autonomously drives the work vehicle based on the positioning correction information acquired from the second reference station.
It is equipped with a display control unit that displays a map image on the display unit.
The display control unit can control the display magnification of the map image according to the operation for a specific operation unit.
In the first display state in which the specific area specified in the display unit is displayed, the display magnification of the map image is controlled based on the specific area.
In the second display state in which the movement locus of the work vehicle before the specific area is specified on the display unit, the display magnification of the map image is controlled based on the movement locus.
It is preferable to display the map image at a constant display magnification as the third display state other than the first display state and the second display state.

According to this configuration, the user can switch between the first display state, the second display state, and the third display state by performing an operation on a specific operation unit. Then, in the third display state other than the first display state and the second display state, the display control unit displays the map image at a constant display magnification, so that the user displays the map image at a constant display magnification. It can be seen and the map information can be recognized stably.

On the other hand, the first display state is for displaying a specific area, and the display control unit controls the display magnification of the map image based on the specific area such as the size and shape of the specific area. There is. As a result, the user can easily recognize the specific area and can easily perform an operation on the specific area displayed on the display unit. Further, the second display state is for displaying the movement locus of the work vehicle, and the display control unit controls the display magnification of the map image based on the movement locus of the work vehicle. This makes it easier for the user to recognize how the work vehicle is moving, and also makes it easier to appropriately operate the movement locus displayed on the display unit.

In the present invention, the display control unit displays the map image on the display unit with the position of the center of gravity of the specific area as the center position of the map image in the first display state.
In the second display state, it is preferable to display the map image on the display unit with the position of the center of gravity of the movement locus as the center position of the map image.

According to this configuration, in the first display state, the display control unit displays the map image on the display unit with the position of the center of gravity of the specific area as the center position of the map image, so that the user can easily recognize the specific area. This makes it possible to create a map image in which a specific area is easy to see. In the second display state, the display control unit displays the map image on the display unit with the position of the center of gravity of the movement locus as the center position of the map image, so that the user can easily recognize the movement locus of the work vehicle. , The map image makes it easy to see the movement trajectory.

In the present invention, the display control unit can magnify and display the map image in response to an operation on the enlargement operation unit for enlarging the map image, and the operation is performed on the enlargement operation unit. In some cases, it is preferable to hide at least one of the operation units other than the enlargement operation unit.

According to this configuration, when an operation is performed on the enlargement operation unit, the display control unit hides at least one of the operation units other than the enlargement operation unit, so that the user performs an operation on the enlargement operation unit. It is possible to easily recognize that, and it is possible to prevent the state of the enlarged map image from being changed by an operation on the operation unit to be hidden.

In the present invention, the display control unit is hidden together with the enlargement operation unit when an operation is performed on the enlargement operation unit after at least one of the operation units other than the enlargement operation unit is hidden. It is preferable to display the operation unit of.

According to this configuration, when an operation is performed on the enlargement operation unit after at least one of the operation units other than the enlargement operation unit is hidden, the display control unit displays the hidden operation unit together with the enlargement operation unit. Since it is displayed, the user can easily recognize that the enlargement of the map image due to the operation of the enlargement operation unit has been eliminated by displaying the hidden operation unit. Further, by displaying the hidden operation unit, the state of the map image can be changed by operating the operation unit.

In the present invention, the display control unit stores the display setting of the map image before at least one of the operation units other than the enlargement operation unit is hidden, and responds to the subsequent operation on the enlargement operation unit. , It is preferable to display the map image based on the display setting.

According to this configuration, when an operation is performed on the enlargement operation unit after at least one of the operation units other than the enlargement operation unit is hidden, the display control unit has a map image based on the stored display setting. Is displayed, so that it is possible to easily return to the map image before the operation for the enlargement operation unit is performed, and the display is excellent in operability for the user.

The present invention includes a position information acquisition unit that acquires position information of a work vehicle based on positioning correction information acquired from a reference station.
A display control unit capable of displaying a predetermined history on the travel route displayed on the display unit based on the travel locus of the work vehicle in the travel route formed in a specific area is provided.
The display control unit has a first history display mode for displaying the history based on the work state information indicating the work state of the work vehicle acquired from the work vehicle, and the history without being based on the work state information. It is preferable to display the history in the history display mode of either one of the second history display modes for displaying.

According to this configuration, in the first history display mode, the display control unit can automatically display the history based on the work state information. In the second history display mode, the display control unit can display the history by manual operation by the user, for example, without being based on the work state information. As a result, the display control unit can appropriately display the history while flexibly responding to changes in the situation of the work vehicle by performing either the first history display mode or the second history display mode. ..

The present invention includes a recording control unit that records the history display displayed by the display control unit in the recording unit.
The recording control unit can automatically record the history display on the recording unit after a predetermined period has elapsed since the display control unit started the history display, and the recording instruction displayed on the display unit. It is preferable that the history display can be recorded in the recording unit according to the operation of the operation unit.

According to this configuration, the recording control unit automatically records the history display in the recording unit after a lapse of a predetermined period from the start of the history display, thereby suppressing the continuation of the history display for a long period of time. It is possible to prevent the storage capacity from being compressed and the processing speed from being lowered. Further, since the recording control unit can also record the history display in the recording unit according to the operation of the recording instruction operation unit displayed on the display unit, the user can operate the recording instruction operation unit to make the history. The display can be recorded in the recording unit at the desired timing. As a result, not only can the history display be recorded in the recording unit automatically, but it can also be performed manually in response to the user's manual operation, which enables flexible response and improves operability. can.

In the present invention, the display control unit is provided in a wireless communication terminal capable of wireless communication with the work vehicle.
The display control unit can display a plurality of screens including a setting screen for setting the autonomous driving of the work vehicle and a work screen capable of instructing the start and stop of the autonomous driving of the work vehicle.
The work vehicle has a normal autonomous driving mode in which autonomous driving is started by a setting related to autonomous driving on the setting screen of the wireless communication terminal and an instruction to start autonomous driving on the work screen, and the wireless communication terminal. It is possible to operate in a plurality of modes including an autonomous driving preparation mode in which autonomous driving is started by an instruction to start autonomous driving on the work screen without making settings related to autonomous driving on the setting screen.
The display control unit displays the setting screen before displaying the work screen when the work vehicle is in the normal autonomous driving mode, while the display control unit displays the setting screen when the work vehicle is in the autonomous driving preparation mode. It is preferable to display the work screen without displaying the screen.

According to this configuration, when the work vehicle is in the normal autonomous driving mode, the setting screen is displayed before the work screen is displayed, so that various settings can be made on the setting screen. It is possible to carry out autonomous driving according to the situation. On the other hand, when the work vehicle is in the autonomous driving preparation mode, the work screen can be displayed without displaying the setting screen, and autonomous driving can be started without making settings related to autonomous driving on the setting screen. By not displaying the setting screen, autonomous driving can be started smoothly.

The first feature configuration of the present invention includes a position information acquisition unit that acquires position information of a work vehicle using a satellite positioning system, and a position information acquisition unit.
A region shape specifying unit that specifies the shape of a specific region that autonomously travels the work vehicle based on the traveling locus of the work vehicle.
It is equipped with a display control unit that displays a map image on the display unit.
The display control unit can control the display magnification of the map image according to the operation for a specific operation unit.
In the first display state in which the specific area specified in the display unit is displayed, the display magnification of the map image is controlled based on the specific area.
In the second display state in which the movement locus of the work vehicle before the specific area is specified on the display unit, the display magnification of the map image is controlled based on the movement locus.
The third display state other than the first display state and the second display state is characterized in that the map image is displayed at a constant display magnification.

In the second characteristic configuration of the present invention, the display control unit displays the map image on the display unit with the position of the center of gravity of the specific region as the center position of the map image in the first display state.
The second display state is characterized in that the map image is displayed on the display unit with the position of the center of gravity of the movement locus as the center position of the map image.

In the third feature configuration of the present invention, the display control unit can enlarge and display the map image in response to an operation on the enlargement operation unit for enlarging the map image, and the display control unit can display the map image in an enlarged manner with respect to the enlargement operation unit. It is characterized in that at least one of the operation units other than the enlargement operation unit is hidden when the operation is performed.

The fourth characteristic configuration of the present invention is that the display control unit performs the enlargement operation when an operation for the enlargement operation unit is performed after at least one of the operation units other than the enlargement operation unit is hidden. The point is that the hidden operation unit is displayed together with the unit.

In the fifth feature configuration of the present invention, the display control unit stores the display setting of the map image before at least one of the operation units other than the enlargement operation unit is hidden, and then the enlargement operation unit. It is characterized in that the map image is displayed based on the display setting according to the operation for.

1 Tractor (working vehicle)
13 Position information acquisition unit 22 Display control unit 25 Area shape specification unit 26 Display unit 51h Enlargement operation unit 52 Map image H Field (specific area)
K movement locus K1 Center of gravity position of the movement locus

Claims (4)

Equipped with a display control unit that displays a map image on the display unit
The display control unit
When the specific area specified based on the movement locus of the work vehicle and autonomously traveling the work vehicle is the first display state displayed on the display unit, the display magnification of the map image is controlled based on the specific area. death,
In the second display state in which the movement locus before the specific area is specified is displayed on the display unit, the display magnification of the map image is controlled based on the movement locus.
Work screen display system. In the first display state, the display control unit displays the map image on the display unit so that the specific position on the display screen of the display unit is the position of the center of gravity of the specific area.
In the second display state, the map image is displayed on the display unit so that the specific position on the display screen of the display unit is the position of the center of gravity of the movement locus.
The work screen display system according to claim 1. The display control unit can magnify and display the map image in response to an operation on the enlargement operation unit for enlarging the map image.
The work screen display system according to claim 1 or 2. The display control unit hides at least one of the operation units other than the enlargement operation unit when an operation is performed on the enlargement operation unit.
The work screen display system according to claim 3.

Images