JP2023180006A - Work support method, work support system, and program - Google Patents

Abstract

To provide a technology capable of performing proper guide after switching of a travel mode in a work vehicle.SOLUTION: An exemplary work support method, which is a work support method of a work using a work vehicle, includes execution of steps of: switching to an automatic travel mode for traveling the work vehicle automatically in a field; switching to a manual travel mode for traveling the work vehicle manually, when a prescribed condition is satisfied in the automatic travel mode; and performing switching notification for notifying that switching is performed from the automatic travel mode to the manual travel mode. The mode of the switching notification is differentiated according to the state of the work vehicle after switching to the manual travel mode.SELECTED DRAWING: Figure 15

Description

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

2. Description of the Related Art Conventionally, work vehicles that automatically travel within a field are known (see, for example, Patent Document 1). Since there are situations where travel is required by an operator's operation, a work vehicle is provided so as to be switchable between an automatic travel mode and a manual travel mode. Patent Document 1 discloses a technology for notifying the driver of the work vehicle or a person near the work vehicle whether the driving mode of the work vehicle is automatic driving mode or manual driving mode. .

Japanese Patent Application Publication No. 2016-168883

By the way, when switching from automatic driving mode to manual driving mode, the situation of the work vehicle is not necessarily the same. For example, when switching from automatic driving mode to manual driving mode, driving may continue or may be stopped. There may be a difference in how the operator responds to subsequent operations depending on whether the vehicle continues to travel or if the vehicle is stopped. For this reason, it is thought that there is room for improvement in the guidance after switching the driving mode.

In view of the above-mentioned points, an object of the present invention is to provide a technique that can provide appropriate guidance after switching the driving mode in a work vehicle.

An exemplary work support method of the present invention is a work support method for supporting work using a work vehicle, and includes the steps of: switching the work vehicle to an automatic driving mode in which the work vehicle automatically travels in a field; If a predetermined condition is satisfied in the mode, switching to a manual driving mode in which the work vehicle is manually driven, and performing a switching notification to notify that the automatic driving mode has been switched to the manual driving mode; Execute. The manner of the switching notification differs depending on the situation of the work vehicle when the work vehicle is switched to the manual driving mode.

An exemplary work support system of the present invention is a work support system that supports work using a work vehicle, and when a predetermined condition is satisfied during an automatic driving mode in which the work vehicle automatically travels in a field. The vehicle also includes a control unit that switches the work vehicle to a manual drive mode to manually drive the work vehicle, and a notification unit that provides switching notification to notify that the automatic drive mode has been switched to the manual drive mode. The manner of the switching notification differs depending on the situation of the work vehicle when the work vehicle is switched to the manual driving mode.

An exemplary program of the present invention is a program that causes a computer to execute a work support method for supporting work using a work vehicle, the computer being set to an automatic driving mode in which the work vehicle is automatically driven in a field. and when a predetermined condition is met in the automatic driving mode, switching to a manual driving mode in which the work vehicle is manually driven, and notifying that the automatic driving mode has been switched to the manual driving mode. This function functions as a means for performing switching notification processing. The manner of the switching notification differs depending on the situation of the work vehicle when the work vehicle is switched to the manual driving mode.

According to the exemplary embodiment of the present invention, appropriate guidance can be provided after switching the driving mode in the work vehicle.

Block diagram showing the general configuration of the work support system Side view showing the general configuration of the combine harvester A plan view showing the general configuration of the combine harvester Side view showing the general configuration of the tractor Side view showing the general configuration of the rice transplanter Block diagram showing the configuration of the work vehicle Block diagram showing the configuration of a mobile communication terminal Flowchart showing an example of switching process from manual driving mode to automatic driving mode Flowchart showing an example of switching process from automatic driving mode to manual driving mode Schematic diagram showing the state of the main gear shift lever Schematic diagram to explain the process of discharging threshed grains in a combine harvester A block diagram showing an example of the configuration of an operation unit included in a work vehicle. Flowchart illustrating work support processing after switching to automatic driving mode Schematic diagram showing an example where automatic driving starts in reverse Schematic diagram showing an example where automatic driving starts in reverse Flowchart illustrating work support processing after switching to manual driving mode Schematic diagram for explaining an example in which a work vehicle continues to run when switching from automatic drive mode to manual drive mode Schematic diagram for explaining the advantage of using voice notification when the work vehicle 1 continues to travel Schematic diagram to explain the state of the main gear shift lever Diagram showing an example of a setting screen for setting whether to provide audio notification Diagram showing an example of a setting screen for individually setting the presence or absence of audio notification Diagram showing an example of a setting screen for setting the volume of audio notification Diagram showing an example of a settings screen for individually setting the volume of audio notifications Diagram showing an example of a settings screen for setting details of audio notification sound Diagram showing an example of a settings screen for setting sound source data used for audio notification Flowchart illustrating a process for setting a notification mode according to the state of a work vehicle A table illustrating audio notifications that are commonly applied when the work vehicle included in the work support system is a combine harvester, a tractor, or a rice transplanter. A table illustrating audio notifications that are commonly applied when the work vehicle included in the work support system is a combine harvester, a tractor, or a rice transplanter. Table illustrating audio notifications applied when the work vehicle included in the work support system is a combine harvester Table illustrating audio notifications applied when the work vehicle included in the work support system is a tractor A table illustrating audio notifications applied when the work vehicle included in the work support system is a rice transplanter.

Embodiments of the present invention will be described with reference to the drawings. Note that in this specification, a direction is defined as follows. First, the direction in which the work vehicle travels during work is defined as "front", and the opposite direction is defined as "rear". In addition, the right side in the direction of movement of the work vehicle is defined as the right, and the left side is defined as the left. Further, a direction perpendicular to the front-back direction and the left-right direction of the work vehicle is defined as the up-down direction. At this time, the direction of gravity is set as the bottom, and the opposite side is set as the top. The above directions are simply names used for explanation and are not intended to limit the actual positional relationships and directions.

<1. Overview of work support system>
FIG. 1 is a block diagram showing a schematic configuration of a work support system 100 according to an embodiment of the present invention. As shown in FIG. 1, the work support system 100 includes a work vehicle 1, a mobile communication terminal 2, and a remote control device 3. The work support system 100 is a system that supports work using the work vehicle 1. Specifically, the work support system 100 is a system that supports work using a work vehicle 1 that is provided to be able to automatically travel within a field. More specifically, the work support system 100 is a field work support system that supports field work performed using the work vehicle 1 that travels in the field.

Note that the work support system 100 executes a work support method for supporting work using the work vehicle 1. The work support system 100 executes a work support method that supports work using a work vehicle 1 that is provided to be able to automatically travel within a field.

[1-1. Work vehicle】
The work vehicle 1 broadly includes a work vehicle that travels in a field. The work vehicle 1 is, for example, a combine harvester, a tractor, a rice transplanter, various harvesters, or a sprayer that sprays a chemical solution. Hereinafter, configuration examples of a combine harvester 1C, a tractor 1T, and a rice transplanter 1R to which the present invention is applied will be briefly described.

FIG. 2A is a side view showing a schematic configuration of a combine harvester 1C according to an embodiment of the present invention. In FIG. 2A, symbol F indicates a field. FIG. 2B is a plan view showing a schematic configuration of a combine harvester 1C according to an embodiment of the present invention. As shown in FIGS. 2A and 2B, the combine 1C includes a machine stand 1C1, an engine 1C2, a threshing device 1C3, a grain tank 1C4, a driving section 1C5, a discharge auger 1C6, a reaping section 1C7, and a pair of running sections 1C8.

The machine stand 1C1 is a frame that supports each part. The engine 1C2 supplies power to each part of the combine 1C. A reaping section 1C7, which is an example of a working machine, is arranged at the front end of the machine stand 1C1. The reaping section 1C7 reaps the grain culms grown in the field F. An elevating cylinder (not shown) that raises and lowers the reaping section 1C7 is connected to the reaping section 1C7. That is, the reaping section 1C7 is provided so as to be movable up and down.

The threshing device 1C3 threshes the grain culm cut by the reaping section 1C7. The grain tank 1C4 stores threshed grains. The discharge auger 1C6 transports the threshed grains in the grain tank 1C4 to discharge them to the outside of the combine harvester 1C. The driving section 1C5 is a section where a driver rides. The driving section 1C5 includes a driver's seat 1C5a for a driver to sit on, a steering wheel (handle) 1C5b for steering the combine harvester 1C, and various operation parts (not shown) for operating the combine harvester 1C. included. A pair of running parts 1C8 are arranged at intervals in the left-right direction. Each of the pair of traveling parts 1C8 is provided so that driving force can be transmitted from the engine 1C2. The combine 1C travels in the field F by driving the traveling section 1C8.

FIG. 3 is a side view showing a schematic configuration of a tractor 1T according to an embodiment of the present invention. Also in FIG. 3, the symbol F indicates a field. The tractor 1T includes a traveling machine body 1T1 that travels within the field F, and a tiller 1T2 as a working machine mounted on the rear of the traveling machine body 1T1. As the working machine, in addition to the tiller 1T2, for example, a plow, a fertilizer applicator, a mower, a seeding machine, etc. can be used.

The traveling body 1T1 includes a body portion 1T3 and a pair of traveling portions 1T4 that support the body portion 1T3 and are spaced apart from each other in the left-right direction. Each traveling portion 1T4 includes a front wheel 1T4a and a rear wheel 1T4b. At least one of the front wheel 1T4a and the rear wheel 1T4b is provided so that driving force can be transmitted from the engine 1T5 disposed in front of the fuselage section 1T3. The traveling body 1T1 travels in the field F by driving the traveling part 1T4. The fuselage section 1T3 includes a driving section 1T6 on which a driver rides. The driving section 1T6 includes a driver seat 1T6a for the driver to sit on, a steering wheel 1T6b for steering the traveling aircraft 1T1, and an operation section (not shown) for the driver to perform various operations. .

The tiller 1T2 is connected to the rear of the body part 1T3 via an elevating link mechanism 1T7. At the rear of the fuselage section 1T3, there are a PTO shaft (power take-off shaft) 1T8 for outputting the driving force of the engine 1T5 to the tiller 1T2, and a pair of left and right lifting cylinders (not shown) for driving the tiller 1T2 up and down. and are placed. The driving force of the engine 1T5 is transmitted to the PTO shaft 1T8 via a transmission 1T9.

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

The traveling body 1R1 includes a body portion 1R3 and a pair of traveling portions 1R4 that support the body portion 1R3 and are spaced apart from each other in the left-right direction. Each traveling portion 1R4 includes a front wheel 1R4a and a rear wheel 1R4b. At least one of the front wheel 1R4a and the rear wheel 1R4b is provided so that driving force can be transmitted from the engine 1R5 disposed in front of the fuselage section 1R3. The traveling body 1R1 travels in the field F by driving the traveling part 1R4. The fuselage section 1R3 includes a driving section 1R6 on which a driver rides. The driving section 1R6 includes a driver seat 1R6a for the driver to sit on, a steering wheel 1R6b for steering the traveling aircraft 1R1, and an operation section (not shown) for the driver to perform various operations. .

The planting section 1R2 is connected to the rear of the body section 1R3 via an elevating link mechanism 1R7. A PTO shaft 1R8 for outputting the driving force of the engine 1R5 to the planting section 1R2 and an elevating cylinder 1R9 for driving the planting section 1R2 up and down are arranged at the rear of the body section 1R3. The driving force of the engine 1R5 is transmitted to the PTO shaft 1R8 via a transmission (not shown).

FIG. 5 is a block diagram showing the configuration of the work vehicle 1 according to the embodiment of the present invention. The configuration shown in FIG. 5 is a configuration applicable to the combine harvester 1C shown in FIGS. 2A and 2B, the tractor 1T shown in FIG. 3, and the rice transplanter 1R shown in FIG. 4.

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

Through the cooperation of the above hardware and software, the control section 10 can be operated as the travel mode control section 102, the travel control section 103, the work equipment control section 104, and the notification control section 105. The control unit 10 may be composed of one piece of hardware, or may be composed of a plurality of pieces of hardware that can communicate with each other.

Note that each of the functional units 102 to 105 included in the control unit 10 may be realized by causing a calculation device to execute a program, that is, by software, as described above, but may also be realized by other methods. Each of the functional units 102 to 105 may be realized using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). That is, each of the functional units 102 to 105 may be realized by hardware using a dedicated IC or the like. Further, each of the functional units 102 to 105 may be realized using a combination of software and hardware. Further, each of the functional units 102 to 105 is a conceptual component. A function performed by one component may be distributed among multiple components. Further, functions possessed by a plurality of components may be integrated into one component.

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

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

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

The sensor 13 detects information related to the work vehicle 1 and outputs the detected information to the control unit 10. In this embodiment, the sensor 13 includes multiple types of sensors. Each of the plurality of types of sensors is connected to the control unit 10 so as to be able to input signals. The plurality of types of sensors may include, for example, an inertial measurement device, an obstacle sensor, a vertical position sensor, a lever position sensor, or an on/off sensor.

Note that the inertial measurement device may include a three-axis angular velocity sensor and a three-direction acceleration sensor, and may be a device capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles existing around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, a radar, or LiDAR (Light Detection And Ranging). The elevating position sensor may be a sensor that detects the elevating and lowering position of a working machine that is provided to be movable up and down. For example, the vertical position sensor may be a sensor that detects the vertical position of the above-mentioned reaping section 1C7 (see FIG. 2A, etc.), tiller 1T2 (see FIG. 3), or planting section 1R2 (see FIG. 4). . The lever position sensor may be a sensor that detects the position of an operating lever provided on the work vehicle 1. The operating lever may be, for example, a speed change lever. When the work vehicle 1 includes a plurality of operating levers, a lever position sensor may be provided for each operating lever. The on-off sensor may be a sensor that detects whether a switch included in the work vehicle 1 is in an on state or an off state. When the work vehicle 1 includes a plurality of switches, an on/off sensor may be provided for each switch.

The operation section 14 broadly includes a portion operated by a driver riding in the driving section of the work vehicle 1. The operation unit 14 allows the driver to issue commands to the control unit 10 . The operation unit 14 may be, for example, a button, a lever, a dial, a touch panel, or the like.

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

The sound output unit 16 outputs sound as appropriate in response to commands from the control unit 10. The sound may include a voice or a buzzer sound. Specifically, the sound output unit 16 may include at least one of a speaker and a buzzer for audio output.

In the present embodiment, the display unit 15 and the sound output unit 16 constitute a notification unit 17 that performs notification based on a command from the control unit 10. Note that the notification section 17 may be configured by only one of the display section 15 and the sound output section 16. Furthermore, the notification section 17 may be configured using components other than the display section 15 and the sound output section 16. The notification section 17 may be constituted by, for example, a light emitting means or a vibration generating means.

The driving mode control unit 102 controls switching between manual driving mode and automatic driving mode. Details of the switching control will be described later. The manual driving mode is a mode in which a driver (operator) rides on the driving section of the work vehicle 1 and the driver drives the work vehicle 1. The automatic driving mode is a mode in which the work vehicle 1 automatically travels within the field F. Here, automatic driving means that a device related to driving is controlled by the control unit 10 included in the work vehicle 1, so that at least steering is performed autonomously along a predetermined route. In addition to steering, automatic driving may be configured such that, for example, at least one of the vehicle speed and work by a work machine is performed autonomously.

The automatic driving mode may include, for example, at least one of an automatic straight-ahead mode, a manned automatic driving mode, and an unmanned automatic driving mode. In the automatic straight-ahead mode, only steering operations (steering wheel operations, steering wheel operations) are automatically controlled. In the automatic straight-ahead mode, for example, vehicle speed control, lifting/lowering control of the work implement, and on/off control of the work implement operation are performed manually. In the manned automatic driving mode, with the driver riding in the driving section of the work vehicle 1, work by straight-ahead driving and turning driving are automatically performed. In the manned automatic driving mode, for example, it is possible to switch between automatic and manual control of vehicle speed and control of lifting and lowering of work equipment. In the unmanned automatic driving mode (robot mode), all operations are performed automatically without a driver on the driving section of the work vehicle 1.

The travel control unit 103 automatically controls at least a portion of the travel system of the work vehicle 1 when the travel mode is the automatic travel mode. For example, if the automatic travel mode is an automatic straight-ahead mode, the travel control unit 103 automatically controls the steering operation so that the work vehicle 1 travels along a predetermined route. For example, if the automatic driving mode is a manned automatic driving mode or an unmanned automatic driving mode, the driving control unit 103 automatically controls steering operation and adjustment of vehicle speed.

The work equipment control unit 104 controls the work system of the work vehicle 1 according to the driving mode. When the travel mode is a manual travel mode or an automatic straight-ahead mode, the work equipment control unit 104 controls the raising and lowering of the work equipment in accordance with, for example, the driver's operation of a control lever provided on the driving unit of the work vehicle 1. For example, the work equipment control unit 104 automatically controls the elevation of the work equipment when the travel mode is the manned automatic travel mode or the unmanned automatic travel mode.

When a predetermined condition is satisfied, the notification control unit 105 controls, for example, the display unit 15 and the sound output unit 16 included in the notification unit 17 to perform notification using screen display or audio. The predetermined conditions are, for example, when it is necessary to alert an operator who is a driver of the work vehicle 1, an operator who is around the work vehicle 1, and the like who operates the work vehicle 1. It is filled.

[1-2. Mobile communication terminal]
FIG. 6 is a block diagram showing the configuration of the mobile communication terminal 2 according to the embodiment of the present invention. The mobile communication terminal 2 is, for example, a tablet terminal, a smartphone, a notebook computer, or the like. As shown in FIG. 6, the mobile communication terminal 2 includes a communication processing section 21, an operation section 22, a display section 23, a sound output section 24, and a control section 20. The communication processing section 21 , the operation section 22 , the display section 23 , and the sound output section 24 are connected to the control section 20 .

The communication processing unit 21 transmits and receives data to and from the work vehicle 1 via the communication antenna 21a. The communication processing unit 21 outputs the data received from the work vehicle 1 to the control unit 20. Note that the communication antenna 21a is an antenna for performing wireless communication with the work vehicle 1. Furthermore, the mobile communication terminal 2 may be provided with a mobile communication antenna for performing communication using a mobile phone line and the Internet. The mobile communication terminal 2 is configured to be able to perform communication using a mobile phone line and the Internet by using the mobile communication antenna provided on the work vehicle 1 even if the mobile communication terminal 2 is not equipped with a mobile communication antenna. There may be. On the other hand, even if the work vehicle 1 is not equipped with a mobile communication antenna, it is possible to perform communication using a mobile phone line and the Internet using the mobile communication antenna provided in the mobile communication terminal 2. It may be possible to have a configuration in which it is possible.

The operation unit 22 receives an operator's command and inputs the command to the control unit 20. The operation unit 22 includes at least one of software keys such as a touch panel or hardware keys. The touch panel may be provided on the display unit 23 and may be configured to be able to detect an operation by an operator's finger or the like. The hardware key may be arranged on the side surface of the casing of the mobile communication terminal 2 or around the display section 23, and may be configured to be able to detect a press by an operator's finger or the like.

The display unit 23 displays information as appropriate in response to commands from the control unit 20. The display unit 23 is, for example, a liquid crystal display or an organic EL display. The display section 23 may have a touch panel, and in this case, the display section 23 may also serve as the above-mentioned operation section 22.

The sound output unit 24 outputs sound as appropriate in response to commands from the control unit 20. The sound may include a voice or a buzzer sound. Specifically, the sound output unit 24 may include at least one of a speaker and a buzzer for audio output.

In the present embodiment, the display unit 23 and the sound output unit 24 constitute a notification unit 25 that provides notification based on a command from the control unit 20. Note that the notification section 25 may be configured by only one of the display section 23 and the sound output section 24. Furthermore, the notification section 25 may be configured using components other than the display section 23 and the sound output section 24. The notification section 25 may be constituted by, for example, a light emitting means or a vibration generating means. Furthermore, in this embodiment, the notification units 17 and 25 are provided in both the work vehicle 1 and the mobile communication terminal 2, but the notification unit may be provided in only one of them. .

The control unit 20 is, for example, a computer including an arithmetic unit, an input/output unit, and a storage unit 201. The arithmetic device is a processor, a microprocessor, or the like. The storage unit 201 is a main storage device such as ROM and RAM. The storage unit 201 may further include an auxiliary storage device such as an HDD or an SSD. The storage unit 201 stores various programs, data, and the like. The arithmetic device reads various programs from the storage unit 201 and executes them. The control unit 20 functions as an automatic driving processing unit that performs processing related to automatic driving, for example, through cooperation between hardware and software. Processing related to automated driving includes processing related to the start and end of automated driving, processing to create a route necessary for automated driving, processing to set conditions related to automated driving, etc. 20 may perform various processes related to notification, the details of which will be described later.

Note that the functions realized by the control unit 20 may be realized by software, but may also be realized by other methods. The functions realized by the control unit 20 may be realized by hardware using, for example, ASIC, FPGA, or the like. Further, the functions realized by the control unit 20 may be realized using a combination of software and hardware.

Further, in this embodiment, the mobile communication terminal 2 is provided to be able to execute various processes related to automatic driving and various processes related to notification, but at least a part of these various processes is performed by the control unit of the work vehicle 1. 10. Conversely, at least a portion of the various processes executed by the control unit 10 of the work vehicle 1 may be executed by the control unit 20 of the mobile communication terminal 2. Furthermore, the control unit 10 of the work vehicle 1 and the mobile communication It may be realized by cooperation with the control unit 20 of the terminal 2. Further, at least some of the functions of the control unit 20 of the mobile communication terminal 2 may be executed by cooperation between the control unit 20 and a server that can communicate via a network such as the Internet. Further, part of the information stored in the storage unit 201 included in the control unit 20 may be stored in an external server.

[1-3. Remote control device]
The remote control device 3 (see FIG. 1) is used, for example, when a person other than the operator using the mobile communication terminal 2 works in the field F. The remote control device 3 is a simple device that can perform fewer types of operations than the mobile communication terminal 2. The remote control device 3 is provided to be able to communicate with the work vehicle 1 by wireless method. For example, the remote control device 3 may be configured to include a switch that allows a person located away from the work vehicle 1 to start, stop, or restart automatic driving work on the work vehicle 1. It is preferable that the remote control device 3 has a function of emergency stopping the work vehicle 1 that performs work by automatic driving. The remote control device 3 may be a remote control for emergency stop.

In the example shown in FIG. 1, the number of remote control devices 3 is one, but it may be plural. Furthermore, the remote control device 3 is not an essential component of the work support system 100, and may not be provided in some cases. Further, the remote control device 3 may also include a notification section that provides notification by at least one of display and audio.

<2. Details of work support＞
Next, details of the work support (work support method) executed by the work support system 100 configured as described above will be explained.

[2-1. Work support related to driving mode switching]
FIG. 7 is a flowchart illustrating an example of a switching process from manual travel mode to automatic travel mode, which is executed in the work support system 100 according to the embodiment of the present invention. Note that the work vehicle 1 is normally in the manual travel mode when the engine is started. Moreover, the example shown in FIG. 7 may be, in detail, a process for switching from manual driving mode to unmanned automatic driving mode.

In step S1, the driving mode control unit 102 (see FIG. 5) monitors whether preparation for shifting to the automatic driving mode is completed. The preparation is completed when the operator performs a predetermined operation on the work vehicle 1. That is, in step S1, it is monitored whether a predetermined preparatory operation necessary for shifting to the automatic driving mode has been completed. The predetermined preparation operation may be one operation, or may be multiple types of operations.

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

In step S1, if it is determined that preparations for shifting to the automatic driving mode have been completed (Yes in step S1), the process proceeds to the next step S2.

In step S2, the driving mode control unit 102 monitors whether there is a command to start the automatic driving mode. In this embodiment, the start command is realized by the operator operating the mobile communication terminal 2 or the remote control device 3. If there is a start command (Yes in step S2), the driving mode control unit 102 shifts the driving mode to automatic driving mode. As a result, automatic driving starts.

As can be seen from the above explanation, in the example shown in FIG. 7, even if the operator simply operates the automatic driving mode start switch on the mobile communication terminal 2 or the remote control device 3, the manual driving mode will not change from the automatic driving mode to the automatic driving mode. It doesn't switch. On the condition that predetermined preparatory operations have been performed on the work vehicle 1, switching from the manual driving mode to the automatic driving mode is performed by operating the automatic driving mode start switch on the mobile communication terminal 2 or the remote control device 3. . In the work support method of this example, if the automatic driving mode start switch is operated without a predetermined preparatory operation being performed, for example, a notification that the predetermined preparatory operation is not completed is sent. may include a configuration in which this is performed. In addition, in the work support method of this example, if the automatic driving mode start switch is operated without any predetermined preparatory operations being performed, the content of the operation for which the preparatory operation has not been completed will be notified. may include configurations that are The notification may be performed using, for example, the display of the notification units 17 and 25 or audio.

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

In step S11, the driving mode control unit 102 monitors whether a stop condition for stopping the automatic driving mode is satisfied. The stop condition is satisfied, for example, when an operator issues a command to stop automatic travel using the mobile communication terminal 2 or the remote control device 3. Further, the stop condition is satisfied, for example, when all the tasks scheduled to be performed by automatic driving are completed. Further, the stop condition is satisfied, for example, when the work vehicle 1 reaches a predetermined position. The predetermined position is, for example, a position where the threshed grains of the harvested grain culm are discharged, a replenishment position where supplementary materials such as seedlings are replenished, or the like. Further, the stop condition is satisfied, for example, when the operator operates an operation member whose operation is prohibited during automatic travel. If it is determined that the stop condition is satisfied (Yes in step S11), the process proceeds to the next step S12.

In step S12, the driving mode control unit 102 determines whether preparations necessary for switching to the manual driving mode (manual driving preparation) have been completed. Manual travel preparation is completed when the operator performs a predetermined operation necessary for switching to manual travel mode. The predetermined operation may be one operation, or may be multiple types of operations. The predetermined operation is, for example, an operation provided due to safety concerns. Details of the predetermined operation will be described later. If it is determined that the manual travel preparation is complete (Yes in step S12), the automatic travel mode is switched to the manual travel mode. On the other hand, if it is determined that the manual travel preparation is not completed (No in step S12), the process proceeds to step S13.

In step S13, the notification control unit 105 (see FIG. 5) performs notification processing to prompt the user to perform a predetermined operation. Through the notification processing, notification is performed using at least one of the notification unit 17 of the work vehicle 1 and the notification unit 25 of the mobile communication terminal 2. It is preferable that the notification of the predetermined operation is performed by at least one of audio and display. The predetermined operation is notified by at least one of the display section 15 of the work vehicle 1, the sound output section 16 of the work vehicle 1, the display section 23 of the mobile communication terminal 2, and the sound output section 24 of the mobile communication terminal 2. It may be carried out using When the process of step S13 is completed, the process returns to step S12, and the process from step S12 onwards is repeated.

As can be seen from the above, the work support method of the present embodiment includes switching from the manual driving mode in which the work vehicle 1 is manually driven in the field to the automatic driving mode in which the work vehicle 1 is automatically driven, and in the automatic driving mode. When a stop condition for stopping the vehicle is satisfied, a predetermined operation necessary for switching to manual travel mode is notified. In this embodiment, as a preferable form, when a predetermined operation is not performed by the operator, a notification prompting the operator to perform the predetermined operation is performed. However, the notification of the predetermined operation may be performed regardless of whether the predetermined operation is being executed by the operator.

In addition, the program that causes the computer to execute the work support method of this embodiment switches the computer from the manual driving mode to the automatic driving mode, and when the stop conditions for stopping the automatic driving mode are met, the computer switches to the manual driving mode. The system functions as a means for notifying a predetermined operation necessary for switching. In this embodiment, the computer is the control unit 10 of the work vehicle 1, but the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

Further, the work support system 100 of the present embodiment includes a control unit 10 that switches from manual driving mode to automatic driving mode, and a control unit 10 that is necessary for switching to manual driving mode when a stop condition for stopping automatic driving mode is satisfied. It includes notification units 17 and 25 that notify a predetermined operation. Note that in this embodiment, the control unit that switches from the manual drive mode to the automatic drive mode is the control unit 10 of the work vehicle 1. However, the control unit for switching from the manual driving mode to the automatic driving mode may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

As in the present embodiment, by notifying the operator of the operation (predetermined operation) required to switch the driving mode, the operator can efficiently switch the driving mode.

Note that the work support method performed by the work support system 100 may perform a stop notification to notify the stop of automatic travel of the work vehicle 1. The stop notification may be, for example, a display (screen display) or voice that says "Automatic driving has been stopped." In a configuration in which stop notification is performed, notification of a predetermined operation necessary for switching to manual driving mode may be performed after the stop notification. With such a configuration, it is possible to notify the operator of the details of the operation required to set the work vehicle 1 to manual travel mode, while letting the operator understand that automatic travel of the work vehicle 1 has been stopped. That is, the operator can perform necessary operations while grasping the situation of the work vehicle 1. Note that the stop notification may be a buzzer sound. Further, the stop notification may be composed of a buzzer sound and a voice. If it is composed of a buzzer sound and a voice, for example, the configuration may be such that a voice saying "Automatic driving has been stopped" is output after a "beep" sound is heard. The order of the buzzer sound and the voice may be reversed.

The predetermined operation required to switch to the manual driving mode may include an operation of moving the gear shift operation section of the work vehicle 1 to a neutral position or a minimum position. The shift operation section may be, for example, a main shift lever. The operator can appropriately know the necessary operations on the speed change operation section through the notification, and can operate the speed change operation section efficiently.

For example, the main gear shift lever can switch the direction of movement of the work vehicle 1 by switching between three positions: "forward", "neutral", and "reverse", and can also be tilted in the forward and reverse directions. The configuration may be such that the speed of the work vehicle 1 is changed depending on the amount. In such a configuration, the predetermined operation may include an operation of moving the main shift lever to the neutral position.

Further, for example, the work vehicle 1 may include, in addition to the main shift lever, a reverser lever that changes the traveling direction by switching between three positions: "forward", "neutral", and "reverse". The main shift lever may be configured to change the traveling speed (vehicle speed) in the direction instructed by the reverser lever. In such a configuration, the predetermined operation may include an operation of moving the main shift lever to the minimum position where the vehicle speed is minimized. Note that in this example, the reversal lever is in the neutral position when switching from manual driving mode to automatic driving mode, so there is no need to operate the reversal lever to switch from automatic driving mode to manual driving mode. .

The advantages of notifying an operation to move the position of the shift operation section will be explained using an example in which an operation to move the main shift lever to the neutral position is required in order to switch to the manual driving mode. FIG. 9 is a schematic diagram showing the state of the main shift lever LV, where "F" indicates a "forward position," "N" a "neutral position," and "R" a "reverse position." In the example shown in FIG. 9, the main shift lever LV is tilted in the forward direction. The main shift lever LV is located before the position where the amount of tilting in the forward direction is the maximum (100%).

In FIG. 9, the left side of the white arrow indicates the state of the main shift lever LV during automatic travel, and the right side of the white arrow indicates the state of the main shift lever LV when automatic travel is interrupted (stopped). . The main shift lever LV is in the same position on the left and right sides of the white arrow. That is, when the automatic travel state changes to the automatic travel stop state, the position of the main shift lever LV does not automatically move. As a result, when automatic traveling is stopped, the actual traveling state of work vehicle 1 and the position of main shift lever LV may become inconsistent. Note that the automatic driving in this example is assumed to be, for example, automatic driving in the above-mentioned manned automatic driving mode.

In order to switch to the manual driving mode, it is necessary to eliminate the mismatch between the actual driving state of the work vehicle 1 and the position of the main shift lever LV. That is, it is necessary to temporarily set the main shift lever LV to the "neutral position." By notifying the operator to move the main shift lever LV to the "neutral position," it can be expected that the operator will efficiently operate the main shift lever LV appropriately. Although the notification may be at least one of audio and display, it is preferable that audio notification is included. In particular, the operator can easily understand the next operation by notifying the operator with a voice of specific operation details such as "Please put the main gear shift lever in the neutral position."

FIG. 10 is a schematic diagram for explaining the operation of discharging threshed grains in the combine harvester 1C. In the example shown in FIG. 10, the combine 1C automatically travels to the discharge position P (more precisely, in the vicinity of the discharge position P) along the route indicated by the broken line arrow A, and stops automatic travel. Here, as shown in FIG. 9, it is assumed that the main shift lever LV is operated toward the forward position for reasons such as increasing the vehicle speed. In this case, the vehicle will not return to manual travel mode unless the main shift lever LV is moved to the neutral position after automatic travel is stopped. However, since the combine harvester 1C is stopped, the operator is under the illusion that the main shift lever LV is in the neutral position, and tends to forget to move the main shift lever LV to the neutral position.

By the way, normally, when the discharge position P is reached by automatic running, as shown by the broken line arrow B, the position of the discharge auger 1C6 is adjusted to the appropriate position of the discharge position P while the combine 1C is moved backward by manual running. If you have forgotten that you moved the main shift lever LV to the forward position and are under the illusion that the main shift lever LV is in the neutral position, move the main shift lever LV a little towards the reverse side without looking at it. A situation may occur in which the main shift lever LV is operated only by the driver. In such a case, the main shift lever LV may not return to the neutral position, and the combine 1C may not start moving backward. If the combine harvester 1C does not start moving backward despite the operation of the main shift lever LV, the operator may not understand why backward movement is not started, which may cause confusion. In this regard, in this embodiment, since a notification is given to move the main shift lever to the neutral position, it is possible to suppress the operator's confusion as described above.

FIG. 11 is a block diagram showing a configuration example of the operation unit 14 included in the work vehicle 1. As shown in FIG. In the example shown in FIG. 11, the operation unit 14 includes a robot mode switch 141, a PTO switch 142, and a work machine lift lever 143. Note that the operation unit 14 may have a configuration that includes only one of the robot mode switch 141, the PTO switch 142, and the work equipment lifting lever 143, or a configuration that includes only any two of the robot mode switch 141, the PTO switch 142, and the work equipment lifting lever 143. . Further, the operation unit 14 may have a configuration that does not include any of the robot mode switch 141, the PTO switch 142, and the work implement lifting lever 143.

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

When the operation unit 14 includes a first on/off switch such as the robot mode switch 141 , the predetermined operation required for switching to manual travel mode may include operating the first on/off switch 141 . Specifically, when the work vehicle 1 that was automatically traveling in the unmanned automatic traveling mode stops traveling, it may be configured such that the robot mode switch 141 cannot be switched to the manual traveling mode unless the robot mode switch 141 is turned off. In such a configuration, it is preferable that when the stop condition is met, a notification such as "Please turn off the robot mode switch" is made. The notification may be at least one of audio and display, but preferably includes audio notification. This reduces the possibility of forgetting to turn off the robot mode switch 141 when switching to manual travel mode, and allows the operator to efficiently switch travel modes.

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

When the operation unit 14 includes a second on/off switch such as the PTO switch 142 , the predetermined operation required for switching to manual travel mode may include operating the second on/off switch 142 . Specifically, when the work vehicle 1 that has been automatically traveling in the automatic traveling mode stops traveling, the configuration may be such that it cannot be switched to the manual traveling mode unless the PTO switch 142 is turned off. In the case of such a configuration, it is preferable that the configuration is such that when the stop condition is satisfied, a notification such as "Please turn off the PTO switch" is made. The notification may be at least one of audio and display, but preferably includes audio notification. This reduces the possibility of forgetting to turn off the PTO switch 142 when switching to the manual drive mode, and allows the operator to efficiently switch the drive mode.

The work machine elevating lever 143 is a lever used by an operator to raise and lower the work machine. In this embodiment, the work equipment lift lever 143 also serves as an operating section for switching from automatic travel mode to manual travel mode. For safety reasons, the work equipment needs to be moved to a non-working position when switching from automatic driving mode to manual driving mode. In this embodiment, the non-working position is a position where the work machine is off the ground and is raised upward from the ground by the work machine lift lever 143.

When the operating unit 14 includes the work implement lift lever 143, the predetermined operation required to switch to the manual travel mode may include an operation to place the work implement of the work vehicle 1 in a non-working state. Specifically, when the work vehicle 1 that has been traveling automatically in the automatic travel mode stops traveling, the configuration may be such that the work implement cannot be switched to the manual travel mode unless the work implement is raised using the work implement lift lever 143. In the case of such a configuration, it is preferable that when the stop condition is satisfied, a notification such as "Please raise the work machine" is issued. The notification may be at least one of audio and display, but preferably includes audio notification. This reduces the possibility of forgetting to raise the work machine when switching to manual travel mode, and allows the operator to efficiently switch travel modes.

In the example shown in FIG. 11, in order to switch from automatic travel mode to manual travel mode, the work machine is raised by turning off the robot mode switch 141, turning off the PTO switch 142, and using the work machine lift lever 143. operation is required. That is, the predetermined operations required to switch to the manual driving mode include multiple types of operations. In this way, when the predetermined operation includes multiple types of operations, it is preferable that notification of the multiple types of operations is performed in order according to priority. Thereby, it is possible to avoid notification of mutually different operation contents at the same timing, and to prevent the operator from being confused.

The priority may be determined as appropriate, but for example, among multiple types of operations, the earlier the order (time) in which the operator performs the act that requires the operation, the higher the priority may be. For example, assume that the robot mode switch 141 is first turned on, and then the PTO switch 142 is turned on. In this case, notification of an operation to turn off the robot mode switch 141 that was previously turned on may be given priority over notification of an operation that turns off the PTO switch 142 that was turned on later.

Furthermore, as an example of the manned automatic driving mode, assume a situation where the automatic driving mode is first turned on, and then the main shift lever is operated and the automatic driving is brought to an emergency stop. In such a case, notification of an operation to turn off the automatic driving mode may be given priority over notification of an operation to move the main shift lever to the neutral position or the minimum position. With this configuration, operations that are performed first and that are likely to be forgotten when switching to manual driving mode are notified with priority. As a result, when it is necessary to perform multiple types of operations, it is possible to prevent forgetting to perform an operation.

[2-2. Work support after switching driving mode]
FIG. 12 is a flowchart illustrating work support processing after switching to the automatic driving mode, which is executed in the work support system 100 according to the embodiment of the present invention. FIG. 12 is a diagram for explaining the work support process performed after switching from manual drive mode to automatic drive mode by the process shown in FIG. 7. Note that FIG. 12 is a flowchart assuming that the automatic driving mode is the unmanned automatic driving mode, and the work vehicle 1 is stopped at the time of switching to the automatic driving mode.

In step S21, in response to the start of automatic driving, the notification control unit 105 (see FIG. 5) performs a process of causing the sound output unit 16 to emit a buzzer sound to notify the start of automatic driving (buzzer sound issuing process). . The buzzer sound is emitted, for example, three times. The buzzer sound is, for example, "boo-boo-boo". Note that, instead of or in addition to the sound output unit 16 included in the work vehicle 1, the notification control unit 105 generates a buzzer sound from the sound output unit 24 included in the mobile communication terminal 2 via the control unit 20 of the mobile communication terminal 2. may be reported. In addition, the buzzer sound notifying the start of automatic driving may be a different sound in the manned automatic driving mode than in the unmanned automatic driving mode, for example, it may be "poo, poo, poo". Once the buzzer sounding process is performed, the process advances to the next step S22.

In step S22, the notification control unit 105 performs a process (voice notification process) in which the sound output unit 16 notifies the vehicle of the start of automatic driving. In other words, the work support method of the present embodiment executes automatic driving mode transition notification to notify that the manual driving mode has shifted to the automatic driving mode. The notification may be, for example, a voice notification saying "Automatic driving will start." Note that the above-mentioned buzzer sound may be interpreted as being included in the automatic driving mode transition notification. Once the voice notification process is performed, the process proceeds to the next step S23.

Note that, instead of or in addition to the sound output unit 16 included in the work vehicle 1, the notification control unit 105 outputs a sound output included in the mobile communication terminal 2 via the control unit 20 of the mobile communication terminal 2. A configuration may be adopted in which the unit 24 outputs audio. Further, a configuration may be adopted in which notification is performed using a display (screen display) instead of or in addition to the audio notification. When performing audio notification as in this embodiment, it is preferable to perform the audio notification so that the audio does not overlap with the above-mentioned buzzer sound. That is, it is preferable that a voice such as "Automatic driving will start" be played after the sound becomes "Boo, boo, boo". The configuration in which the buzzer sound and voice do not overlap is preferably applied to other buzzer sounds and voices as well. Other buzzer sounds include, for example, a buzzer sound that sounds when the tank is full. Further, in this embodiment, the configuration is such that the sound is output after the buzzer sound, but the reverse may be possible. That is, the order of step S21 and step S22 may be reversed.

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

Note that, for example, in the case of the manned automatic driving mode, automatic driving may be started while the work vehicle 1 is running, and in this case, a buzzer sound and voice notification are issued while the work vehicle 1 is in the driving state, and automatic driving starts. It's okay to be. In such a configuration, the processes after step S23 do not need to be performed.

In step S24, the notification control unit 105 performs notification processing of the traveling direction of the work vehicle 1. That is, when automatic travel is started in reverse travel, it is reported that the work vehicle 1 is traveling backwards. The notification may be at least one of audio and display, but preferably includes audio notification. The notification may be performed by at least one of the work vehicle 1 and the mobile communication terminal 2. The notification may be, for example, "Reverse. Please be careful."

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

As can be seen from the above, in the work support method of the present embodiment, after the automatic driving mode transition notification, the traveling direction notification is performed to notify the direction in which the work vehicle 1 is traveling. Those around the work vehicle 1 may not be able to recognize whether the work vehicle 1 is traveling forward or backward at the start of automatic travel. In this regard, when the direction of travel is notified as in this embodiment, people around the work vehicle 1 can recognize the direction of travel of the work vehicle 1 at the start of automatic travel, which improves safety. can be improved.

FIGS. 13 and 14 are schematic diagrams illustrating an example in which automatic travel starts with reverse travel. In the example shown in FIG. 13, the work vehicle 1 is stopped with the front side of the vehicle body facing the field edge FE. For example, such a situation occurs when the work vehicle 1 is a rice transplanter 1R and stops to replenish seedlings. When starting automatic driving after seedling supply is complete, automatic driving starts in reverse. In such a case, traveling direction notification may be performed to notify the direction in which the work vehicle 1 is traveling.

In the example shown in FIG. 14, it is assumed that the work on a certain straight route S1 in the field F is finished, and the operator makes a left turn and heads to the next straight route S2. Here, assume that the distance between the two straight routes S1 and S2 is narrow, and if the vehicle simply makes a left turn, the vehicle will deviate greatly from the next straight route S2, and will not be able to properly enter the straight route S2. In this case, the work vehicle 1 advances to point P1 while turning left and once stops. After stopping, the vehicle moves backward to point P2, and then moves forward while turning left from point P2 to enter the next straight route S2. In the case of performing such a fishtail turn, a traveling direction notification for notifying the direction in which the work vehicle 1 is traveling may be performed when reversing after once stopping.

FIG. 15 is a flowchart illustrating work support processing after switching to the manual travel mode, which is executed in the work support system 100 according to the embodiment of the present invention. FIG. 15 is a diagram for explaining the work support process that is performed after switching from automatic drive mode to manual drive mode by the process shown in FIG. 8.

In step S31, the notification control unit 105 determines whether the work vehicle 1 continues to travel when switching from the automatic travel mode to the manual travel mode. Whether or not the work vehicle 1 continues to travel depends on how the above-mentioned stop conditions (see FIG. 8) are satisfied. Details of this point will be described later. If the work vehicle 1 continues to travel (Yes in step S31), the process proceeds to the next step S32. On the other hand, if the work vehicle 1 stops traveling (No in step S31), the process proceeds to step S33.

In step S32, the notification control unit 105 notifies by voice that the mode has been switched to the manual driving mode. The audio notification may be, for example, "Return to manual driving." Note that the audio notification may be performed using at least one of the sound output unit 16 included in the work vehicle 1 and the sound output unit 24 included in the mobile communication terminal 2. Further, in addition to audio notification, display notification may be performed. However, in this case, care must be taken regarding the display mode. This point will be discussed later. Note that the notification by display may be performed using at least one of the display unit 15 included in the work vehicle 1 and the display unit 23 included in the mobile communication terminal 2.

In step S33, the notification control unit 105 causes a display to notify that the mode has been switched to manual driving mode. The notification by the display may also be, for example, "Returned to manual driving", similar to the above-mentioned audio notification. Note that the notification by display may be performed using at least one of the display unit 15 included in the work vehicle 1 and the display unit 23 included in the mobile communication terminal 2. Further, in addition to display notification, audio notification is preferably performed. The audio notification may be performed using at least one of the sound output unit 16 included in the work vehicle 1 and the sound output unit 24 included in the mobile communication terminal 2.

Note that, as described above, when automatic driving in the automatic driving mode is stopped, a voice notification saying "Automatic driving has been stopped" may be performed. In a configuration that employs both such a configuration and a configuration that notifies switching to manual driving mode, when the above-mentioned manual driving preparation (see Figure 8) is completed in a short time, the audio notification timing will change. There may be overlap in the sections. In other words, originally, the voice notification would be "Automatic driving has stopped" and then the voice notification would be "Returning to manual driving", but the timing of the audio notifications overlapped, and the audio notification would be "Automatic driving stopped...". There is a possibility that a voice notification will be displayed saying, ``The vehicle has returned to manual driving.'' Note that the part indicated by "..." indicates that the voice notification "Automatic driving has been stopped" overlaps with at least a part of "Returning to manual driving".

Taking these points into consideration, some of the timings of notifications of multiple types of sounds overlap, and while the first notification sound of the previous timing is being output, the second notification sound of the next timing is output. When the need arises, it is preferable to end the first notification sound midway, provide a break period after the end, and output the second notification sound. To explain specifically using the above example, "Automatic driving has been stopped" (first notification) is terminated with "Automatic driving has continued", and after a break period, "Automatic driving has been resumed". '' (second notification) is preferably configured. The break period may be silent, or may include sound. For example, if the sound is "beep", it may be said that "Automatic driving has started, beep, and the vehicle has returned to manual driving." By configuring in this way, it is possible to prevent the sound from being overlapping and to make it easier to understand the contents of the audio notification.

As can be seen from the explanation related to FIG. 15 above, the work support method of the present embodiment involves switching to an automatic driving mode in which the work vehicle 1 automatically travels in the field, and when a predetermined condition is satisfied in the automatic driving mode. In this case, switching to the manual driving mode in which the work vehicle 1 is manually driven, and performing switching notification to notify that the automatic driving mode has been switched to the manual driving mode. The mode of the switching notification differs depending on the situation of the work vehicle 1 when the mode is switched to the manual driving mode. Note that a specific example of the switching notification is the above-mentioned "Returned to manual driving".

Furthermore, the program that causes the computer to execute the work support method of the present embodiment switches the computer to an automatic driving mode in which the work vehicle 1 automatically travels in the field, and when a predetermined condition is satisfied in the automatic driving mode. , it functions as a means for performing switching to a manual traveling mode in which the work vehicle 1 is manually driven, and processing of switching notification for notifying that the automatic traveling mode has been switched to the manual traveling mode. The mode of the switching notification differs depending on the situation of the work vehicle 1 when the mode is switched to the manual driving mode. As described above, the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

Further, the work support system 100 of the present embodiment switches the work vehicle 1 to a manual drive mode in which the work vehicle 1 is manually driven when a predetermined condition is met during the automatic drive mode in which the work vehicle 1 is automatically driven in the field. The vehicle includes a control unit 10 and notification units 17 and 25 that perform switching notification to notify that the automatic driving mode has been switched to the manual driving mode. The mode of the switching notification differs depending on the situation of the work vehicle when it is switched to the manual driving mode. Note that, as described above, the control unit that switches from the manual drive mode to the automatic drive mode may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

As in this embodiment, if the configuration is such that the mode of switching notification differs depending on the situation of the work vehicle 1 when it is switched to manual travel mode, an appropriate notification according to the situation of the work vehicle 1 can be sent to the operator etc. It can be done by As a result, it is possible to improve operability for the operator and improve work efficiency.

Specifically, the difference in the mode of switching notification may include at least one of a difference in the device used for notification and a different method of notification using the same device. For example, notification using a display device and notification using a sound output device have different notification modes. Further, for example, even if the notification uses the same display device, the mode of the notification will differ if the method of displaying the notification using the display screen is different. Differences in display methods may include, for example, differences in display location, display color, display size, and the like. For example, even if the same sound output device is used for notification, the mode of notification will differ if the volume, pitch, etc. of the sound are different.

In the present embodiment, as a preferable configuration, the mode of the switching notification is such that when the work vehicle 1 continues to travel when switched to manual travel mode, and when the work vehicle 1 continues to travel when switched to manual travel mode. The configuration is different depending on when the system is stopped. When the work vehicle 1 continues to travel after being switched to the manual travel mode, the switching notification is performed using audio. This will be explained with reference to FIGS. 16 and 17.

FIG. 16 is a schematic diagram for explaining an example in which the work vehicle 1 continues to travel when the automatic travel mode is switched to the manual travel mode. In the example shown in FIG. 16, the automatic driving mode is specifically a manned automatic driving mode, and a driver (operator) is riding on the work vehicle 1. In FIG. 16, the thick solid line is the work route. In the example shown in FIG. 16, the driver operates the steering wheel (steering wheel) during automatic driving to move the position of the work vehicle 1 from the work route α to the work route β. In such a situation, if the work vehicle 1 stops traveling because a steering operation is performed during automatic travel, the work efficiency will actually deteriorate. For this reason, when a steering operation is performed during automatic driving, the working vehicle 1 is configured to continue traveling and switch from automatic driving mode to manual driving mode.

That is, in the present embodiment, when the work vehicle 1 continues to travel after being switched to the manual travel mode, the operator on the work vehicle 1 performs a steering operation to switch from the automatic travel mode to the manual travel mode. This includes cases where the conditions for switching to the mode (the above-mentioned predetermined conditions) are satisfied. Note that when the work vehicle 1 continues to travel when switched to the manual travel mode, for example, the reversal lever that changes the traveling direction during automatic travel may be operated from the neutral position to the forward position or the reverse position. Accordingly, a case may be included in which the conditions for switching the automatic driving mode to the manual driving mode are satisfied.

FIG. 17 is a schematic diagram for explaining the advantage of using audio notification for switching notification when the work vehicle 1 continues to travel. In the case of the example shown in FIG. 16, the work vehicle 1 continues to travel when switching to the manual travel mode. For this reason, when a switching notification ("Returning to manual running") is made using a display as shown in FIG. There is a concern that alignment to the work path β may be delayed. Note that the several seconds mentioned above are the period during which the switching notification is performed, and the period is set as appropriate.

In this regard, if the configuration is such that voice notification is used for switching notification when the work vehicle 1 continues to travel as in the present embodiment, the work routes α and β displayed on the screens of the display units 15 and 23 are Since it is not hidden by the notification, it is possible to appropriately align the position to the work route β. In other words, work can be performed efficiently. Note that since the work route displayed on the screen does not need to be hidden, a configuration may be adopted in which the switching notification is performed using a display, utilizing a position on the screen where the work routes α and β are not displayed.

Moreover, in this embodiment, as a preferable form, when the work vehicle 1 stops traveling when switched to the manual traveling mode, a switch notification is executed using a display. The display mode may be such that the notification content is displayed in a large size on the screens of the display units 15 and 23, as shown in FIG. Considering that no major problems will occur even if the work routes α and β displayed on the screen are hidden for a few seconds because the vehicle is stopped, and that operators etc. will be able to notice the notification more easily by displaying it prominently. This is the configuration.

Note that when the work vehicle 1 stops traveling when switched to the manual traveling mode, it is more preferable to perform the switching notification using a display and audio. This allows the operator to more reliably recognize the switching of the driving mode. In both cases of continuing running and stopping running, the switching notification may be performed using audio and display, but in the case of continuing running, the switching notification by display is displayed smaller than in the case of stopping running. It is preferable. In such a configuration, it can be said that the mode of switching notification differs depending on the situation of the work vehicle 1.

In addition, if the work vehicle 1 stops traveling when switched to the manual travel mode, for example, due to a malfunction in the positioning communication unit 11 included in the work vehicle 1, the automatic travel mode is switched to the manual travel mode. A case where a condition (the above-mentioned predetermined condition) is satisfied may be included. Examples of malfunctions in the positioning communication unit 11 include a case where the positioning accuracy decreases, a case where a signal cannot be received from a positioning satellite, etc. In addition, if the work vehicle 1 stops traveling when switched to the manual travel mode, the automatic travel mode is switched to the manual travel mode by detecting an obstacle using an obstacle sensor included in the work vehicle 1, for example. May include cases where the conditions are met. The obstacle may be a moving object or a stationary object, and may be, for example, a person, another work vehicle, agricultural equipment, a stone, or the like.

When the automatic driving mode is switched to the manual driving mode and the work vehicle 1 continues to travel, a specific situation may occur that requires attention. When this specific situation occurs, it is preferable to be notified that the specific situation has occurred. The specific situation includes, for example, a situation where the speed of the work vehicle 1 is restricted. In addition, the specific situation includes, for example, a situation where the position of the main shift lever and the traveling direction of the work vehicle 1 do not match. These will be explained in detail below.

First, an example in which the above-mentioned vehicle speed restriction occurs will be described. Assume that when the automatic driving mode is switched to the manual driving mode by steering operation (see FIG. 16), the amount of tilting of the main shift lever LV in the forward direction is the maximum (100%) as shown in FIG. During automatic driving, it is assumed that the vehicle will travel at a speed lower than 100% even if the main gear shift lever is 100%, by setting the vehicle speed limit in advance using the operation unit 22 of the mobile communication terminal 2, etc. do. The speed less than 100% may be, for example, a speed of 50%.

In such an assumption, the work vehicle 1 suddenly accelerates when switching from automatic driving to manual driving due to a steering operation performed during automatic driving. This is unfavorable from a safety standpoint. For this reason, the work vehicle 1 of this embodiment is configured to automatically limit the vehicle speed when switching from automatic driving mode to manual driving mode to prevent sudden acceleration. . The vehicle speed limit may be, for example, 50% of the maximum vehicle speed, as described above.

When the vehicle speed is limited as described above, the operator may feel uncomfortable because the position of the main shift lever LV and the actual speed of the work vehicle 1 do not match. For this reason, the present embodiment is configured to notify that the vehicle speed is being restricted. That is, in the work support method of the present embodiment, after the conditions for switching the automatic driving mode to the manual driving mode by the steering operation are satisfied and the switching notification is executed, the vehicle speed is set to notify that the vehicle speed of the work vehicle 1 will be limited. It is configured to execute restriction notification. The vehicle speed limit notification may be at least one of audio and display, but preferably includes audio notification. The vehicle speed limit notification may be performed by at least one of the work vehicle 1 and the mobile communication terminal 2. The vehicle speed limit notification may be, for example, "Vehicle speed is being limited." Note that when the vehicle speed is limited, the vehicle speed may be gradually increased so that the vehicle speed ultimately corresponds to the position of the main shift lever LV. In such a configuration, a period in which the vehicle speed is gradually increased may also be included in the vehicle speed restriction. In such a configuration, the notification that the vehicle speed is being limited may be automatically stopped when the vehicle speed of the work vehicle 1 reaches a speed corresponding to the position of the main shift lever LV.

Next, an example in which the position of the main shift lever LV and the traveling direction of the work vehicle 1 do not match will be described. For example, when driving in reverse at a fishtail turn (see Figure 14), the main gear shift lever LV is operated in the forward direction, and while driving continues, automatic driving mode is switched to manual driving mode. Suppose.

In this case, since the automatic travel mode changes to manual travel mode with the main shift lever LV in the forward position, the work vehicle 1 suddenly starts forward travel from reverse travel. In this embodiment, in consideration of safety and the like, the configuration is such that a transition to forward travel is notified. That is, in the work support method of the present embodiment, when the work vehicle 1 switches to the manual travel mode while traveling backward in the automatic travel mode, after executing the switching notification, the work vehicle 1 notifies that the work vehicle will travel forward. The configuration is such that forward travel notification is executed. Thereby, the operator and those around the work vehicle 1 can appropriately understand the transition from backward travel to forward travel.

The forward travel notification may be at least one of audio and display, but preferably includes audio notification. The forward travel notification may be performed by at least one of the work vehicle 1 and the mobile communication terminal 2. The forward travel notification may be, for example, "Start moving forward."

Note that when forward travel is started from the above-mentioned backward travel, it is preferable that the vehicle speed is limited for safety reasons. For this reason, it is preferable that the work support method executes a vehicle speed restriction notification to notify that the vehicle speed of the work vehicle 1 will be limited after executing the forward travel notification. This can prevent the operator from being confused.

[2-3. Mode of notification as work support]
The work support method of this embodiment performs notifications related to the work vehicle 1 and sets the mode of the notification according to settings by the user or the state of the work vehicle 1. Notifications related to the work vehicle 1 include notifications regarding various operations performed in the work vehicle 1, notifications regarding operations to be performed by an operator etc. on the work vehicle 1, and notifications from a mobile communication terminal used in conjunction with the work vehicle 1. 2 or the remote control device 3. The various operations may include not only external operations of the work vehicle 1 but also control operations. It is preferable that the notifications related to the work vehicle 1 include notifications related to automatic driving. Note that the user may include a wide range of people who use the work support system 100 of this embodiment, and is, for example, an operator.

Further, the program that causes the computer to execute the work support method of the present embodiment causes the computer to perform notifications related to the work vehicle 1 and to set the mode of the notification according to settings by the user or the state of the work vehicle 1. to act as a means of carrying out. As described above, the computer may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

Further, the work support system 100 of the present embodiment includes notification units 17 and 25 that perform notifications related to the work vehicle 1, and a control unit that sets the mode of notification according to settings by the user or the state of the work vehicle 1. Equipped with Note that the control unit may be at least one of the control unit 10 of the work vehicle 1 and the control unit 20 of the mobile communication terminal 2.

With such a configuration, notifications can be made according to the user's preferences. Further, with such a configuration, appropriate notification can be performed according to the state of the work vehicle 1. That is, appropriate guidance can be provided in the work vehicle 1 that is provided to be able to travel automatically.

The notification mode includes the presence or absence of audio notification, the volume of audio notification, the number of times the audio notification is repeated, the repetition time of the audio notification, the intonation of the audio notification, the speed of the audio notification, the pitch of the audio notification, and the audio notification. may include at least one of the gender of the voice and the selection of the output source when there are multiple sound output sources.

The plurality of sound output sources may include, for example, the sound output unit 16 of the work vehicle 1, the sound output unit 24 of the mobile communication terminal 2, and the sound output unit (not shown) included in the remote control device 3. . Specifically, the sound output unit may be a speaker. Furthermore, when the work vehicle 1 includes an interior space such as a cabin, the sound output section 16 of the work vehicle 1 may include an interior speaker and an exterior speaker.

For example, when automatic driving is being performed in an automatic straight ahead mode or a manned automatic driving mode with an operator in the cabin, the in-vehicle speaker may be selected from a plurality of sound output sources. Further, when the mobile communication terminal 2 is brought into the cabin, the speaker of the mobile communication terminal 2 may be selected instead of or in addition to the in-vehicle speaker. When the mobile communication terminal 2 is brought into the cabin, only the in-vehicle speaker may be selected.

For example, in the case of unmanned driving mode, the speaker of the mobile communication terminal 2 or the speaker of the remote control device 3 may be selected from a plurality of sound output sources. Further, in the unmanned driving mode, when the content of the scheduled notification is the content that should be notified to the surroundings of the work vehicle 1, the external speaker may be selected. Note that the content to be notified to those around the work vehicle 1 includes, for example, notifying people around the work vehicle 1 that they are exposed to danger.

(2-3-1. Setting of notification mode by user)
The notification mode is set by the user using, for example, the operation unit 22 of the mobile communication terminal 2. However, the notification mode may be set using a device other than the mobile communication terminal 2, for example, using the operation unit 14 of the work vehicle 1.

FIGS. 19 to 24 are examples of setting screens used by the user to set the notification mode. FIG. 19 is a diagram showing an example of a setting screen for setting the presence or absence of audio notification. When "ON" is selected in the setting section 40a of the setting screen shown in FIG. 19, audio notification is performed at the timing when audio notification should be made for all items that are subject to audio notification in advance. When "OFF" is selected in the setting section 40a of the setting screen shown in FIG. 19, audio notification will not be performed for all items that are subject to audio notification in advance. Note that, for example, a touch panel, a mouse, a button, a lever, a dial, etc. may be used to operate the setting unit 40a.

The setting of the presence or absence of audio notification may be made individually configurable for at least one of the items that are subject to audio notification in advance. FIG. 20 is a diagram showing an example of a setting screen for individually setting the presence or absence of audio notification. In FIG. 20, the configuration is such that it is possible to set the presence or absence of voice notification when starting automatic travel and when stopping automatic travel. When "ON" is selected in the setting section 40b located to the right of "At the start of automatic travel", a voice notification is performed at the start of automatic travel. When "OFF" is selected in the "At the start of automatic travel" setting section 40b, no audio notification is performed at the start of automatic travel. When "ON" is selected in the setting section 40c located to the right of "When automatic travel is stopped," a voice notification is performed when automatic travel is stopped. When "OFF" is selected in the "when automatic travel is stopped" setting section 40c, no audio notification is performed when automatic travel is stopped.

Note that it is preferable that the individual setting of the presence or absence of the audio notification be performed at least at one of the individual timings at which the operating state of the work vehicle 1 changes. That is, it is preferable that the settings that can be made by the user include a setting as to whether or not audio notification is to be performed at the timing when the operating state of the work vehicle 1 changes. The timing at which the operating state changes is, for example, the timing of switching between automatic operation mode and manual operation mode, the timing of switching between forward running and backward running, the timing of switching between forward running and stopped running, Another example is the timing of switching between traveling backwards and stopping traveling.

FIG. 21 is a diagram showing an example of a setting screen for setting the volume of audio notification. In the example shown in FIG. 21, the volume of the audio notification can be set between 0 and 100% using the setting section 40d located to the right of "overall volume". In the example shown in FIG. 21, since the overall volume is set to 80%, the volume at the time of audio notification of all items subject to audio notification is set to 80% of the maximum volume.

The volume may also be set individually for at least one of the items targeted for voice notification. FIG. 22 is a diagram showing an example of a setting screen for individually setting the volume of audio notification. In FIG. 22, the configuration is such that the volume of the audio notification at the start of automatic travel and at the time of stopping automatic travel can be set. In the setting section 40e located to the right of "At the start of automatic travel", the volume of the audio notification at the start of automatic travel can be set between 0 and 100%. Further, in the setting section 40f located on the right side of "When automatic travel is stopped", the volume of the audio notification when automatic travel is stopped can be set between 0 and 100%. In FIG. 22, the volume of the audio notification at the start of automatic travel is 80%, and the volume of the audio notification at the time of stopping the automatic travel is 30%.

FIG. 23 is a diagram showing an example of a setting screen for setting the details of the audio notification sound. In FIG. 23, as an example, the intonation of the voice, the gender of the voice, the pitch of the voice, and the speed of the voice can be set. For example, settings for each item can be selected from a plurality of items using setting sections 40g to 40j located on the right side of each item. In the example shown in FIG. 23, "Kansai dialect" is selected as the intonation of the voice. Furthermore, "male" is selected as the gender of the voice. Furthermore, "low" is selected as the pitch of the voice. Furthermore, "1.2 times" is selected as the audio speed. The speed of the voice may be "1.0 times" in normal times. For example, a configuration may be adopted in which corresponding sound source data is selected from a plurality of sound source data stored in advance in the storage units 101 and 201 according to the settings of each item.

Note that detailed sound settings may also be made individually configurable for at least one of the items targeted for audio notification.

FIG. 24 is a diagram showing an example of a setting screen for setting sound source data used for audio notification. In the example shown in FIG. 24, it is assumed that sound source data other than sound source data prepared by default is used. For example, the user can download the sound source data that he or she wants to use from the cloud to the storage units 101 and 201 of the work vehicle 1 and the mobile communication terminal 2 and use the sound source data. In the example shown in FIG. 24, the user can select his/her favorite sound source data as the audio to be used during automatic driving. For example, if you select the sound source data you want to use by touching or the like and press "OK", the selected sound source data will be used for voice notification during automatic driving.

(2-3-2. Setting the notification mode according to the status of the work vehicle)
FIG. 25 is a flowchart illustrating a process for setting a notification mode according to the state of the work vehicle 1, which is executed in the work support system 100 according to the embodiment of the present invention.

In step S41, the notification control unit 105 (see FIG. 5) monitors whether it is the timing for notification (for example, voice notification). The timing of notification may be determined in advance, for example. If it is determined that it is the timing for notification (Yes in step S41), the process proceeds to the next step S42.

In step S42, the notification control unit 105 checks the state of the work vehicle 1. In addition to the state of the work vehicle itself, the state of the work vehicle 1 includes, for example, the state (relationship) between the work vehicle 1 and objects existing around it, and the state of communication between the work vehicle 1 and the work vehicle. The state (relationship) with the device may also be included. Objects existing around the work vehicle 1 may be moving objects such as people or other work vehicles, or stationary objects such as agricultural products or stones. The device that can communicate with the work vehicle 1 may be the mobile communication terminal 2 or the remote control device 3. The number of items checked as the state of the work vehicle 1 may be singular or plural. Items to be confirmed as the status of the work vehicle 1 will be exemplified later. Once the state of the work vehicle 1 is confirmed, the process proceeds to the next step S43.

In step S43, the notification control unit 105 sets the notification mode according to the previously confirmed state of the work vehicle 1. How the mode of notification is set depending on the state of the work vehicle 1 may be a preset configuration. The settings may also be configured to be changeable according to the user's preference. Note that when the user has set a notification mode for the notification when the notification timing has come in step S41, the notification mode set by the user may be given priority over the notification mode determined according to the state of the work vehicle 1. . Conversely, even if the user has set the notification mode for the notification at the timing of notification in step S41, the notification mode determined according to the state of the work vehicle 1 may take priority over the notification mode set by the user. May be set. Further, depending on the content of the notification, it may be determined individually which of the notification mode determined according to the state of the work vehicle 1 and the notification mode set by the user is given priority. Once the notification mode is set, the process proceeds to the next step S44.

In step S44, the notification control unit 105 performs notification processing so that notification is performed in the set notification mode. As a result, notification is performed using an appropriate speaker or the like.

A specific example will be described below.

The confirmation of the state of the work vehicle 1 may be, for example, confirmation of whether the work vehicle 1 is traveling. The confirmation can be performed using a vehicle speed sensor or the like included in the work vehicle 1. The mode of notification may be changed depending on whether the work vehicle 1 is traveling or not. For example, when the work vehicle 1 is traveling, the volume of the audio notification may be made louder than when the work vehicle 1 is stopped. Thereby, the notification mode can be adapted to suit the working state.

Further, confirmation of the state of the work vehicle 1 may be, for example, confirmation of at least one of the driving state of the engine of the work vehicle 1 and the operating state of the work implement. The driving state of the engine can be confirmed using a sensor that measures the rotational speed of the engine. The operating state of the work machine can be confirmed, for example, by the state of the operation button or control lever for moving each work machine. The mode of notification may be changed depending on at least one of the driving state of the engine of the work vehicle 1 and the operating state of the work implement. For example, the volume of the audio notification may be made louder when the rotational speed of the engine of the work vehicle 1 is high than when it is low. Furthermore, the volume of the audio notification may be made louder when the working machine is in operation than when it is not in operation. Thereby, the notification mode can be adapted to suit the working state.

Note that the work machine may be, for example, a reaping section 1C7 of a combine harvester 1C, a threshing device 1C3, or the like. Further, the working machine may be a tiller 1T2, a plow, a fertilizer applicator, a grass cutter, a seeding machine, etc. that is attached to the rear of the tractor 1T. Further, the working machine may be the planting section 1R2 of the rice transplanter 1R.

Further, confirmation of the state of the work vehicle 1 may be, for example, confirmation of at least one of the environment around the work vehicle 1 and the operation that the work vehicle 1 is scheduled to perform. The surrounding environment can be checked using an obstacle sensor, for example. Further, the operation scheduled to be performed by the work vehicle 1 can be confirmed when the work vehicle 1 is in the automatic driving mode. Then, the mode of notification may be changed depending on at least one of the environment around the work vehicle 1 and the operation that the work vehicle 1 is scheduled to perform. By confirming in advance the environment around the work vehicle 1 and the operations that the work vehicle 1 is scheduled to perform, it is possible to predict the degree of danger of the work vehicle itself and the degree of danger that the work vehicle poses to its surroundings. For this reason, according to the configuration of this embodiment, the mode of notification can be set according to the degree of risk.

For example, when there is an obstacle such as a person on the travel route of the work vehicle 1, the volume of the audio notification may be made louder than normal. Further, for example, the volume of the audio notification may be increased as the work vehicle 1 approaches an obstacle such as a person. Further, for example, when the vehicle is traveling in the automatic straight-ahead mode, the volume of the audio notification may be increased as the vehicle approaches the outer edge of the field. For example, if the work vehicle 1 is scheduled to perform a highly dangerous operation such as reversing, making a sudden turn, or turning the discharge auger 1C6 (see FIG. 2A, etc.), the voice notification may be more effective than normal. You can increase the volume. Instead of increasing the volume, for example, you can increase the speed of the voice notification, emphasize the intonation of the voice notification, increase the number of times the voice notification is repeated, or lengthen the repetition time of the voice notification. Good too.

Moreover, confirmation of the state of the work vehicle 1 may be, for example, confirmation of the vehicle speed of the work vehicle 1. The confirmation can be performed using a vehicle speed sensor or the like included in the work vehicle 1. Then, the mode of notification may be changed depending on the vehicle speed of the work vehicle 1. For example, the volume of the audio notification may be increased as the speed of the work vehicle 1 increases. This makes it easier to hear the audio notification and to avoid danger.

Moreover, confirmation of the state of the work vehicle 1 may be, for example, confirmation of the type of automatic driving mode. The automatic driving mode to be set can be confirmed by the settings made at the start of automatic driving. The manner of notification may be changed depending on whether the work vehicle 1 is a manned automatic travel with an operator on board or an unmanned automatic travel without an operator. Note that the manned automatic driving referred to herein may include both the automatic driving in the automatic straight-ahead mode described above and the automatic driving in the manned automatic driving mode. Thereby, appropriate voice notification can be performed depending on the location of the operator.

For example, as described above, the sound output source may be changed between manned automatic driving and unmanned automatic driving. Further, for example, in the case of unmanned automatic driving, the volume of the audio notification to the surroundings of the work vehicle 1 may be made louder than in the case of manned automatic driving. Further, for example, in the case of manned automatic driving, the contents of the instruction by notification may be made more detailed than in the case of unmanned automatic driving. That is, in the case of manned automatic driving, even the detailed movements may be announced one by one compared to the case of unmanned automatic driving. Further, for example, in manned automatic driving, when prompting the operator to operate the operating units 14 and 22, the notification may be repeated until the operator performs the operation or until an operation to stop the notification is performed. In addition, for example, in manned automatic driving, even after an operation to stop the audio notification is performed, the notification using the screen display may be configured to continue to be performed, or the configuration may be configured such that the audio notification is repeated by a snooze function. .

Further, for example, in unmanned automatic driving, a configuration may be adopted in which only highly urgent notification contents are notified. Whether or not it is an emergency can be determined by classifying each notification content in advance and storing it in the storage units 101 and 201. Examples of highly urgent notification content include notification when an abnormality occurs and the work vehicle 1 has to make an emergency stop. Furthermore, for example, in unmanned automatic driving, there is a possibility that the operator is not near the mobile communication terminal 2, so the notification may be repeated until an operation is performed to stop the notification, or the notification may be repeated at predetermined intervals. It's okay.

Moreover, confirmation of the state of the work vehicle 1 may be, for example, confirmation of the number of times or time the voice notification has been repeated since the voice notification was started. Then, the mode of notification may be changed depending on the number of times or time that the audio notification is repeated after the audio notification is started. For example, the volume of the audio notification may be increased as the number of repetitions or time increases. Further, for example, as the number of repetitions or the time increases, the speed of audio notification may be increased or the time interval of audio notification may be shortened. Furthermore, for example, the intonation of the voice notification may be emphasized as the number of repetitions or time increases.

Further, the state of the work vehicle 1 may be checked by, for example, at least one of the number of devices that can communicate with the work vehicle 1 and the distance from the work vehicle 1 to the devices. A device that can communicate with the work vehicle 1 may be, for example, the mobile communication terminal 2 or the remote control device 3. The distance between these devices and the work vehicle 1 may be confirmed using, for example, a GPS (Global Positioning System) sensor. For example, if the remote control device 3 does not have a GPS sensor, the position of the remote control device 3 is confirmed via a mobile terminal owned by the operator such as a smartphone that can communicate with the remote control device 3, and the position of the remote control device 3 is confirmed. The distance between the vehicle 1 and the work vehicle 1 may be determined.

The mode of notification may be changed depending on at least one of the number of devices 2 and 3 that can communicate with the work vehicle 1 and the distance from the work vehicle 1 to the devices 2 and 3. For example, as the distance between the work vehicle 1 and the communicable devices 2 and 3 increases, the volume of the audio notification from the external speaker may be increased. Here, if there are a plurality of devices that can communicate with the work vehicle 1, a configuration may be adopted in which notification is performed in order of proximity. For example, if the content of the notification is an instruction to prompt recovery measures for an abnormality that has occurred, the notification to the communicable device may be stopped when the recovery measures for the abnormality are taken. Then, a configuration may be adopted in which a device to which a command for prompting an abnormality recovery device has already been notified is notified that the abnormality recovery measure has been taken.

(2-3-3. Specific example of audio notification)
Examples of the types of audio notifications applied to the work support system 100 of this embodiment will be given below. 26A and 26B are tables illustrating audio notifications that are commonly applied when the work vehicle 1 included in the work support system 100 is a combine harvester 1C, a tractor 1T, or a rice transplanter 1R. It is.

Nos. 1 to 6 in FIG. 26A are audio notifications related to preparations to enable work by automatic driving. Nos. 1 and 2 are audio notifications related to the positioning communication unit 11. No. 1 indicates that positioning accuracy has decreased, and No. 2 indicates that highly accurate positioning is now possible. Nos. 3 and 4 are audio notifications related to registration of the direction of the work vehicle 1. No. 3 prompts registration of orientation, and No. 4 notifies registration completion. It should be noted that a configuration may be adopted in which a voice that includes No. 2 and No. 3 is announced saying "RTK is now available. Please start initialization." No. 5 urges the driver to check the safety brake before autonomous driving. The color monitor is, for example, the display section 15 included in the work vehicle 1. No. 6 prompts the user to select the field where the automated driving will perform the work.

Nos. 7 to 12 in FIG. 26A are audio notifications related to registration of fields where work will be performed by automatic driving. Nos. 7 and 8 are audio notifications related to the start and completion of field measurement work using the work vehicle 1. No. 9 notifies the interruption of the started field measurement, and No. 10 informs the restart of the interrupted field measurement. Interruptions occur, for example, due to the presence of obstacles or a decrease in positioning accuracy. Nos. 11 and 12 are voice notifications when the field measurement is completed and the field is registered, and more specifically, they are voice notifications for confirming the registered contents.

Nos. 13 to 28 in FIG. 26A are audio notifications related to work performed by automatic driving, such as audio notifications for route generation and audio notifications issued from the start to the end of work by automatic driving. No. 13 prompts the work required to generate a route for automatic straight-ahead mode. No. 14 notifies the start of automatic driving, and No. 15 notifies the stop of automatic driving. Nos. 16 and 21 to 24 notify the status of the work vehicle 1 during automatic travel. Note that the sensitivity limit No. 21 means that the steering sensitivity is limited according to the vehicle speed. Moreover, the route deviation No. 22 indicates the deviation of the position of the work vehicle 1 with respect to the automatic travel route. Further, No. 24 includes an operation instruction based on the state of the work vehicle 1. No. 17 calls attention based on the surrounding situation of the work vehicle 1. No. 18 informs that the driving mode has returned from automatic driving mode to manual driving mode. No. 19 notifies the completion of scheduled work by automatic driving. No. 20 informs that work by automatic driving will be started in the area surrounding the work area (headland area used as a turning route) where work is to be performed by straight-ahead driving. Nos. 25 and 26 notify the completion of the learning work that is automatically performed during automatic driving. No. 27 informs the remaining amount of work to be performed by automatic driving. No. 28 informs that the work is about to be resumed from a position different from the position where the work by automatic driving was previously interrupted.

No. 29 in FIG. 26B is a voice notification regarding automatic driving mode switching. In detail, it will inform you of the operations required to switch to unmanned automatic driving mode.

Nos. 30 and 31 in FIG. 26B are audio notifications regarding the traveling direction. No. 30 prompts the start of reverse travel, and No. 31 notifies those around the work vehicle 1 that reverse travel will begin.

Nos. 32 and 33 in FIG. 26B are audio notifications informing that movement to a predetermined position is started. No. 32 notifies the user to start moving to the work start position by automatic driving. No. 33 informs that the vehicle will start moving to the position where it will end its travel after the automatic travel has finished its work.

Nos. 34 to 42 in FIG. 26B are audio notifications related to failsafe in the work vehicle 1. Nos. 34 to 36 are audio notifications regarding obstacles on the automated driving route. No. 34 notifies the detection of an obstacle. No. 35 informs that the speed of the work vehicle 1 is being restricted in response to the detection of an obstacle. No. 36 is a voice notification confirming the resumption of automatic driving that was stopped due to detection of an obstacle. Nos. 37 to 40 are audio notifications related to devices that communicate with the work vehicle 1. No. 37 prompts communication connection when the communication connection of the emergency stop remote control (the above-mentioned remote control device 3) is not completed. No. 38 informs that the communication environment of the tablet (the above-mentioned mobile communication terminal 2) is poor and what to do about it. Nos. 39 and 40 call attention to the power supply of the devices 2 and 3 that communicate with the work vehicle 1. Nos. 41 and 42 are audio notifications related to the state of the field. Nos. 41 and 42 may be warnings based on information obtained at the time of field registration, for example, or warnings of dangerous areas detected during automatic driving.

Nos. 43 and 44 in FIG. 26B are audio notifications related to remote control. No. 43 notifies that a pause instruction has been received from the remote control (the remote control device 3 described above). No. 44 notifies that an emergency stop instruction has been received from the remote control (the remote control device 3 described above).

Nos. 45 to 51 in FIG. 26B are audio notifications related to work guidance in the work vehicle 1. Nos. 45 and 46 inform that it is time to replenish materials necessary for driving the work vehicle 1. No. 47 informs that it is time to regenerate the DPF (Diesel Particulate Filter) included in the diesel engine. Nos. 48 and 49 are audio notifications related to work equipment. No. 48 is a voice notification to prevent forgetting to lower the work equipment at the start of automatic travel work. No. 49 urges to increase the lowering speed of the work equipment. No. 50 is an audio notification that is issued when the engine rotation is decreased and the engine is overloaded. No. 51 is a voice notification that informs the user that there is a change in the management details when working in a field different from the previously visited field.

FIG. 27 is a table illustrating audio notifications applied when the work vehicle 1 included in the work support system 100 is a combine harvester 1C.

No. 1 in FIG. 27 is a voice notification related to registration of a field where work is to be performed by automatic driving. Specifically, when traveling to perform measurements for field registration, the user is prompted to operate the reaping clutch so that the reaping work using the reaping unit 1C7 is not forgotten.

No. 2 in FIG. 27 is a voice notification similar to No. 32 in FIG. 26B described above to notify that the movement to the reaping start position is to be started.

Nos. 3 to 6 in FIG. 27 are audio notifications related to the work of discharging the threshed grains in the grain tank 1C4 to the outside of the combine harvester 1C. No. 3 notifies you in advance of the time to move to the discharge position during reaping work. No. 4 notifies the completion of the discharge work. No. 5 informs that the grain container in the transport vehicle that transports grains (paddy) is almost full. No.6 prompts adjustment of the position of the discharge port of the discharge auger 1C6. The adjustment instruction is performed, for example, in order to avoid a place where the grains discharged to the transport vehicle are unevenly piled up.

No. 7 in FIG. 27 is a voice notification regarding automatic driving mode switching. Specifically, a voice notification regarding the manned automatic driving mode (auto mode) prompts the user to switch to the manned automatic driving mode when the uncut area is determined.

Nos. 8 to 12 in FIG. 27 are audio notifications related to failsafe in the combine 1C. No. 8 informs that the vehicle speed is being limited. The audio notification is, for example, to notify that the vehicle speed is being restricted when the combine harvester 1C is moving backward or when rice lodging is detected (lodging detection mode). No. 9 urges the reaping section 1C7 to rise. The audio notification is performed to avoid collision between the reaping section 1C7 and asphalt etc. if the vehicle starts traveling with the reaping section 1C7 lowered. No. 10 is an audio notification for ensuring safety in the cabin specification combine harvester 1C. No. 11 urges to place the discharge auger 1C6 in an appropriate position to ensure safety. No. 12 informs that the engine is under high load and the measures specific to the combine harvester 1C in response to the high load.

Nos. 13 to 22 in FIG. 27 are audio notifications related to work guidance in the combine harvester 1C. Nos. 13 and 14 notify the location when a blockage occurs. No. 15 notifies you if the grains that should have been harvested have not been harvested. Nos. 16 to 18 are audio notifications that notify situations related to work settings. No. 16 informs the cutting height. Nos. 17 and 18 inform the state of the handling port. No. 19 is a voice notification related to the capacity of the grain tank 1C4. In detail, it will tell you how much grain is in the tank. No. 20 informs you of the reaping results and confirms whether you can continue the work. Involved in mode notifications such as long and short dimensions. No. 21 informs the harvest amount in each field. No. 22 is an audio notification that alerts the user when working in a field where a variety different from the field in which the work was previously performed is planted.

FIG. 28 is a table illustrating audio notifications applied when the work vehicle 1 included in the work support system 100 is a tractor 1T.

Nos. 1 and 2 in FIG. 28 are audio notifications related to the PTO provided in the tractor 1T. Specifically, Nos. 1 and 2 are audio notifications regarding the on/off of the PTO switch.

No. 3 in FIG. 28 is a voice notification related to failsafe in the tractor 1T. Specifically, No. 3 is a voice notification for ensuring safety in the cabin specification tractor 1T.

Nos. 4 and 5 in FIG. 28 are audio notifications related to work guidance on the tractor 1T. No. 4 is an audio notification regarding the PTO gear shift position, and specifically, the content of the inappropriate state and prompting for confirmation thereof. Note that whether or not the PTO shift position is correct can be determined based on the PTO rotation speed. No. 5 is a voice notification that informs that there is a difference between the settings on the mobile communication terminal 2 and the settings on the work vehicle 1. The travel drive settings include, for example, settings for a four-wheel drive system and settings for a two-wheel drive system.

FIG. 29 is a table illustrating audio notifications applied when the work vehicle 1 included in the work support system 100 is a rice transplanter 1R.

No. 1 in FIG. 29 is a voice notification similar to No. 32 in FIG. 26B and No. 2 in FIG. 27 described above to notify that the movement to the planting start position will start.

Nos. 2 to 4 in FIG. 29 are audio notifications related to guidance for material replenishment performed by the rice transplanter 1R during work. Material replenishment is, for example, seedling replenishment, chemical replenishment, fertilizer replenishment, or fuel replenishment. No. 2 notifies, for example, that a replenishment route has been displayed on the display unit 23 of the mobile communication terminal 2, and that a replenishment run using the route has started. No. 3 informs that the vehicle will start traveling toward the replenishment point. No. 4 notifies arrival at the supply point.

No. 5 in FIG. 29 is a voice notification related to the transmission. Specifically, No. 5 calls attention to the gear change pedal when starting automatic driving.

Nos. 6 to 11 in FIG. 29 are audio notifications related to work guidance in the rice transplanter 1R. No. 6 urges the vehicle body to set the traveling speed to a speed suitable for planting seedlings by the planting section 1R2. Nos. 7 and 8 are voice notifications that urge replenishment of materials, No. 7 urges replenishment of seedlings, and No. 8 urges replenishment of fertilizer. No. 9 urges the user to position the leveling rotor, which serves as a leveling device for leveling the field, at an appropriate position for the work. Nos. 10 and 11 are voice notifications to notify of errors in work, No. 10 is to notify that fertilizer is clogged, and No. 11 is to notify that seedling feeding is not performed normally.

<3. Things to keep in mind>
Various changes can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, the plurality of embodiments and modifications shown in this specification may be implemented in combination to the extent possible.

<4. Additional notes>
An exemplary work support method of the present invention is a work support method for supporting work using a work vehicle, which includes switching to an automatic driving mode in which the work vehicle automatically travels in a field; If a predetermined condition is satisfied in the mode, switching to a manual driving mode in which the work vehicle is manually driven, and performing a switching notification to notify that the automatic driving mode has been switched to the manual driving mode; A configuration (first configuration) may be adopted in which the mode of the switching notification changes depending on the situation of the work vehicle when it is executed and switched to the manual travel mode.

In the above first configuration, the difference in the mode of the switching notification includes at least one of a difference in the device used for the notification and a different method of notification using the same device ( (second configuration).

In the first or second configuration, the mode of the switching notification is such that when the work vehicle continues to travel when switched to the manual travel mode, and when the work vehicle continues to travel when switched to the manual travel mode, It may be a different configuration (third configuration) depending on when the vehicle stops traveling.

In the third configuration, when the work vehicle continues to travel when switched to the manual travel mode, the switching notification may be performed using audio (fourth configuration).

In the third or fourth configuration, when the work vehicle continues to travel when switched to the manual travel mode, the predetermined condition is met by an operator on the work vehicle performing a steering operation. It may be a configuration (fifth configuration) that includes cases where the condition is satisfied.

In any one of the third to fifth configurations above, when the work vehicle stops traveling when switched to the manual travel mode, the switch notification is executed using a display (sixth configuration) It may be.

In any one of the third to sixth configurations, if the work vehicle stops traveling when switched to the manual travel mode, the predetermined time limit is determined due to the occurrence of a malfunction in the positioning communication unit included in the work vehicle. The configuration may include at least one of a case where the condition is satisfied and a case where the predetermined condition is satisfied due to detection of an obstacle by an obstacle sensor included in the work vehicle (seventh configuration).

In the fifth configuration, after the predetermined condition is satisfied by the steering operation and the switching notification is executed, a vehicle speed restriction notification is executed to notify that the vehicle speed of the work vehicle is limited (eighth configuration). configuration).

In any one of the first to eighth configurations above, when the work vehicle switches to the manual travel mode while traveling backward in the automatic travel mode, after the switching notification is executed, the work vehicle moves forward. It may be a configuration (ninth configuration) that executes forward travel notification to notify that the vehicle will travel.

In the ninth configuration, after the forward travel notification is executed, a vehicle speed limit notification may be executed to notify that the vehicle speed of the work vehicle will be limited (a tenth configuration).

In any one of the first to tenth configurations described above, the configuration may be such that an automatic driving mode transition notification is executed to notify that the manual driving mode has transitioned to the automatic driving mode (an eleventh configuration).

In the eleventh configuration, after the automatic driving mode transition notification is executed, a traveling direction notification for notifying the direction in which the work vehicle is traveling may be executed (twelfth configuration).

In any one of the first to twelfth configurations above, a part of the timings of the notifications of the plurality of types of sounds overlap, and while the first notification sound of the previous timing is being output, the second notification of the next timing is output. When it becomes necessary to output a sound, the first notification sound is terminated midway, and a break period is provided after the end, and the second notification sound is output (a thirteenth configuration). It's fine.

1... Work vehicle 1C... Combine harvester (work vehicle)
1R...Rice transplanter (work vehicle)
1T...Tractor (work vehicle)
1C5b, 1R6b, 1T6b...Steering wheel 2...Mobile communication terminal 10, 20...Control unit 11...Positioning communication unit 13...Sensor (including obstacle sensor)
17, 25... Notification department 100... Work support system F... Field

Claims (15)

A work support method for supporting work using a work vehicle, the method comprising:
Switching to an automatic driving mode in which the work vehicle automatically travels in the field;
If a predetermined condition is satisfied in the automatic driving mode, switching to a manual driving mode in which the work vehicle is manually driven;
Performing a switching notification to notify that the automatic driving mode has been switched to the manual driving mode;
Run
A work support method, wherein the mode of the switching notification varies depending on the situation of the work vehicle when the work vehicle is switched to the manual driving mode. The work support according to claim 1, wherein the difference in the mode of the switching notification includes at least one of a difference in the device used for notification and a different method of notification using the same device. Method. The mode of the switching notification differs depending on whether the work vehicle continues to travel when switched to the manual travel mode or when the work vehicle stops traveling when switched to the manual travel mode. , The work support method according to claim 1 or 2. 4. The work support method according to claim 3, wherein when the work vehicle continues to travel when switched to the manual travel mode, the switching notification is performed using audio. 3. The case where the work vehicle continues to travel when the work vehicle is switched to the manual travel mode includes a case where the predetermined condition is satisfied by an operator riding on the work vehicle performing a steering operation. Work support method described in. 4. The work support method according to claim 3, wherein when the work vehicle stops traveling when switched to the manual travel mode, the switching notification is executed using a display. When the work vehicle stops traveling when the work vehicle is switched to the manual travel mode, the predetermined condition is satisfied due to the occurrence of a malfunction in the positioning and communication unit included in the work vehicle, and the case in which the predetermined condition is satisfied is caused by a failure included in the work vehicle. 4. The work support method according to claim 3, further comprising at least one of a case where the predetermined condition is satisfied by detection of an obstacle by an object sensor. 6. The work support method according to claim 5, wherein after the predetermined condition is satisfied by the steering operation and the switching notification is executed, a vehicle speed restriction notification is executed to notify that the vehicle speed of the work vehicle is limited. When the work vehicle switches to the manual travel mode while traveling backward in the automatic travel mode, after executing the switching notification, forward travel notification is executed to notify that the work vehicle will travel forward. , The work support method according to claim 1. 10. The work support method according to claim 9, wherein after execution of the forward travel notification, a vehicle speed restriction notification is executed to notify that the vehicle speed of the work vehicle is limited. 2. The work support method according to claim 1, further comprising executing an automatic driving mode shift notification to notify that the manual driving mode has shifted to the automatic driving mode. 12. The work support method according to claim 11, further comprising: executing a traveling direction notification for notifying the direction in which the work vehicle is traveling after executing the automatic driving mode shift notification. If there is overlap in some of the timings of notifications of multiple types of sounds, and it becomes necessary to output the second notification sound of the next timing while the first notification sound of the previous timing is being output, 2. The work support method according to claim 1, wherein the first notification sound is ended midway, and after the end, a break period is provided and the second notification sound is output. A work support system that supports work using a work vehicle,
a control unit that switches to a manual drive mode in which the work vehicle is manually driven when a predetermined condition is met during an automatic drive mode in which the work vehicle is automatically driven in a field;
a notification unit that performs a switching notification to notify that the automatic driving mode has been switched to the manual driving mode;
Equipped with
A work support system in which a mode of the switching notification varies depending on a situation of the work vehicle when the work vehicle is switched to the manual driving mode. A program that causes a computer to execute a work support method for supporting work using a work vehicle,
The computer,
Switching to an automatic driving mode in which the work vehicle automatically travels within the field;
If a predetermined condition is satisfied in the automatic driving mode, switching to a manual driving mode in which the work vehicle is manually driven;
Performing switching notification processing to notify that the automatic driving mode has been switched to the manual driving mode;
function as a means to carry out
A program in which a mode of the switching notification varies depending on a situation of the work vehicle when the work vehicle is switched to the manual driving mode.

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