JP6717925B2 - Agricultural machine driving support device and agricultural machine - Google Patents

Description

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

BACKGROUND ART Conventionally, as a device for displaying the position of a tractor when traveling in a field, the technique shown in Patent Document 1 is known. In Patent Document 1, a display device indicates a work line of a tractor in a field, and an arrow indicates that the running tractor is displaced from the work line. In addition, the amount of deviation from the work line for the traveling tractor is shown by numerical values.

Japanese Patent No. 5667731

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

The technical means of the present invention for solving this technical problem is characterized by the following points.
The driving support device for an agricultural machine includes a detection device that detects a position of a traveling vehicle body based on a signal from a positioning satellite, a first position that is the position detected by the detection device, and the detection device after the first position is detected. A display device that displays that a reference line connecting the second position, which is the position detected by the detection device, is acquired, wherein the display device includes a reference display unit and the traveling vehicle body with respect to the reference line. A direction indicator for displaying a direction in which the traveling vehicle body is returned to eliminate the deviation, wherein the direction indicator portion is arranged in one direction of the reference indicator portion and indicates that the traveling vehicle body is returned to the left. And the other direction display section that is arranged in the other direction of the reference display section and indicates that the traveling vehicle body is returned to the right side, and the one direction display section and the other direction display section are arranged in the width direction and are misaligned. The figure of the one-direction display section and the other-direction display section has a different shape from the reference display section, and the figure included in the one-way display section is included. It indicates that the display form is returned to the left side by changing to a display form different from the display form when the displacement does not occur, and the display form with respect to the figure included in the other direction display unit is the displacement. It means returning to the right side by changing to a display form different from the display form when not displayed.
The display device displays a direction in which the deviation is eliminated by the graphic included in the one-direction display unit and the other-direction display unit.

Before SL unidirectional display unit and the other direction display unit, to change the display state according to the degree of the deviation.

The figure of the unidirectional display unit represents the arrow to return to the left side of the vehicle body, the figure of the other direction display unit represents the arrow to return to the right of the vehicle body.
The graphic of the one-way display unit has a darkness when it indicates that the traveling vehicle body is returned to the left side, and the graphic of the other-direction display unit has a darkness when it indicates that the traveling vehicle body is returned to the right side. change.
The display device displays the reference line indicating the straight traveling of the traveling vehicle body.
The agricultural machine includes a traveling vehicle provided with a work device, a detection device that detects the position of the traveling vehicle body based on a signal from a positioning satellite, a first position that is the position detected by the detection device, and A display device that displays that a reference line that connects a reference line that connects the second position, which is the position detected by the detection device after the detection of the first position, is acquired, and the display device displays the reference display. And a direction display unit for displaying a direction in which the traveling vehicle body returns the traveling vehicle body in order to eliminate a deviation with respect to the reference line, and the direction display unit is arranged in one direction of the reference display unit and is configured to drive the traveling vehicle. The one-way display unit and the other one, which include a one-way display unit indicating that the vehicle body is returned to the left side, and another direction display unit that is disposed in the other direction of the reference display unit and indicates that the traveling vehicle body is returned to the right side. The directional display section includes a graphic that is arranged in the width direction and is made visible when there is no deviation , and the shapes of the one-direction display section and the other-direction display section have different shapes from the reference display section. , Indicating that the display form for the figure included in the one-direction display unit is returned to the left side by changing to a display form different from the display form when the deviation does not occur, and is included in the other-direction display unit . It is indicated that the display form for the displayed graphic is returned to the right side by changing to a display form different from the display form when the deviation is not generated.

The display device displays a direction in which the deviation is eliminated by the graphic included in the one-direction display unit and the other-direction display unit.
The one-direction display unit and the other-direction display unit change the display state according to the degree of the deviation.

The figure of the unidirectional display unit represents the arrow to return to the left side of the vehicle body, the figure of the other direction display unit represents the arrow to return to the right of the vehicle body.
The graphic of the one-way display unit has a darkness when it indicates that the traveling vehicle body is returned to the left side, and the graphic of the other-direction display unit has a darkness when it indicates that the traveling vehicle body is returned to the right side. change.
The display device displays the reference line indicating the straight traveling of the traveling vehicle body.

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

It is the whole work support system in a 1st embodiment. It is a figure which shows the transition of the screen displayed on the display part of a display apparatus. It is a figure which shows the screen at the time of operating a display apparatus as a driving assistance apparatus. It is a figure which shows the detail of the 3rd icon part. It is a figure which shows the detail of the 4th icon part. It is a figure which shows the display state of a one-way display part. It is the whole work support system in a 2nd embodiment. It is a figure which shows a work plan setting screen. FIG. 7 is a diagram in which the direction of deviation of the traveling vehicle body and the direction indicated by the arrow on the direction display unit match. It is a figure in which the direction shown by the arrow of the direction display portion is opposite to the direction of deviation of the traveling vehicle body. It is the whole figure which connected a spraying device to a running car body.

Embodiments of the present invention will be described below with reference to the drawings.
[First Embodiment]
FIG. 1 shows a work support system according to the first embodiment.
The work support system is a system capable of supporting the work machine 1 that performs work. The working machine is an agricultural machine, a construction machine, or the like, and the agricultural machine is a tractor, a combine, a rice transplanter, or the like. Hereinafter, the tractor 1 which is one of the agricultural machines will be described as an example. The tractor 1 can be provided with a working device 2.

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

The working device 2 is a spraying device capable of spraying a spraying agent such as fertilizer or a drug. The spraying device 2 includes a container 2a capable of storing the spraying agent, and a spraying mechanism 2b provided in the container 2a and spraying the spraying agent in the container 2a to the outside. The spraying mechanism 2b is composed of, for example, an opening/closing shutter and the like, and can spray the spraying agent by opening/closing the shutter. The spraying device 2 (spraying mechanism 2b) is not limited to that shown in FIG. 9, and may have any structure as long as it sprays the spraying agent in the container 2a to the outside.

As shown in FIG. 1, the spraying device 2 includes a control device 2c that controls the spraying mechanism 2b, and a display device 2d that is connected to the control device 2c. In the display device 2d, per predetermined area (spraying amount per unit area [for example, 10 kg/10a (1000 m ² )], spraying width of spraying agent (unit: m), inputting amount of spraying agent into the container 2a ( The control device 2c controls the opening/closing amount (opening), the opening/closing timing, etc. of the spraying mechanism 2b based on the spraying amount, the spraying width, etc. The spraying device 2 It is preferable that the spraying by the vehicle speed is linked with the moving speed (vehicle speed) to change the spraying amount per unit time, and the control device 2c is operated by a switch or the like provided on the display device 2d. When the spraying is started, a signal (start signal) indicating that the spraying has been started is output to the vehicle-mounted network N1 which will be described later In addition, when the switch or the like is operated and the spraying is finished, the control device 2c finishes the spraying. Is output to the vehicle-mounted network N1.

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

The detection device 10 receives a satellite signal (radio waves) from the positioning satellite 15, and a state calculator 10b that calculates the traveling state of the tractor 1 (traveling vehicle body 3) based on the satellite signal received by the receiver 10a. And have. The reception unit 10a and the state calculation unit 10b are composed of electric/electronic components, a program installed in a CPU, and the like. As shown in FIG. 9, the detection device 10 includes a housing 10c that houses the reception unit 10a and the state calculation unit 10b. The housing 10c is attached to the top plate of the cabin 7. The housing 10c may be attached to a place other than the cabin 7, and may be provided in the working device 2, for example.

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

The control device 11 outputs an operation signal when operating an operation tool (operation lever, operation switch, operation volume, etc.) installed around the driver's seat 6, detection signals of various sensors mounted on the traveling vehicle body 3, and the like. Based on this, the traveling system and working system of the tractor 1 are controlled. For example, the control device 11 controls the connecting portion 8 to move up and down based on an operation signal from the operation tool, and controls the rotation speed of the diesel engine based on an accelerator pedal sensor. The control device 11 may be any device as long as it controls the working system and traveling system of the tractor 1, and the control system is not limited.

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

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

The width acquisition unit 22 acquires the work width of the work device 2. When the working device 2 is the spraying device 2, the working width is a range (spraying width) in which the spraying agent is sprayed. For example, a cable 2e is connected to the control device 2c of the spraying device 2. The cable 2e can be connected to the connector 16 or the like connected to the vehicle-mounted network N1. That is, the control device 2c and the display device 12 of the spraying device 2 can be connected to the in-vehicle network N1. The width acquisition unit 22 makes a request for the spray width to the control device 2c of the spray device 2. The control device 2c transmits the spray width input to the display device 2d to the display device 12 (width acquisition unit 22) according to the response of the width acquisition unit 22. Thereby, the width acquisition unit 22 acquires the spraying width of the spraying agent set (input) in the spraying device 2. Note that the display device 12 may be provided with an input unit for inputting the spray width, and the width acquisition unit 22 may acquire the spray width input to the input unit of the display device 12.

The input amount acquisition unit 23 acquires the input amount of the spraying agent input to the container 2 a of the spraying device 2. For example, the input amount acquisition unit 23 requests the input amount to the control device 2c of the spraying device 2. The control device 2c transmits the input amount input to the display device 2d to the display device 12 (input amount acquisition unit 23) in response to the response from the input amount acquisition unit 23. Thereby, the input amount acquisition unit 23 acquires the input amount of the spraying agent input to the container 2a of the spraying device 2. An input unit for inputting the input amount may be provided in the display device 12, and the input amount acquiring unit 23 may acquire the input amount input to the input unit of the display device 12.

The application amount acquisition unit 24 acquires the application amount of the application agent. The application amount acquisition unit 24 requests the application amount to the control device 2c of the application device 2. The control device 2c transmits the spray amount input to the display device 2d to the display device 12 (spray amount acquisition unit 24) in response to the response from the spray amount acquisition unit 24. As a result, the application amount acquisition unit 24 acquires the application amount of the application agent set (input) in the application device 2. The display unit 12 may be provided with an input unit for inputting the spray amount, and the spray amount acquisition unit 24 may acquire the spray amount input to the input unit of the display device 12.

The calculation unit 25, based on the running state acquired by the state acquisition unit 21, the spray width acquired by the width acquisition unit 22, the input amount acquired by the input amount acquisition unit 23, and the spray amount acquired by the spray amount acquisition unit 24, The remaining amount of the spraying agent in the container 2a is calculated. Specifically, when the display device 12 acquires the start signal output to the vehicle-mounted network N1, the calculation unit 25 calculates the elapsed time from the start of the spraying until the present. Further, the calculation unit 25 obtains the spray amount per second by the product of the moving speed of the traveling vehicle body 3 per second, the spray width and the spray amount [spray amount per second (kg/sec)=movement Speed (m/sec)×spreading width (m)×spraying amount per unit area (kg/m ² ]. Then, the computing unit 25 calculates the time (elapsed time) from the start of spraying the spraying agent to the present. Then, the spray amount (kg), that is, the theoretical spray amount (kg) is obtained by multiplying by the spray amount per second [theoretical spray amount (kg) = elapsed time (sec) x spray amount per second ( Next, the calculation unit 25 obtains the remaining amount of the spraying agent remaining in the container 2a, that is, the theoretical remaining amount (kg) by using the input amount and the theoretical application amount. In the embodiment, the spraying amount per second is obtained, but the present invention is not limited to this, and the fertilizer application amount per unit time may be obtained. Incidentally, the calculation unit 25 displays the end signal output to the in-vehicle network N1. When the device 12 obtains, the calculation of the remaining amount of the spraying agent is finished and the elapsed time is reset.

The display unit 12c displays the remaining amount (theoretical remaining amount) calculated by the calculation unit 25 by numbers, figures, characters, or the like. As shown in FIG. 3, for example, on the display unit 12c, an application screen M2, which is a screen after the application for farm work support is activated, is displayed, and a character indicating the remaining amount is displayed in the third display area 48c of the application screen M2. Display numbers. The display unit 12c updates the remaining amount to be displayed each time the calculation unit 25 calculates the remaining amount of the spraying agent. The display unit 12c may display the remaining amount for each predetermined time, or may display the remaining amount for each predetermined moving distance.

As described above, the work support system and the agricultural machine include the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the sprayed amount acquisition unit 24, and the calculation unit 25. Therefore, for example, the vehicle speed, which is the traveling state of the traveling vehicle body 3 (agricultural machine 1) acquired by the state acquisition unit 21, the working width (for example, the spray width) acquired by the width acquisition unit 22, and the spray amount acquisition unit 24 are The remaining amount of the spraying agent can be calculated by the calculation unit 25 using the obtained spraying amount. Further, according to the work support system and the agricultural machine, the display unit 12c displays the application amount obtained by the calculation unit 25, so that the operator can easily grasp the remaining amount of the application agent. Therefore, even in the spraying device 2 in which the sensor for detecting the remaining amount of the spraying agent is not mounted, the remaining amount of the spraying agent can be obtained. Further, the remaining amount of the spraying agent can be grasped regardless of whether the container 2a storing the spraying agent is transparent or not.

In addition, in the above-described embodiment, the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the sprayed amount acquisition unit 24, and the calculation unit 25 are provided in the display device 12, but are not limited thereto. It may be provided in the control device 11, or may be provided in other electric equipment provided in the agricultural machine.
Now, as shown in FIG. 2, various screens (a plurality of screens) can be displayed on the display unit 12c of the display device 12 in correspondence with the operation, and mainly, a main screen (home screen) M1 and , A screen (application screen) M2 corresponding to the application and a setting screen M3 are individually displayed. For convenience of description, when a plurality of screens are shown, they may be simply referred to as screens M1, M2, and M3.

The sizes of the screens M1, M2, and M3 are substantially the same in aspect ratio, and a common designation unit (selection unit) 40 is displayed on these screens M1, M2, and 3. The designation unit (selection unit) 40 is for performing designation regarding the screen, and can switch the screens M1, M2, and M3, for example. Including a home button 40a for designating display of the home screen M1 (switching to the home screen M1) and a return button 40b for returning from the currently displayed screen to the previous screen (switching to the previous screen) There is. The position of the home button 40a is the same on any of the home screen M1, the application screen M2, and the setting screen M3. The home button 40a is located at the lower left of the screens M1, M2, M3, for example. The position of the return button 40b is the same on any of the home screen M1, the application screen M2, and the setting screen M3. The return button 40b is located to the right of the home button 40a on the screens M1, M2, M3, for example. That is, the home button 40a and the return button 40b are located in the lower left corner portion 43LD of the screens M1, M2, M3.

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

The designation unit (selection unit) 40 may have a setting button 40c that designates to display the setting screen M3. The setting button 40c is apart from the home button 40a and the return button 40b, and is a corner portion on the side opposite to the corner portion 43LD where the home button 40a and the return button 40b are arranged (the corner portion on the lower right of the screens M1 and M2). It is located at 43RD.

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

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

FIG. 3 shows an application screen M2 after the agricultural work support application is activated. Here, the agricultural work support application is software that supports the driving (manipulation) of the agricultural machine by displaying the traveling state of the agricultural machine (tractor). That is, the display device 12 operates as an assisting device (driving assisting device) that assists the driving of the agricultural machine after the application is activated.
Next, a case where the display device 12 operates as a driving support device will be described in detail.

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

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

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

The one-way display unit 50b is a figure that shows the deviation of the traveling vehicle body 3 from the reference position with an arrow pointing in one direction (for example, left), and is arranged on the left side of the reference display unit 50a. The other direction display section 50c is a figure showing a deviation of the traveling vehicle body 3 with respect to the reference position with an arrow pointing to the other direction (for example, right) opposite to the one direction, and is arranged on the right side of the reference display section 50a. Has been done. For example, when the traveling vehicle body 3 is displaced to the left from the reference position, the one-way display unit 50b indicates that the traveling vehicle body 3 is displaced to the left from the reference position. Further, when the traveling vehicle body 3 deviates from the reference position to the right, the traveling direction vehicle body 3 deviates from the reference position to the right by the other direction display portion 50b. Therefore, in this embodiment, the direction in which the traveling vehicle body 3 is displaced from the reference position coincides with the arrow of the direction display unit 50 (the one-direction display unit 50b, the other direction display unit 50c).

The reference display unit 50a is located between the one-direction display unit 50b and the other-direction display unit 50c. In other words, the deviation amount display unit 51 is located between the one-direction display unit 50b and the other-direction display unit 50c.
The one-direction display unit 50b and the other-direction display unit 50c simultaneously display the magnitude (degree) of the deviation amount together with the deviation direction when indicating the deviation direction. Specifically, the one-way display unit 50b can display the amount of deviation (steps) step by step while indicating the direction of deviation, and a plurality of one-way arrows indicating deviation in one direction. Have a section. The display state (color depth) of the plurality of unidirectional arrows changes depending on the amount of deviation.

The plurality of one-way arrow portions include a first arrow portion 50b1, a second arrow portion 50b2, a third arrow portion 50b3, a fourth arrow portion 50b4, and a fifth arrow portion 50b5. The first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3, the fourth arrow portion 50b4, and the fifth arrow portion 50b5 are arranged in one direction on a straight line.
The first arrow portion 50b1 indicates that the magnitude of the deviation amount is the smallest, and if the deviation amount exceeds the predetermined value and is equal to or less than the predetermined value, the display color becomes dark (the saturation and lightness are increased. ). The fifth arrow portion 50b5 indicates that the magnitude of the deviation amount is the largest, and if the deviation amount is a predetermined value or more, the display color becomes dark. The second arrow portion 50b2, the third arrow portion 50b3, and the fourth arrow portion 50b4 have a deviation amount exceeding a predetermined value and a predetermined value in a step between the smallest and largest deviation amounts. If it is below, the display color becomes dark.

FIG. 5 shows changes in the display state of a plurality of unidirectional arrows on the unidirectional display section 50b. As shown in FIG. 5, when the position of the traveling vehicle body 3 deviates to the left from the reference position and the amount of deviation is 0.5 m or less, the display color of the first arrow portion 50b1 becomes dark. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the deviation amount exceeds 0.5 m and is 1.0 m or less, the display color of the first arrow portion 50b1 and the second arrow portion 50b2 becomes dark. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the deviation amount exceeds 1.0 m and is 1.5 m or less, the display colors of the first arrow portion 50b1, the second arrow portion 50b2, and the third arrow portion 50b3 are It gets dark. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the deviation amount exceeds 1.5 m and is 2.0 m or less, the first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3, and the fourth arrow portion 50b1. The display color of the portion 50b4 becomes dark. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the deviation amount exceeds 2.0 m, the first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3, the fourth arrow portion 50b4, and the fifth arrow portion. The display color of 50b5 becomes dark. That is, the plurality of one-way arrow parts in the one-way display part 50b change the display state with a deviation amount of 0.5 m. The threshold value (predetermined value) of the deviation amount for darkening the display color of the arrow portion, that is, the degree of the deviation amount is, for example, the working width performed by the working device 2 with respect to the deviation amount, or the width of the traveling vehicle body 3. The ratio of the amount of deviation may be set as a reference, or another method may be used.

The other-direction display unit 50c can display the direction of the deviation and can gradually display the magnitude (degree) of the deviation amount, and has a plurality of other arrow portions indicating the deviation in the other direction. .. The display state (color depth) of the plurality of other arrow portions changes according to the amount of deviation. The plural other arrow portions include a first arrow portion 50c1, a second arrow portion 50c2, a third arrow portion 50c3, a fourth arrow portion 50c4, and a fifth arrow portion 50c5.

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

Therefore, when the position of the traveling vehicle body 3 deviates to the right from the reference position, the first arrow portion 50c1, the second arrow portion 50c2, the third arrow portion 50c3, the fourth arrow portion 50c4, and the fourth arrow portion 50c4 of the other direction display portion 50c. Similar to the one-way display section 50b, the display color of the 5-arrow section 50c5 changes according to the amount of deviation. That is, the display state of the plurality of other-direction arrow portions is the same as that of the plurality of one-direction arrow portions, except for the direction of deviation.

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

The plurality of one-direction arrow portions and the plurality of other-direction arrow portions are linearly arranged. Therefore, it is possible to reduce the space for arranging the plurality of arrow parts (the plurality of one-direction arrow parts and the plurality of other-direction arrow parts) as much as possible, and display other information in the part where the space is available. can do.
The shift amount display unit 51 is provided between the one-direction display unit 50b and the other-direction display unit 50c. Therefore, it is possible to immediately understand in which direction and how much the traveling vehicle body 3 is displaced, and it is easy to confirm the relationship between the displacement direction and the displacement amount.

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

Further, the direction display unit 50 has a reference display unit 50a, a one-direction display unit 50b, and another direction display unit 50c, and the deviation amount display unit 51 is superimposed on the reference display unit 50a. Therefore, by looking at the reference display portion 50a, it is possible to grasp at a glance how much the traveling vehicle body 3 deviates from the reference position. Further, the direction of deviation can be grasped only by looking at the one-direction display unit 50b and the other-direction display unit 50c arranged on one side and the other centering on the reference display unit 50a. That is, the reference display unit 50a can be regarded as the traveling vehicle body 3, and if the value of the displacement amount display unit 51 displayed in the reference display unit 50a is zero, the position of the traveling vehicle body 3 and the reference position match. If the numerical value of the displacement amount display section 51 displayed in the reference display section 50a is other than zero, it is understood that the position of the traveling vehicle body 3 and the reference position are displaced, and the current position of the traveling vehicle body 3 can be easily calculated. Can be grasped.

Now, as shown in FIG. 3, the field display unit 52 is a portion virtually showing a field such as a farm field or a farm on which the traveling vehicle body 3 travels. In addition, the field display unit 52 is sensuous when the driver sitting in the driver's seat of the tractor 1 (traveling vehicle body 3) sees the actual field and when the field (field image) displayed on the field display unit 52 is sensuous. The field images are displayed diagonally so as to match. For convenience of description, the virtual field displayed on the field display unit 52 may be referred to as a “virtual field” or a “field image”.

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

Further, in the virtual field, a movement locus of the tractor 1, that is, a virtual work area (worked portion) W1 in which work is performed by the tractor 1 can be displayed. A virtual work width corresponding to the work width of the tractor 1 (traveling vehicle body 3) is set in the virtual field, and the center position of the virtual work width and the center position P1 of the machine display unit 53 match. When the field image is scrolled in correspondence with the traveling of the tractor 1, the field image after scrolling has a range corresponding to the virtual work width colored in a different color from the other parts based on the machine display unit 53. Thus, the virtual work area W1 is drawn in the virtual field. The data of the virtual work area W1 is stored in the storage unit 12b. The working width refers to the range of agricultural work performed when the tractor 1 travels in the field. In this embodiment, the spraying width is the spraying width in the case of spraying work.

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

The second reference line L2 is a line drawn in the field image with reference to a virtual work width that virtually indicates the work width of the tractor 1 (traveling vehicle body 3), and is shown in the field image for each virtual work width. There is.
A plurality of icon parts 55 are shown in the field display part 52. The plurality of icon parts 55 include a first icon part 55a, a second icon part 55b, a third icon part 55c, and a fourth icon part 55d.

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

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

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

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

Therefore, in the third icon portion 55c, at least the graphic (first graphic 57, second graphic 58) indicating the point is arranged in the corner portions 60 and 61 on the diagonal line, and the third icon part 55c is arranged so as to straddle the graphic indicating the point. It is configured by arranging the graphic 59. Therefore, since it is emphasized that the third icon portion 55c connects two points with a straight line, it can be easily visually recognized as an icon for creating a straight line connecting the two points.

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

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

The first figure 64 is arranged near the corner portion 71 where the first side 63a and the second side 63b intersect. The second figure 65 is arranged near the corner 72 where the third side 63c and the fourth side 63d intersect. That is, the second graphic 65 is arranged in the corner portion 71 where the first graphic 64 is shown and the corner portion 72 on the diagonal line. The third figure 66 is a figure showing a curve, the starting point is arranged near the corner 71, the end point is close to the second figure 65, and the end point is indicated by an arrow. Further, the third figure 66 has two bent portions (R) 66a and 66b in order to represent at least a curve. In the third figure 66, the bent portion 66a extends from the starting point toward the fourth side 63d, and the bent portion 66a is close to the fourth side 63d. In the third figure 66, the bent portion 66a extends from the bent portion 66a toward the second side 63b.

Therefore, in the fourth icon portion 55d, at least the figure indicating the point (the first figure 64, the second figure 65) is arranged in the corner portions 71 and 72 on the diagonal line, and the fourth icon section 55d is arranged so as to cross the figure indicating the point It is configured by arranging the figure 66. Further, the bent portions 66a and 66b of the third figure 66 are drawn so as to approach the fourth side 63d and the second side 63b.
Therefore, since the fourth icon portion 55d emphasizes connecting two points with a curve, it can be easily visually recognized as an icon for creating a curve connecting the two points.

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

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

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

First, the server (production control computer) 27C will be described.
The server 27C has a work plan creation unit 30 that creates a work plan, and a work plan storage unit 31 that stores the work plan. The work plan creation unit 30 is composed of programs and the like stored in the server 27C. The work plan is a plan relating to agricultural work performed in the field, and includes at least the spraying work performed in the field as the agricultural work. The spraying work is, for example, a work of spraying fertilizer (fertilization work), a work of spraying pesticide (pesticide spraying work), or the like. In addition, in the agricultural work, it may be considered that the work related to the spraying work is the spraying work. Further, in the server 27C, it is possible to set a plan such as floor soil making, ridge coating, tilling, rice planting, scraping, grooving, weeding, harvesting, sowing, fertilization (fertilization work), and chemical spraying as agricultural work. is there.

When the administrator computer 27B logs in to the server 27C and receives a request for work plan creation from the administrator computer 27B, the work plan creating unit 30 responds to the request to create a work plan as shown in FIG. The work plan setting screen 32 for making a plan is displayed on the administrator computer 27B.
The work plan setting screen 32 includes a date setting unit 80 for setting a date for performing farm work, a work place setting unit 81 for setting a work place such as a farm field, a work setting unit 82 for setting farm work (a work item of farm work), and a farm work. A worker setting unit 83 for setting a worker and a time setting unit 84 for setting a working time are included. Further, the work plan setting screen 32 includes a machine setting unit 85 for setting a machine, a spraying agent setting unit 86 for setting a type of spraying agent, and a spraying amount setting unit 87 for setting a spraying amount of the spraying agent. There is.

The work place setting unit 81 displays a map of the work place, and by selecting the work place shown on the map, it is possible to set the work place where the work is scheduled to be performed. The work setting unit 82 is a work item of the above-mentioned various agricultural works (floor soil making, ridge coating, tilling, rice planting, scraping, grooving, weeding, harvesting, sowing, fertilization (fertilization work), chemical spraying), that is, a work item. Can be selected or input.

The worker setting unit 83 displays a list of worker names (agricultural worker names) registered in the administrator computer 27B or the server 27C in advance, and selects a worker by performing a work from the list. You can decide. Further, the time setting unit 84 can set a time zone in which farm work is performed. The machine setting unit 85 can set a working device when working with an agricultural machine. In the spraying agent setting unit 86, the type of spraying agent used for seeding, fertilization, chemical spraying, etc. can be set. The spraying amount setting unit 87 can set the spraying amount of the spraying agent per predetermined area. The work plan [date, work place, work item (work content), worker name, work time, machine (working device), type of spray agent, spray amount] set by the work plan setting screen 32 is stored in the work plan storage unit. 31 to memorize.

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

When the communication terminal 27A assigned to the farmer logs in to the server 27C and there is a request for transmission of the work plan from the communication terminal 27A, the work instruction unit 33 is assigned to the communication terminal 27A in response to this request. The work plan including the worker is extracted from the work plan storage unit 31. Then, the work instruction unit 33 transmits the extracted work plan to the communication terminal 27A. It should be noted that the field for which the work plan is to be acquired is input to the communication terminal 27A, and the field for which the work plan is to be acquired is requested from the communication terminal 27A to the server 27C, and the server 27C (work instructing unit 33) corresponds to the requested field. The work plan to be performed may be transmitted to the communication terminal 27A.

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

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

The application amount acquisition unit 24 of the display device 12 can acquire the application amount included in the work plan received by the communication device 35 (second communication unit 35A). For example, when performing the spraying work, the farmer operates the communication terminal 27A to connect the communication terminal 27A and the server 27C. Then, the communication terminal 27A assigned to the farm worker receives the work plan corresponding to the field where the spraying work is performed from the server 27C (work instruction unit 33). Further, after receiving the work plan, the communication terminal 27 connects to the communication device 35 and transmits the work plan to the communication device 35. When the communication device 35 receives the work plan, the application amount acquisition unit 24 acquires at least the application amount included in the work plan from the work plans received by the communication device 35.

As described above, the work support system and the agricultural machine include the server 27C and the communication device 35 (second communication unit 35A). Therefore, from the work plan transmitted from the server 27, it is possible to easily obtain the amount of the spraying agent sprayed by the working device (spraying device) 2. That is, since the communication device 35 (the second communication unit 35A) can automatically receive the spray amount, it is easy to manually input the spray amount of the spray agent in order to obtain the remaining amount of the spray agent. You can ask for the remaining amount.

The embodiments disclosed this time are to be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.
For example, the display device 12 may be provided with a configuration included in the communication device 35, for example, the second communication unit 35A. The display device 12 and the communication device 35 may be configured as an integrated device. Further, the communication terminal 27A may be provided with the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the sprayed amount acquisition unit 24, and the calculation unit 25 so that the remaining amount can be displayed. Further, any one of the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the sprayed amount acquisition unit 24, and the calculation unit 25 may be provided in the communication terminal 27A.

Further, in the above-described embodiment, the one-direction display unit 50b and the other-direction display unit 50c change the number of arrow portions to be darkened according to the degree (degree) of the shift amount. The size of the arrow may be changed accordingly. For example, the one-way display section 50b has at least one first arrow section 50b1 indicating that the one-way display section 50b is displaced in one direction. Further, the other direction display portion 50c has at least one first arrow portion 50c1 indicating that the other direction display portion 50c is displaced in the other direction. The first arrow portion 50b1 and the first arrow portion 50c1 have a large shape when the degree of deviation is large, and have a small shape when the degree of deviation is small.

In the embodiment described above, as shown in FIG. 8A, the deviation of the traveling vehicle 3 with respect to the reference position (for example, the first reference line L1) is indicated by the one-way display section 50b of the direction display section 50. That is, in the above-described embodiment, the direction of deviation of the traveling vehicle 3 and the direction of the arrow portion indicated by the direction display unit 50 are matched. Alternatively, as shown in FIG. 8B, the deviation of the traveling vehicle 3 from the reference position (for example, the first reference line L1) may be indicated by the other direction display section 50c instead of the one direction display section 50b. That is, the direction display unit 50 may show the deviation of the traveling vehicle 3 with respect to the reference position by an arrow portion (for example, right) that faces away from the direction of the deviation (for example, left). That is, in FIG. 8B, the direction of deviation (direction indicated by the arrow) indicated by the direction display unit 50 indicates the direction in which the traveling vehicle body 3 is returned to the reference position. Therefore, the present invention is also applied to the direction display unit 50 that indicates the direction in which the traveling vehicle body 3 is returned to the reference position, that is, the direction display unit 50 that indicates the direction opposite to the displacement direction of the traveling vehicle 3 with respect to the reference position with an arrow. It is possible.

1 Working Machine 2 Working Device 3 Traveling Vehicle 12 Display Device 50 Directional Display Unit 50a Reference Display Unit 50b Unidirectional Display Unit 50b1 First Arrow Part 50b2 Second Arrow Part 50b3 Third Arrow Part 50b4 Fourth Arrow Part 50b5 Fifth Arrow Part 50c Other direction display portion 50c1 First arrow portion 50c2 Second arrow portion 50c3 Third arrow portion 50c4 Fourth arrow portion 50c5 Fifth arrow portion 51 Displacement amount display portion 52 Field display portion 55 Icon portion L Reference line L1 First reference line L2 Second reference line

Claims (12)

A detection device for detecting the position of the traveling vehicle body based on the signal of the positioning satellite,
Display indicating that a reference line connecting the first position, which is the position detected by the detection device, and the second position, which is the position detected by the detection device after the detection of the first position, has been acquired Device,
Equipped with
The display device includes a reference display unit and a direction display unit that displays a direction in which the traveling vehicle body returns the traveling vehicle body in order to eliminate a deviation from the reference line, and the direction display unit includes one of the reference display unit. A one-way display unit that is arranged in a direction and indicates that the traveling vehicle body is returned to the left side, and another direction display unit that is disposed in another direction of the reference display unit and that indicates that the traveling vehicle body is returned to the right side,
The one-direction display unit and the other-direction display unit include a graphic that is visible in the case where the one-direction display unit and the other-direction display unit are aligned in the width direction and no deviation occurs , and the graphic of the one-direction display unit and the other-direction display unit is the reference The shape is different from the display,
The display form for the graphic included in the one-direction display unit indicates that the display is returned to the left side by changing to a display form different from the display form when the deviation is not generated, and is included in the other-direction display unit. A driving support device for an agricultural machine, which indicates that the display form for the graphic is returned to the right side by changing to a display form different from the display form when the deviation is not generated. The agricultural machine according to claim 1, wherein the display device displays the degree of the deviation and displays a direction in which the deviation is eliminated by the graphic included in the one-direction display unit and the other-direction display unit. Driving support device. The driving support device for an agricultural machine according to claim 1, wherein the one-direction display unit and the other-direction display unit change display states according to the degree of the deviation. The figure of the unidirectional display unit, the travel represents vehicle body back into the left arrow, the figure of the other direction display unit according to claim 1 or 2 represents the arrow to return to the right of the vehicle body Agricultural machinery driving support device. The graphic of the one-way display unit has a darkness when it indicates that the traveling vehicle body is returned to the left side, and the graphic of the other-direction display unit has a darkness when it indicates that the traveling vehicle body is returned to the right side. The driving support device for an agricultural machine according to claim 1 or 2, which is changed. The driving support device for an agricultural machine according to any one of claims 1 to 5, wherein the display device displays the reference line indicating a straight traveling of the traveling vehicle body. A traveling vehicle provided with a working device;
A detection device for detecting the position of the traveling vehicle body based on a signal from a positioning satellite,
A reference line connecting a reference line connecting the first position, which is the position detected by the detection device, and the second position, which is the position detected by the detection device after the detection of the first position, is acquired. A display device for displaying
Equipped with
The display device includes a reference display unit and a direction display unit that displays a direction in which the traveling vehicle body returns the traveling vehicle body in order to eliminate a deviation from the reference line, and the direction display unit includes one of the reference display unit. A one-way display unit that is arranged in a direction and indicates that the traveling vehicle body is returned to the left side, and another direction display unit that is disposed in another direction of the reference display unit and that indicates that the traveling vehicle body is returned to the right side,
The one-direction display unit and the other-direction display unit include a graphic that is visible in the case where the one-direction display unit and the other-direction display unit are aligned in the width direction and no deviation occurs , and the graphic of the one-direction display unit and the other-direction display unit is the reference The shape is different from the display,
The display form for the graphic included in the one-direction display unit indicates that the display is returned to the left side by changing to a display form different from the display form when the deviation is not generated, and is included in the other-direction display unit. An agricultural machine showing that the display form for a figure is returned to the right side by changing to a display form different from the display form when there is no deviation. The agricultural machine according to claim 7, wherein the display device displays the degree of the deviation and displays a direction in which the deviation is eliminated by the graphic included in the one-direction display unit and the other-direction display unit. The agricultural machine according to claim 7 or 8, wherein the one-direction display unit and the other-direction display unit change a display state according to a degree of the deviation. The figure of the unidirectional display unit represents the arrow to return to the left side of the vehicle body, the figure of the other direction display unit according to claim 7 or 8 represents a arrow to return to the right of the vehicle body Agricultural machinery. The graphic of the one-way display unit has a darkness when it indicates that the traveling vehicle body is returned to the left side, and the graphic of the other-direction display unit has a darkness when it indicates that the traveling vehicle body is returned to the right side. The agricultural machine according to claim 7 or 8 which changes. The agricultural machine according to any one of claims 7 to 11, wherein the display device displays the reference line indicating a straight traveling of the traveling vehicle body.