JP6739375B2 - Wireless communication device - Google Patents

Description

The present invention relates to a wireless communication device capable of transmitting and receiving information regarding autonomous traveling to and from an autonomously traveling work vehicle that autonomously travels along a predetermined traveling route.

When the autonomous traveling work vehicle as described above is made to autonomously travel, the user operates the wireless communication device to give various instructions to the autonomous traveling work vehicle such as the start of autonomous traveling ( See, for example, Patent Document 1.).

The wireless communication device described in Patent Document 1 includes a display unit such as a display, and the screen of the display unit displays the state of the autonomously-working work vehicle and an operation unit for performing various instructions. ing.

International Publication No. 2015/119263

A user operates a wireless communication device when autonomously traveling a work vehicle to perform a desired work. Therefore, a wireless communication device having good operability is required. However, in the wireless communication device described in Patent Document 1 described above, the state of the autonomously-working work vehicle and the operation unit for performing various instructions are only displayed on the screen of the display unit, which improves the operability of the user. I was not very aware of what to do, and there was room for improvement in this respect.

In view of this situation, a main object of the present invention is to provide a wireless communication device capable of displaying a screen capable of improving operability for a user on a display unit.

This onset Ming, the autonomous work vehicle capable of wireless communication with the wireless communication unit to autonomously travel along the travel path predetermined
A display control unit for controlling the screen displayed on the display unit,
The display control unit relates to the use of the autonomous traveling work vehicle, a first screen that is displayed after a certain period of time in a state where the operation unit selectable by the user is not displayed after the power is turned on or the application is activated. A second screen displaying the disclaimer, a plurality of operation units and map information that can be selected by the user are displayed, and when one operation unit is selected from the plurality of operation units, the screen changes to another screen. It is preferable to sequentially display the third screen .

According to this configuration, the display control unit sequentially displays the first screen, the second screen, and the third screen. Therefore, by displaying the disclaimer at an early stage, the disclaimer can be properly confirmed at an early stage. Can be taken. As a result, the disclaimer can be displayed at a timing at which the user does not feel as annoyed as much as possible, such as during the operation on the third screen or immediately before the autonomous traveling is started. It is possible to improve. Moreover, the display control unit can display the third screen on which the plurality of operation units and the map information are displayed after the disclaimer is confirmed by the user. Therefore, the user can perform various operations while confirming the map information on the third screen, and can select one operation unit from the plurality of operation units to transition to another screen. From this, it is possible to recognize that the selection to the operation unit has been made, so that the operability of the user can be improved.

This onset Ming, includes a position information acquisition unit that acquires position information of the autonomous work vehicle,
When the map information is displayed on the third screen, the display control unit can identify previous work position information regarding the position of the autonomous traveling work vehicle when the autonomous traveling work vehicle last autonomously traveled. It is preferable to display it .

According to this configuration, when the map information is displayed, the display control unit displays the previous work position information in a distinguishable manner, so that the user can perform work on a field or the like where the autonomous traveling work vehicle last autonomously traveled. It is possible to easily recognize which area the area was. With this, for example, even when the autonomous traveling is finished during the work in the work area such as the farm field last time, it is possible to easily recognize which work area is the work area such as the farm field. The autonomous running can be started at and the work in the middle of the work can be continuously performed.

This onset Ming, includes a position information acquisition unit that acquires position information of the autonomous work vehicle,
The display control unit is for displaying a work screen including the traveling route before the autonomous traveling of the autonomous traveling work vehicle is started,
On the work screen, a start operation unit capable of instructing the start of autonomous traveling is arranged at one of the left and right ends, and a stop operation unit capable of instructing to stop the autonomous traveling at the other end of the left and right, and It is preferable that a deviation information display section that indicates a deviation of the position of the autonomously traveling work vehicle with respect to the travel route is disposed between the start operation section and the stop operation section .

According to this configuration, since the deviation information display unit is arranged on the work screen displayed before the start of the autonomous traveling, the user can see the deviation information display unit to determine the lateral direction of the traveling route. With, it is possible to easily recognize how much the position of the autonomous working vehicle is displaced. As a result, it becomes easier to perform the position adjustment for moving the self-supporting traveling work vehicle to the autonomous traveling start position before the autonomous traveling is started, and the autonomous traveling can be started while effectively utilizing the wireless communication device. Since the deviation information display unit is arranged between the start operation unit and the stop operation unit, the user can start the operation while checking the deviation of the position of the autonomous traveling work vehicle with respect to the travel route on the deviation information display unit. Since the operation section and the stop operation section can also be operated, the start operation section and the stop operation section can be easily operated, and the operability can be improved.

This onset bright, the display control unit, said information on the travel path via the wireless communication unit is transmitted to the autonomous work vehicle, and, when a predetermined condition is satisfied, including the traveling route working A screen can be displayed on the display unit,
The predetermined condition includes that information regarding the traveling route transmitted via the wireless communication unit and information regarding the traveling route acquired by the autonomous traveling work vehicle via the wireless communication unit match. Is preferred.

According to this configuration, the display control unit displays the work screen only when the predetermined condition that the transmitted information regarding the traveling route and the information regarding the traveling route acquired by the autonomous traveling work vehicle match is satisfied. By confirming that the work screen is displayed, it is possible to easily recognize that the information regarding the traveling route is being transmitted normally, and the subsequent operations can be performed with peace of mind. ..

This onset Ming, wherein the plurality of operation portions, include rework operation unit for performing operations in past travel paths transmitted to the autonomous work vehicle previously,
When the rework operation unit is selected, the display control unit displays the work screen when the predetermined condition is satisfied without transmitting information regarding the past travel route to the autonomous traveling work vehicle. It is preferable to display it on the display unit .

According to this configuration, when the rework operation unit is selected, the display control unit does not transmit the information on the past traveling route to the autonomous traveling work vehicle, and therefore transmits the information about the past traveling route. It is possible to display the work screen while shortening the time required for. As a result, the work screen can be smoothly displayed, and the operation work for starting the autonomous traveling can be simplified and the time required for the operation work can be shortened.

This onset bright, the display control unit, whether or not to transmit the information about the information or the past travel paths related to the traveling route on the autonomous work vehicle, and displays the work screen on the display unit It is preferable to display the work preparation screen on the display unit before .

According to this configuration, before the work screen is displayed, the display control unit performs the common work preparation screen regardless of whether the information about the travel route or the information about the past travel route is transmitted to the autonomous traveling work vehicle. Is displayed, the user can easily recognize the display order in which the display screen is displayed next by confirming that the work preparation screen is displayed. Therefore, the user can confirm whether or not his/her operation is an appropriate operation depending on the display order of the display screens, and can easily perform stable operation.
A first characteristic configuration of the present invention is a wireless communication unit capable of wirelessly communicating with an autonomous traveling work vehicle that autonomously travels along a predetermined traveling route,
A display control unit for controlling the screen displayed on the display unit,
The display control unit relates to the use of the autonomous traveling work vehicle, a first screen that is displayed after a certain period of time in a state where the operation unit selectable by the user is not displayed after the power is turned on or the application is activated. A second screen displaying the disclaimer, a plurality of operation units and map information that can be selected by the user are displayed, and when one operation unit is selected from the plurality of operation units, the screen changes to another screen. Display the 3rd screen in sequence,
When the information regarding the traveling route is transmitted to the autonomously traveling work vehicle via the wireless communication unit and a predetermined condition is satisfied, the display control unit displays the work screen including the traveling route on the display unit. can be displayed der to is,
Before SL predetermined condition is included that the information on the travel route which has transmitted through the wireless communication unit, and the information on the travel route the autonomous work vehicle acquired via the wireless communication unit matches It is characterized by that.
In a second characteristic configuration of the present invention, the plurality of operation units include a rework operation unit that performs work on a past travel route that was previously transmitted to the autonomously traveling work vehicle,
When the rework operation unit is selected, the display control unit displays the work screen when the predetermined condition is satisfied without transmitting information regarding the past travel route to the autonomous traveling work vehicle. It is characterized in that it is displayed on the display unit.
In a third characteristic configuration of the present invention, the display control unit displays the work screen regardless of whether or not the information regarding the traveling route or the information regarding the past traveling route is transmitted to the autonomous traveling work vehicle. It is characterized in that the work preparation screen is displayed on the display unit before being displayed on the unit.
A fourth characteristic configuration of the present invention includes a position information acquisition unit that acquires position information of the autonomously traveling work vehicle,
When the map information is displayed on the third screen, the display control unit can identify previous work position information regarding the position of the autonomous traveling work vehicle when the autonomous traveling work vehicle last autonomously traveled. The point is that it is displayed.
A fifth characteristic configuration of the present invention includes a position information acquisition unit that acquires position information of the autonomously traveling work vehicle,
The display control unit is for displaying a work screen including the traveling route before the autonomous traveling of the autonomous traveling work vehicle is started,
On the work screen, a start operation unit capable of instructing the start of autonomous traveling is arranged at one of the left and right ends, and a stop operation unit capable of instructing to stop the autonomous traveling at the other end of the left and right, and A point is characterized in that a deviation information display section showing a deviation of the position of the autonomously-working work vehicle with respect to the traveling route is arranged between the start operation section and the stop operation section.

Diagram showing the schematic configuration of the autonomous traveling system Block diagram showing the schematic configuration of the autonomous traveling system A diagram showing a splash screen displayed on the display unit of the wireless communication terminal Diagram showing the disclaimer screen displayed on the display of the wireless communication terminal A diagram showing an initial registration screen displayed on the display unit of the wireless communication terminal. The figure which shows the top screen which is indicated in the indicatory department of the radio communication terminal The figure which shows the field list screen displayed on the display part of a wireless communication terminal. A diagram showing a path list screen displayed on the display unit of the wireless communication terminal A diagram showing a path detail screen displayed on the display unit of the wireless communication terminal. The figure which shows the work preparation screen displayed on the display part of a wireless communication terminal. A diagram showing a work screen displayed on the display unit of the wireless communication terminal The figure which shows the notification information screen displayed on the display part of a wireless communication terminal. A diagram showing a work screen displayed on the display unit of the wireless communication terminal

An embodiment of an autonomous traveling system using a wireless communication device according to the present invention will be described with reference to the drawings.
This autonomous traveling system, as shown in FIG. 1, is a tractor 1 as an autonomous traveling work vehicle that autonomously travels along a predetermined traveling route, and wireless communication capable of instructing various information to the tractor 1. The terminal 2 (corresponding to a wireless communication device) is provided. Further, in this embodiment, the reference station 4 for acquiring the position information of the tractor 1 is provided.

In FIG. 1, the tractor 1 is illustrated as an autonomous traveling work vehicle, but in addition to the tractor, a walk-type work vehicle is also applicable in addition to a passenger work vehicle such as a rice transplanter, combine harvester, civil/construction work equipment, and snowplow. is there.

As shown in FIG. 2, the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21 (corresponding to a wireless communication unit), and the reference station 4 includes a reference station. The side wireless communication unit 41 is provided. Various information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and the vehicle-side wireless communication unit 14 and the reference station. Various types of information can be transmitted and received between the tractor 1 and the reference station 4 by wireless communication with the side wireless communication unit 41. The wireless communication terminal 2 and the reference station 4 are configured to be able to transmit and receive various information via the tractor 1. Further, the wireless communication terminal 2 and the reference station 4 are configured to be capable of directly transmitting and receiving various information without the tractor 1 by wireless communication between the terminal side wireless communication unit 21 and the reference station side wireless communication unit 41. Can also The frequency band used for wireless communication between the wireless communication units may be a common frequency band or different frequency bands.

As shown in FIG. 2, the tractor 1 is provided with a positioning antenna 11, a control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, etc., and the position information acquisition unit 13 is controlled by the control unit 12. Is configured to be capable of autonomous traveling while acquiring its own current position information (current position of the tractor 1).

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

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

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

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

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

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

When the tractor 1 travels autonomously, first, the user operates the wireless communication terminal 2 to cause the route generation unit 23 to generate a traveling route, and various other information such as information regarding the generated traveling route. Is transmitted from the wireless communication terminal 2 to the tractor 1. Then, after various conditions for starting the autonomous traveling of the tractor 1 are satisfied, the user operates the wireless communication terminal 2 to instruct the tractor 1 to start the autonomous traveling. Autonomous driving is started. During autonomous traveling, the control unit 12 of the tractor 1 acquires the current position of the tractor 1 acquired by the position information acquisition unit 13 so that the tractor 1 autonomously travels along the travel route generated by the route generation unit 23. The operating state of the tractor 1 is controlled based on the information. The current position information of the tractor 1 acquired by the position information acquisition unit 13 is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, every several seconds), and is displayed on the display unit 24 of the wireless communication terminal 2. The current position of the tractor 1 can be displayed.

Hereinafter, the control of the display screen by the display control unit 22 in the wireless communication terminal 2 when the tractor 1 autonomously travels will be described with reference to FIGS. 3 to 13. 3 to 13 each show a display screen displayed on the display unit 24 of the wireless communication terminal 2.

The display control unit 22 displays the splash screen (corresponding to the first screen) shown in FIG. 3 and the disclaimer screen (second screen) shown in FIG. 4 after the power of the wireless communication device 2 is turned on or the application of the wireless communication device 2 is started. Screen) and the top screen (corresponding to the third screen) shown in FIG. 6 are sequentially displayed.

The splash screen shown in FIG. 3 is a screen that is displayed at the beginning after the power is turned on or the application is started. The company logo, company name, etc. are displayed in the center of the screen, and the operation unit 51 (Fig. 4 to FIG. 13) is not displayed. The display control unit 22 transitions from the splash screen (FIG. 3) to the disclaimer screen (FIG. 4) after a lapse of a certain period after the power is turned on. On the disclaimer screen shown in FIG. 4, disclaimers regarding the use of the tractor 1 are displayed.

The disclaimer screen shown in FIG. 4 is divided into an upper display area 53 on the upper end side of the screen and a lower display area 54 on the lower side of the screen. The upper display area 53 is displayed after this disclaimer screen. The various display screens (FIGS. 5 to 13) are also common display screens. The upper display area 53 is a fixed display area whose display contents are not changed. On the other hand, the lower display area 54 is a non-fixed display area in which different display contents are displayed when the user selects and operates the operation unit 51.

In the upper display area 53, the "to map" and "help" operation units 51 are displayed at the left end, the "GNSS" and "MENU" operation units 51 are displayed at the right end, and the current position is displayed in the center. The display contents are displayed whether such a screen is displayed. Incidentally, the “to map” operation unit 51 is an operation unit for displaying map information, and the “GNSS” operation unit 51 is a satellite for which latitude, longitude, GNSS state, and satellite positioning information are acquired. It is an operation unit for displaying detailed information of the satellite positioning system such as the number of 3, the serial number of the reference station 4, the remaining battery level of the base station 4, and the like. Further, when a new travel route is generated by the route generation unit 23, by selecting and operating the operation unit 51 of "MENU" and inputting various information according to the display content displayed thereafter, The route generation unit 23 generates the traveling route.

In the disclaimer screen shown in FIG. 4, the user puts a check in the column of “I have read all” and selects the operation unit 51 of “Agree and use”. , Transition from the disclaimer screen shown in FIG. 4 to the initial registration screen shown in FIG. On the other hand, the application is terminated by selecting and operating the operation unit 51 of "Exit application" on the disclaimer screen shown in FIG. The initial registration screen shown in FIG. 5 is a screen for registering various types of information about the tractor 1, such as the model of the tractor 1, and various types of information about the tractor 1 are registered by user operation. By the way, the frame of the selected model is surrounded by a thick red line so that it can be recognized which model is selected. When various kinds of information regarding the tractor 1 are registered, the display control unit 22 causes the initial registration screen shown in FIG. 5 to transition to the top screen shown in FIG. Before the transition from the initial registration screen shown in FIG. 5 to the top screen shown in FIG. 6, a screen such as an initial registration screen (for example, home address registration) other than the information about the tractor 1 may be passed.

Here, when various information regarding the tractor 1 is already registered, the display control unit 22 does not display the initial registration screen shown in FIG. 5 from the disclaimer screen shown in FIG. Change to the top screen shown.

On the top screen shown in FIG. 6, a plurality of user-selectable operation units 51 (various icons in the figure) and map information 52 are displayed, and one operation unit 51 is selected from the plurality of operation units 51. By doing so, the screen changes to another screen. On the top screen shown in FIG. 6, the map information 52 is displayed in the center of the screen of the lower display area 54 so that the registered fields H1 to H7 are included. By the way, when the field is not registered for the first time, the map information 52 is displayed so that the center of the map information 52 is at a predetermined position. Further, in the lower display area 54, the field list display operation unit 51a (icon indicated by "←" in the figure) and the previous work operation unit 51b (icon indicated by "Start work on the path last worked" in the figure). ) And other operation units 51 are displayed so as to surround the periphery of the map information 52 excluding the upper portion.

When displaying the map information 52, the display control unit 22 causes the center of the map information 52 to be the same as the center of the previous display screen. Further, when the “current position” operation unit 51 is operated, the display control unit 22 causes the center of the map information 52 to be displayed at the current position of the tractor 1.

When displaying the map information 52 on the top screen shown in FIG. 6, the display control unit 22 distinguishably displays the previous work position information 55 regarding the position of the tractor 1 when the tractor 1 autonomously traveled last time. .. The previous work position information 55 is indicated by a predetermined mark (pin), and is displayed in the center of the field H2 where the tractor 1 autonomously traveled last time. This allows the user to easily recognize which field is the field where the tractor 1 autonomously traveled last time. The position at which the previous working position 55 is displayed may be any position where it is possible to identify which field H, for example, the work starting position when the work for registering the field H or the tractor 1 for the field H is performed. It is also possible to display the previous work position 55 at the entrance of. By the way, the display control unit 22 sets the center of the field to the last time not only when the previous autonomous traveling is ended by completing the work in the field but also when the previous autonomous traveling is ended during the work in the field. The work position information 55 is displayed.

When the user selects and operates the field list display operation unit 51a (icon indicated by “←” in the figure) on the top screen shown in FIG. 6, the display control unit 22 shows the top screen shown in FIG. Change to the field list screen.

In the field list screen shown in FIG. 7, the lower display area 54 is divided into a lower left display area 54a and a lower right display area 54b, and the lower left display area 54a has a lower display area of the top screen shown in FIG. The plurality of operation units 51 and the map information 52 displayed in 54 are displayed. In the lower right display area 54b, a list 56 of farm field information stored in the wireless communication terminal 2 and a travel route list display operation for displaying a list of travel routes (paths) generated in the past in a specific field. The part 51c (in the figure, the icon of "display the path list of this field") is displayed. In the field information list 56, by selecting and operating the operation units 51 such as “distance order”, “name order”, and “registration order”, the fields can be rearranged and displayed in the operated order. As the field information in the field, the distance from the current position of the tractor 1 to the field, the registration date when the field information is registered, the field position information, and the like are displayed. Further, when the field information list 56 is displayed, the previous field information 57 (pin) indicated by a predetermined mark is displayed for the field in which the tractor 1 autonomously traveled last time. This allows the user to recognize from the map information 52 on the map (previous work position information 55) which farm field the tractor 1 has autonomously traveled on last time, and from the list 56 of field information. Information on the field (previous field information 57) can also be recognized.

When the user selects a specific field on the field list screen shown in FIG. 7, the display control unit 22 changes the color of the frame of the selected field and encloses it with a thick line (for example, a red thick line). The selected field is displayed so as to be distinguishable from other fields, and the color of the frame of the selected operation unit 51 is also changed so that it is surrounded by a thick line (for example, a red thick line). The selected operation unit 51 is displayed so as to be distinguishable from other operation units 51.

In the field list screen shown in FIG. 7, when the user selects and operates the traveling route list display operation unit 51c in a state where a specific field is selected, the display control unit 22 displays from the field list screen shown in FIG. 7 to the field list screen shown in FIG. Transition to the path list screen.

In the path list screen shown in FIG. 8, an enlarged screen 58 of the selected field is displayed in the lower left display area 54a, and a list 59 of previously generated path information (information about travel routes) is displayed in the lower right display area 54b. , And a path transfer operation unit 51d (in the figure, an icon shown in “Start work on this path”) for transferring the selected path information (information related to the travel route) to the tractor 1. ..

The traveling route 25 generated by the route generation unit 23 is displayed on the enlarged screen 58 of the farm field. In FIG. 8, for example, a plurality of linear traveling routes 25 are arranged in the left-right direction at intervals. Is displayed.

In the path information list 59, by selecting and operating the operation units 51 such as “distance order”, “name order”, and “registration order”, it is possible to rearrange and display them in the operated order. As the path information, the distance from the current position of the tractor 1 to the start position of the path, the date when the path was generated, the start position information of the path, etc. are displayed. Further, in the path information list 59, a path detail display operation unit 51e (icon shown by “details” in the drawing) for displaying detailed information of the path information is displayed, and the selected path information and The selected operation unit 51 is displayed so as to be distinguishable from other path information and other operation units 51 by changing the color of the frame and enclosing it with a thick line (for example, enclosing with a red thick line). ..

When the user selects and operates the detailed path display operation unit 51e in the path list screen shown in FIG. 8 while the user has selected a specific path, the display control unit 22 causes the path list screen shown in FIG. Transition to the detail screen.

In the path detail screen shown in FIG. 9, the display content is changed only in the lower right display area 54b from the path list screen shown in FIG. 8, and the path detailed information 60 is displayed. As the detailed path information 60, the field area, the presence/absence of an obstacle, the width of a non-working area (headland, etc.) around the working area where the path (traveling route) is generated, and the base station information when the path (traveling route) is generated , Information on the base station with which the tractor 1 is currently communicating, information on the tractor, information on work equipment mounted on the tractor 1, the number of paths (travel routes), and the like are displayed.

When the user selects and operates the path transfer operation unit 51d on the path list screen shown in FIG. 8 or the path detail screen shown in FIG. 9, the display control unit 22 causes the display controller 22 to display the path list screen shown in FIG. 8 or the path details shown in FIG. The screen is changed to the work preparation screen shown in FIG. At this time, the path information (information regarding the travel route) is transferred from the wireless communication terminal 2 to the tractor 1 by the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. Therefore, the control unit (not shown) of the wireless communication terminal 2 and the control unit 12 of the tractor 1 have the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, and the terminal-side wireless communication unit. A wireless communication check process is performed to check whether the path information acquired by the tractor 1 via the vehicle 21 and the vehicle-side wireless communication unit 14 matches.

As the wireless communication check process, for example, the total amount of path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 and the path-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 are used. Depending on whether or not the total amount of path information acquired by the tractor 1 matches, a process (CRC check process) for checking whether or not the path information matches can be applied. Further, as the wireless communication check process, instead of the CRC check process, for example, by transferring individual ID information in the path information and determining whether or not the ID information matches, whether or not the path information matches is determined. It can also be checked, and various types of wireless communication check processing can be applied.

The display control unit 22 includes the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, and the path acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. After confirming that the information matches, the work preparation screen shown in FIG. 10 is changed to the work screen shown in FIG. Accordingly, when the path information is transmitted to the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, the display control unit 22 acquires the path information transmitted from the wireless communication terminal 2 and the tractor 1. The work screen shown in FIG. 11 can be displayed only when a predetermined condition that the matched path information matches is satisfied.

If the predetermined condition that the path information transmitted from the wireless communication terminal 2 matches the path information acquired by the tractor 1 is not satisfied, the display control unit 22 does not display the work screen shown in FIG. 11 and displays the error screen. Is displayed, or the screen is returned to the path list screen shown in FIG. Although the error screen is not shown in the drawing, it may be any screen as long as it can display the content of the error in a distinguishable manner. The same common display screen can be used. Incidentally, when displaying the error screen, the error screen can be returned to the path list screen shown in FIG.

In the work screen shown in FIG. 11, the lower display area 54 has a lower upper display area 54c located on the upper end side, a lower lower display area 54d located on the lower end side, a lower upper display area 54c and a lower portion in the vertical direction. It is divided into three display areas including a lower intermediate display area 54e positioned between the lower display area 54d and the lower intermediate display area 54e. The lower upper display area 34c and the lower lower display area 54d cannot be switched to another screen, and the lower intermediate display area 54e can be switched to another screen.

In the lower intermediate display area 54e, the same display screen as the field enlarged screen 58 and the plurality of operation units 51, etc. displayed in the lower left display area 54a in the path list screen shown in FIG. 8 or the path detail screen shown in FIG. Is displayed. The display control unit 22 displays the current position 26 of the tractor 1 on the enlarged screen 58 of the field so that the current position of the tractor 1 can be recognized. Then, the display control unit 22 can identify the traveling route 25 on which the tractor 1 is currently traveling autonomously and the traveling route 25 to be traveled next by different colors on the enlarged screen 58 of the farm field. It can also be displayed. Further, the display control unit 22 can display the plurality of traveling routes 25 in different forms by changing the colors of the traveling route 25 that has already been worked and the traveling route 25 that has not been worked yet.

Incidentally, the display control unit 22 is configured such that the display screen of the lower intermediate display area 54e can be switched to the tractor information screen or the work command screen, in addition to the enlarged field screen 58 of the field. Although not shown, the tractor information screen displays information indicating the state of the tractor 1, such as the actual vehicle speed, the actual engine rotation speed, and the load factor. On the work command screen, the operation unit 51 and the like for changing the vehicle speed and the engine rotation speed are displayed. Further, the display control unit 22 is configured such that a caution screen, a warning screen, and the like can be interrupt-displayed as the display screen of the lower intermediate display area 54e. For example, the caution screen is a screen for displaying the conditions that have not been met among the various conditions for starting self-propelled driving, and the warning screen is for maintaining the current running while autonomous driving. This is a screen for displaying the cause when the autonomous traveling is stopped by. The control information regarding the caution screen and the warning screen is generated by the control unit 12 of the tractor 1. Therefore, in the wireless communication terminal 2, the terminal-side wireless communication unit 21 receives the generated control information. The display control unit 22 displays the caution screen and the warning screen in an interrupted manner.

In the lower upper display area 54c, a start operation part 51f capable of instructing the start of autonomous traveling is arranged at the left end, and a stop operation part 51g capable of instructing stop of the autonomous traveling is arranged at the right end. A deviation information display section 61 indicating the deviation of the position of the tractor 1 with respect to the travel route 25 is arranged between the start operation section 51f and the stop operation section 51g. In the lower lower display area 54d, a notification information operation unit 51h for confirming error notification information and other operation units 51 are arranged, and a work progress rate due to autonomous traveling, a work remaining time, etc. are displayed. ing.

The display control unit 22 keeps the start operation unit 51f in an inactive state in which selection operation is not possible until various conditions for starting autonomous traveling are satisfied, and when various conditions for starting autonomous traveling are satisfied, the start operation is performed. The portion 51f is in an active state in which it can be selected and operated. The display control unit 22 changes the display form of the start operation unit 51f, for example, by turning on the start operation unit 51f in the inactive state and blinking the start operation unit 51f in the active state, so that the inactive state and the active state are activated. The state can be identified by the user.

When the start operation unit 51f instructs the start operation unit 51f to start the autonomous traveling and the autonomous traveling of the tractor 1 is started, the display control unit 22 causes the start operation unit 51f to perform a temporary stop operation capable of instructing the temporary suspension of the autonomous traveling. It is changed to a part (not shown). Then, when the pause operation unit is selected and operated, the display control unit 22 causes the start operation unit 51f to change from the pause operation unit to the original display form, and the start operation unit 51f instructs the start of autonomous traveling. It is configured to be switchable between a display form and a display form for instructing a temporary stop of autonomous traveling. In this way, by changing the display form of the start operation unit 51f by the display control unit 22, one operation unit can be made to function as two operation units, and autonomous traveling is started or temporarily stopped. It becomes easier for the user to understand the work status of autonomous traveling, such as whether or not he is doing it.

In the wireless communication terminal 2, the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 receive the current position information of the tractor 1 acquired by the position information acquisition unit 13 of the tractor 1 in real time (for example, one minute cycle). doing. As a result, the display control unit 22 acquires the current position information of the tractor 1 in real time (for example, in a 1-minute cycle), and in the wireless communication terminal 2, the terminal-side wireless communication unit 21, the display control unit 22, and the like are used by the tractor 1. It functions as a position information acquisition unit that can acquire the position information of.

The display control unit 22 causes the deviation information display unit 61 to display in what direction and how much the current position of the tractor 1 to be acquired deviates from the travel route 25 in the lateral width direction. When the display control unit 22 controls the deviation information display unit 61, the control unit 12 of the tractor 1 determines how much the current position of the tractor 1 is in the lateral direction with respect to the travel route 25. The deviation information is obtained, and the obtained deviation information is transmitted from the tractor 1 to the wireless communication terminal 2. The display control unit 22 controls the deviation information display unit 61 based on the deviation information transmitted from the tractor 1. The deviation information display unit 61 is provided with a plurality of display lamp units arranged side by side in the left-right direction, and the plurality of display lamp units are made to emit different colors depending on the installation region in the left-right direction. For example, the three display lamps located in the central region are green, the two display lamps located in the region closer to the end are yellow, and the two display lamps located in the region closer to the end are yellow. Is orange, and the two display lamps located in the endmost area are red. The display control unit 22 controls the deviation information display unit 61 to display in which direction the current position of the center of the tractor 1 deviates from the center of the traveling route 25 in the lateral width direction of the traveling route 25. Depending on the size of the distance from the center of the travel route 25 to the current position of the center of the tractor 1 in the lateral direction of the travel route 25, the display lamp unit located in the central region changes to the display lamp unit located in the end region. The deviation information display unit 61 is controlled so that the lighting range is gradually expanded toward the target.

For example, when the distance from the center of the travel route 25 to the current position 26 of the center of the tractor 1 in the lateral direction of the travel route 25 is within the set range, only the three display lamp units located in the central region are turned on. When the current position of the tractor 1 is displaced to the left with respect to the travel route 25 and the distance from the center of the travel route 25 to the current position of the tractor 1 in the lateral direction of the travel route 25 becomes larger than the set range, In addition to the three display lamps located in the area, the display lamps located in the left area adjacent to the three display lamps are also lit up, and in the lateral width direction of the travel path 25, from the center of the travel path 25 to the current position of the center of the tractor 1. The larger the distance, the wider the lighting range to the left.

The display control unit 22 indicates in what direction and how much the current position of the tractor 1 to be acquired deviates in the lateral direction of the travel route 25 before starting the autonomous travel of the tractor 1 and during the autonomous travel of the tractor 1. , Is displayed on the deviation information display section 61. As a result, before the autonomous traveling is started, the user can perform position adjustment to move the position of the tractor 1 to the autonomous traveling start position while looking at the deviation information display section 61, and during the autonomous traveling, the user can adjust the position. It is possible to easily recognize in which direction and how much the current position of the tractor 1 is displaced in the lateral width direction of the traveling route 25.

In the work screen shown in FIG. 11, in the right end portion of the lower intermediate display area 54e, in the traveling route 25 on which the tractor 1 is currently traveling autonomously, from the current position of the tractor 1 to the end portion (headland) of the traveling route 25. A distance display unit 62 for displaying the distance is arranged. The distance display unit 62 is a bar-shaped display unit that extends in the vertical direction, and the length from the lower end to the upper end corresponds to the entire length of the travel route 25. The display control unit 22 causes the distance display unit 62 to illuminate and display in a predetermined color from the lower end to the position corresponding to the current position of the tractor 1, so that the user can reach the end (headland) of the travel route 25. I can recognize the distance.

In the work screen shown in FIG. 11, since the notification information operation unit 51h (the icon indicated by “details” in the drawing) is arranged at the left end portion of the lower lower display area 54d, the display control unit 22 causes the tractor to operate. If various conditions for starting the autonomous traveling of No. 1 are satisfied, the left side of the notification information operation unit 51h is lit in a specific color for establishment (for example, green). On the contrary, if various conditions for starting the autonomous traveling of the tractor 1 are not satisfied, the left side of the notification information operation unit 51h is lit in a non-established specific color (for example, red). Then, when the left side of the notification information operation unit 51h is lit in a non-established specific color (for example, red), when the user operates the notification information operation unit 51h, the display control unit 22 The work screen shown in FIG. 11 is transited to the notification information screen shown in FIG.

In the notification information screen shown in FIG. 12, the contents displayed in the lower intermediate display area 54e in the work screen shown in FIG. 11 are changed, and various conditions (steering, reversing, braking) for starting autonomous traveling of the tractor 1 are displayed. , Clutch, parking brake, auxiliary transmission device, vehicle speed, UFO setting) is displayed. In the establishment status display screen 63, the display control unit 22 turns on a specific color for establishment (for example, green) for each part that satisfies the condition, and indicates that the part that does not meet the condition is not established for each part on the establishment state display screen 63. The specific color (for example, red) is turned on.

In the work screen shown in FIG. 11, the deviation information display unit 61 shows the deviation of the position of the tractor 1 with respect to the travel route 25. In addition to the deviation information display unit 61, the work screens shown in FIGS. Thus, the deviation of the position of the tractor 1 with respect to the traveling route 25 is shown on the enlarged screen 58 of the farm field. In the work screen shown in FIG. 13, the display control unit 22 displays the travel route 25 and the current position 26 of the tractor 1 on the enlarged screen 58 of the field. Then, in the work screen shown in FIG. 13, the current position 26 of the travel route 25 and the tractor 1 is displayed between the start operation part 51f and the stop operation part 51g, so the current positions of the travel route 25 and the tractor 1 are displayed. The display of 26 functions as a deviation information display section. Depending on how the current position 26 of the tractor 1 is relative to the travel route 25, the user can easily recognize in what direction and in what direction the current position of the tractor 1 is displaced in the lateral direction of the travel route 25. be able to.

In the work screens shown in FIGS. 11 and 13, the deviation information display section 61 arranged in the lower upper display area 54c and the travel route 25 and the tractor 1 functioning as the deviation information display section arranged in the lower intermediate display area 54e. Two deviation information display parts from the current position 26 are arranged.

Then, as shown in FIG. 13, the display control unit 22 displays the traveling route 25 and the current position 26 of the tractor 1 on the enlarged screen 58 of the field not only before the autonomous traveling starts but also during the autonomous traveling. There is. This allows the user to recognize how much the tractor 1 is displaced in the lateral direction with respect to the travel route 25 not only when performing the alignment for moving the tractor 1 to the autonomous travel start position but also during the autonomous travel. can do. In FIG. 13, the current position 26 of the tractor 1 shown by the dotted line shows a state where the current position 26 is off the right side or the left side of the travel route 25.

As described above, when the display control unit 22 controls the display screen of the display unit 24 and the tractor 1 is autonomously run to perform work in the field, the user selects the operation unit 51 on each display screen. By doing so, the display control unit 22 controls the display screen to sequentially transition as in the following (1) to (8).

(1) Splash screen shown in FIG. 3 (2) Disclaimer screen shown in FIG. 4 (3) Initial registration screen shown in FIG. 5 (4) Top screen shown in FIG. 6 (5) Field list screen shown in FIG. 7 (6) ) Path list screen shown in FIG. 8 (path list screen shown in FIG. 8→path detail screen shown in FIG. 9)
(7) Work preparation screen shown in FIG. 10 (8) Work screen shown in FIG.

Then, as described above, (3) the registration work on the initial registration screen shown in FIG. 5 is initially performed only once, so (3) once on the initial registration screen shown in FIG. When various kinds of information are registered, the display control unit 22 transitions from (2) the disclaimer screen shown in FIG. 4 to (3I) the initial registration screen shown in FIG. 5 and (4) the top screen shown in FIG. I am making it.

Although the above (1) to (8) show the case where the wireless communication terminal 2 transmits the path information (information regarding the travel route 25) to the tractor 1 to perform the work, for example, the path information is newly transmitted. Instead, the work can be performed using the past path information (information regarding the travel route 25) transmitted to the tractor 1 before.

In this case, the display control unit 22 controls the display screens to sequentially transition as in (1) to (4), and (4) on the top screen shown in FIG. 51b (corresponding to a rework operation unit) is selected and operated. By the selection operation of the previous operation unit 51b, the display control unit 22 causes (4) the top screen shown in FIG. 6, (5) the field list screen shown in FIG. 7 and (6) the path list screen shown in FIG. Is skipped and (7) the work preparation screen shown in FIG. 10 is displayed. At this time, unlike the case where the display screens of (4) to (7) are sequentially transitioned, the display control unit 22 does not transmit past path information (information regarding the travel route 25) to the tractor 1 and performs wireless communication. A wireless communication check process is performed between the control unit (not shown) of the terminal 2 and the control unit 12 of the tractor 1.

In the wireless communication check process at this time, since the control unit 12 of the tractor 1 has acquired the previously transmitted past path information, the control unit 12 of the tractor 1 controls the wireless communication terminal 2 (see the drawing). (Omission) is performed by asking whether the acquired past path information and the past path information previously transmitted from the wireless communication terminal 2 to the tractor 1 match. Then, for example, the past path information is matched depending on whether or not the total amount of the acquired past path information and the total amount of the past path information previously transmitted from the wireless communication terminal 2 to the tractor 1 are matched. A process (CRC check process) for checking whether or not it can be performed. Further, instead of this CRC check processing, for example, individual ID information in the past path information is transferred, and whether or not the past path information matches is checked by checking whether or not the ID information matches. It is also possible to apply various types of wireless communication check processing.

As described above, even when the past path information is not transmitted from the wireless communication terminal 2 to the tractor 1, the display control unit 22 displays (7) the work preparation screen shown in FIG. 10 to perform the wireless communication check process. The work screen shown in (8) in FIG. 11 can be displayed only after a predetermined condition that the past path information matches is satisfied.

If the predetermined condition that the past path information matches is not satisfied, the display control unit 22 does not display the work screen shown in FIG. 11 but displays an error screen, or the path list screen shown in FIG. I'm trying to bring it back. Although the error screen is not shown in the drawing, it may be any screen as long as it can display the content of the error in a distinguishable manner. The same common display screen can be used. Incidentally, when displaying the error screen, the error screen can be returned to the path list screen shown in FIG.

As described above, even when the display screens are sequentially transited as in (4) to (8) and the path information is transmitted from the wireless communication terminal 2 to the tractor 1, (4)→(7)→(8). Even when the display screens are sequentially transitioned as described above, the display control unit 22 (8) displays the same display screen as the work preparation screen shown in FIG. 10 before displaying the work screen shown in FIG. 11. I am making it. Accordingly, the user can easily recognize that (7) when the work preparation screen shown in FIG. 10 is displayed, then (8) the work screen shown in FIG. 11 is displayed next.

[Another embodiment]
(1) In the above embodiment, the display control unit 22 displays the disclaimer screen shown in FIG. 4 next to the splash screen shown in FIG. 3, but, for example, the work screen shown in FIG. After that, the disclaimer screen shown in FIG. 4 can be displayed, and the timing of displaying the disclaimer screen shown in FIG. 4 can be appropriately changed.
Further, it is also possible to display the disclaimer screen shown in FIG. 4 after the start operation section 51f is selected and operated on the work screen shown in FIG. In this case, for example, the start operation part 51f can be omitted from the work screen shown in FIG. 11, and the start operation part 51f can be additionally displayed on the disclaimer screen shown in FIG.

(2) In the above embodiment, when the wireless communication terminal 2 transmits the path information (information regarding the travel route 25) to the tractor 1, the path information transmitted from the wireless communication terminal 2 and the tractor 1 side have already acquired. It is determined whether or not the path information is the same, and if the path information is the same, the path information is not transmitted from the wireless communication terminal 2 to the tractor 1 and is already acquired by the tractor 1 side. The tractor 1 can be autonomously driven using the path information.

(3) In the above embodiment, the tractor 1 can be provided with an image pickup device such as a camera, and an image picked up by the image pickup device can be displayed on the display unit 24 of the wireless communication terminal 2. In this case, for example, in the work screen shown in FIG. 11, it is possible to perform fixed display so that the captured image of the imaging device is always displayed.

(4) In the above embodiment, the condition for activating the start operation unit 51f shown in FIG. 11 includes that the display form displayed on the deviation information display unit 61 is a desired display form. be able to. Here, for example, the distance from the center of the traveling route 25 to the current position 26 of the center of the tractor 1 in the lateral direction of the traveling route 25 is within the set range, and the display form of the deviation information display unit 61 is located in the central region. It is possible to set a desired display mode in which only the three display lamps that are turned on are in the display mode. In this way, the condition for activating the start operation unit 51f can be set in association with the display form of the deviation information display unit 61. In this case, the user can activate the start operation unit 51f while checking the display form of the deviation information display unit 51.

(5) In the above embodiment, in the work screens shown in FIG. 11 and FIG. 13, it functions as a deviation information display section 61 arranged in the lower upper display area 54c and a deviation information display section arranged in the lower intermediate display area 54e. Although the example in which the two deviation information display parts for the traveling route 25 and the current position 26 of the tractor 1 are arranged is shown, only one of the deviation information display parts may be arranged.

1 tractor (autonomous traveling work vehicle)
2 Wireless communication terminals (wireless communication devices)
13 Position information acquisition unit 21 Terminal side wireless communication unit (wireless communication unit)
22 display control section 24 display section 51 operation section 51b previous operation section (rework operation section)
51f Start operation part 51g Stop operation part 52 Map information 55 Previous work position information 61 Deviation information display part

Claims (5)

A wireless communication unit capable of wirelessly communicating with an autonomously traveling work vehicle that autonomously travels along a predetermined travel route,
A display control unit for controlling the screen displayed on the display unit,
The display control unit relates to the use of the autonomous traveling work vehicle, a first screen that is displayed after a certain period of time in a state where the operation unit selectable by the user is not displayed after the power is turned on or the application is activated. A second screen displaying the disclaimer, a plurality of operation units and map information that can be selected by the user are displayed, and when one operation unit is selected from the plurality of operation units, the screen changes to another screen. Display the 3rd screen and
When the information regarding the traveling route is transmitted to the autonomously traveling work vehicle via the wireless communication unit and a predetermined condition is satisfied, the display control unit displays the work screen including the traveling route on the display unit. can be displayed der to is,
The predetermined condition includes that information regarding the traveling route transmitted via the wireless communication unit and information regarding the traveling route acquired by the autonomous traveling work vehicle via the wireless communication unit match. A wireless communication device characterized by being . The plurality of operation units include a rework operation unit that performs work on a past travel route that was previously transmitted to the autonomously traveling work vehicle,
When the rework operation unit is selected, the display control unit displays the work screen when the predetermined condition is satisfied without transmitting information regarding the past travel route to the autonomous traveling work vehicle. The wireless communication device according to claim 1, wherein the wireless communication device is displayed on a display unit. The display control unit prepares for work before displaying the work screen on the display unit regardless of whether or not the information about the travel route or the information about the past travel route is transmitted to the autonomous traveling work vehicle. The wireless communication device according to claim 2, wherein a screen is displayed on the display unit. A position information acquisition unit for acquiring position information of the autonomously-working vehicle,
When the map information is displayed on the third screen, the display control unit can identify previous work position information regarding the position of the autonomous traveling work vehicle when the autonomous traveling work vehicle last autonomously traveled. The wireless communication device according to claim 1, wherein the wireless communication device is displayed . A position information acquisition unit for acquiring position information of the autonomously-working vehicle,
The display control unit is for displaying a work screen including the traveling route before the autonomous traveling of the autonomous traveling work vehicle is started,
On the work screen, a start operation unit capable of instructing the start of autonomous traveling is arranged at one of the left and right ends, and a stop operation unit capable of instructing to stop the autonomous traveling at the other end of the left and right, and The wireless communication according to claim 1, further comprising a deviation information display unit disposed between the start operation unit and the stop operation unit, the deviation information display unit indicating a deviation of the position of the autonomously traveling work vehicle with respect to the travel route. apparatus.

Images