JP7124009B2 - Operation support device for agricultural machinery and agricultural machinery - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation support device for agricultural machines such as tractors, combine harvesters, and rice transplanters, and agricultural machines.

2. Description of the Related Art Conventionally, the technology disclosed in Patent Document 1 is known as a device for displaying the position of a tractor during travel in a field. Patent Literature 1 shows a work line of a tractor in a field on a display device, and an arrow indicates that the tractor in motion is deviated from the work line. In addition, the amount of deviation from the work line of the tractor in motion is shown numerically.

Japanese Patent No. 5667731

In Patent Document 1, an arrow indicates that the tractor is deviating from the work line while it is running, and the amount of deviation is indicated by a numerical value. It was difficult to intuitively visually recognize the degree of
SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a display device that allows easy visual confirmation of the degree of deviation between a predetermined reference position and the position of a traveling vehicle body.

The technical means of the present invention for solving this technical problem are characterized by the following points.
A driving support device for agricultural machinery includes a detection device that detects the position of a traveling vehicle body based on a signal from a positioning satellite, and a display device that displays information about the position of the traveling vehicle body detected by the detection device, The display device includes a reference display section and a direction display section for displaying a direction in which the traveling vehicle body is returned so as to eliminate deviation of the traveling vehicle body from a predetermined reference line, and the direction display section includes the reference display section. a one-direction display portion arranged in one direction of the reference display portion and indicating that the traveling vehicle body is to be returned to the left; and a other direction display portion arranged in the other direction of the reference display portion and indicating that the traveling vehicle body is to be returned to the right. wherein the one-way display section and the other-way display section include a graphic that is visible when there is no misalignment, and the graphics of the one-way display section and the other-way display section are the reference display section and the display form of the figure included in the one-way display portion is changed to a display form different from the display form when there is no deviation, thereby returning to the left side, It indicates that the display form for the graphic included in the other direction display portion is changed to a display form different from the display form when there is no deviation, thereby returning to the right side.

The display device displays the degree of misalignment and also displays the direction to eliminate the misalignment by means of the figures included in the one-direction display section and the other-direction display section.
The one-direction display section and the other-direction display section change display states according to the degree of deviation.
The figure of the one-direction display portion represents an arrow returning to the left side of the running vehicle body, and the figure of the other direction display portion represents an arrow returning to the right side of the running vehicle body.

The graphic of the one-direction display portion changes its density when indicating that the traveling vehicle body is to be returned to the left side, and the graphic of the other-direction display section has its density when indicating that the traveling vehicle body is to be returned to the right side. change.
The display device displays the reference line indicating straight running of the traveling vehicle body.
The agricultural machine includes a traveling vehicle provided with a working device, a detecting device for detecting the position of the traveling vehicle body based on a signal from a positioning satellite, and information about the position of the traveling vehicle body detected by the detecting device. a display device, wherein the display device includes a reference display section and a direction display section for displaying a direction in which the traveling vehicle body is returned so as to eliminate deviation of the traveling vehicle body from a predetermined reference line; The display unit is arranged in one direction of the reference display unit and indicates that the traveling vehicle body should be returned to the left side, and is arranged in the other direction of the reference display unit and indicates that the traveling vehicle body should be returned to the right side. , wherein the one-directional display section and the other-directional display section include a figure that is visible when there is no misalignment, and the one-directional display section and the other-directional display section of the The figure has a shape different from that of the reference display part, and the display form of the figure included in the unidirectional display part is changed to a display form different from the display form when there is no deviation, so that the left side is displayed. , and indicates that the display form of the figure included in the other direction display portion changes to a display form different from the display form when there is no deviation, thereby returning to the right side.

The display device displays the degree of misalignment and also displays the direction to eliminate the misalignment by means of the figures included in the one-direction display section and the other-direction display section.

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

1 is an overall view of a work support system according to a first embodiment; FIG. It is a figure which shows transition of the screen displayed on the display part of a display apparatus. It is a figure which shows the screen at the time of operating a display apparatus as a driving assistance device. It is a figure which shows the detail of a 3rd icon part. It is a figure which shows the detail of a 4th icon part. It is a figure which shows the display state of a one-way display part. It is an overall view of a work support system in a second embodiment. It is a figure which shows a work plan setting screen. FIG. 10 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 portion are the same; FIG. 10 is a diagram in which the direction indicated by the arrow on the direction indicator is opposite to the direction of deviation of the traveling vehicle body; FIG. 2 is an overall view of a running vehicle body connected to a spraying device;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described 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 machines are agricultural machines, construction machines and the like, and the agricultural machines are tractors, combine harvesters, rice transplanters and the like. A tractor 1, which is one of agricultural machines, will be described below 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 . A connecting portion 8 configured by a three-point link mechanism or the like is provided at 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 towed by the traveling vehicle body 3 .

The working device 2 is a spraying device capable of spraying spraying agents such as fertilizers and chemicals. The spraying device 2 includes a container 2a capable of storing a spraying agent, and a spraying mechanism 2b provided in the container 2a for spraying the spraying agent in the container 2a to the outside. The spraying mechanism 2b is composed of, for example, an openable shutter or the like, and the spraying agent can be sprayed by opening and closing the shutter. The spraying device 2 (spraying mechanism 2b) is not limited to the one 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 connected to the control device 2c. Display device 2d displays information per predetermined area (amount of spray per unit area [eg, 10 kg/10a (1000 m ² )], spray width (unit: m) of spray, amount of spray injected into container 2a ( Unit: kg) etc. can be input.
The control device 2c controls the opening/closing amount (opening degree) of the spraying mechanism 2b, the opening/closing timing, etc., based on the spraying amount, the spraying width, and the like. It is preferable that the spraying by the spraying device 2 is interlocked with the vehicle speed so that the spray amount per unit time is changed in conjunction with the moving speed (vehicle speed). When a switch or the like provided on the display device 2d is operated to start spraying, the control device 2c outputs a signal (start signal) indicating the start of spraying to the in-vehicle network N1, which will be described later. When the switch or the like is operated and the spraying is finished, the control device 2c outputs a signal (end signal) indicating that the spraying is finished to the in-vehicle network N1.

As shown in FIG. 1, the tractor 1 includes a detection device 10, a control device 11, and a display device 12. As shown in FIG. 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 the state (running state) in which the tractor 1 is running, that is, the running state of the running vehicle body 3 . The detection device 10 can detect, for example, the moving distance and moving speed (vehicle speed) of the running vehicle body 3 as the running state. In this embodiment, the detecting 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 moving speed from the calculated position.

The detection device 10 includes a receiver 10a that receives satellite signals (radio waves) from a positioning satellite 15, and a state calculator 10b that calculates the running state of the tractor 1 (running vehicle body 3) based on the satellite signals received by the receiver 10a. and The receiving section 10a and the state calculating section 10b are composed of electrical/electronic components, programs incorporated in CPUs, and the like. As shown in FIG. 9, the detection device 10 has a housing 10c that accommodates a receiver 10a and a state calculator 10b. The housing 10 c is attached to the top plate of the cabin 7 . Note that the housing 10c may be attached to a place other than the cabin 7, and may be provided in the work device 2, for example.

The state calculator 10 b calculates the position of the receiver 10 a 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 uses the converted value as the moving speed of the tractor 1 (vehicle speed). Note that the state calculation unit 10b calculates the frequency of the satellite signal transmitted by the positioning satellite 15 based on 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 reception unit 10a receives the satellite signal, and the satellite signal. The position of the receiving unit 10a may be calculated, and the method of calculating the position is not limited. Moreover, the state calculation unit 10b may calculate only the moving distance, or may calculate only the moving speed (vehicle speed). The travel distance and travel speed calculated by the state calculator 10b are output to the in-vehicle network N1. Therefore, the running state (moving distance, moving speed) can be acquired by the control device 11, the display device 12, and the like.

The control device 11 receives operation signals when operation tools (operating levers, operating switches, operating volumes, etc.) installed around the driver's seat 6 are operated, detection signals of various sensors mounted on the traveling vehicle body 3, and the like. Based on this, the traveling system and work 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 the operation signal of the operation tool, and controls the rotational speed of the diesel engine based on the accelerator pedal sensor. Note that the control device 11 may be any device as long as it controls the working system and the traveling system of the tractor 1, and the control method is not limited.

The display device 12 has a control section 12a, a storage section 12b, and a display section 12c. The control unit 12 a is composed of a CPU and the like, and performs various controls related to 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 12 a has a state acquisition unit 21 , a width acquisition unit 22 , an input amount acquisition unit 23 , a spread 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 application amount acquisition unit 24, and the calculation unit 25 are composed of electrical/electronic components, programs incorporated in the control unit 12a, and the like.
The state acquisition unit 21 acquires the moving speed as the running 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 obtained via the in-vehicle network N1.

The width acquisition unit 22 acquires the working width of the working device 2 . When the working device 2 is the spraying device 2, the working width is the range (spreading 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. As shown in FIG. The cable 2e can be connected to a connector 16 or the like connected to the in-vehicle network N1. That is, the control device 2c and the display device 12 of the spraying device 2 can be connected to the in-vehicle network N1. The width acquisition unit 22 requests the control device 2c of the spraying device 2 for the spraying width. The control device 2c transmits the spread width input to the display device 2d to the display device 12 (width acquisition portion 22) in response to the response from the width acquisition portion 22. FIG. As a result, the width acquiring unit 22 acquires the spraying width of the spraying agent set (input) to the spraying device 2 . The display device 12 may be provided with an input unit for inputting the spread width, and the width acquisition unit 22 may acquire the spread width input to the input unit of the display device 12 .

The injection amount acquisition unit 23 acquires the injection amount of the spraying agent injected into the container 2 a of the spraying device 2 . For example, the input amount acquisition unit 23 requests the control device 2c of the spraying device 2 for the input amount. The control device 2 c transmits the input amount input to the display device 2 d to the display device 12 (throwing amount acquisition unit 23 ) in response to the response of the input amount acquisition unit 23 . As a result, the input amount acquisition unit 23 acquires the amount of the spraying agent that has been input into the container 2 a of the spraying device 2 . An input unit for inputting the input amount may be provided on the display device 12 , and the input amount acquisition unit 23 may acquire the input amount input to the input unit of the display device 12 .

The spraying amount acquisition unit 24 acquires the spraying amount of the spraying agent. The application amount acquisition unit 24 requests the control device 2c of the application device 2 for the application amount. The control device 2c transmits the application amount input to the display device 2d to the display device 12 (the application amount acquisition unit 24) in response to the response from the application amount acquisition unit 24. FIG. Thereby, the spraying amount acquisition unit 24 acquires the spraying amount of the spraying agent set (input) to the spraying device 2 . The display device 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 .

Based on the running state acquired by the state acquisition unit 21, the spread width acquired by the width acquisition unit 22, the input amount acquired by the input amount acquisition unit 23, and the application amount acquired by the application amount acquisition unit 24, The remaining amount of the spraying agent in the container 2a is obtained. Specifically, when the display device 12 acquires the start signal output to the in-vehicle network N1, the calculation unit 25 calculates the elapsed time from the start of spraying to the present. Further, the calculation unit 25 obtains the amount of application per second by multiplying the moving speed of the traveling vehicle body 3 per second, the width of application, and the amount of application [application amount per second (kg/sec) = movement Velocity (m/sec)×spraying width (m)×spraying amount per unit area (kg/m ² ) Then, the calculation unit 25 calculates the time (elapsed time) from the start of sprinkling of the spraying agent to the present. is multiplied by the amount of application per second to obtain the amount of application (kg), that is, the theoretical amount of application (kg) [theoretical application amount (kg) = elapsed time (sec) x application amount per second ( kg/sec)] Next, the calculation unit 25 calculates the remaining amount of spraying agent remaining in the container 2a, that is, the theoretical remaining amount (kg), using the input amount and the theoretical spraying 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.The calculation unit 25 displays the end signal output to the in-vehicle network N1. When the device 12 acquires it, it terminates the calculation of the remaining amount of spraying agent and resets the elapsed time.

The display unit 12c displays the remaining amount (theoretical remaining amount) obtained by the calculation unit 25 using numbers, graphics, characters, and the like. As shown in FIG. 3, for example, the display unit 12c displays an application screen M2, which is a screen after the application for supporting agricultural work is started, and characters indicating the remaining amount and Show numbers. It should be noted that the display unit 12c updates the displayed remaining amount each time the calculation unit 25 calculates the remaining amount of 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 are provided with the state acquisition unit 21 , the width acquisition unit 22 , the input amount acquisition unit 23 , the application amount acquisition unit 24 , and the calculation unit 25 . Therefore, for example, the vehicle speed, which is the running 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 application amount acquisition unit 24 The remaining amount of the spraying agent can be calculated by the calculation unit 25 using the acquired spraying amount. Further, according to the work support system and the agricultural machine, the spraying amount obtained by the calculation unit 25 is displayed on the display unit 12c, so that the operator can easily grasp the remaining amount of the spraying agent. Therefore, the remaining amount of the spraying agent can be obtained even in the spraying device 2 that is not equipped with a sensor for detecting the remaining amount of the spraying agent. Further, regardless of whether or not the container 2a for storing the spraying agent is transparent, the remaining amount of the spraying agent can be grasped.

In the above-described embodiment, the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the application amount acquisition unit 24, and the calculation unit 25 are provided in the display device 12, but the present invention is not limited to this. , may be provided in the control device 11, or may be provided in other electrical equipment or the like provided in the agricultural machine.
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 response to operations. , a screen (application screen) M2 corresponding to the application and a setting screen M3 are individually displayed. For convenience of explanation, the screens M1, M2, and M3 may simply be used when representing a plurality of screens.

The screens M1, M2 and M3 have substantially the same aspect ratio, and the screens M1, M2 and M3 display a common specifying section (selection section) 40 . The designation unit (selection unit) 40 designates screens, and can switch between 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 to the previous screen (switching to the previous screen) from the currently displayed screen. there is The position of the home button 40a is the same on the home screen M1, the application screen M2, and the setting screen M3. The home button 40a is positioned, for example, at the bottom left of the screens M1, M2, M3. The position of the return button 40b is also the same among the home screen M1, the application screen M2, and the setting screen M3. The return button 40b is positioned, for example, to the right of the home button 40a in the screens M1, M2, and M3. That is, the home button 40a and the return button 40b are positioned at the lower left corner portion 43LD of the screens M1, M2, and M3.

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

Note that the designation unit (selection unit) 40 may have a setting button 40c for designating display of the setting screen M3. The setting button 40c is located away from the home button 40a and the return button 40b, and is located in a corner portion opposite to the corner portion 43LD where the home button 40a and the return button 40b are arranged (lower right corner portions of the screens M1 and M2). Located at 43rd.

When the application screen M2 is displayed, the first display area 45 is divided into two areas, one corner side area and the other corner side area. 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. and a first right display area 45b for displaying the button 40c. 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 that displays icons of application software (apps) stored in the display device 12, and a basic display area 47 that displays basic information. The basic information is the user's (for example, farm worker's) name, e-mail address, and the like. The application screen M2 is a screen that displays various information corresponding to the application, and has an application display area 48 . Note that the application screen M2 in FIG. 2 indicates a screen of a farming support application. The application screen M2 can display a work plan to be performed by the farm worker, that is, a work plan to be described later. The setting screen M3 displays information about settings of the display device 12 and the like.

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

As shown in FIG. 3, when the display device 12 is operated as a driving assistance device, the application display area 48 of the application screen M2 mainly includes a first display area 48a, a second display area 48b, and a third display area. A region 48c is provided. A direction display portion 50 and a deviation amount display portion 51 are displayed in the first display area 48a. A field display portion 52 is displayed in the second display area 48b. The remaining amount (theoretical remaining amount) obtained by the calculation unit 25 is displayed in numbers and characters in the third display area 48c. The display device 12 can be applied even when the remaining amount is not displayed, and in this case, the third display area 48c may be omitted.

The direction display portion 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 a predetermined reference position. . The reference position can be set on the field display section 52 as described later. The direction display unit 50 indicates, for example, that the current position of the traveling vehicle body 3 is shifted to the left from the reference position, or that the current position of the traveling vehicle body 3 is shifted to the right from the reference position.

The deviation amount display portion 51 is a portion that displays the amount of deviation between the position of the traveling vehicle body 3 and the reference position in numbers or the like. For example, when the amount of deviation between the current position of the traveling vehicle body 3 and the reference position is 0.5 m, "0.5 m" indicating the amount of deviation is displayed.
The direction display section 50 and the deviation amount display section 51 will be described in detail below.
The direction display section 50 has a reference display section 50a, a one-direction display section 50b, and another direction display section 50c. The reference display portion 50a is a figure indicating a reference position, and is positioned at the center of the first display area 48a in the horizontal direction. The reference display portion 50a and the deviation amount display portion 51 are positioned at the same position. That is, the reference display portion 50a and the deviation amount display portion 51 overlap on the image. Further, the horizontal width and vertical width of the reference display portion 50a are larger than the displacement amount display portion 51, and the displacement amount display portion 51 is contained within the reference display portion 50a on the image.

The unidirectional display section 50b is a figure indicating the deviation of the traveling vehicle body 3 with respect to the reference position with an arrow pointing in one direction (for example, left), and is arranged on the left side of the reference display section 50a. The other direction display section 50c is a figure indicating the deviation of the traveling vehicle body 3 with respect to the reference position by an arrow pointing in the other direction (for example, right) opposite to the one direction, and is arranged on the right side of the reference display section 50a. It is For example, when the traveling vehicle body 3 is deviated to the left from the reference position, the one-way display section 50b indicates that the traveling vehicle body 3 is deviated to the left from the reference position. Further, when the traveling vehicle body 3 is deviated to the right from the reference position, the other direction display section 50b indicates that the traveling vehicle body 3 is deviated to the right from the reference position. Therefore, in this embodiment, the direction in which the traveling vehicle body 3 is shifted from the reference position coincides with the arrow of the direction display section 50 (one direction display section 50b, other direction display section 50c).

A reference display portion 50a is positioned between the one-direction display portion 50b and the other-direction display portion 50c. In other words, the displacement amount display portion 51 is positioned between the one-direction display portion 50b and the other-direction display portion 50c.
The one-direction display section 50b and the other-direction display section 50c simultaneously display the magnitude (degree) of the amount of deviation together with the direction of deviation when indicating the direction of deviation. Specifically, the unidirectional display unit 50b can display the magnitude (degree) of the amount of misalignment in stages while indicating the direction of misalignment, and a plurality of unidirectional arrows indicating the misalignment in one direction. has a part. The display state (color depth) of the plurality of unidirectional arrow parts changes according to the amount of displacement.

The plurality of one-way arrow parts are a first arrow part 50b1, a second arrow part 50b2, and a third arrow part 50b.
3, 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 the stage where the magnitude of the amount of deviation is the smallest. ). The fifth arrow portion 50b5 indicates that the amount of deviation is the largest, and if the amount of deviation is equal to or greater than a predetermined value, the display color becomes darker. The second arrow portion 50b2, the third arrow portion 50b3, and the fourth arrow portion 50b4 indicate that the amount of deviation exceeds a predetermined value and the predetermined value is In the following cases, the display color becomes darker.

FIG. 5 shows changes in display state of a plurality of unidirectional arrow portions of the unidirectional display portion 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 amount of deviation exceeds 0.5 m and is 1.0 m or less, the display colors of the first arrow portion 50b1 and the second arrow portion 50b2 become darker. When the position of the traveling vehicle body 3 deviates to the left from the reference position and the amount of deviation 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 changed to darken. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the amount of deviation 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 The display color of the portion 50b4 becomes darker. If the position of the traveling vehicle body 3 deviates to the left from the reference position and the amount of deviation 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 darker. That is, the display state of the plurality of unidirectional arrow portions in the unidirectional display portion 50b changes in increments of 0.5 m. The threshold value (predetermined value) of the amount of deviation for darkening the display color of the arrow portion, that is, the degree of the amount of deviation is, for example, It may be set based on the ratio of the amount of deviation, or may be set by other methods.

The other direction display section 50c can display the magnitude (degree) of the amount of deviation in stages while indicating the direction of deviation, and has a plurality of other arrow parts that indicate deviation in the other direction. . The display state (color density) of the plurality of other-direction arrow parts changes according to the amount of deviation. The multiple other-direction arrow portions include a first arrow portion 50c1, a second arrow portion 50c2, a third arrow portion 50c3, a fourth arrow portion 50c4, and a fifth arrow portion 50c5.

The first arrow portion 50c1 indicates the stage where the magnitude of the amount of deviation is the smallest, and when the amount of deviation exceeds the predetermined value and is equal to or less than the predetermined value, the display color becomes darker. The fifth arrow portion 50c5 indicates the stage where the amount of deviation is the largest, and when the amount of deviation is equal to or greater than a predetermined value, the display color becomes darker. The second arrow portion 50c2, the third arrow portion 50c3, and the fourth arrow portion 50c4 indicate that the amount of deviation exceeds a predetermined value and If it is equal to or less than the predetermined value, the display color becomes darker.

Therefore, when the position of the traveling vehicle body 3 is deviated 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, the third The display color of the 5-arrow portion 50c5 changes according to the amount of displacement, as in the one-way display portion 50b. 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 unit 50, the one-direction display unit 50b (the first arrow portion 50b1, the second arrow portion 50b2, the third arrow portion 50b3 , fourth arrow portion 50b4, and fifth arrow portion 50b5) change. Therefore, it is possible to intuitively confirm how large the degree of deviation of the traveling vehicle body 3 in one direction is by looking not only at the numerical value displayed on the deviation amount display portion 51 but also at 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 confirm how large the degree of deviation of the traveling vehicle body 3 in the other direction is by looking not only at the numerical value displayed on the deviation amount display portion 51 but also at the plurality of arrow portions.

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

Also, the direction display section 50 and the deviation amount display section 51 are provided at the same position. That is, the direction display portion 50 and the deviation amount display portion 51 are displayed in an overlapping manner. Therefore, the direction display portion 50 and the deviation amount display portion 51 can be viewed with the same focal point, that is, both can be visually recognized without shifting the viewpoint (line of sight). Therefore, it is possible to visually recognize 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.

Further, the direction display section 50 has a reference display section 50a, a one-direction display section 50b and another direction display section 50c, and the deviation amount display section 51 is superimposed on the reference display section 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 is displaced from the reference position. Further, the direction of deviation can be grasped simply by looking at the one-direction display portion 50b and the other-direction display portion 50c arranged on one side and the other side of the reference display portion 50a. In other words, the reference display portion 50a can be regarded as the traveling vehicle body 3, and if the numerical value of the deviation amount display portion 51 displayed in the reference display portion 50a is zero, the position of the traveling vehicle body 3 and the reference position match. If the numerical value of the deviation amount display portion 51 displayed in the reference display portion 50a is other than zero, it is known that the position of the running vehicle body 3 is deviated from the reference position, and the current position of the running vehicle body 3 can be easily determined. can be grasped.

Now, as shown in FIG. 3, the field display portion 52 is a portion that virtually indicates a field such as an agricultural field or a farm on which the traveling vehicle body 3 travels. In addition, the field display unit 52 allows the operator seated in the driver's seat of the tractor 1 (running vehicle body 3) to visually see the actual field and the field (field image) displayed on the field display unit 52. Field images are shown obliquely to match. For convenience of explanation, the virtual field displayed on the field display section 52 may be referred to as a "virtual field" or a "field image".

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

Further, in the virtual field, the movement locus of the tractor 1, that is, the virtual work area (worked portion) W1 in which work has been performed by the tractor 1 can be displayed. A virtual working width corresponding to the working width of the tractor 1 (traveling vehicle body 3) is set in the virtual field, and the center position of the virtual working 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 area corresponding to the virtual working width based on the machine display section 53 is colored in a different color from the other areas in the field image after scrolling. , thereby rendering a virtual working area W1 in the virtual field. Data of the virtual work area W1 is stored in the storage unit 12b. The working width is the range of agricultural work that is performed when the tractor 1 travels in the field. In this embodiment, for spray operations, it is the spread width.

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

The second reference line L2 is a line drawn on the field image based on the virtual working width that virtually indicates the working width of the tractor 1 (the traveling vehicle body 3), and is indicated on the field image for each virtual working width. there is
A plurality of icon portions 55 are displayed in the field display portion 52 . The plurality of icon portions 55 includes a first icon portion 55a, a second icon portion 55b, a third icon portion 55c, and a fourth icon portion 55d.

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

The third icon portion 55c is an icon for commanding creation of a linear reference line L passing through a plurality of points. For example, when the third icon portion 55c is selected while the first point graphic A and the second point graphic B are displayed, a straight line passing through the first position on the virtual field and the second position on the virtual field is displayed. A shaped first reference line L1 is created on the virtual field. Also, a line having the same shape as the first reference line L1 created by the command 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 created on the virtual field. Multiple created.

Here, the third icon portion 55c is devised so that it is easy to visually recognize that it is an icon for commanding the creation of the linear reference line L. As shown in FIG. As shown in FIG. 4A, the third icon portion 55c has a rectangular frame 56 configured by a first side 56a, a second side 56b, a third side 56c, and a fourth side 56d.
The third icon portion 55c includes a first graphic 57 indicating the first point, a second graphic 58 indicating another point, and a third icon indicating the linear reference line L. 59. A first graphic 57 , a second graphic 58 and a third graphic 59 are shown within 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 graphic 58 is arranged near the corner portion 61 where the third side 56c and the fourth side 56d intersect. That is, the second graphic 58 is arranged at a corner 61 that is diagonal to the corner 60 where the first graphic 57 is shown. The third figure 59 is a figure showing a straight line, the starting point is located 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 figures (the first figure 57 and the second figure 58) indicating points are arranged at the diagonal corners 60 and 61, and the third icon portion 55c straddles the figures indicating the points. It is configured by arranging figures 59 . Therefore, since the third icon portion 55c emphasizes that the two points are connected by a straight line, it is possible to easily recognize that the icon is for creating a straight line connecting the two points.

The fourth icon portion 55d is an icon for commanding creation of a curved reference line L passing through a plurality of points. For example, when the fourth icon portion 55d is selected while the first point graphic A and the second point graphic B are displayed, the icon 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. In addition, a line having the same shape as the first reference line L1 created by an instruction from the fourth icon portion 55d is copied on the virtual field with the virtual working width, so that the second reference line L2 is formed on the virtual field. Multiple 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. As shown in FIG. 4B, the fourth icon portion 55d has a rectangular frame 63 configured by a first side 63a, a second side 63b, a third side 63c, and a fourth side 63d.
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 65 indicating the curved reference line L. 66. A first graphic 64 , a second graphic 65 and a third graphic 66 are shown within 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 graphic 65 is arranged near the corner portion 72 where the third side 63c and the fourth side 63d intersect. That is, the second graphic 65 is arranged at the corner 72 on the diagonal line with the corner 71 where the first graphic 64 is shown. A third figure 66 is a figure representing a curved line, and has a starting point located near the corner portion 71, an end point close to the second figure 65, and an arrow at the end point. Also, the third figure 66 has at least two bent portions (rounded portions) 66a and 66b to represent a curved line. 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 addition, in the third figure 66, a portion from the bent portion 66a to the bent portion 66b extends toward the second side 63b.

Therefore, in the fourth icon portion 55d, at least the figures (the first figure 64 and the second figure 65) indicating points are arranged at the diagonal corners 71 and 72, and the third icon portion 55d straddles the figures indicating the points. It is configured by arranging figures 66 . In addition, the bent portions 66a and 66b of the third figure 66 are drawn closer to the fourth side 63d and the second side 63b.
Therefore, since the fourth icon portion 55d emphasizes that two points are connected by a curved line, it is possible to easily recognize that the icon is an icon for creating a curved line connecting two points.

Further, as shown in FIG. 3, the multiple icon portions 55 include a fifth icon portion 55e, a sixth icon portion 55f, and a seventh icon portion 55g. The fifth icon portion 55e is an icon for commanding display of 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 graphic 68 representing the work area W1 and a second graphic 69 representing an eye (pupil). Further, the sixth icon portion 55f has a linear third figure 70 intersecting with a second figure 69 representing an eye (pupil). Therefore, the fifth icon portion 55e and the sixth icon portion 55f are composed of a first graphic 68 indicating the work area W1 and a second graphic 69 indicating an eye. 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, so that the icons of the display and non-display of the work area W1 can be easily visually recognized. can do.

The seventh icon portion 55g is an icon for instructing deletion of the data of the virtual work area W1 stored in the storage portion 12b. The seventh icon portion 55g does not show a figure corresponding to an eye (pupil), but a figure representing a cross (x). Therefore, it can be easily distinguished from the above-described icon for displaying/hiding the virtual work area W1, and the icon for deleting the data of the virtual work area W1 can be easily visually recognized.
[Second embodiment]
FIG. 6 shows the work support system of the second embodiment. A 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 control computer 27C.

The worker computer 27A is a communication terminal (portable terminal) that can be operated by a farm worker who performs farm work, and is assigned to the farm worker and possessed by the farm worker. The manager's computer 27B is a personal computer (PC) or the like assigned to the manager, which can be operated by the manager who manages the farm workers. The production control computer 27C is a server to which the operator's computer 27A and the manager's computer 27B can be connected.

First, the server (production control computer) 27C will be described.
The server 27C has a work plan creating section 30 that creates a work plan and a work plan storage section 31 that stores the work plan. The work plan creation unit 30 is configured by programs and the like stored in the server 27C. The work plan is a plan relating to agricultural work to be performed in a field, and includes at least spraying work to be performed in the field as agricultural work. The spraying work includes, for example, the work of spraying fertilizer (fertilization work), the work of spraying agricultural chemicals (pesticide spraying work), and the like. In addition, in agricultural work, it may be considered that work related to spraying work is spraying work. In addition, in the server 27C, it is possible to set plans such as bed soil making, ridge coating, plowing, rice planting, plowing, grooving, weeding, harvesting, seeding, fertilization (fertilization work), chemical spraying, etc. be.

When the administrator's computer 27B logs into the server 27C and receives a request to create a work plan from the administrator's computer 27B, the work plan creation section 30 responds to this request by performing the work as shown in FIG. A work plan setting screen 32 for making a plan is displayed on the administrator's computer 27B.
The work plan setting screen 32 includes a date setting portion 80 for setting a date for farm work, a work place setting portion 81 for setting a work place such as a field, a work setting portion 82 for setting farm work (work items of farm work), and a work setting portion 82 for setting farm work (work items of farm work). It includes a worker setting section 83 for setting a worker and a time setting section 84 for setting working hours. The work plan setting screen 32 also includes a machine setting portion 85 for setting the machine, a spraying agent setting portion 86 for setting the type of spraying agent, and a spraying amount setting portion 87 for setting the spraying amount of the spraying agent. there is

The work place setting section 81 displays a work place map, and by selecting a work place shown on the map, it is possible to set a work place to be performed. The work setting unit 82 sets work items of the above-described various agricultural works (bed soil making, ridge coating, plowing, rice planting, plowing, grooving, weeding, harvesting, seeding, fertilization (fertilization work), chemical spraying), that is, work items. can be selected or entered.

In the worker setting section 83, a list of worker names (agricultural worker names) registered in advance in the administrator computer 27B or the server 27C is displayed. can decide. In addition, the time setting section 84 can set the time zone for farm work. In the machine setting section 85, it is possible to set a working device for working with the agricultural machine. In the spraying agent setting unit 86, it is possible to set the type of spraying agent to be used for seeding, fertilization, chemical spraying, and the like. 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 (work device), type of spraying agent, spraying amount] set by the work plan setting screen 32 is stored in the work plan storage unit. 31.

Therefore, by connecting the administrator's computer 27B to the server 27C, a work plan can be easily created in association with a farm worker, and the created work plan can be stored in the work plan storage unit 31.
The server 27C also has a work instruction section 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 farm worker logs into the server 27C and receives 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. From the work plan storage unit 31, the work plan including the worker who has been selected is extracted. The work instruction unit 33 then transmits the extracted work plan to the communication terminal 27A. By inputting the field for which the work plan is to be obtained to the communication terminal 27A, the server 27C is requested to select the field for which the work plan is to be obtained, and the server 27C (work instruction unit 33) responds to the requested field. You may transmit the work plan to carry out to 27 A of communication terminals.

27 A of communication terminals can display the work plan acquired from 27 C of servers, and can transmit to agricultural machines 1, such as a tractor. The communication terminal 27A is configured by, for example, a smart phone (multi-function mobile phone) or tablet PC with relatively high computing power. The communication terminal 27A includes a first communication section 27A1, a first storage section 27A2, and a display section 27A3.
The first communication unit 27A1 is a device that wirelessly communicates with a communication unit (second communication unit 35A) of the tractor 1 (to be described later) and the server 27C. The first communication unit 27A1 can perform wireless communication by, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard. In addition, the first communication unit 27A1 can perform wireless communication using, 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.

Now, the tractor 1 has a communication device 35 . The communication device 35 is connected to the in-vehicle network N1. The communication device 35 includes a second communication section 35A and a second storage section 35B. The second communication unit 35A is configured by a device that performs short-distance or long-distance communication, and can be connected to an external device (computer). For example, the second communication unit 35A is a device that performs wireless communication using Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard. The second communication unit 35A may be a device that performs wireless communication via a mobile phone communication network or a device that performs wireless communication via 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 spraying work, a farm worker connects the communication terminal 27A and the server 27C by operating the communication terminal 27A. Then, the communication terminal 27A assigned to the farm worker receives the work plan corresponding to the field on which the spraying work is to be performed from the server 27C (work instruction unit 33). 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 acquiring unit 24 acquires at least the application amount included in the work plan among the work plans received by the communication device 35 .

As described above, the work support system and agricultural machine are provided with 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 spraying amount of the spraying agent to be sprayed by the working device (spraying device) 2. FIG. That is, since the communication device 35 (second communication unit 35A) can automatically receive the amount of spraying agent, it is not necessary to manually input the amount of spraying agent to obtain the remaining amount of spraying agent. The remaining amount can be obtained from the

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.
For example, the display device 12 may be provided with the configuration of the communication device 35, for example, the second communication unit 35A. The display device 12 and the communication device 35 may be configured as an integrated device. Further, the communication terminal 27A may be provided with the state acquisition unit 21, the width acquisition unit 22, the input amount acquisition unit 23, the application 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 application 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 section 50b and the other-direction display section 50c change the number of arrow portions to be darkened according to the degree of misalignment. The size of the arrow portion may be changed accordingly. For example, the one-way display portion 50b has at least one first arrow portion 50b1 indicating that it is shifted in one direction. Further, the other direction display portion 50c has at least one first arrow portion 50c1 indicating that it is shifted in the other direction. The first arrow portion 50b1 and the first arrow portion 50c1 have a large shape when the amount of deviation is large, and 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 portion 50b of the direction display portion 50. FIG. 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 portion 50 are matched. Alternatively, as shown in FIG. 8B, the displacement of the traveling vehicle 3 with respect to the reference position (for example, the first reference line L1) may be indicated by the other direction display section 50c instead of the one direction display section 50b. That is, the direction display section 50 may indicate the deviation of the traveling vehicle 3 with respect to the reference position by an arrow section (for example, right) pointing opposite to the direction of the deviation (for example, left). That is, in FIG. 8B, the direction of deviation indicated by the direction display portion 50 (the direction indicated by the arrow portion) indicates the direction in which the traveling vehicle body 3 is returned to the reference position. Therefore, the present invention is also applicable to the direction display portion 50 that indicates the direction in which the traveling vehicle body 3 is returned to the reference position, that is, the direction display portion 50 that indicates the direction opposite to the direction of deviation of the traveling vehicle 3 from the reference position by an arrow. It is possible.

1 working machine 2 working device 3 traveling vehicle body 12 display device 50 direction display portion 50a reference display portion 50b one-direction display portion 50b1 first arrow portion 50b2 second arrow portion 50b3 third arrow portion 50b4 fourth arrow portion 50b5 fifth arrow portion 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 Deviation 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 that detects the position of the traveling vehicle based on signals from positioning satellites;
a display device for displaying information about the position of the traveling vehicle body detected by the detection device;
with
The display device includes a reference display section and a direction display section for displaying a direction in which the traveling vehicle body is returned so as to eliminate deviation of the traveling vehicle body from a predetermined reference line, and the direction display section includes the reference display section. a one-direction display portion arranged in one direction of the reference display portion and indicating that the traveling vehicle body is to be returned to the left; and a other direction display portion arranged in the other direction of the reference display portion and indicating that the traveling vehicle body is to be returned to the right. including
The unidirectional display section and the other directional display section include figures that are visible when there is no misalignment, and the unidirectional display section and the other directional display section have a shape similar to that of the reference display section. are different and
The display form of the figure included in the one-direction display section changes to a display form different from the display form when there is no deviation, thereby indicating that the figure is returned to the left side, and is included in the other-direction display section. A driving support device for an agricultural machine, in which a display form for a graphic is changed to a display form different from the display form when there is no deviation, thereby indicating that the figure is returned to the right side. 2. The agricultural machine according to claim 1, wherein the display device displays the degree of deviation and also displays the direction in which the deviation is eliminated by the figures included in the one-direction display section and the other-direction display section. Driving assistance device. The driving support device for agricultural machinery according to claim 1 or 2, wherein the one-direction display section and the other-direction display section change display states according to the degree of deviation. 3. The figure according to claim 1 or 2, wherein the graphic of the one-direction display represents an arrow returning to the left of the running vehicle body, and the graphic of the other-direction display represents an arrow returning to the right of the running vehicle. of agricultural machinery. The graphic of the one-direction display portion changes its density when indicating that the traveling vehicle body is to be returned to the left side, and the graphic of the other-direction display section has its density when indicating that the traveling vehicle body is to be returned to the right side. 3. The driving support device for an agricultural machine according to claim 1 or 2. 6. The driving support device for agricultural machinery according to claim 1, wherein said display device displays said reference line indicating straight running of said traveling vehicle body. a traveling vehicle provided with a working device;
a detection device that detects the position of the traveling vehicle body based on a signal from a positioning satellite;
a display device for displaying information about the position of the traveling vehicle body detected by the detection device;
with
The display device includes a reference display section and a direction display section for displaying a direction in which the traveling vehicle body is returned so as to eliminate deviation of the traveling vehicle body from a predetermined reference line, and the direction display section includes the reference display section. a one-direction display portion arranged in one direction of the reference display portion and indicating that the traveling vehicle body is to be returned to the left; and a other direction display portion arranged in the other direction of the reference display portion and indicating that the traveling vehicle body is to be returned to the right. including
The unidirectional display section and the other directional display section include figures that are visible when there is no misalignment, and the unidirectional display section and the other directional display section have a shape similar to that of the reference display section. are different and
The display form of the figure included in the one-direction display section changes to a display form different from the display form when there is no deviation, thereby indicating that the figure is returned to the left side, and is included in the other-direction display section. Agricultural machinery showing that the display form for the figure is returned to the right side by changing to a display form different from the display form when the deviation does not occur. 8. The agricultural machine according to claim 7, wherein the display device displays the degree of the deviation and also displays the direction in which the deviation is eliminated by the figures included in the one-direction display section and the other-direction display section. The agricultural machine according to claim 7 or 8, wherein the one-direction display section and the other-direction display section change display states according to the degree of deviation. 9. The figure of claim 7 or 8, wherein the graphic of the one-direction display represents an arrow returning to the left of the running vehicle body, and the graphic of the other-direction display represents an arrow returning to the right of the running vehicle. agricultural machinery. The graphic of the one-direction display portion changes its density when indicating that the traveling vehicle body is to be returned to the left side, and the graphic of the other-direction display section has its density when indicating that the traveling vehicle body is to be returned to the right side. 9. Agricultural machine according to claim 7 or 8, which varies. The agricultural machine according to any one of claims 7 to 11, wherein the display device displays the reference line indicating straight running of the traveling vehicle body.

Images