JP7345605B2 - Travel control device - Google Patents

Description

The present invention relates to a travel control device that controls the travel of a work vehicle that is capable of autonomous work travel.

As the above-mentioned travel control device, for example, the one described in Patent Document 1 is already known. The travel control device described in Patent Document 1 ("control device" in Patent Document 1) is mounted on a work vehicle ("autonomous work vehicle" in Patent Document 1). The travel control device controls the travel of the work vehicle so that the work vehicle travels along a set route that is preset at the work site.

Japanese Patent Application Publication No. 2015-195796

When starting work travel by the work vehicle described in Patent Document 1, the operator needs to operate the work vehicle to stop the work vehicle at a preset work travel start position.

At this time, it may be difficult for an operator who is not proficient in operating the work vehicle to accurately stop the work vehicle at the starting position. If the work vehicle is stopped at a position that deviates from the starting position, it is assumed that the travel of the work vehicle deviates from the set route.

An object of the present invention is to provide a travel control device that makes it easy to accurately stop a work vehicle at a starting position.

The features of the present invention are:
A travel control device that controls the travel of a work vehicle capable of self-driving work travel,
an own vehicle position detection device that detects the own vehicle position of the work vehicle;
a display capable of displaying work information of the work vehicle;
a position determination unit that determines whether the work vehicle is located within an automatic travel permission area;
When the position determination unit determines that the work vehicle is located within the automatic driving permission area,
displaying the own vehicle position of the work vehicle and the start position of the work travel on the display ;
The automatic travel permission area has a shape that becomes narrower toward the forward side in the traveling direction of the work vehicle at the start of the work travel .

For example, when a work vehicle is automatically guided to the starting position from a point located behind the starting position, if the point is shifted from the starting position in the left and right direction, the work It is necessary to correct the positional deviation in the left and right direction while guiding the car to the starting position. At this time, if the width of the positional deviation in the left-right direction is too large, it is assumed that the positional deviation in the left-right direction cannot be sufficiently corrected during guided travel.

Here, as the guided travel is started from a point further to the rear, the distance of the guided travel becomes longer, and therefore, the upper limit of the width of positional deviation in the left and right direction that can be corrected in the guided travel becomes larger. That is, the further the guided travel is started from a point on the rear side, the easier it is for the positional deviation in the left and right direction from the starting position to be tolerated. Therefore, the area that can be set as the starting point for guided travel is wider in the left-right direction as the rear side approaches.

With the above configuration, the automatic travel permission area has a shape that becomes wider toward the backward traveling side in the traveling direction of the work vehicle at the start of work travel. This makes it possible to set an automatic travel permission area that reflects the fact that positional deviation in the left and right direction is more easily tolerated at points further to the rear. That is, it is possible to set the range of the automatic travel permission area as wide as possible while ensuring that the positional deviation in the left and right direction is corrected until the work travel start position is reached.

FIG. 3 is a left side view of the tractor. FIG. 3 is a cross-sectional plan view of main parts showing the configuration of the operating section. It is a diagram showing the configuration of a terminal device. It is an enlarged view of the terminal device showing the configuration of a first touch button, a second touch button, a first physical button, and a second physical button. FIG. 2 is a block diagram showing a control configuration related to displaying on a display. It is a figure which shows the display content of a display at the time of movement to the starting position of work travel. FIG. 6 is a diagram showing the contents displayed on the display at the start of work traveling. FIG. 6 is a diagram showing the contents displayed on the display while the vehicle is traveling for work. FIG. 6 is a diagram showing the contents displayed on the display while the vehicle is traveling for work. FIG. 6 is a diagram showing the contents displayed on the display while the vehicle is traveling for work. It is a figure which shows the guidance start area in other embodiments. It is a figure which shows the guidance start area in other embodiments. It is a figure which shows the guidance start area in other embodiments.

Embodiments for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the front and rear directions will be described as follows. That is, when the machine is traveling for work, the forward direction is "front", and the backward direction is "rear". The direction corresponding to the right side is the "right" direction, and the direction corresponding to the left side is the "left" with respect to the forward facing posture in the front-rear direction.

In addition, in the explanations regarding FIGS. 3, 4, and 6 to 10, the direction on the right side of the page is "right" and the direction on the left side of the page is "left."

[Overall configuration of tractor]
FIG. 1 is a diagram showing the configuration of a tractor 1, which is an example of a working vehicle. The tractor 1 is configured to be capable of automatically driving for work.

As shown in FIG. 1, a driving unit 2 is provided at the front of the tractor 1. The driving unit 2 has an engine 2a. The tractor 1 also includes a wheel-type traveling device 3. The traveling device 3 has a pair of left and right front wheels 31 and a pair of left and right rear wheels 32.

Power from the engine 2a is transmitted to a pair of left and right front wheels 31 and a pair of left and right rear wheels 32 via a main clutch (not shown) and a transmission 6. This power drives a pair of left and right front wheels 31 and a pair of left and right rear wheels 32.

A driving section 4 is provided behind the driving section 2 . As shown in FIGS. 1 and 2, the driver section 4 includes a driver's seat 41, an armrest 42, a support arm 43, a steering wheel 44, a shuttle lever 45, a clutch pedal 46, left and right brake pedals 47, and a terminal device 5. ing. In the driving section 4, the operator can perform various manual driving operations.

As shown in FIGS. 1 and 2, the terminal device 5 is supported by a support arm 43. Furthermore, by operating the steering wheel 44, the operator can steer the pair of left and right front wheels 31.

Further, the operator can switch the tractor 1 between forward and backward movement by operating the shuttle lever 45.

Furthermore, by operating the clutch pedal 46, the operator can turn on and off the main clutch.

Furthermore, the operator can operate the left and right side brakes by operating the left and right brake pedals 47.

As shown in FIG. 1, a tilling device 8 is attached to the rear of the tractor 1 via a lifting mechanism 7. As shown in FIG. Power from the engine 2 a is transmitted to the tilling device 8 via a PTO shaft 9 . The tilling device 8 is then driven by this power.

The tractor 1 can perform work traveling by traveling while driving the tilling device 8.

[Terminal device configuration]
FIGS. 3 and 4 are diagrams showing the terminal device 5 during work travel in automatic operation. At this time, five first touch buttons 11 and five second touch buttons 12 are displayed vertically on the right end portion of the display 51 of the terminal device 5. Different functions are assigned to the five first touch buttons 11 and the five second touch buttons 12, respectively.

Further, the display 51 is of a touch panel type. By touching any of the five first touch buttons 11 and the five second touch buttons 12, the operator can activate the function assigned to the touched button.

Further, the display 51 displays work information that is information related to work. In the example shown in FIG. 3, the display 51 displays, as work information, the position of the tractor 1 in the work area W where the work is to be carried out and the target travel route L in the work area W in the form of a map.

As shown in FIGS. 3 and 4, the terminal device 5 includes five first physical buttons 21 and five second physical buttons 22 provided outside the display 51. The five first physical buttons 21 and the five second physical buttons 22 are arranged vertically.

Different functions are assigned to the five first physical buttons 21 and the five second physical buttons 22, respectively. By pressing any of the five first physical buttons 21 and the five second physical buttons 22, the operator can activate the function assigned to the pressed button.

As shown in FIGS. 3 and 4, the five first touch buttons 11 include a first button b1, a second button b2, a third button b3, a fourth button b4, and a fifth button b5. Further, the five second touch buttons 12 include a sixth button b6, a seventh button b7, an eighth button b8, a ninth button b9, and a tenth button b10.

Further, as shown in FIGS. 3 and 4, the five first physical buttons 21 are composed of an 11th button b11, a 12th button b12, a 13th button b13, a 14th button b14, and a 15th button b15. . Further, the five second physical buttons 22 include a 16th button b16, a 17th button b17, an 18th button b18, a 19th button b19, and a 20th button b20.

As shown in FIGS. 3 and 4, the arrangement of the five first touch buttons 11 corresponds to the arrangement of the five first physical buttons 21. Further, the arrangement of the five second touch buttons 12 corresponds to the arrangement of the five second physical buttons 22.

Further, as shown in FIGS. 3 and 4, the five second touch buttons 12 are displayed adjacent to the five first touch buttons 11. Furthermore, the five second physical buttons 22 are provided adjacent to the five first physical buttons 21. Then, a touch button display area D1 is an area where five first touch buttons 11 and five second touch buttons 12 are displayed, and a touch button display area D1 is an area where five first physical buttons 21 and five second physical buttons 22 are arranged. The physical button arrangement area D2 and the area are adjacent to each other.

The same functions as those assigned to the five first touch buttons 11 are assigned to the five first physical buttons 21 . Further, the same functions as those assigned to the five second touch buttons 12 are assigned to the five second physical buttons 22 .

More specifically, the same function is assigned to the first button b1 and the eleventh button b11. Further, the same function is assigned to the second button b2 and the twelfth button b12. Similarly, the third button b3 and the thirteenth button b13, the fourth button b4 and the fourteenth button b14, the fifth button b5 and the fifteenth button b15, the sixth button b6 and the sixteenth button b16, the seventh button b7 and The same function is assigned to the 17th button b17, the 8th button b8 and the 18th button b18, the 9th button b9 and the 19th button b19, the 10th button b10 and the 20th button b20, respectively.

That is, each of the five first physical buttons 21 is assigned the same function as the corresponding first touch button 11 among the five first touch buttons 11. Furthermore, the same functions as the second touch buttons 12 corresponding to the arrangement among the five second touch buttons 12 are assigned to the five second physical buttons 22, respectively.

Further, as shown in FIGS. 3 and 4, the first button b1 to the fifth button b5 have a first function display section f1 to a fifth function display section f5, respectively. Further, the sixth button b6 to the tenth button b10 have a sixth function display section f6 to a tenth function display section f10, respectively.

The first function display section f1 to the tenth function display section f10 display the functions assigned to the first button b1 to the tenth button b10, respectively.

Furthermore, as described above, the functions of the first button b1 to the tenth button b10 correspond to the functions of the eleventh button b11 to the twentieth button b20. Therefore, the first function display section f1 to the tenth function display section f10 also display the functions assigned to the eleventh button b11 to the twentieth button b20, respectively.

[About the control device]
FIG. 5 shows a vehicle direction detection device 61, a vehicle position detection device 62, and a control device 100. The vehicle direction detection device 61, the vehicle position detection device 62, and the control device 100 are all included in the tractor 1.

The own vehicle direction detection device 61 detects the running direction of the own vehicle. Further, the own vehicle position detection device 62 detects the own vehicle position.

As shown in FIG. 5, various signals are input to the control device 100 from the own vehicle direction detection device 61, the own vehicle position detection device 62, and the terminal device 5. Then, the control device 100 outputs predetermined signals to the traveling device 3 and the terminal device 5 based on the various input signals.

Further, as shown in FIG. 5, the control device 100 includes a button display section 101, an information display section 102, a function change section 103, an index value calculation section 104, an index value display section 105, a color classification processing section 106, a guidance index display section 107, a position determination section 108, a guidance control section 109, and a remaining time display section 110.

Further, as shown in FIGS. 3 and 5, the tractor 1 includes a travel control device A that controls the travel of the tractor 1. The travel control device A includes a display 51, a guidance indicator display section 107, a position determination section 108, and a guidance control section 109.

The button display section 101 is configured to display five first touch buttons 11 in a vertical line on the display 51. Further, the button display section 101 is configured to display the five second touch buttons 12 vertically and adjacent to the right side of the five first touch buttons 11 on the display 51.

The information display unit 102 is configured to display work information on the display 51. For example, in FIG. 3, the information display unit 102 displays on the display 51 the position of the tractor 1 at the work site W where work travel is performed and the target travel route L at the work site W as work information.

Below, the functions of each part of the control device 100 will be explained along the procedure of automatically driving the tractor 1 for work travel.

[About moving to the starting position of work travel]
First, with reference to FIGS. 6 and 7, the movement of the tractor 1 to the starting position S of working travel will be described.

When performing work at the work site W using the tractor 1, the operator first activates the terminal device 5. Then, various settings are input using the terminal device 5. At this time, for example, the operator inputs settings such as the tilling lap width and the rotation speed of the engine 2a.

When the input of various settings is completed, the current position of the tractor 1 and the guidance index E are displayed on the display 51, as shown in FIG. The guidance index E is displayed on the display 51 by the guidance index display section 107. Further, the guidance index E corresponds to a guidance start region R (an example of the "automatic travel permitted region" of the present invention), which is a region set within the work area W.

The guidance indicator E includes a graphic G and a direction indicator H. The figure G shows the position and shape of the guidance start region R. Further, a direction indicator H indicates the direction of movement of the tractor 1 at the start of work travel. The display position of the direction indicator H on the display 51 corresponds to the position of the guidance start area R in the work area W.

As shown in FIG. 6, in this embodiment, the guidance start region R is trapezoidal. Therefore, the figure G displayed on the display 51 also has a trapezoidal shape. Further, in this embodiment, the guidance start region R has a shape that becomes narrower toward the forward side in the traveling direction of the tractor 1 at the start of work travel.

The position determination unit 108 shown in FIG. 5 is configured to determine whether the tractor 1 is located within the guidance start region R based on the signal from the own vehicle position detection device 62. Furthermore, when the position determining unit 108 determines that the tractor 1 is located within the guidance start region R, the system is configured to permit transition from the manual travel mode to the automatic travel mode. In this embodiment, automatic travel in the automatic travel mode includes start position guidance for automatically driving the tractor 1 to a start position S for starting work travel prior to work travel for performing actual work. Therefore, when the position determination unit 108 determines that the tractor 1 is located within the guidance start region R, the guidance control unit 109 controls the traveling device 3 to move the tractor 1 to the work travel starting position. The vehicle is configured to run up to S.

Note that in determining whether the tractor 1 is located within the guidance start region R, it may be determined whether the entire tractor 1 is located within the guidance start region R, or it may be determined whether the tractor 1 is located entirely within the guidance start region R. It may be determined whether a part is located within the guidance start region R or not.

Further, the guide indicator display section 107 shown in FIG. 5 can switch the display state of the guide indicator E between a first display state and a second display state. When the position determination unit 108 determines that the tractor 1 is not located within the guidance start region R, the display state of the guidance index E becomes the first display state. Further, when the position determination unit 108 determines that the tractor 1 is located within the guidance start region R, the display state of the guidance index E becomes the second display state.

In this embodiment, the inside of the graphic G in the first display state is displayed in orange. Further, the inside of the graphic G in the second display state is displayed in green. That is, the color of the guide indicator E in the first display state and the color of the guide indicator E in the second display state are different from each other.

Thereby, the operator can grasp whether the tractor 1 is located within the guidance start region R or not.

When the tractor 1 is located at the position indicated by the solid line in FIG. 6, the position determination unit 108 determines that the tractor 1 is not located within the guidance start region R. Therefore, at this time, the guidance control section 109 does not control the traveling device 3. Further, at this time, the inside of the figure G is displayed in orange by the guidance indicator display section 107.

Then, when the operator manually drives the tractor 1 and the tractor 1 reaches the position shown by the dotted line in FIG. 6, the position determination unit 108 determines that the tractor 1 is located within the guidance start region R. As a result, control of the traveling device 3 by the guidance control unit 109 is started. Further, at this time, the interior color of the figure G is switched from orange to green by the guidance indicator display section 107.

Note that at this time, the tractor 1 may be configured to move to the position shown by the dotted line in FIG. 6 by automatic operation instead of manual operation.

Then, under the control of the traveling device 3 by the guidance control unit 109, the tractor 1 automatically travels from the position indicated by the dotted line in FIG. 6 to the starting position S. This completes the movement of the tractor 1 to the starting position S.

When the movement of the tractor 1 to the starting position S is completed, the entire target travel route L at the work site W is displayed on the display 51, as shown in FIG. Note that in FIG. 7, the tractor 1 is located at a starting position S.

Further, in the state shown in FIG. 6, the characters "Next" are displayed in a faint color on the ninth function display section f9 of the ninth button b9 in this embodiment. On the other hand, in the state shown in FIG. 7, the characters "Next" are displayed darkly in the ninth function display section f9 of the ninth button b9.

In the state shown in FIG. 6, the operations of the ninth button b9 and the nineteenth button b19 are both disabled. Further, in the state shown in FIG. 7, the operations of the ninth button b9 and the nineteenth button b19 are both valid.

In this way, the button display section 101 can switch the display state of the second touch button 12 between the first display state and the second display state. When the display state of the second touch button 12 is the first display state, the operations of the second touch button 12 and the second physical button 22 are both valid.

Furthermore, when the display state of the second touch button 12 is the second display state, the operations of the second touch button 12 and the second physical button 22 are both invalid.

More specifically, when the display state of any second touch button 12 among the five second touch buttons 12 is the first display state, the characters and symbols are displayed darkly on that second touch button 12. be done. At this time, the operations of the second touch button 12 and the second physical button 22 corresponding to the second touch button 12 are both valid.

Further, when the display state of any one of the five second touch buttons 12 is the second display state, the characters and symbols are displayed in a faint color on that second touch button 12. At this time, the operations of the second touch button 12 and the second physical button 22 corresponding to the second touch button 12 are invalid.

[About the functions of each button while working]
Next, with reference to FIGS. 3, 4, and 8 to 10, the functions of the first button b1 to the twentieth button b20 when the tractor 1 is traveling for work will be described.

After the movement of the tractor 1 to the starting position S is completed, when the operator presses a drive start button (not shown) provided on the tractor 1, work travel by automatic operation is started. 3, FIG. 4, and FIGS. 8 to 10 show the terminal device 5 when the tractor 1 is traveling for work.

When the tractor 1 is traveling for work, as shown schematically in FIGS. 3, 4, and 8, the first function display section f1 of the first button b1 in this embodiment displays "Setting change". ' is displayed. In the state shown in FIG. 3, when the operator operates the first button b1 or the eleventh button b11, a setting change window P1 is displayed as shown in FIG.

The current vehicle speed and plowing depth of the tractor 1 are displayed in the setting change window P1. Note that the vehicle speed and plowing depth are types of work information described above.

Further, when the tractor 1 is traveling for work, although it is schematically shown in FIGS. 3 and 4, the second function display section f2 of the second button b2 in this embodiment displays a "status display". characters are displayed. Furthermore, the words "work record" are displayed on the third function display section f3 of the third button b3. Furthermore, the words "trajectory display" are displayed on the fourth function display section f4 of the fourth button b4. Furthermore, the words "trajectory clear" are displayed on the fifth function display section f5 of the fifth button b5.

When the setting change window P1 is displayed, the display on the second function display section f2 of the second button b2 shown in FIGS. 3 and 4 changes from the characters "Status display" to the "+" character as shown in FIG. Switch to symbol. At the same time, the display on the third function display section f3 switches from "work record" to "-", the display on the fourth function display section f4 switches from "trajectory display" to "+", and the display on the fifth function display section f5 The display changes from "trajectory clear" to "-".

Further, at this time, the functions assigned to the five first touch buttons 11 and the five first physical buttons 21 are also changed.

As shown in FIG. 3, when the setting change window P1 is not displayed, the function of the first button b1 and the eleventh button b11 is to open the setting change window P1. Further, the function of the second button b2 and the twelfth button b12 is to display the vehicle status such as the oil temperature in the transmission 6. Further, the function of the third button b3 and the thirteenth button b13 is to open the work status window P2 shown in FIG. 9. Further, the function of the fourth button b4 and the fourteenth button b14 is to display the traveling trajectory of the tractor 1. Further, the function of the fifth button b5 and the fifteenth button b15 is a function of erasing the recorded traveling trajectory of the tractor 1.

On the other hand, as shown in FIG. 8, when the setting change window P1 is displayed, the function of the first button b1 and the eleventh button b11 is to close the setting change window P1. Further, the function of the second button b2 and the twelfth button b12 is a function of increasing the set vehicle speed of the tractor 1. Further, the function of the third button b3 and the thirteenth button b13 is a function of decreasing the set vehicle speed of the tractor 1. Moreover, the function of the fourth button b4 and the fourteenth button b14 is a function of increasing the plowing depth of the tractor 1. Further, the function of the fifth button b5 and the fifteenth button b15 is a function of decreasing the plowing depth of the tractor 1.

That is, when the setting change window P1 is displayed, the functions assigned to the five first touch buttons 11 and the five first physical buttons 21 are respectively changed. Such a function change is performed by the function change unit 103 according to the work information displayed on the display 51.

In this way, the function changing unit 103 is configured to change the functions assigned to the five first touch buttons 11 and the five first physical buttons 21 according to the work information displayed on the display 51. .

Further, when the tractor 1 is traveling for work, the sixth function of the sixth button b6 of the five second touch buttons 12 of this embodiment is shown schematically in FIGS. 3 and 4. The words "Current location" are displayed on the display section f6. Furthermore, the words "enlarge" are displayed on the seventh function display section f7 of the seventh button b7. Further, the characters "Reduce" are displayed on the eighth function display section f8 of the eighth button b8. Further, the characters "Next" are displayed on the ninth function display section f9 of the ninth button b9. Further, the characters "Back" are displayed on the tenth function display section f10 of the tenth button b10.

As shown in FIG. 8, even if the setting change window P1 is displayed, the sixth function display section f6, the seventh function display section f7, the eighth function display section f8, and the ninth function display section f8, The displays on the function display section f9 and the tenth function display section f10 do not change.

Further, the functions assigned to the five second touch buttons 12 and the five second physical buttons 22 are constant regardless of whether or not the setting change window P1 is displayed.

More specifically, as shown in FIGS. 3, 4, and 8, both when the setting change window P1 is displayed and when it is not displayed, the sixth button b6 and the sixteenth button b16 are pressed. The function is to display the current location of the tractor 1 at the work site W. Further, the function of the seventh button b7 and the seventeenth button b17 is to enlarge the map display of the work area W on the display 51. Further, the function of the eighth button b8 and the eighteenth button b18 is to reduce the map display of the work area W on the display 51. Further, the function of the ninth button b9 and the nineteenth button b19 is to advance message display, various setting display, etc. on the display 51 to the next screen. Furthermore, the function of the 10th button b10 and the 20th button b20 is to return to the previous screen.

In this way, regardless of the work information displayed on the display 51, the functions assigned to the five second touch buttons 12 and the five second physical buttons 22 are constant.

Further, in FIG. 8, all five first touch buttons 11 are displayed on the display 51. On the other hand, as shown in FIG. 9, when the work status window P2 is displayed, among the five first touch buttons 11, the first button b1, the second button b2, the fourth button b4, and the fifth button b5 are pressed. are not displayed on the display 51.

In the state shown in FIG. 8, all operations on the five first touch buttons 11 are valid. On the other hand, in the state shown in FIG. 9, among the five first touch buttons 11, the operations of the first button b1, second button b2, fourth button b4, and fifth button b5 are all invalid. Further, in the state shown in FIG. 9, the operations of the 11th button b11, the 12th button b12, the 14th button b14, and the 15th button b15 are all invalid.

In this way, the button display section 101 can switch the display state of the first touch button 11 between the first display state and the second display state. When the display state of the first touch button 11 is the first display state, the operations of the first touch button 11 and the first physical button 21 are both valid.

Furthermore, when the display state of the first touch button 11 is the second display state, the operations of the first touch button 11 and the first physical button 21 are both invalid.

More specifically, when any one of the five first touch buttons 11 is in the first display state, that first touch button 11 is displayed on the display 51. At this time, the operations of the first touch button 11 and the first physical button 21 corresponding to the first touch button 11 are both valid.

Moreover, when the display state of any one of the five first touch buttons 11 is in the second display state, that first touch button 11 is not displayed on the display 51. At this time, the operations of the first touch button 11 and the first physical button 21 corresponding to the first touch button 11 are invalid.

[About the display of index values during work driving]
As shown in FIGS. 3 and 8 to 10, an index value display area Q is located at the top of the display 51. In the index value display area Q, an index value indicating the degree of deviation of the actual travel trajectory from the target travel route L is displayed.

In this embodiment, this index value is the azimuth deviation of the driving azimuth of the own vehicle with respect to the azimuth of the target driving route L. Note that this index value is not limited to the azimuth deviation, but may be a positional deviation of the own vehicle position with respect to the target travel route L.

In this embodiment, the azimuth deviation as this index value is calculated by the index value calculation unit 104 based on the signal from the host vehicle azimuth detection device 61. Then, the calculated azimuth deviation is displayed in the index value display area Q by the index value display section 105. Note that the contents displayed in the index value display area Q by the index value display section 105 are not limited to numbers. The index value display section 105 can also display, in the index value display area Q, an indicator indicating the direction of deviation and the magnitude of the azimuth deviation.

Further, the index value display section 105 is configured to display the azimuth deviation on the display 51 in one of green, yellow, and red depending on the magnitude of the azimuth deviation. More specifically, the displayed color of the azimuth deviation is green when the azimuth deviation is relatively small, yellow when the azimuth deviation is medium, and red when the azimuth deviation is relatively large.

As shown in FIGS. 3 and 10, when the azimuth deviation is relatively small, no numbers are displayed in the index value display area Q. At this time, a green horizontally elongated hexagonal indicator is displayed in the index value display area Q by the index value display section 105. This indicator informs the operator that the current heading deviation is relatively small. That is, this indicator displays the azimuth deviation.

Further, as shown in FIGS. 8 and 9, when the azimuth deviation is medium or relatively large, the index value display section 105 displays a number indicating the azimuth deviation in the index value display area Q. Further, at this time, an indicator indicating the direction and magnitude of the deviation is displayed by the index value display section 105 at a position adjacent to the number indicating the azimuth deviation. In the example shown in FIGS. 8 and 9, this indicator indicates that the driving direction of the vehicle relative to the direction of the target driving route L is shifted to the right.

These numbers and indicators are displayed in yellow when the azimuth deviation is moderate, and are displayed in red when the azimuth deviation is relatively large.

As shown in FIG. 10, the color-coding processing unit 106 shown in FIG. It is composed of

More specifically, the color-coding processing unit 106 colors the section in which the azimuth deviation was displayed in green in the index value display area Q, and the section in which the azimuth deviation was displayed in yellow, in yellow. The section where the heading deviation was displayed in red is now colored red.

In this embodiment, it is assumed that when the tractor 1 was traveling in the first section s1 shown in FIG. 10, the azimuth deviation was displayed in green in the index value display area Q. Further, assume that when the tractor 1 was traveling in the second section s2 shown in FIG. 10, the azimuth deviation was displayed in yellow in the index value display area Q. Further, assume that when the tractor 1 was traveling in the third section s3 shown in FIG. 10, the azimuth deviation was displayed in red in the index value display area Q.

At this time, as shown in FIG. 10, of the target travel route L displayed on the display 51, the first section s1 is color-coded in green. Further, the second section s2 is color-coded in yellow. Further, the third section s3 is color-coded in red.

In this way, the color-coding processing unit 106 is configured to color-code the portions of the target travel route L displayed on the display 51 that have been completed in accordance with the index values.

As shown in FIG. 10, the display 51 can display a remaining time display window P3. A predicted value of the remaining time until the tractor 1 finishes traveling the entire target travel route L is displayed in the remaining time display window P3.

This predicted value of the remaining time is displayed on the display 51 by the remaining time display section 110 shown in FIG.

According to the configuration described above, once the tractor 1 reaches the guidance start region R, the movement to the work travel start position S will be automatically performed thereafter. That is, when moving the tractor 1 to the starting position S, the operator only needs to operate the tractor 1 to reach within the guidance starting region R.

Therefore, with the configuration described above, it becomes easy to stop the tractor 1 at the starting position S accurately.

[Other embodiments]
(1) In the above embodiment, as shown in FIG. 6, the guidance start region R is trapezoidal. Therefore, the figure G displayed on the display 51 also has a trapezoidal shape. However, instead of this configuration, as shown in FIG. 11, a configuration may be adopted in which the guidance start region R is fan-shaped and the figure G displayed on the display 51 is also fan-shaped. Alternatively, as shown in FIG. 12, the guidance start region R may be triangular, and the figure G displayed on the display 51 may also be triangular. Alternatively, as shown in FIG. 13, the guidance start region R may be rectangular, and the figure G displayed on the display 51 may also be rectangular.

(2) In the embodiment described above, five first touch buttons 11, five second touch buttons 12, five first physical buttons 21, and five second physical buttons 22 are provided in vertical rows. However, instead of this configuration, a plurality of first touch buttons 11, a plurality of second touch buttons 12, a plurality of first physical buttons 21, and a plurality of second physical buttons 22 may be provided side by side. . Further, the number of first touch buttons 11, second touch buttons 12, first physical buttons 21, and second physical buttons 22 may be six or more, or four or less. good. Moreover, one each of the first touch button 11, the second touch button 12, the first physical button 21, and the second physical button 22 may be provided.

(3) The second touch button 12 may not be provided.

(4) The second physical button 22 may not be provided.

(5) When the display state of any second touch button 12 among the plurality of second touch buttons 12 is the first display state, that second touch button 12 is displayed on the display 51, and the display state is the first display state. 2 display state, the second touch button 12 may not be displayed on the display 51.

(6) When the display state of any of the first touch buttons 11 among the plurality of first touch buttons 11 is the first display state, the characters and symbols are displayed darkly on the first touch button 11, and the display When the state is the second display state, the first touch button 11 may have a structure in which characters and symbols are displayed in a faint manner.

(7) The display state of the plurality of first touch buttons 11 may not be switched between the first display state and the second display state.

(8) The display state of the plurality of second touch buttons 12 may not be switched between the first display state and the second display state.

(9) The plurality of first touch buttons 11 and the plurality of second touch buttons 12 do not need to be adjacent to each other. For example, a configuration may be adopted in which a plurality of first touch buttons 11 are provided at the left end portion of the display 51 and a plurality of second touch buttons 12 are provided at the right end portion of the display 51.

(10) The touch button display area D1 and the physical button arrangement area D2 do not have to be adjacent to each other. For example, the touch button display area D1 may be provided at the left end of the display 51, and the physical button arrangement area D2 may be provided at the right side of the display 51.

(11) The traveling device 3 may be of a crawler type or a semi-crawler type.

(12) The interior color of the figure G when the display state of the guidance indicator E is the first display state may be displayed in a color other than orange.

(13) When the display state of the guidance indicator E is the second display state, the interior color of the figure G may be displayed in a color other than green.

(14) The color of the guide indicator E in the first display state and the color of the guide indicator E in the second display state may be the same. In that case, for example, the guide indicator E in the first display state may be displayed in a blinking state, and the guide indicator E in the second display state may be displayed in a lit state.

(15) The display state of the guide indicator E may not be switched between the first display state and the second display state.

(16) The guidance indicator E may include only the direction indicator H out of the graphic G and the direction indicator H. That is, a configuration may be adopted in which only the direction indicator H is displayed on the display 51 and the graphic G is not displayed.

(17) The guide indicator E may include only the figure G out of the figure G and the direction indicator H. That is, a configuration may be adopted in which only the graphic G is displayed on the display 51 and the direction indication symbol H is not displayed.

(18) In the above embodiment, automatic travel in the automatic travel mode includes a start position guidance for automatically driving the tractor 1 to a starting position S for starting work travel prior to work travel to perform actual work. Although explained as an example, it is not limited to this. For example, by providing a guidance indicator E at the start position S and positioning the tractor 1 at the start position S (automatic driving permission area), the configuration is such that it is possible to shift to the automatic driving mode, that is, to start working driving. You may.

(19) The own vehicle direction detection device 61 may not be provided.

(20) The vehicle position detection device 62 may not be provided.

(21) A configuration may be adopted in which the index value is not displayed on the display 51.

(22) The color of the index value displayed on the display 51 may always be constant regardless of the magnitude of the index value.

(23) The color-coding processing unit 106 may be configured to color-code the target travel route L regardless of the color of the index value displayed on the display 51.

(24) The color of the index value displayed on the display 51 may be a color other than green, yellow, or red.

(25) The color coding by the color coding processing unit 106 is not limited to the color coding pattern in the above embodiment. For example, the target travel route L may be color-coded using a combination of colors other than the combination of green, yellow, and red. Further, the target travel route L may be color-coded into two colors, or may be color-coded into four or more colors.

(26) The remaining time display section 110 may not be provided.

(27) In the above embodiment, the display 51 and the control device 100 are provided in a fixed state on the work vehicle, but the configuration is not limited to this. The display 51 and the control device 100 may be provided in a portable terminal that can be carried by an operator. Alternatively, the display 51 and the control device 100 may be provided in a ground-mounted management controller located at a remote location away from the work vehicle. This allows a portable terminal device or a ground-mounted management controller to perform the same functions as those described above.

The present invention can be used not only for tractors but also for self-retracting combine harvesters, ordinary combine harvesters, corn harvesters, rice transplanters, and the like.

1 Tractor (work vehicle)
51 Display 62 Own vehicle position detection device 108 Position determination unit A Travel control device R Guidance start area (automatic travel permission area)
S starting position

Claims (1)

A travel control device that controls the travel of a work vehicle capable of self-driving work travel,
an own vehicle position detection device that detects the own vehicle position of the work vehicle;
a display capable of displaying work information of the work vehicle;
a position determination unit that determines whether the work vehicle is located within an automatic travel permission area;
When the position determination unit determines that the work vehicle is located within the automatic driving permission area,
displaying the own vehicle position of the work vehicle and the start position of the work travel on the display ;
In the travel control device, the automatic travel permission area has a shape that becomes narrower toward the forward side in the traveling direction of the work vehicle at the start of the work travel .

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