KR20190082914A - Wireless communication device - Google Patents

Abstract

And displaying a screen capable of improving the operability of the user on the display unit.
The display control unit displays a first screen in which the display is terminated after a predetermined period of time in a state in which a user-selectable operating unit is not displayed after the power is turned on or after the application is started, and the indemnity matters concerning the use of the autonomous- A plurality of operation units and map information selectable by the user are displayed, and one of the plurality of operation units is selected, thereby sequentially displaying the third screen that transits to another screen.

Description

Wireless communication device

The present invention relates to a radio communication apparatus capable of transmitting and receiving information about an autonomous traveling work vehicle autonomously traveling along a predetermined traveling path.

In the case of autonomous running in the autonomous traveling work vehicle described above, the user operates the wireless communication apparatus to execute various instructions such as the start of the autonomous traveling workhorse (for example, refer to Patent Document 1 Reference).

In the radio communication apparatus disclosed in Patent Document 1, a display unit such as a display is provided, and on the screen of the display unit, an operation unit or the like for displaying the state of the autonomous traveling work vehicle and various instructions is displayed.

International Publication No. 2015/119263

There is a demand for a radio communication apparatus with good operability because the user operates the radio communication apparatus when the autonomous traveling work vehicle autonomously runs and performs a desired operation. However, in the radio communication apparatus described in Patent Document 1, only the state of the autonomous traveling work vehicle and the operating unit for performing various instructions are displayed on the screen of the display unit, so that it is not very conscious about improving the operability of the user There was room for improvement in this regard.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances and provides a wireless communication apparatus capable of displaying on a display unit a screen capable of improving the operability of a user.

A first aspect of the present invention is a wireless communication system including a wireless communication unit capable of wireless communication with an autonomous traveling work vehicle autonomously traveling along a predetermined traveling route,

And a display control unit for controlling a screen displayed on the display unit,

Wherein the display control unit displays a first screen in which display is terminated after a lapse of a predetermined period of time in a state in which a user-selectable operating unit is not displayed after power-on or application startup, Wherein a plurality of operating parts and map information selectable by the user are displayed and a third screen to be transited to another screen is sequentially displayed by selecting one of the plurality of operating parts from among the plurality of operating parts It is in point.

According to this configuration, since the display control unit sequentially displays the first screen, the second screen, and the third screen in a step-by-step manner, it is possible to promptly confirm the indemnity matter in an early stage. This makes it possible to display the indemnity matter at a timing at which the user feels the most uncomfortable during the operation on the third screen or just before the autonomous drive is started, thereby improving the operability of the user. Furthermore, the display control unit can display a third screen on which a plurality of operating units and map information are displayed after the user has checked the disclaimer. Therefore, the user can perform various operations while confirming the map information on the third screen, and selects one of the plurality of operation units, thereby switching to another screen. Therefore, it is possible to improve the operability of the user.

A second aspect of the present invention is characterized by comprising a positional information acquiring section for acquiring positional information of the autonomic traveling work vehicle,

Wherein the display control unit displays the previous work position information related to the position of the autonomic traveling work vehicle when the autonomous mobile work vehicle has performed the autonomous travel last time when displaying the map information on the third screen And the display is displayed.

According to this configuration, since the display control section displays the previous work position information in a displayable manner when the map information is displayed, the user can confirm that the work area such as the field where the autonomous- It can be easily recognized which area it is. Thus, for example, even when the autonomous running is terminated during the work in the work area such as the last time, the work area such as the packaging can be easily recognized as the work area, The autonomous running can be started and the work during the work can be continuously performed.

A third characterizing feature of the present invention is a car navigation system comprising a position information acquisition unit for acquiring position information of the autonomous traveling work vehicle,

Wherein the display control unit displays a work screen including the traveling route before the autonomous traveling work vehicle starts to run,

Wherein a start operating portion capable of instructing the start of autonomous travel is disposed at one left and right ends of the work screen and a stop operating portion capable of instructing the stop of the autonomous travel is disposed at the other right and left ends, Characterized in that a deviation information display section is arranged between the stop operating section, which indicates a deviation of the position of the autonomous traveling work vehicle with respect to the traveling path.

According to this configuration, since the deviation information display section is arranged on the work screen displayed before the start of the autonomous travel, the user can view the deviation information display section, and the position of the autonomous traveling work vehicle Can be easily recognized. As a result, it is easy to perform positioning for moving the self-standing traveling work vehicle to the autonomous travel start position before starting the autonomous travel, and autonomous travel can be started while effectively utilizing the wireless communication apparatus. Since the deviation information display section is arranged between the start operation section and the stop operation section, the user can operate the start operation section and the stop operation section while checking the deviation of the position of the autonomous travel work vehicle with respect to the travel route in the deviation information display section The operation of the start operation unit and the stop operation unit can be easily performed, and the operability can be improved.

A fourth characteristic configuration of the present invention is that the display control section is configured such that when the information about the traveling route is transmitted to the autonomous traveling work vehicle through the wireless communication section and a predetermined condition is satisfied, A work screen can be displayed on the display section,

Wherein the predetermined condition includes information about the traveling route transmitted through the wireless communication unit and information about the traveling route acquired by the autonomous traveling work vehicle through the wireless communication unit .

According to this configuration, the display control unit displays the work screen for the first time after the predetermined condition that the information about the travel route transmitted matches the information about the travel route acquired by the autonomous traveling work vehicle is established, It can be easily recognized that the transmission of the information on the traveling route is normally carried out, and the subsequent operation can be carried out with peace of mind.

A fifth feature of the present invention is that the plurality of operating portions include a reworking operation portion that performs an operation in a past traveling route previously transmitted to the autonomous traveling work vehicle,

Wherein the display control unit does not transmit the information on the past traveling route to the autonomous traveling work vehicle when the reworking operation unit is selected and displays the work screen on the display unit when the predetermined condition is satisfied And the like.

According to this configuration, when the reworking operation unit is selected, the display control unit does not transmit the information about the past traveling route to the autonomous traveling work vehicle, and therefore, The work screen can be displayed while shortening the time. This makes it possible to smoothly display the work screen, thereby simplifying the operation work for starting the autonomous running and shortening the time required for the operation work.

The sixth aspect of the present invention is characterized in that the display control section is configured to transmit the operation screen to the display section regardless of whether the information on the travel route or the information on the past travel route is transmitted to the autonomous- Characterized in that a work preparation screen is displayed on the display section before display.

According to this configuration, before the display of the work screen, the display control section displays a common job preparation screen regardless of whether the information about the traveling path or the past traveling path is transmitted to the autonomous traveling work vehicle, By confirming that the job preparation screen is displayed, the user can easily recognize the display order in which the display screen is displayed next. Therefore, the user can confirm whether his / her own operation is an appropriate operation or not, depending on whether the display screen is in the display order, so that stable operation can be easily performed.

1 is a diagram showing a schematic configuration of an autonomous travel system
2 is a block diagram showing a schematic configuration of an autonomous travel system
3 is a view showing a splash screen displayed on the display unit of the wireless communication terminal
4 is a view showing a disclaimer screen displayed on the display unit of the wireless communication terminal
5 is a diagram showing an initial registration screen displayed on the display unit of the wireless communication terminal
6 is a diagram showing a top screen displayed on the display unit of the wireless communication terminal
7 is a view showing a package list screen displayed on the display unit of the wireless communication terminal
8 is a diagram showing a path list screen displayed on the display unit of the wireless communication terminal;
9 is a view showing a path detail screen displayed on the display unit of the wireless communication terminal;
10 is a view showing a job preparation screen displayed on the display unit of the wireless communication terminal
11 is a view showing a work screen displayed on the display unit of the wireless communication terminal
12 is a diagram showing a notification information screen displayed on the display unit of the wireless communication terminal;
13 is a view showing a work screen displayed on the display unit of the wireless communication terminal

Embodiments of an autonomous mobile system using a radio communication apparatus according to the present invention will be described with reference to the drawings.

1, the autonomous traveling system includes a tractor 1 as an autonomous traveling work vehicle that autonomously travels along a predetermined traveling path, and a wireless communication terminal 2 capable of indicating various information to the tractor 1 (Corresponding to a radio communication apparatus). In this embodiment, the reference station 4 for acquiring the positional information of the tractor 1 is provided.

In Fig. 1, the tractor 1 is illustrated as an autonomous traveling work vehicle. However, in addition to a tractor, a walking type working vehicle can be applied in addition to a passenger-type working vehicle such as a rice miller, combine, civil engineering and construction work device,

2, the tractor 1 is provided with a vehicle-side wireless communication section 14, the wireless communication terminal 2 is provided with a terminal-side wireless communication section 21 (corresponding to a wireless communication section) (4) is provided with a reference station-side wireless communication unit (41). It is possible to transmit and receive various kinds of information between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle side wireless communication unit 14 and the terminal side wireless communication unit 21, 14 and the reference-station-side wireless communication unit 41 by wireless communication between the tractor 1 and the reference station 4. [0064] The radio communication terminal 2 and the reference station 4 are configured to be capable of transmitting and receiving various kinds of information through the tractor 1. The wireless communication terminal 2 and the reference station 4 transmit and receive various kinds of information directly via the tractor 1 by radio communication between the terminal side wireless communication unit 21 and the reference station side wireless communication unit 41 It is also possible to configure it. The frequency band used for the radio communication between the respective radio communication units may be a common frequency band or a different frequency band.

2, the tractor 1 is provided with a positioning (positioning) antenna 11, a control unit 12, a position information acquiring unit 13, a vehicle side wireless communication unit 14, The present position information (the current position of the tractor 1) is acquired by the positional information acquiring unit 13 under the control of the control unit 12, so that autonomous travel is possible.

As shown in Fig. 1, the positioning antenna 11 is configured to receive, for example, signals from the positioning satellites 3 constituting the satellite positioning system (GNSS). The positioning antenna 11 is arranged, for example, on the upper surface of the roof of the cabin of the tractor 1.

As shown in Fig. 1, a positioning method using a satellite positioning system includes a reference station 4 provided at a predetermined reference point, and the positioning information of the tractor 1 (mobile station) The positioning method of obtaining the current position of the tractor 1 by correcting the satellite positioning information can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, with respect to the positioning method, it is also possible to use the independent positioning without the reference station 4. [

In this embodiment, for example, as shown in Fig. 1 and Fig. 2, in addition to providing the positioning antenna 11 on the tractor 1 serving as the mobile station side in addition to the RTK positioning, Station 4 is provided. The positional information of the reference point serving as the installation position of the reference station 4 is set and grasped in advance. The reference station 4 is disposed at a position (reference point) at which the tractor 1 is not disturbed, such as around the package. The reference station 4 is provided with a reference station-side wireless communication unit 41 and a reference station positioning antenna 42.

In the RTK positioning, the carrier phase from the positioning satellites 3 in both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1 serving as the mobile station side to obtain the position information Information). The reference station 4 generates correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 3 or every time the setting period passes, The correction information is transmitted from the reference station side wireless communication unit 41 to the vehicle side wireless communication unit 14 of the tractor 1. [ The positional information acquiring unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 using the correction information transmitted from the reference station 4, Location information is sought. The location information acquiring unit 13 obtains, for example, latitude information and longitude information as the current location information of the tractor 1. [

The wireless communication terminal 2 is constituted by, for example, a tablet-type personal computer having a touch panel, and is capable of displaying various kinds of information on the touch panel, and is capable of inputting various kinds of information by operating the touch panel . The wireless communication terminal 2 can be carried by the user outside the tractor 1 and can be mounted on the side of the driver's seat of the tractor 1 or the like.

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

When the autonomous running of the tractor 1 is performed, first, the user operates the wireless communication terminal 2 to generate the traveling route by the route creating section 23, and the information about the generated traveling route, And other various kinds of information are transmitted from the radio communication terminal 2 to the tractor 1. When the user operates the radio communication terminal 2 to instruct the tractor 1 to start autonomous travel after various conditions for starting the autonomous travel of the tractor 1 are satisfied, The autonomous running is started. The control section 12 of the tractor 1 controls the tractor 1 so that the tractor 1 autonomously runs along the traveling path generated by the path generating section 23, ) Of the tractor 1 based on the current position information of the tractor 1. The current position information of the tractor 1 acquired by the positional information acquiring section 13 is transmitted from the tractor 1 to the radio communication terminal 2 in real time (for example, a period of several seconds) The present position of the tractor 1 can be displayed on the display section 24 of the radio communication terminal 2. [

Control of the display screen by the display control section 22 in the radio communication terminal 2 will be described below with reference to Figs. 3 to 13 when the autonomous running of the tractor 1 is performed. Fig. Figs. 3 to 13 show display screens displayed on the display unit 24 of the radio communication terminal 2 all.

The display control unit 22 displays a splash screen (corresponding to the first screen) shown in FIG. 3 and a splash screen shown in FIG. 4 after the power- (Corresponding to the second screen) and the top screen (corresponding to the third screen) shown in Fig.

The splash screen shown in Fig. 3 is a screen displayed for the first time after the power is turned on or after the application is started. A company logo, a company name and the like are displayed at the center of the screen and an operation unit 51 ) Is not displayed. The display control section 22 transits from the splash screen (Fig. 3) to the indemnity screen (Fig. 4) when a predetermined period of time elapses after the power is turned on. In the indemnity screen shown in Fig. 4, indemnity matters concerning the use of the tractor 1 are displayed.

4 is divided into an upper display area 53 on the upper side of the screen and a lower display area 54 on the lower side of the screen in the upper side display area 53. In the upper display area 53, (Fig. 5 to Fig. 13) displayed later are common display screens. The upper display area 53 is a fixed display area in which the display content is not changed. On the other hand, the lower display area 54 is a non-fixed display area in which different display contents are displayed by the user selecting and operating the operation unit 51. [

In the upper display area 53, an operation unit 51 of "map" and "help" is displayed at the left end, an operation unit 51 of "GNSS" and "MENU" is displayed at the right end, The display contents of which screen is displayed are displayed. In addition, the operating unit 51 of the " map " is an operating unit for displaying map information. The operating unit 51 of " GNSS " , The serial number of the reference station 4, the detailed information of the satellite positioning system such as the battery remaining amount of the base station 4, and the like. When the route generating section 23 generates a new travel route, the operation section 51 of the "MENU" is operated to select various items of information in accordance with the display contents to be displayed thereafter. The route generating section 23 To generate a traveling route.

4, the user checks the column of " all read " and selects and operates the operating section 51 of " agree ", the display control section 22 displays From the discrepancy screen shown in Fig. 5 to the initial registration screen shown in Fig. On the other hand, in the non-compliance screen shown in Fig. 4, the application is terminated by selecting the operation unit 51 of " end application ". The initial registration screen shown in Fig. 5 is a screen for registering various kinds of information related to the tractor 1, such as the model of the tractor 1, and various information related to the tractor 1 is registered by the user's operation. In addition, the border of the selected model is surrounded by a thick red line so that it is possible to recognize which model is selected. The display control section 22 transits from the initial registration screen shown in Fig. 5 to the top screen shown in Fig. 6 when various information related to the tractor 1 is registered. Further, before transition from the initial registration screen shown in Fig. 5 to the top screen shown in Fig. 6, an initial registration screen (e.g., home address registration) other than information on the tractor 1 may be displayed.

When the various information related to the tractor 1 is already registered, the display control section 22 does not display the initial registration screen shown in Fig. 5 from the indemnity list screen shown in Fig. 4, Transit to top screen.

In the top screen shown in Fig. 6, a plurality of operation units 51 (various icons in the figure) and map information 52 that can be selected by the user are displayed, and one of the plurality of operation units 51, Is switched to another screen. In the top screen shown in Fig. 6, the map information 52 is displayed so that the registered packages H1 to H7 are included in the center of the screen of the lower display area 54. Fig. Incidentally, at the initial stage when the package is not registered, the center of the map information 52 is displayed so as to be a preset predetermined position. In the lower display area 54, a package list display control unit 51a (an icon indicated by "←" in the figure), a previous work control unit 51b (an icon indicated by " And the other operating portion 51 are displayed so as to surround the periphery excluding the upper portion of the map information 52. [

The display control unit 22 displays the map information 52 so that the center of the map information 52 is the same as the center of the previous display screen. The display control section 22 causes the center of the map information 52 to display the current position of the tractor 1 when the operating section 51 of the "current position" is operated.

The display control section 22 displays the map information 52 on the top screen shown in Fig. 6 when the previous operation position relating to the position of the tractor 1 when the tractor 1 autonomously traveled Thereby displaying the information 55 in an identifiable manner. The previous work position information 55 is indicated by a predetermined mark (pin) and is displayed at the center of the package H2 in which the tractor 1 has performed the autonomous travel last time. Thus, the user can easily recognize which package the tractor 1 autonomously traveled last time before. The position at which the previous work position 55 is displayed may be a position at which the package H can be identified. For example, a position at which the package H is registered, The previous work position 55 may be displayed at the entrance of the tractor 1 with respect to the previous work position. Incidentally, the display control section 22 not only displays not only the case where the previous autonomous travel has been completed by the completion of the work in the packaging but also the case where the last autonomous travel has ended during the packaging work, (55) is displayed.

6, when the user selects and operates the package list display control section 51a (the icon indicated by "? &Quot; in the figure), the display control section 22 displays, from the top screen shown in Fig. 6, To the packaging list screen shown in Fig.

7, the lower display region 54 is divided into a lower left display region 54a and a lower right display region 54b. In the lower left display region 54a, A plurality of operating portions 51 and map information 52 displayed in the lower display area 54 of the top screen are displayed. In the lower right display area 54b, a list 56 of the package information stored in the wireless communication terminal 2 and a list of travel routes for displaying a list of travel routes (paths) And an operation unit 51c (an icon of " display the path list of this package " in the figure) is displayed. In the list 56 of packing information, the operation section 51 such as "distance order", "naming order", and "registration order" is selectively operated so as to be rearranged and displayed in the operated order, The distance from the current position of the tractor 1 to the packaging thereof, the registration date on which the packaging information is registered, the packaging position information, and the like are displayed. In displaying the list of packing information 56, the previous packing information 57 (pin) indicating a predetermined mark is displayed on the package which the tractor 1 has autonomously traveled last time. Thereby, the user can recognize from the map information 52 on the map (previous work position information 55), which packaging the autocarriage of the tractor 1 was carried out last time, (Previous packaging information 57) of the packaging can be recognized from the list 56 of the contents (the previous packaging information 57).

7, when the user selects a specific package, the display control section 22 changes the color of the border of the selected package and surrounds it with a bold line (for example, a red bold line ), The selected package is displayed so as to be distinguishable from the other packages, and the selected operation unit 51 is also changed in color and surrounded by thick lines (for example, red The selected operation unit 51 is displayed so as to be distinguishable from the other operation unit 51. [

7, when the user selects and selects the traveling path list display operating section 51c in the state that the user has selected a specific package, the display control section 22 displays the package list screen shown in Fig. Transit to the path list screen to be displayed.

In the path list screen shown in Fig. 8, an enlarged screen 58 of the selected package is displayed in the lower left display area 54a, and path information generated in the past in the lower right display area 54b Information indicating the path information), and a path transmission operating section 51d (indicated as " start work with this path " in the figure) for transmitting the selected path information (information on the traveling path) to the tractor 1 Icon) is displayed.

The traveling path 25 generated by the path generating section 23 is displayed on the enlarged screen 58 of the package and in FIG. 8, for example, the straight traveling path 25 is spaced in the left- And are displayed so as to be plural.

In the list 59 of path information, the operation section 51 such as "distance order", "name order", and "registration order" is selected and rearranged in the operated order so as to be displayed. 1) from the current position to the start position of the path, the date the path was created, the start position information of the path, and the like. Further, in the path information list 59, a path detailed display operation section 51e (an icon indicated by " detail " in the figure) for displaying detailed information of path information is displayed, The control section 51 is displayed so as to be distinguishable from the other control section 51 and the other pass information by changing the color of the border and surrounding it with a bold line (for example, surrounded by a thick bold line) .

8, when the user selects and operates the path detailed display operating portion 51e in a state in which the user selects a specific path, the display control portion 22 displays the path detailed display portion 51e Transition to path detail screen.

In the path detail screen shown in Fig. 9, only the lower right display area 54b is changed in display content from the path list screen shown in Fig. 8, and the path detail information 60 is displayed. As the path detailed information 60, the width of a non-working area (immersion area) around a work area for generating a packing area, the presence of an obstacle, a path (traveling path) The base station information of the tractor 1, the base station information of the tractor 1, the tractor information, the working machine information mounted on the tractor 1, the number of paths (traveling paths), and the like.

When the user selects and operates the pass transmission operating section 51d on the path list screen shown in Fig. 8 or the path detailed screen shown in Fig. 9, the display control section 22 displays the path list screen shown in Fig. To the task preparation screen shown in Fig. 10 from the path detail screen. At this time, the path information (information on the traveling route) is transmitted from the wireless communication terminal 2 to the tractor 1 by the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14. The control unit (not shown) of the wireless communication terminal 2 and the control unit 12 of the tractor 1 communicate the path information transmitted through the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14, Side wireless communication unit 21 and the vehicle-side wireless communication unit 14 to check whether or not the path information acquired by the tractor 1 matches.

This wireless communication check process includes a total amount of the path information transmitted through the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14 and the total amount of the path information transmitted from the terminal side wireless communication unit 21 and the vehicle side wireless communication unit (CRC check processing) for checking whether or not the path information coincides with whether the total amount of the path information acquired by the tractor 1 is coincident with the total amount of the path information acquired by the tractor 1 or not. In the wireless communication check process, instead of the CRC check process, for example, individual ID information in the path information is transmitted, and it is checked whether or not the path information coincides with the ID information, And various wireless communication check processing can be applied.

The display control unit 22 controls the display control unit 22 to display the path information transmitted via the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14 and the path information transmitted from the tractor 1 via the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14. [ ) Confirms that the acquired path information coincides with each other, and transits from the job preparation screen shown in Fig. 10 to the operation screen shown in Fig. When the path information is transmitted to the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, the display control unit 22 displays the path information transmitted from the wireless communication terminal 2, A predetermined condition is satisfied that the acquired path information is identical to the path information acquired by the host computer 1, and the work screen shown in Fig. 11 can be displayed for the first time.

If the predetermined condition that the path information transmitted from the wireless communication terminal 2 and the path information acquired by the tractor 1 match is not satisfied, the display control unit 22 does not display the operation screen shown in Fig. 11, , Or returns to the path list screen shown in Fig. Although an error screen is not shown, it is sufficient if the contents of the error can be displayed in an identifiable manner. For example, a display screen in which the display content is different depending on the content of the error, A common display screen can be provided. Incidentally, when an error screen is displayed, the path list screen shown in Fig. 8 is returned from the error screen.

11, the lower display region 54 includes a lower upper display region 54c located on the upper side, a lower lower display region 54d located on the lower side, And a lower intermediate display region 54e positioned between the upper display region 54c and the lower lower display region 54d. The lower upper display region 54c and lower lower display region 54d can not be switched to another screen and the lower intermediate display region 54e can be switched to another screen.

In the lower middle display area 54e, an enlarged screen 58 of the package displayed in the lower left display area 54a and a plurality of operation parts 51 (FIG. 8) are displayed on the path list screen shown in FIG. 8 or the path detail screen shown in FIG. ) And the like are displayed. The display control section 22 displays the current position 26 of the tractor 1 on the enlarged screen 58 of the package so that the current position of the tractor 1 can be recognized. The display control unit 22 then changes the color of the traveling path 25 that the tractor 1 is currently traveling autonomously and the traveling path 25 that is to be traveling next, It is also possible to display it in an identifiable manner. In addition, the display control unit 22 displays the plurality of traveling paths 25 in different forms, for example, by changing the colors in the traveling path 25 in which the work has already been performed and in the traveling path 25 in which no work has been performed yet .

Incidentally, the display control section 22 is configured so that the display screen of the lower intermediate display region 54e can be switched to the tractor information screen or the work command screen separately from the enlargement screen 58 of the package. Although not shown, information indicating the state of the tractor 1, such as the actual vehicle speed, the actual engine rotation speed, the load ratio, etc., is displayed on the tractor information screen. In the work command screen, an operation unit 51 for changing the vehicle speed or the engine rotation speed is displayed. In addition, the display control unit 22 is configured such that a caution screen, a warning screen, or the like can be inserted and displayed as a display screen of the lower intermediate display region 54e. For example, the attention screen is a screen for displaying a condition that is not established among various conditions for starting frequent running, and the warning screen is displayed when the autonomous running is stopped by keeping the current running during the autonomous running To display the cause thereof. The control information related to the warning screen or warning screen is generated by the control unit 12 of the tractor 1. The wireless communication terminal 2 receives the generated control information from the terminal side wireless communication unit 21, The display control section 22 causes the warning screen and the warning screen to be interleaved and displayed.

In the lower upper display region 54c, a start operating portion 51f capable of instructing the start of autonomous travel is disposed at the left end portion, and a stop operating portion 51g capable of instructing the stop of autonomous travel is disposed at the right end portion. A deviation information display section 61 indicating the deviation of the position of the tractor 1 relative to the traveling path 25 is disposed between the start operating section 51f and the stop operating section 51g. In the lower-lower display area 54d, a notification information operating section 51h and other operating section 51 for confirming the error notification information are arranged, and the operation progress rate or the remaining operation time by the autonomous running is displayed .

The display control section 22 sets the start operating section 51f to the inactive state in which the selection operation can not be performed until various conditions for starting the autonomous running are established and if the various conditions for starting the autonomous running are satisfied, So that the start operation portion 51f can be selectively operated. The display control section 22 makes the display form of the start operation section 51f different by, for example, lighting the start operation section 51f in the inactive state and blinking the start operation section 51f in the active state, The non-active state and the active state can be identified by the user.

The display control section 22 instructs the start operating section 51f to start the autonomous running when the start of the autonomous running is instructed in the start operating section 51f and the autonomous running of the tractor 1 is started, (Not shown). When the temporary stop operation portion is selected, the display control portion 22 changes the start operation portion 51f from the pause stop portion to the original display form, and the start operation portion 51f displays a display form for instructing the start of the autonomous run And a display form for instructing temporary stop of autonomous travel. In this manner, the display control section 22 can change the display form of the start operation section 51f to function as one operation section as two operation sections, It becomes easy for the user to grasp the work situation of the autonomous driving.

The wireless communication terminal 2 transmits the current position information of the tractor 1 acquired by the position information acquiring unit 13 of the tractor 1 to the terminal side wireless communication unit 21 and the vehicle side wireless communication unit 14, And receives it in real time (for example, one minute cycle). The display control section 22 acquires the current position information of the tractor 1 in real time (for example, one cycle), and in the radio communication terminal 2, the terminal side radio communication section 21, (22) function as a position information acquiring section capable of acquiring position information of the tractor (1).

The display control section 22 displays on the deviation information display section 61 how the current position of the tractor 1 to be obtained deviates from the traveling path 25 in the lateral direction in which direction. The control section 12 of the tractor 1 determines whether or not the current position of the tractor 1 is shifted in the lateral direction of the travel path 25 with respect to the traveling path 25 when the display control section 22 performs control of the deviation information display section 61. [ And obtains the deviation information of how much the vehicle is deviated in which direction, and the obtained deviation information is transmitted from the tractor 1 to the wireless communication terminal 2. [ The display control section 22 controls the deviation information display section 61 based on the deviation information transmitted from the tractor 1. [ The deviation information display section 61 is provided with a plurality of display lamp sections arranged in a left-right direction, and a plurality of display lamp sections are different in lighting colors by an installation area in the left-right direction. For example, the three display lamps located in the central area are green, the two display lamps located in the area on the end side are yellow, the two display lamps located in the area on the end side are orange, And the two display lamp portions located in the region of the display side are red. The display control section 22 displays a deviation information display section 61 (display section) so as to display in which direction the current position of the center of the tractor 1 is shifted from the center of the traveling path 25 in the lateral width direction of the traveling path 25. [ And also displays a mark positioned in the center area in accordance with the size of the distance from the center of the traveling path 25 to the current position of the center of the tractor 1 in the lateral width direction of the traveling path 25 The deviation information display section 61 is controlled so that the sequentially lighted range is widened toward the display lamp section located in the end side area from the lamp section.

For example, if the distance from the center of the traveling path 25 to the current position 26 of the center of the tractor 1 is within the setting range in the transverse direction of the traveling path 25, Only the display lamp sections are turned on. When the current position of the tractor 1 is deviated to the left with respect to the traveling path 25, the distance from the center of the traveling path 25 to the current position of the tractor 1 in the lateral width direction of the traveling path 25 When the distance is larger than the set range, the display lamp unit located in the left side area adjacent to the three display lamp units located in the central area is also lit, and the driving path 25 in the lateral width direction of the traveling path 25 is lit. The larger the distance from the center of the tractor 1 to the current position of the center of the tractor 1 is, the more the range to be lit is spread to the left.

The display control section 22 displays the current position of the tractor 1 to be acquired in the lateral direction of the travel path 25 before starting the autonomous travel of the tractor 1 and during the autonomous travel of the tractor 1 And the deviation information display section 61 displays how much in which direction it deviates. Thus, before starting the autonomous running, the user can position the tractor 1 to move the position of the tractor 1 to the autonomous driving start position while viewing the deviation information display section 61, It is possible to easily recognize in which direction the current position of the tractor 1 is shifted in the lateral direction of the traveling path 25.

11 shows the traveling route 25 from the current position of the tractor 1 to the right end of the lower intermediate display area 54e in the traveling route 25 in which the tractor 1 is currently autonomously traveling, And a distance display section 62 for displaying the distance to the end portion (immersion). The distance display portion 62 is a bar-shaped display portion extending in the vertical direction, and the length from the lower end portion to the upper end portion corresponds to the entire length of the travel path 25. [ The display control section 22 displays the distance from the lower end portion to the position corresponding to the current position of the tractor 1 in a predetermined color in the distance display section 62 so that the user can move the end portion So that the distance can be recognized.

11, the notification control section 51h (the icon denoted by "detail" in the figure) is disposed at the left end of the lower-lower display region 54d, so that the display control section 22 displays, (For example, green) of the notification information operating section 51h if various conditions for starting the autonomous running of the notification information managing section 51h are established. Conversely, if various conditions for starting the autonomous running of the tractor 1 are not established, the left side of the notification information operating section 51h is lit in a specific color (for example, red) for unfolding. When the user operates the notification information control section 51h to select the left side of the notification information control section 51h in a specific color (for example, red) for unapproachment, the display control section 22 ) Shifts from the operation screen shown in Fig. 11 to the notification information screen shown in Fig.

In the notification information screen shown in Fig. 12, the display contents of the lower intermediate display area 54e are changed on the operation screen shown in Fig. 11, and the parts (steering, A stabilization state display screen 63 is displayed, which indicates a vehicle speed, a reverse, a brake, a clutch, a parking brake, an auxiliary speed change device, a vehicle speed, and a UFO setting. The display control section 22 lights up a specific color (for example, green color) for establishing a part satisfying the condition for each part on the established state display screen 63, (For example, red) for the unfavorable part is lighted.

11 shows the deviation of the position of the tractor 1 with respect to the traveling path 25 by the deviation information display section 61. In addition to the deviation information display section 61, The deviation of the position of the tractor 1 relative to the traveling path 25 is shown on the enlarged screen 58 of the package as shown in the operation screen shown in Fig. 13, the display control section 22 displays the traveling path 25 and the current position 26 of the tractor 1 on the enlarged screen 58 of the package. 13, since the traveling path 25 and the current position 26 of the tractor 1 are displayed between the start operating portion 51f and the stop operating portion 51g, the travel route 25 And the present position 26 of the tractor 1 function as a deviation information display section. It is possible to determine how much the current position of the tractor 1 in the lateral direction of the travel path 25 in which direction the user positions the current position 26 of the tractor 1 relative to the travel path 25 It can be easily recognized whether or not it is deviated.

11 and 13 includes a deviation information display section 61 disposed in the lower upper display region 54c and a travel route 25 functioning as a deviation information display section disposed in the lower intermediate display region 54e. And the present position (26) of the tractor (1).

13, the display control unit 22 displays the traveling path 25 and the current position of the tractor 1 on the enlarged screen 58 of the package not only before the start of the autonomous travel but also during the autonomous travel, (26) are displayed. Thereby, not only when the tractor 1 is aligned to move the tractor 1 to the autonomous travel start position, but also during autonomous travel, the user can see how the tractor 1 is displaced in the transverse direction with respect to the travel path 25 Can be recognized. 13, the current position 26 of the tractor 1 indicated by a dotted line is shifted to the right or to the left with respect to the traveling path 25. In FIG.

As described above, in the case where the display control section 22 controls the display screen of the display section 24 and autonomously runs the tractor 1 to carry out the work in the packaging, on the respective display screens, The display control section 22 controls the display screens to sequentially transit as shown in the following (1) to (8).

(1) A splash screen

(2) The indemnity list screen

(3) An initial registration screen

(4) The top screen shown in Fig.

(5) The packaging list screen

(6) The path list screen shown in Fig. 8 (the path list screen shown in Fig. 8, the path detailed screen shown in Fig. 9)

(7) The task preparation screen

(8) The operation screen

As described above, (3) the registration operation on the initial registration screen shown in FIG. 5 is performed only once at the beginning; (3) in the initial registration screen shown in FIG. 5, (2) skipping the initial registration screen shown in FIG. 5 from (3I) the initial registration screen shown in FIG. 4, (4) skipping the initial registration screen shown in FIG. 6 It is transiting.

(1) to (8) described above show a case where work information is transmitted from the wireless communication terminal 2 to the tractor 1 by transmitting the path information (information on the traveling route 25). However, In this case, it is possible to perform work using past path information (information on the traveling path 25) previously transmitted to the tractor 1, without newly transmitting the path information.

In this case, the display control section 22 controls the display screens to transit sequentially as shown in (1) to (4). (4) On the top screen shown in Fig. 6, when the user operates the previous operation section 51b (Corresponding to the rework operation unit). (5) the package list screen shown in FIG. 7, and (6) the path shown in FIG. 8, from the top screen shown in FIG. 6 by the selection operation of the previous operation section 51b for the previous work, The list screen is skipped, and (7) the task preparation screen shown in Fig. 10 is transited. At this time, the display control section 22 displays past path information (information on the traveling path 25) to the tractor 1 differently from the case of sequentially transitioning the display screens of (4) to (7) The radio communication check process is performed between the control section (not shown) of the radio communication terminal 2 and the control section 12 of the tractor 1 without transmitting the radio communication check request.

In this case, the control section 12 of the tractor 1 acquires the past path information previously transmitted from the control section 12 of the tractor 1 to the radio communication terminal 2 (Not shown) of the wireless communication terminal 2 with the past path information that has been acquired is identical to the past path information previously transmitted from the wireless communication terminal 2 to the tractor 1. It is also possible to determine whether or not the total amount of past acquired path information matches the total amount of past path information previously transmitted from the wireless communication terminal 2 to the tractor 1, (CRC check processing) to check whether or not they coincide with each other. Instead of this CRC check process, for example, individual ID information in past path information may be transmitted, and it may be checked whether or not past path information matches according to whether or not the ID information matches And various wireless communication check processing can be applied.

Even if the past path information is not transmitted from the wireless communication terminal 2 to the tractor 1 in this way, the display control section 22 displays the job preparation screen shown in Fig. 10 (7) (8) The work screen shown in Fig. 11 can be displayed for the first time when a predetermined condition that the past path information matches is obtained by carrying out the check processing.

The display control unit 22 displays an error screen without displaying the work screen shown in Fig. 11, or returns to the path list screen shown in Fig. 8, if the predetermined condition that the past path information matches is not satisfied . Although an error screen is not shown, it is sufficient if the contents of the error can be displayed in an identifiable manner. For example, a display screen in which the display content is different depending on the content of the error, A common display screen can be provided. Incidentally, when an error screen is to be displayed, the path list screen shown in FIG. 8 is returned from the error screen.

As described above, when the display screens are sequentially transited and the path information is transmitted from the wireless communication terminal 2 to the tractor 1 as in (4) to (8) (8) The display control unit 22 also displays the same display screen as the job preparation screen shown in Fig. 10 (7) before displaying the operation screen shown in Fig. 11 have. Thus, when the job preparation screen shown in Fig. 10 is displayed, (8) the user can easily recognize that the work screen shown in Fig. 11 is displayed next.

[Other Embodiments]

(1) In the above-described embodiment, the display control section 22 displays the indemnity issue screen shown in Fig. 4 next to the splash screen shown in Fig. 3. However, for example, After that, it is possible to display the disclaimer screen shown in FIG. 4, and it is possible to appropriately change the timing at which the disclaimer screen shown in FIG. 4 is displayed.

It is also possible to display the indemnity screen shown in Fig. 4 after the start operating portion 51f is selected on the operation screen shown in Fig. In this case, for example, the start operation portion 51f may be omitted from the operation screen shown in Fig. 11, and the start operation portion 51f may be added to the non-issue item screen shown in Fig.

(2) In the above embodiment, when the path information (information on the traveling route 25) is transmitted from the radio communication terminal 2 to the tractor 1, the path information transmitted from the radio communication terminal 2 The path information is not transmitted from the radio communication terminal 2 to the tractor 1 and the tract information is transmitted from the tractor 1 to the tractor 1 when the path information is the same, The autonomous running of the tractor 1 can be carried out by using the path information that has already been acquired on the side of the tractor 1.

(3) In the above embodiment, the tractor 1 may be provided with an image pickup device such as a camera, and the image picked up by the image pickup device may be displayed on the display section 24 of the wireless communication terminal 2. [ In this case, for example, on the operation screen shown in Fig. 11, the captured image of the imaging apparatus can be fixedly displayed so as to be always displayed.

(4) In the above-described embodiment, the condition for bringing the start operating portion 51f shown in Fig. 11 into an active state may include that the display form displayed in the deviation information display portion 61 is in a desired display form . The distance from the center of the traveling path 25 to the current position 26 of the center of the tractor 1 is within the set range in the lateral width direction of the traveling path 25, 61 can be displayed in a desired display form so that only the three display lamp portions located in the central region are in a lighting manner. In this way, the condition for bringing the start operating portion 51f into the active state can be set in association with the display form of the deviation information display portion 61. [ In this case, the user can make the start operation unit 51f active while confirming the display form of the deviation information display unit 51. [

(5) In the above embodiment, the operation screen shown in Figs. 11 and 13 includes the deviation information display section 61 arranged in the lower upper display region 54c, the deviation information display section 61b arranged in the lower intermediate display region 54e, An example has been described in which two deviation information display portions are disposed, that is, the traveling path 25 functioning as a display portion and the current position 26 of the tractor 1, but only one deviation information display portion can be disposed.

Industrial availability

The present invention can be applied to various radio communication apparatuses capable of transmitting and receiving information on autonomous travel.

1: tractor (autonomous vehicle)
2: Wireless communication terminal (wireless communication device)
13: Position information acquiring unit
21: terminal side wireless communication unit (wireless communication unit)
22:
24:
51:
51b: Operation section for previous work (rework operation section)
51f:
51g: stop operating portion
52: Map Information
55: previous work position information
61: Deviation information display section

Claims (6)

A wireless communication unit capable of wireless communication with an autonomous traveling work vehicle autonomously traveling along a predetermined traveling route,
And a display control unit for controlling a screen displayed on the display unit,
Wherein the display control unit displays a first screen in which display is terminated after a lapse of a predetermined period of time in a state in which a user-selectable operating unit is not displayed after power-on or application startup, Wherein a plurality of operating parts and map information selectable by the user are displayed and a third screen to be transited to another screen is sequentially displayed by selecting one of the plurality of operating parts from among the plurality of operating parts Wireless communication device. The method according to claim 1,
And a positional information acquiring unit that acquires position information of the autonomous traveling work vehicle,
Wherein the display control unit displays the previous work position information related to the position of the autonomic traveling work vehicle when the autonomous mobile work vehicle has performed the autonomous travel last time when displaying the map information on the third screen And displays the radio signal. 3. The method according to claim 1 or 2,
And a positional information acquiring unit that acquires position information of the autonomous traveling work vehicle,
Wherein the display control unit displays a work screen including the traveling route before the autonomous traveling work vehicle starts to run,
Wherein a start operating portion capable of instructing the start of autonomous travel is disposed at one left and right ends of the work screen and a stop operating portion capable of instructing the stop of the autonomous travel is disposed at the other right and left ends, Wherein a deviation information display section is arranged between the stop operation section and the deviation information display section indicating a deviation of the position of the autonomous traveling work vehicle with respect to the travel route. 4. The method according to any one of claims 1 to 3,
Wherein the display control unit is capable of displaying a work screen including the traveling route on the display unit when information on the traveling route is transmitted to the autonomous traveling work vehicle through the wireless communication unit and a predetermined condition is satisfied ,
Wherein the predetermined condition includes that the information about the traveling route transmitted through the wireless communication unit matches the information about the traveling route acquired by the autonomous traveling work vehicle through the wireless communication unit Communication device. 5. The method of claim 4,
Wherein the plurality of operating portions includes a reworking operation portion for performing a work in a past traveling route previously transmitted to the autonomic driving work vehicle,
Wherein the display control unit does not transmit the information on the past traveling route to the autonomous traveling work vehicle when the reworking operation unit is selected and displays the work screen on the display unit when the predetermined condition is satisfied And the wireless communication device. 6. The method of claim 5,
Wherein the display control unit displays the operation preparation screen on the display unit before displaying the operation screen on the display unit regardless of whether the information on the driving route or the information on the past travel route is transmitted to the autonomous- And displays it on the display unit.

Images