KR20220148938A - Wireless communication device - Google Patents

Abstract

Displaying a screen on the display unit that can improve the user's operability.
The display control unit may include a first screen in which the display is terminated after a certain period of time has elapsed in a state in which the user-selectable operation unit is not displayed after power is turned on or after the application is started, and disclaimers related to the use of the autonomous driving work vehicle. A second screen to be displayed, a plurality of user-selectable operation units and map information are displayed, and a third screen for transitioning to another screen when one operation unit is selected among the plurality of operation units is sequentially displayed.

Description

Wireless communication device {WIRELESS COMMUNICATION DEVICE}

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

In the case of autonomous driving in the autonomous driving work vehicle as described above, the user operates the wireless communication device to give various instructions such as starting autonomous driving to the autonomous driving work vehicle (for example, Patent Document 1) Reference).

The wireless communication device described in Patent Document 1 is provided with a display unit such as a display, and on the screen of the display unit, the state of the autonomous driving work vehicle, an operation unit for executing various instructions, and the like are displayed.

International Publication No. 2015/119263

When the autonomous driving work vehicle is autonomously driven to perform a desired operation, the user operates the wireless communication device, so a wireless communication device with good operability is required. However, in the wireless communication device described in Patent Document 1, the state of the autonomous driving work vehicle and the operation unit for executing various instructions are only displayed on the screen of the display unit, and the improvement of the user's operability is not very conscious. , there was room for improvement in this respect.

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

The present invention provides a wireless communication unit capable of wireless communication with an autonomous driving work vehicle that autonomously travels along a predetermined driving route;

A display control unit for controlling the screen displayed on the display unit,

The display control unit includes: a first screen on which display is terminated after a predetermined period of time in a state in which a user-selectable manipulation unit is not displayed after power is turned on or an application is started; It is preferable to sequentially display a second screen for displaying a second screen, a plurality of user selectable operation units and map information are displayed, and a third screen for transitioning to another screen when one operation unit is selected among the plurality of operation units.

According to this configuration, since the display control unit sequentially displays the first screen, the second screen, and the third screen, by displaying the exempt matter at an early stage, confirmation of the exempt matter can be appropriately received at an early stage. Thereby, the disclaimer can be displayed at a timing in which the user does not feel the inconvenience as much as possible, such as during the operation on the third screen or just before starting the autonomous driving, so that the user's operability can be improved. In addition, the display control unit may display a third screen on which a plurality of operation units and map information are displayed after the disclaimer is confirmed by the user. Accordingly, the user can perform various operations while checking the map information on the third screen, and select one of the plurality of operation units to transition to another screen by selecting the operation unit. It can also be recognized, so that the user's operability can be improved.

The present invention includes a position information acquisition unit configured to acquire position information of the autonomous driving work vehicle,

The display control unit is configured to allow identification of work position information related to the position of the autonomous driving work vehicle when the autonomous driving work vehicle performed autonomous driving last time when the map information is displayed on the third screen. It is preferable to indicate

According to this configuration, when the display control unit displays the map information, the previous work position information is displayed so as to be identifiable, so that the user can access the work area, such as a pavement, where the autonomous driving work vehicle performed autonomously last time. It is easy to recognize which area it is. In this way, for example, even when autonomous driving is terminated during work in the work area such as the last time, paving, etc., it is possible to easily recognize which work area the work area such as the pavement is in the work area in the middle of the work. Autonomous driving can be started, and work in the middle of work can be continued.

The present invention includes a position information acquisition unit configured to acquire position information of the autonomous driving work vehicle,

The display control unit displays a work screen including the travel route before starting autonomous driving of the autonomous driving work vehicle,

In the work screen, a start operation unit capable of instructing the start of autonomous driving is disposed at one end of the left and right sides, and a stop operation unit capable of instructing stop of autonomous driving is disposed at the other end on the left and right, and further, the start operation unit and the It is preferable that a deviation information display unit indicating a deviation in the position of the autonomous driving work vehicle with respect to the travel route is disposed between the stop operation units.

According to this configuration, since the deviation information display unit is disposed on the work screen displayed before the start of autonomous driving, the user sees the deviation information display unit and the position of the autonomous driving work vehicle in the lateral direction with respect to the travel route. It can be easily recognized how far off is. This makes it easier to align the position of moving the autonomous driving work vehicle to the autonomous driving starting position before starting autonomous driving, so that autonomous driving can be started while effectively utilizing the wireless communication device. In addition, since the deviation information display unit is disposed between the start operation unit and the stop operation unit, the user may operate the start operation unit or the stop operation unit while checking the deviation of the position of the autonomous driving work vehicle with respect to the travel route in the deviation information display unit. From this, it is easy to operate a start operation part and a stop operation part, and the improvement of operability can be aimed at.

In the present invention, the display control unit may display a work screen including the travel path on the display unit when information on the travel route is transmitted to the autonomous driving work vehicle through the wireless communication unit and a predetermined condition is satisfied. can be displayed in

It is preferable that the predetermined condition includes that the information on the travel route transmitted through the wireless communication unit and the information on the travel route acquired by the autonomous driving work vehicle through the wireless communication unit coincide with each other.

According to this configuration, the display control unit displays the work screen for the first time after a predetermined condition that the transmitted travel route information and the travel route information acquired by the autonomous driving work vehicle match is established, so that the user can By confirming that this is displayed, it can be easily recognized that the transmission of the travel route information is being performed normally, and subsequent operations and the like can be performed with confidence.

In the present invention, the plurality of operation units includes a rework operation unit for performing work on a past travel route previously transmitted to the autonomous driving work vehicle,

The display control unit may display the work screen on the display unit when the predetermined condition is satisfied without transmitting the information on the past travel route to the autonomous driving work vehicle when the rework operation unit is selected. desirable.

According to this configuration, when the rework operation unit is selected, the display control unit does not transmit information on the past travel route to the autonomous driving work vehicle. The work screen can be displayed while reducing the time. Thereby, a work screen can be displayed smoothly, and the simplification of the operation work for starting autonomous driving and shortening of the time required for the operation work can be achieved.

In the present invention, the display control unit is configured to perform a task before displaying the work screen on the display unit, regardless of whether the information on the travel route or the information on the past travel route is transmitted to the autonomous driving work vehicle. It is preferable to display a preparation screen on the display unit.

According to this configuration, before displaying the work screen, the display control unit displays a common work preparation screen, regardless of whether information on the travel route or information on the past travel route is transmitted to the autonomous driving work vehicle. By confirming that the job preparation screen is displayed, the user can easily recognize the display order that the display screen is displayed next. Therefore, the user can also confirm whether his or her operation is an appropriate operation, etc. by whether the display screens are in the display order, and can perform stable operation easily.

A first characteristic configuration of the present invention includes: a wireless communication unit capable of wireless communication with an autonomous driving work vehicle that autonomously travels along a predetermined travel route;

A display control unit for controlling the screen displayed on the display unit,

The display control unit may display a work screen including the travel route on the display unit when the information on the travel route is transmitted to the autonomous driving work vehicle through the wireless communication unit and a predetermined condition is satisfied, ,

The predetermined condition includes that information on the travel route transmitted through the wireless communication unit and information on the travel route acquired by the autonomous driving work vehicle through the wireless communication unit coincide with each other. is in

In a second characteristic configuration of the present invention, the plurality of operation units displayed on the display unit and selectable by the user include a rework operation unit for performing work on a past travel route previously transmitted to the autonomous driving work vehicle,

When the rework operation unit is selected and the predetermined condition is satisfied, the display control unit transmits the work screen to the display unit without transmitting the information on the past travel route to the autonomous driving work vehicle. display,

The display control unit is configured to display a work preparation screen before displaying the work screen on the display unit, regardless of whether the information on the driving route or the information on the past driving route is transmitted to the autonomous driving work vehicle. It is characterized in that it is displayed on the display unit.

A third characteristic configuration of the present invention is that the display control unit displays an error screen without displaying the work screen when the predetermined condition is not satisfied.

In a fourth characteristic configuration of the present invention, the display control unit does not display the work screen if the predetermined condition is not satisfied, and a route transmission operation unit for transmitting information on the travel route to the autonomous driving work vehicle. It is characterized in that it displays a screen having a

A fifth characteristic configuration of the present invention includes a position information acquisition unit configured to acquire position information of the autonomous driving work vehicle,

The display control unit displays a work screen including the travel route before starting autonomous driving of the autonomous driving work vehicle,

In the work screen, a start operation unit capable of instructing the start of autonomous driving is disposed on the upper left and right ends, and a stop operation unit capable of instructing the stop of autonomous driving is disposed on the other left and right ends, and the start A deviation information display unit indicating a deviation of the position of the autonomous driving work vehicle with respect to the travel route is disposed between the operation unit and the stop operation unit,

It is characterized in that the operation part for notification information for confirming the error notification information is arranged at the lower part, and the work progress rate and work remaining time by autonomous driving are displayed.

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

An embodiment of an autonomous driving system using a wireless communication device according to the present invention will be described with reference to the drawings.

As shown in FIG. 1 , this autonomous driving system includes a tractor 1 as an autonomous driving work vehicle that autonomously travels along a predetermined travel route, and a wireless communication terminal 2 capable of instructing various types of information to the tractor 1 . ) (corresponding to a wireless communication device) is provided. And 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 exemplified as the autonomous traveling work vehicle. In addition to the tractor, in addition to the passenger type work vehicle such as a rice transplanter, a combine, a civil engineering/building work apparatus, and a snow plow, a walking type work vehicle is also applicable.

As shown in Fig. 2, the tractor 1 is provided with a vehicle-side radio communication unit 14, and the radio communication terminal 2 is provided with a terminal-side radio communication unit 21 (corresponding to a radio communication unit), and a reference station At (4), a reference station side radio communication unit 41 is provided. Various types of information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and the vehicle-side wireless communication unit ( 14) and the radio communication unit 41 on the reference station side are configured to transmit/receive various types of information between the tractor 1 and the reference station 4 by wireless communication. The radio communication terminal 2 and the reference station 4 are configured to be able to transmit/receive various types of information via the tractor 1 . Further, by wireless communication between the terminal-side radio communication unit 21 and the reference station-side radio communication unit 41, the radio communication terminal 2 and the reference station 4 directly transmit and receive various types of information without passing through the tractor 1. It can also be configured to be possible. The frequency bands used for radio communication between the respective radio communication units may be a common frequency band or may be different frequency bands from each other.

As shown in FIG. 2, the tractor 1 is provided with an antenna 11 for positioning, a control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, and the like, and a control unit ( 12), while acquiring the current position information (the current position of the tractor 1) of the position information acquisition unit 13 by the control, autonomous driving is possible.

The positioning antenna 11 is configured to receive, for example, a signal from the positioning satellite 3 constituting the satellite positioning system (GNSS), as shown in FIG. 1 . The antenna 11 for positioning is arrange|positioned on the upper surface of the roof of the cabin of the tractor 1, for example.

As a positioning method using a satellite positioning system, as shown in FIG. 1 , a reference station 4 provided at a predetermined reference point is provided, and the tractor 1 (mobile station) is controlled by correction information from the reference station 4 . A positioning method for obtaining the current position of the tractor 1 by correcting the satellite positioning information is applicable. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, as for the positioning method, independent positioning may be used without the reference station 4 being provided.

In this embodiment, for example, since RTK positioning is applied, as shown in Figs. 1 and 2, the tractor 1 serving as the mobile station is provided with the positioning antenna 11 as a reference. Station (4) is provided. The positional information of the reference point used as the installation position of the reference station 4 is preset and grasped|ascertained. The reference station 4 is arrange|positioned at the position (reference point) which does not interfere with the running of the tractor 1, such as around a pavement, for example. The reference station 4 is provided with a reference station side radio communication unit 41 and an antenna 42 for positioning the reference station.

In the RTK positioning, the carrier wave phase (satellite positioning) from the positioning satellite 3 on 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 of the target for which position information is sought. information) is being measured. The reference station 4 generates correction information including the measured satellite positioning information and the position information of the reference point each time the satellite positioning information is measured from the positioning satellite 3 or whenever a set period elapses, Correction information is transmitted from the reference station side radio communication unit 41 to the vehicle side radio communication unit 14 of the tractor 1 . The positional information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 using the correction information transmitted from the reference station 4, so that the current Seeking location information. The positional information acquisition unit 13 obtains, for example, latitude information and longitude information as current positional information of the tractor 1 .

The wireless communication terminal 2 is constituted of, for example, a tablet-type personal computer having a touch panel, and can display various types of information on the touch panel, and can also input various types of information by operating the touch panel. . About the radio communication terminal 2, a user can carry and use it outside the tractor 1, and it can also attach and use it by the side of the driver's seat of the tractor 1, etc.

As shown in FIG. 2 , the radio communication terminal 2 includes a terminal-side radio communication unit 21 , a display control unit 22 , a route generation unit 23 , a display unit 24 (touch panel), and the like. The display control unit 22 is configured to display various screens on the display screen of the display unit 24 . In the following description, when the display control unit 22 displays a predetermined screen, it is assumed that the display on the display unit 24 is displayed unless otherwise specified. The route generating unit 23 is configured to generate a travel route in which the tractor 1 autonomously travels. Moreover, the wireless communication terminal 2 is equipped with the storage part (not shown), and various information, such as information registered by a user, is memorize|stored in this storage part.

When the tractor 1 is autonomously driven, first, when the user operates the wireless communication terminal 2, the route generating unit 23 generates a travel route, and information on the generated travel route, etc.; Various other information is transmitted from the radio communication terminal 2 to the tractor 1 . Then, after various conditions for starting the autonomous running of the tractor 1 are satisfied, the user operates the wireless communication terminal 2 to instruct the tractor 1 to start autonomous running, so that the Autonomous driving starts. During autonomous driving, the control unit 12 of the tractor 1 acquires the tractor 1 by the positional information acquisition unit 13 so that the tractor 1 autonomously travels along the travel path generated by the path generation unit 23 . ), the operating state of the tractor 1 is controlled based on the current position information. In addition, the current position information of the tractor 1 acquired by the position information acquisition unit 13 is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, a period of several seconds), The present position of the tractor 1 can be displayed on the display unit 24 of the radio communication terminal 2 .

Hereinafter, based on FIGS. 3-13, control of the display screen by the display control part 22 in the wireless communication terminal 2 when the tractor 1 is autonomously driven is demonstrated. 3 to 13 all show display screens displayed on the display unit 24 of the radio communication terminal 2 .

The display control unit 22 includes a splash screen (corresponding to the first screen) shown in FIG. 3 (corresponding to the first screen) after power-on of the wireless communication device 2 or after application startup in the wireless communication device 2 , The disclaimer screen shown (corresponding to the second screen) and the top screen shown in FIG. 6 (corresponding to the third screen) are sequentially displayed.

The splash screen shown in Fig. 3 is the first screen displayed after power is turned on or the application is started, and a company logo or company name is displayed in the center of the screen, and a user selectable operation unit 51 (Figs. 4 to 13). ) is not indicated. The display control unit 22 makes a transition from the splash screen (FIG. 3) to the disclaimer screen (FIG. 4) when a certain period of time has elapsed after the power is turned on. On the disclaimer screen shown in FIG. 4, the disclaimer regarding the use of the tractor 1 is displayed.

The disclaimer screen shown in Fig. 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. It is a common display screen also in the various screens (FIGS. 5-13) displayed later. The upper display area 53 is a fixed display area in which the display contents are not changed. In contrast, the lower display area 54 is a non-fixed display area in which different display contents are displayed when the user selects and operates the operation unit 51 .

In the upper display area 53, the operation units 51 of "Map Road" and "Help" are displayed at the left end, the operation units 51 of "GNSS" and "MENU" are displayed at the right end, and the current The display content of which screen is being displayed is displayed. Incidentally, the operation unit 51 of "Map Road" is an operation unit for displaying map information, and the operation unit 51 of "GNSS" is a satellite 3 that acquires latitude, longitude, GNSS status, and satellite positioning information. ), the serial number of the reference station 4, and detailed information of the satellite positioning system such as the remaining battery capacity of the base station 4, and the like. In addition, when the route generating unit 23 generates a new travel route, the route generating unit 23 selects and operates the operation unit 51 of "MENU" and then inputs various types of information according to the displayed contents. ) to create a driving route.

In the disclaimer screen shown in Fig. 4, the user checks the box of "I have read all" and selects and operates the operation unit 51 of "I agree and use", so that the display control unit 22 is shown in Fig. 4 It makes a transition from the disclaimer screen shown to the initial registration screen shown in FIG. On the other hand, the application is terminated by selectively operating the operation unit 51 of "Terminate the application" on the disclaimer screen shown in FIG. 4 . The initial registration screen shown in this FIG. 5 is a screen for registering various types of information about the tractor 1, such as the model of the tractor 1, and various types of information about the tractor 1 are registered by the user's operation. Incidentally, the frame of the selected model is surrounded by a thick red line, so that it is possible to recognize which model is being selected. When various types of information regarding the tractor 1 are registered, the display control unit 22 makes a transition from the initial registration screen shown in FIG. 5 to the top screen shown in FIG. 6 . In addition, before transitioning from the initial registration screen shown in FIG. 5 to the top screen shown in FIG. 6, you may pass through screens, such as an initial registration screen (for example, home address registration) other than the information about the tractor 1 .

Here, when various information regarding the tractor 1 has already been registered, the display control unit 22 does not display the initial registration screen shown in FIG. 5 from the disclaimer screen shown in FIG. 4 , but is shown in FIG. Transition to the top screen.

On the top screen shown in FIG. 6 , a plurality of user-selectable operation units 51 (in the figure, various icons) and map information 52 are displayed, and one operation unit 51 among the plurality of operation units 51 is displayed. When is selected, it transitions to another screen. In the top screen shown in FIG. 6 , the map information 52 is displayed so that the registered pavements H1 to H7 are included in the center of the screen of the lower display area 54 . Incidentally, at the time of the initial start-up in which the pavement is not registered, the center of the map information 52 is displayed so as to be a preset predetermined position. In addition, in the lower display area 54, an operation unit 51a for displaying a packing list (an icon indicated by "←" in the drawing), an operation unit 51b for a previous operation (in the drawing, an icon indicated by "Start work with the last work path" in the drawing) ), and other operation units 51 are displayed so as to surround the periphery except for the upper part of the map information 52 .

The display control unit 22 causes the map information 52 to be displayed so that the center of the map information 52 is the same as the center of the previous display screen. Moreover, when the operation part 51 of "current position" is operated, the display control part 22 displays so that the center of the map information 52 may become the current position of the tractor 1 .

When the display control unit 22 displays the map information 52 on the top screen shown in FIG. 6 , the previous work position related to the position of the tractor 1 when the tractor 1 performed autonomous driving last time. The information 55 is identifiably displayed. The previous work positional information 55 is shown by the predetermined mark (pin), and is displayed in the center part of the pavement H2 which the tractor 1 performed autonomously last time. It is making it possible for a user to recognize easily which pavement the pavement which the tractor 1 performed autonomously last time by this is. The position at which the previous work position information 55 is displayed may be any position that can identify which pavement (H) it is, for example, the work start position or pavement ( The previous work position information 55 may be displayed at the entrance of the tractor 1 for H). Incidentally, the display control unit 22 places the previous work position information in the center of the pavement not only when the previous autonomous driving is ended by completing the work on the pavement, but also when the previous autonomous driving is ended in the middle of the paving work. (55) is indicated.

In the top screen shown in FIG. 6, when the user selects and operates the operation part 51a for packing list display (the icon indicated by "←" in the drawing), the display control part 22 moves from the top screen shown in FIG. 6 to FIG. Transitions to the packaging list screen shown in .

In the packing list screen shown in FIG. 7, the lower display area 54 is divided into the lower left display area 54a and the lower right display area 54b, and is shown in FIG. 6 in the lower left display area 54a. A plurality of operation units 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 of pavement information stored in the wireless communication terminal 2 (56) and a travel route list display for displaying a list of travel routes (paths) created in the past in a specific pavement The operation part 51c for use (in the figure, the icon of "display the list of paths of this pavement") is displayed. In the list 56 of packaging information, operation parts 51 such as "distance order", "name order", and "registration order" are selectively operated, so that they can be rearranged and displayed in the operated order, and packaging information in packaging As , the distance from the current position of the tractor 1 to the pavement, the registration date in which the pavement information is registered, pavement location information, and the like are displayed. Moreover, when displaying the list 56 of pavement information, last time pavement information 57 (pin) indicated by a predetermined mark with respect to the pavement which the tractor 1 performed autonomously is displayed. Thereby, the user can recognize which pavement the pavement on which the tractor 1 performed autonomously last time is from the map information 52 on the map (last work position information 55), and pavement information From the list 56 of , information about the packaging (last packaging information 57) can also be recognized.

In addition, when the user selects a specific package on the package list screen shown in FIG. 7 , the display control unit 22 changes the color of the frame of the selected package and surrounds it with a thick line (eg, a red thick line). ), the selected package is displayed so that it can be distinguished from other packages, and the color of the border of the operation unit 51 that has been selected is changed and surrounded by a thick line (for example, red thick line), so that the operation unit 51 that has been selectively operated is displayed so as to be distinguishable from the other operation units 51 .

In the pavement list screen shown in Fig. 7, when the user selects and operates the travel route list display operation unit 51c in a state where a specific pavement is selected, the display control unit 22 moves from the pavement list screen shown in Fig. 7 to Fig. 8. Transitions to the displayed path list screen.

In the path list screen shown in FIG. 8 , an enlarged screen 58 of the selected pavement is displayed in the lower left display area 54a, and past generated path information (relating to the travel route) is displayed in the lower right display area 54b. information) list 59, and a path transmission operation unit 51d for transmitting the selected path information (information regarding the travel route) to the tractor 1 (in the drawing, indicated by “start operation with this path”) icon) is displayed.

On the enlarged screen 58 of the pavement, the traveling path 25 generated by the path generating unit 23 is displayed, and in FIG. 8 , for example, the linear traveling path 25 has an interval in the left and right directions. They are marked so that they are arranged in multiple numbers.

In the path information list 59, the operation unit 51 such as "distance order", "name order", and "registration order" is selectively operated, so that it is possible to rearrange and display it in the operated order, and as path information, the tractor ( 1) The distance from the current position to the starting position of the path, the day the path was created, information on the starting position of the path, and the like are displayed. Further, in the path information list 59, a path detail display operation unit 51e for displaying detailed information of the path information (in the figure, an icon indicated by "details") is displayed, and the selected path information and selection operation are performed. By changing the color of the frame and surrounding with a thick line (for example, surrounded by a red thick line), the operation unit 51 is displayed so as to be identifiable from other path information and other operation units 51 . .

In the path list screen shown in FIG. 8, when the user selects and operates the path detail display operation unit 51e in a state in which a specific path is selected, the display control unit 22 controls the display control unit 22 from the path list screen shown in FIG. Transitions to the path detail screen.

In the path detail screen shown in FIG. 9, the display content is changed only in the lower right display area 54b from the path list screen shown in FIG. 8, and the path detail information 60 is displayed. As the path detailed information 60, the pavement area, the presence or absence of obstacles, the width of the non-working area (submerged, etc.) surrounding the work area for generating the path (travel route), and the path (travel route) are generated. Base station information of , base station information with which the tractor 1 is currently communicating, tractor information, work machine information mounted on the tractor 1, the number of paths (travel paths), and the like are displayed.

In the path list screen shown in FIG. 8 or the path detail screen shown in FIG. 9, when the user selects and operates the path transfer operation unit 51d (corresponding to the route transfer operation unit), the display control unit 22 displays FIG. 8 A transition is made from the path list screen shown in FIG. 9 or the path detail screen shown in FIG. 9 to the job preparation screen shown in FIG. 10 . At this time, path information (information about the travel route) is transmitted from the radio communication terminal 2 to the tractor 1 by the terminal-side radio communication unit 21 and the vehicle-side radio communication unit 14 . Therefore, the control unit (not shown) of the radio communication terminal 2 and the control unit 12 of the tractor 1 transmit the path information transmitted through the terminal side radio communication unit 21 and the vehicle side radio communication unit 14, and the terminal A radio communication check process for checking whether the path information acquired by the tractor 1 through the side radio communication unit 21 and the vehicle side radio communication unit 14 matches or not is performed.

In this radio communication check processing, for example, the total amount of path information transmitted through the terminal-side radio communication unit 21 and the vehicle-side radio communication unit 14, and the terminal-side radio communication unit 21 and the vehicle-side radio communication unit ( A process (CRC check process) for checking whether or not the path information matches by whether or not the total amount of path information acquired by the tractor 1 through 14) can be applied. In the wireless communication check processing, instead of the CRC check processing, for example, individual ID information in the path information is transmitted, and whether the path information matches is checked by whether the ID information matches or not. It is also possible to apply various radio communication check processing.

The display control unit 22 includes the path information transmitted through the terminal-side radio communication unit 21 and the vehicle-side radio communication unit 14 and the tractor 1 through the terminal-side radio communication unit 21 and the vehicle-side radio communication unit 14 . ), after confirming that the acquired path information matches, it makes a transition from the job preparation screen shown in FIG. 10 to the job screen shown in FIG. Accordingly, the display control unit 22 controls the path information transmitted from the radio communication terminal 2 and the tractor when the path information is transmitted to the tractor 1 via the terminal-side radio communication unit 21 and the vehicle-side radio communication unit 14 . (1) The predetermined condition that the acquired path information matches is satisfied, 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 do not match is satisfied, the display control unit 22 does not display the operation screen shown in FIG. 11 , and an error screen is displayed, or the screen returns to the path list screen shown in FIG. The error screen is not illustrated, but it is sufficient if the content of the error is displayed in a identifiable manner. It can be done with a common display screen that allows Incidentally, in the case of displaying the error screen, the error screen returns to the path list screen shown in Fig. 8 .

In the work screen shown in FIG. 11 , the lower display region 54 includes a lower upper display region 54c positioned on the upper end side, a lower lower display region 54d positioned on the lower end side in the vertical direction, and a lower portion of the lower display region 54 . It is divided into three display areas, a lower middle display area 54e located between the upper display area 54c and the lower lower display area 54d. In addition, the lower upper display area 54c and the lower lower display area 54d cannot be switched to different screens, and the lower middle display area 54e is switchable to another screen.

In the lower middle display area 54e, an enlarged screen 58 of packaging displayed in the lower left display area 54a on the path list screen shown in FIG. 8 or the path detail screen shown in FIG. 9 and a plurality of operation units 51 ) and the same display screen is displayed. The display control unit 22 displays the current position 26 of the tractor 1 on the enlarged screen 58 of the pavement, and makes it possible to recognize where the current position of the tractor 1 is. Then, on the enlarged screen 58 of the pavement, the display control unit 22 changes the color of the traveling path 25 on which the tractor 1 is currently autonomously traveling and the traveling path 25 on which the tractor 1 is going to travel next. It can also be displayed so as to be identifiable by displaying or the like. In addition, the display control unit 22 displays the plurality of travel paths 25 in a different form by changing the color of the travel path 25 on which the work has already been performed and the travel path 25 on which the work has not yet been performed. can do it

In addition, the display control part 22 is comprised so that switching to a tractor information screen and a work command screen is possible with respect to the display screen of the lower intermediate|middle display area 54e separately from the enlarged screen 58 of a pavement. Although not illustrated, information indicating the state of the tractor 1, such as an actual vehicle speed, an actual engine rotation speed, and a load factor, is displayed on the tractor information screen. On the work command screen, an operation unit 51 or the like for changing the vehicle speed or the engine rotation speed is displayed. Moreover, the display control part 22 is comprised so that a caution screen, a warning screen, etc. can be inserted and displayed as a display screen of the lower intermediate|middle display area 54e. For example, the caution screen is a screen for displaying a condition that is not satisfied among various conditions for starting autonomous driving, and the warning screen is when autonomous driving is stopped by maintaining the current driving during autonomous driving. It is a screen to display the cause in Since the control information regarding this caution screen and warning screen is generated by the control unit 12 of the tractor 1, in the wireless communication terminal 2, by receiving the generated control information in the terminal-side wireless communication unit 21, The display control unit 22 is configured to display a caution screen or a warning screen interleaved.

In the lower upper display area 54c, a start operation unit 51f capable of instructing the start of autonomous driving is disposed at the left end, and a stop operation unit 51g capable of instructing stop of the autonomous driving is disposed at the right end. And the deviation information display part 61 which shows the deviation of the position of the tractor 1 with respect to the travel route 25 is arrange|positioned between the start operation part 51f and the stop operation part 51g. In the lower lower display area 54d, a notification information operation unit 51h for confirming error notification information and other operation units 51 are arranged, and the work progress rate by autonomous driving, work remaining time, etc. are displayed. has been

The display control unit 22 sets the start operation unit 51f into an inactive state in which selective operation cannot be performed until various conditions for starting autonomous driving are satisfied, and when various conditions for starting autonomous driving are satisfied, The start operation unit 51f is in an active state that enables a selective operation. The display control unit 22, for example, turns on the start operation unit 51f in an inactive state, and blinks the start operation unit 51f in an active state. By changing the display form of the start operation unit 51f, The inactive state and the active state can be identified by the user.

When the start operation unit 51f instructs the start of autonomous driving and the autonomous driving of the tractor 1 starts, the display control unit 22 uses the start operation unit 51f to instruct the pause operation unit to instruct the temporary stop of the autonomous driving. (not shown) is changed to . Then, when the temporary stop operation unit is selectively operated, the display control unit 22 changes the start operation unit 51f from the temporary stop operation unit to the original display form, and the start operation unit 51f instructs the start of autonomous driving in a display form and a display form that instructs the temporary stop of autonomous driving is configured to be switchable. In this way, when the display control unit 22 changes the display form of the start operation unit 51f, one operation unit can function as two operation units, and whether autonomous driving is started or temporarily stopped, etc. It becomes easier for users to grasp the working situation of autonomous driving.

In the radio communication terminal 2, the current position information of the tractor 1 obtained by the position information acquisition unit 13 of the tractor 1 by the terminal-side radio communication unit 21 and the vehicle side radio communication unit 14 It is being received in real time (eg, every 1 minute). In this way, the display control unit 22 acquires the current position information of the tractor 1 in real time (for example, every one minute), and in the wireless communication terminal 2 , the terminal-side wireless communication unit 21 and the display control unit (22) etc. function as the positional information acquisition part which can acquire the positional information of the tractor 1.

The display control unit 22 is causing the deviation information display unit 61 to display to what extent the current position of the acquired tractor 1 is shifted in which direction in the lateral direction with respect to the travel route 25 . When the display control unit 22 controls the deviation information display unit 61 , the control unit 12 of the tractor 1 determines that the current position of the tractor 1 is in the lateral direction with respect to the travel path 25 . In this case, the deviation information of the degree of deviation in which direction is calculated, and the obtained deviation information is transmitted from the tractor 1 to the radio communication terminal 2 . The display control unit 22 is controlling the deviation information display unit 61 based on the deviation information transmitted from the tractor 1 . The deviation information display unit 61 is provided in a state in which a plurality of display lamp units are arranged in the left-right direction, and the plurality of display lamp units have different colors to be lit depending on the installation area in the left-right direction. For example, three display lamp units located in the central region are green, two display lamp units located in an area closer to the end are yellow, and two display lamp units located in a region closer to the end are orange, and the outermost region is orange. The two indicator lamps located in the area on the side are made red. The display control unit 22 displays the deviation information display unit 61 so as to display in which direction the current position of the center of the tractor 1 is shifted from the center of the travel path 25 in the lateral width direction of the travel path 25 . ) is controlled and displayed in the central region according to the size of the distance from the center of the travel path 25 to the current position of the center of the tractor 1 in the transverse direction of the travel path 25 The deviation information display unit 61 is controlled so that the lighting range is sequentially widened from the lamp unit toward the display lamp unit located in the end-side region.

For example, if the distance from the center of the travel path 25 to the current position 26 of the center of the tractor 1 in the transverse direction of the travel path 25 is within the set range, 3 located in the central region Only the display lamps of the two are turned on. When the current position of the tractor 1 is shifted to the left with respect to the travel path 25 , from the center of the travel path 25 to the current position of the tractor 1 in the lateral width direction of the travel path 25 When the distance becomes larger than the set range, in addition to the three display lamp units located in the central region, the display lamp units located in the left region adjacent thereto are also turned on, and the traveling path 25 in the horizontal direction of the traveling path 25 As the size of the distance from the center of the tractor 1 to the current position of the center of the tractor 1 increases, the lighting range spreads to the left.

The display control unit 22 determines that the current position of the tractor 1 acquired before starting the autonomous running of the tractor 1 and during the autonomous running of the tractor 1 is determined in the horizontal direction of the travel route 25 . The deviation information display unit 61 displays the degree of deviation in which direction. Thereby, before starting the autonomous driving, while the user sees the deviation information display unit 61, the position of the tractor 1 is moved to the autonomous driving starting position, while the position alignment can be performed, and even during autonomous driving, the user can It can be easily recognized in which direction and to what extent the current position of the tractor 1 is shifted in the lateral width direction of the travel route 25 .

In the work screen shown in FIG. 11 , in the traveling path 25 on which the tractor 1 is currently autonomously traveling at the right end of the lower intermediate display area 54e, the traveling path 25 from the current position of the tractor 1 ), a distance display section 62 for displaying the distance to the end (immersion) is disposed. The distance display unit 62 is a bar-shaped display unit extending in the vertical direction, and the length from the lower end to the upper end corresponds to the entire length of the travel path 25 . The display control unit 22 illuminates and displays the distance from the lower end to the position corresponding to the current position of the tractor 1 in a predetermined color in the distance display unit 62, so that the user can control the end (immersion) of the travel route 25. to recognize the distance to the

In the work screen shown in FIG. 11 , an operation unit 51h for notification information (icon indicated by “details” in the drawing) is disposed at the left end of the lower lower display area 54d, so that the display control unit 22 controls the tractor When the various conditions for starting the autonomous driving of (1) are satisfied, the left side of the operation unit 51h for notification information is lit with a specific color for establishment (eg, green). Conversely, when the various conditions for starting the autonomous running of the tractor 1 are not satisfied, the left side of the operation unit 51h for notification information is lit with a specific color for non-establishment (for example, red). And when the left side of the operation unit 51h for notification information is lit with a specific color (for example, red) for non-establishment, when the user selects and operates the operation unit 51h for notification information, the display control unit 22 ) makes a transition from the job screen shown in FIG. 11 to the notification information screen shown in FIG. 12 .

In the notification information screen shown in FIG. 12, the display contents of the lower intermediate display area 54e in the work screen shown in FIG. 11 are changed, and various conditions for starting the autonomous driving of the tractor 1 (steering, The establishment status display screen 63 showing the reverser, brake, clutch, parking brake, auxiliary transmission, vehicle speed, UFO setting) is displayed. The display control unit 22, on the establishment status display screen 63, turns on a specific color for establishment (for example, green) for each site for each site satisfying the condition, and satisfies the condition. A specific color for non-establishment (for example, red) is lit for a portion where it is not.

In the work screen shown in FIG. 11, although the deviation information display part 61 shows the deviation of the position of the tractor 1 with respect to the travel route 25, in addition to this deviation information display part 61, FIGS. 11 and 13 Like the work screen shown in , in the enlarged screen 58 of the pavement, the deviation of the position of the tractor 1 with respect to the travel route 25 is shown. On the work screen shown in FIG. 13 , the display control unit 22 displays the travel route 25 and the current position 26 of the tractor 1 on the enlarged screen 58 of the pavement. And in the work screen shown in FIG. 13, since the travel route 25 and the current position 26 of the tractor 1 are displayed between the start operation part 51f and the stop operation part 51g, the travel route 25 ) and the display of the current position 26 of the tractor 1 functions as a deviation information display unit. By what position the current position 26 of the tractor 1 is with respect to the travel path 25 , the user can determine to what extent the current position of the tractor 1 is in which direction in the width direction of the travel path 25 . Any deviation can be easily recognized.

In the work screens shown in FIGS. 11 and 13 , the deviation information display unit 61 disposed in the lower upper display area 54c and the travel route 25 serving as the deviation information display unit disposed in the lower middle display area 54e are provided. and two deviation information display units of the current position 26 of the tractor 1 are arranged.

And as shown in FIG. 13, the display control part 22 is the current position of the travel route 25 and the tractor 1 in the enlarged screen 58 of a pavement not only before the start of autonomous driving but also during autonomous driving. (26) is indicated. In this way, not only in the case of performing positioning for moving the tractor 1 to the autonomous driving start position, but also during autonomous driving, the user can determine how far the tractor 1 is shifted in the lateral direction with respect to the travel path 25 . can recognize In FIG. 13 , the current position 26 of the tractor 1 indicated by the dotted line indicates a state shifted to the right or left with respect to the travel route 25 .

As described above, when the display control unit 22 controls the display screen of the display unit 24 and the tractor 1 is autonomously driven to perform work on the pavement, in each display screen, the user By selectively operating (51), the display control unit 22 is controlling the display screens to sequentially transition as in the following (1) to (8).

(1) Splash screen shown in FIG. 3

(2) Disclaimer screen shown in FIG. 4

(3) Initial registration screen shown in FIG. 5

(4) Top screen shown in FIG. 6

(5) Packing list screen shown in FIG. 7

(6) Path list screen shown in Fig. 8 (Path list screen shown in Fig. 8 → Path detail screen shown in Fig. 9)

(7) Job preparation screen shown in FIG. 10

(8) Operation screen shown in FIG. 11

And, as described above, (3) the registration operation on the initial registration screen shown in FIG. 5 is initially performed only once, so (3) on the initial registration screen shown in FIG. When various types of information are registered, the display control unit 22 (2) skips the initial registration screen shown in FIG. 5 from the disclaimer screen shown in FIG. 4, (3) skips the initial registration screen shown in FIG. 5, and (4) returns to the top screen shown in FIG. transitioning

The above-mentioned (1) to (8) have shown the case where the work is performed by transmitting the path information (information about the travel route 25) from the wireless communication terminal 2 to the tractor 1, but for example, For example, the work may be performed using past path information (information regarding the travel route 25 ) previously transmitted to the tractor 1 without transmitting the new path information.

In this case, the display control unit 22 controls the display screens to sequentially transition as in (1) to (4), and (4) in the top screen shown in Fig. 6, the user controls the previous operation operation unit 51b ( (corresponding to the rework operation unit) is selected and operated. By selection operation of the operation part 51b for this last time, the display control part 22 is the path shown in (4) the top screen shown in FIG. 6, (5) the packing list screen shown in FIG. 7, and (6) FIG. 8. The list screen is skipped, and it is made to transition to the job preparation screen shown in (7) FIG. At this time, the display control unit 22 transfers the past path information (information regarding the travel route 25) to the tractor 1 differently from when the display screens of (4) to (7) are sequentially transitioned. Without transmission, a radio communication check process is performed between the control unit (not shown) of the radio communication terminal 2 and the control unit 12 of the tractor 1 .

In the radio communication check processing at this time, the control unit 12 of the tractor 1 acquires the previously transmitted past path information, so that the control unit 12 of the tractor 1 sends the radio communication terminal 2 ) to the control unit (not shown) whether the acquired past path information and the past path information previously transmitted from the radio communication terminal 2 to the tractor 1 match. Then, for example, past path information is determined based on whether the total amount of acquired past path information matches the total amount of past path information previously transmitted from the radio communication terminal 2 to the tractor 1 . A process for checking whether or not (CRC check process) can be performed. Also, instead of this CRC check processing, for example, individual ID information in the past path information is transmitted, and whether or not the past path information matches can be checked by whether the ID information matches or not. Therefore, various wireless communication check processing can be applied.

In this way, even when past path information is not transmitted from the radio communication terminal 2 to the tractor 1, the display control unit 22 (7) displays the work preparation screen shown in FIG. The check process is performed, and the predetermined condition that the past path information matches is satisfied, and the work screen shown in (8) FIG. 11 can be displayed for the first time.

If the predetermined condition that the past path information matches is not satisfied, the display control unit 22 displays an error screen without displaying the job screen shown in FIG. 11 , or returns to the path list screen shown in FIG. 8 . is making it happen The error screen is not illustrated, but it is sufficient if the content of the error is displayed in a identifiable manner. It can be done with a common display screen that allows Incidentally, in the case of displaying the error screen, the error screen is returned to the path list screen shown in Fig. 8 .

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

[Other embodiment]

(1) In the above embodiment, the display control unit 22 displays the disclaimer screen shown in FIG. 4 after the splash screen shown in FIG. 3 , but, for example, the display control unit 22 displays the work screen shown in FIG. After that, the disclaimer screen shown in FIG. 4 may be displayed, and the timing at which the disclaimer screen shown in FIG. 4 is displayed can be appropriately changed.

Moreover, in the work screen shown in FIG. 11, after the start operation part 51f is selected and operated, the disclaimer screen shown in FIG. 4 can also be displayed. In this case, for example, in the operation screen shown in FIG. 11, the start operation part 51f is abbreviate|omitted, and it can add and display the start operation part 51f to the disclaimer matter screen shown in FIG.

(2) In the above embodiment, when transmitting path information (information on the travel route 25) from the radio communication terminal 2 to the tractor 1, path information transmitted from the radio communication terminal 2 It is determined whether or not the path information already acquired by the tractor 1 and the tractor 1 is the same. ), the autonomous driving of the tractor 1 can be performed using the path information already acquired by the side.

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

(4) In the above embodiment, conditions for making the start operation unit 51f shown in Fig. 11 into an active state may include that the display form displayed on the deviation information display unit 61 is a desired display form. . Here, for example, in the horizontal direction of the travel path 25, the distance from the center of the travel path 25 to the current position 26 of the center of the tractor 1 is within the set range, and the deviation information display unit ( 61) can be a desired display form in which only three display lamp units located in the central region are lit. In this way, the condition for making the start operation unit 51f into an active state can be set in association with the display form of the deviation information display unit 61 . In this case, while the user confirms the display form of the deviation information display part 61, the start operation part 51f can be made into an active state.

(5) In the above embodiment, in the work screens shown in FIGS. 11 and 13 , the deviation information display unit 61 arranged in the lower upper display area 54c and the deviation information arranged in the lower middle display area 54e Although the example in which the two deviation information display parts of the travel path 25 functioning as a display part and the current position 26 of the tractor 1 are arrange|positioned was shown, only either deviation information display part may be arrange|positioned.

The present invention can be applied to various wireless communication devices capable of transmitting and receiving information related to autonomous driving.

1: Tractor (autonomous driving work vehicle)
2: radio communication terminal (wireless communication device)
13: location information acquisition unit
21: terminal side radio communication unit (wireless communication unit)
22: display control unit
24: display
51: control unit
51b: control panel for previous work (rework control panel)
51f: start operation part
51g: stop operation part
52: map information
55: previous work location information
61: deviation information display unit

Claims (4)

A display system for displaying a work screen on which a work vehicle performs work, the display system comprising:
A display control unit for controlling the displayed screen,
The display control unit,
After turning on the power or starting the application, multiple screens are displayed sequentially,
After displaying the plurality of screens, a top screen on which a plurality of operation units selectable by the user is displayed is displayed,
The plurality of screens includes a registration screen for registering various types of information about the work vehicle. The method of claim 1,
wherein the display control unit makes a transition to a next screen without displaying the registration screen among the plurality of screens, when various types of information related to the work vehicle have already been registered. 3. The method of claim 2,
The registration screen is a screen displayed last among the plurality of screens,
wherein the display control unit displays the top screen without displaying the registration screen when various types of information related to the work vehicle have already been registered. 4. The method according to any one of claims 1 to 3,
The display system according to claim 1, wherein the plurality of screens include a splash screen on which display is terminated after a predetermined period has elapsed, and a disclaimer screen for displaying disclaimers related to use of the work vehicle.

Images