JP7583771B2 - Screen display system and screen display method - Google Patents

Description

The present invention relates to a screen display system and a screen display method for displaying a display screen on a display unit when a work vehicle is driven autonomously.

A work screen display system such as the one described above is used in an autonomous driving system that allows a work vehicle to drive autonomously (see, for example, Patent Document 1). The system described in Patent Document 1 is equipped with a wireless communication terminal such as a tablet terminal and a work vehicle capable of autonomous driving, and the user operates the wireless communication terminal to give various instructions to the work vehicle, such as to start autonomous driving, to cause the work vehicle to drive autonomously. The wireless communication terminal is equipped with a display unit such as a display, and the screen of the display unit displays the status of the work vehicle and an operation unit for giving various instructions.

International Publication No. 2015/119263

When autonomous driving is performed, the user operates the wireless communication terminal while looking at the display screen of the display unit not only before autonomous driving starts but also after autonomous driving starts. However, in the system described in the above Patent Document 1, although a display screen showing the status of the work vehicle and an operation unit for issuing various instructions is displayed on the display unit, the specific type of display screen is not described. Therefore, when autonomous driving is performed, it is desired to display a display screen that is easy for the user to operate on the display unit.

In view of this situation, a main object of the present invention is to provide a screen display system and a screen display method that can display a display screen on a display unit that is easy for a user to operate.

The screen display system according to one aspect of the present invention includes a display control unit that displays a map image on a display unit. The display control unit displays registered fields on the map image.

A diagram showing the schematic configuration of an autonomous driving system. Block diagram showing the schematic configuration of an autonomous driving system FIG. 13 is a diagram showing a top screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a farm field registration screen displayed on the display unit of the wireless communication terminal. FIG. 13 is a diagram showing a field list screen displayed on the display unit of the wireless communication terminal. FIG. 13 is a diagram showing a path list screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a path details screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a work screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a work screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a work screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a work screen displayed on a display unit of the wireless communication terminal. FIG. 13 is a diagram showing a work screen displayed on a display unit of the wireless communication terminal.

An embodiment of an autonomous driving system using a work screen display system according to the present invention will be described with reference to the drawings.
1, this autonomous driving system includes a tractor 1 as a work vehicle that autonomously drives along a predetermined driving route, and a wireless communication terminal 2 that can instruct various information to the tractor 1. In this embodiment, a reference station 4 is also provided that can transmit positioning correction information to the tractor 1 when acquiring position information of the tractor 1.

In FIG. 1, a tractor 1 is shown as an example of a work vehicle, but in addition to tractors, other ride-on work vehicles such as rice transplanters, combine harvesters, civil engineering and construction work equipment, snowplows, and walk-behind work vehicles are also applicable.

As shown in FIG. 2, the tractor 1 is provided with a vehicle-side wireless communication unit 14, the wireless communication terminal 2 is provided with a terminal-side wireless communication unit 21, and the reference station 4 is provided with a reference station-side wireless communication unit 41. Various information can be transmitted and received between the tractor 1 and the wireless communication terminal 2 by wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21, and various information can be transmitted and received between the tractor 1 and the reference station 4 by wireless communication between the vehicle-side wireless communication unit 14 and the reference station-side wireless communication unit 41. The wireless communication terminal 2 and the reference station 4 are configured to be able to transmit and receive various information via the tractor 1. In addition, the wireless communication terminal 2 and the reference station 4 can be configured to be able to transmit and receive various information directly without going through the tractor 1 by wireless communication between the terminal-side wireless communication unit 21 and the reference station-side wireless communication unit 41. The frequency bands used for wireless communication between the wireless communication units may be a common frequency band or may be different from each other.

As shown in FIG. 2, the tractor 1 is equipped with a positioning antenna 11, a vehicle-side control unit 12, a position information acquisition unit 13, a vehicle-side wireless communication unit 14, a memory unit (not shown), etc. The vehicle-side control unit 12 is configured to control various devices provided in the tractor 1, such as a governor device, a transmission device, and a steering device (not shown), while acquiring its own current position information (current position of the tractor 1) using the position information acquisition unit 13, so that the tractor 1 can travel autonomously. The tractor 1 is also equipped with an inertial measurement device (not shown) having a three-axis gyro and a three-directional accelerometer, etc., and the vehicle-side control unit 12 is configured to be able to detect the attitude and heading direction of the tractor 1 based on the measurement information of the inertial measurement device.

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

As a positioning method using a satellite positioning system, as shown in FIG. 1, a reference station 4 is provided at a predetermined reference point, and the satellite positioning information of the tractor 1 (mobile station) is corrected using positioning correction information from the reference station 4 to determine the current position of the tractor 1. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, standalone positioning can also be used without providing a reference station 4.

In this embodiment, for example, RTK positioning is applied, so that, as shown in Figs. 1 and 2, the tractor 1, which is the mobile station, is equipped with a positioning antenna 11 and a reference station 4. The position information of the reference point where the reference station 4 is installed is set and known in advance. The reference station 4 is placed in a position (reference point) that does not interfere with the travel of the tractor 1, such as around a farm field. The reference station 4 is equipped with a reference station wireless communication unit 41 and a reference station positioning antenna 42.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 3 is measured by both the reference station 4 installed at the reference point and the positioning antenna 11 of the tractor 1, which is the mobile station side for which position information is sought. The reference station 4 generates positioning correction information including the measured satellite positioning information and the position information of the reference point, etc., every time it measures satellite positioning information from the positioning satellite 3 or every time a set period has elapsed, and transmits the positioning correction information from the reference station side wireless communication unit 41 to the vehicle side wireless communication unit 14 of the tractor 1. The position information acquisition unit 13 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 11 using the positioning correction information transmitted from the reference station 4 to obtain the current position information of the tractor 1. The position information acquisition unit 13 obtains, for example, latitude information and longitude information as the current position information of the tractor 1.

The wireless communication terminal 2 is, for example, configured as a tablet-type personal computer having a touch panel, and various information can be displayed on the touch panel, and various information can be input by operating the touch panel. The wireless communication terminal 2 can be carried and used by the user outside the tractor 1, and can also be attached to the side of the driver's seat of the tractor 1 and used.

As shown in FIG. 2, the wireless communication terminal 2 is equipped with a terminal-side wireless communication unit 21, a display control unit 22, a recording control unit 23, a route generation unit 24, an area shape identification unit 25, a display unit 26 (touch panel), etc. The display control unit 22 is configured to display various screens on the display screen of the display unit 26. In the following description, when the display control unit 22 displays a specific screen, this refers to a display on the display unit 26, unless otherwise specified. The route generation unit 24 is configured to generate a driving route for the tractor 1 to drive autonomously. The wireless communication terminal 2 is also equipped with a memory unit (not shown), in which various information such as information registered by the user is stored.

When the tractor 1 is to travel autonomously, first, before the autonomous travel starts, the user operates the wireless communication terminal 2 to register field information related to the field H (see FIG. 3, corresponding to a specific area) on which the tractor 1 will travel autonomously, such as the shape of the field H, and the path generating unit 24 generates a travel path P (see FIG. 6) for the registered field H. Then, the user operates the wireless communication terminal 2 to select the field H on which work will be performed this time, and selects the travel path P on which the tractor 1 will travel autonomously this time from the travel paths P generated for that field H. After the field H and the travel path P are selected in this way, the autonomous travel start condition is met, and the wireless communication terminal 2 is in a state where it is possible to instruct the tractor 1 to start autonomous travel. Then, the user operates the wireless communication terminal 2 to instruct the tractor 1 to start autonomous travel, and autonomous travel can be started.

Because the route generating unit 24 of the wireless communication terminal 2 generates the travel route P, it is necessary to transmit route information regarding the travel route P from the wireless communication terminal 2 to the tractor 1. Therefore, the wireless communication terminal 2 transmits the route information to the tractor 1 at a predetermined timing before or after the autonomous traveling starts. As a result, in the tractor 1, the vehicle-side control unit 12 acquires the current position information of the tractor 1 by the position information acquiring unit 13, and causes the tractor 1 to travel autonomously along the travel route P based on the route information transmitted from the wireless communication terminal 2. In addition, the current position information of the tractor 1 acquired by the position information acquiring unit 13 is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, every few seconds) not only before the autonomous traveling starts but also after the autonomous traveling starts, and the current position T of the tractor 1 (see FIG. 8) can be displayed on the display unit 26 of the wireless communication terminal 2.

The following describes the control of the display screen by the display control unit 22 in the wireless communication terminal 2 when the tractor 1 is traveling autonomously, with reference to Figures 3 to 12. All of Figures 3 to 12 show the display screen displayed on the display unit 26 of the wireless communication terminal 2.

After the wireless communication terminal 2 is powered on, the display control unit 22 displays a splash screen, a disclaimer screen, etc., and then displays the top screen shown in FIG. 3. The top screen shown in FIG. 3 is divided into an upper display area 53 at the top of the screen and a lower display area 54 below that, with the upper display area 53 being a common display screen for the various screens (FIGS. 4 to 12) that are displayed after the top screen. The upper display area 53 is a fixed display area in which the display content does not change. In contrast, the lower display area 54 is a non-fixed display area in which a different display screen is displayed when the user selects and operates the operation unit 51.

On the top screen shown in FIG. 3, the display control unit 22 displays a plurality of user-selectable operation units 51 (various icons in the figure) and a map image 52 in the lower display area 54. The display control unit 22 also enables transition to another screen (see FIG. 4, etc.) by selecting one operation unit 51 from among the plurality of operation units 51.

In the center of the screen in the lower display area 54, a map image 52 is displayed so that the registered fields H1 to H7 are included, and the display control unit 22 displays the map image 52 at a constant display magnification (corresponding to the third display state). The display control unit 22 then displays the shape of each of the fields H1 to H7 on the map image 52 so that they can be identified. The top screen shown in FIG. 3 shows, for example, a case in which the shapes of the fields H1 to H7 are rectangular. Incidentally, when the application is started for the first time and no field H has been registered, the center of the map image 52 is displayed at a predetermined position that has been set in advance.

When displaying the map image 52, the display control unit 22 displays the map image 52 so that the center of the map image 52 is the same as the center of the previous display screen. In addition, when the "current location" operation unit 51 is operated, the display control unit 22 displays the map image 52 so that the center of the map image 52 is the current location of the tractor 1.

When displaying the map image 52, the display control unit 22 identifiably displays the previous work position 55, which is related to the position of the tractor 1 when the tractor 1 last performed autonomous driving. The previous work position 55 is indicated by a predetermined mark (pin) and is displayed in the center of the field H2 where the tractor 1 last performed autonomous driving. The position at which the previous work position 55 is displayed may be any position that identifies which field H it is. For example, the previous work position 55 can be displayed at the work start position when the work to register the field H is performed or at the entrance of the tractor 1 to the field H. The display control unit 22 displays the previous work position 55 in the center of the field H not only when the previous autonomous driving is ended by completing the work in the field H, but also when the previous autonomous driving is completed in the middle of the work in the field H.

In addition, the lower display area 54 displays a field list display operation section 51a (icon indicated by "←" in the figure), a previous work operation section 51b (icon indicated by "Start work on the path used previously"), and other operation sections 51, surrounding the map image 52 except for the upper part.

In the upper display area 53, the "Go to Map" and "Help" operation sections 51 are displayed on the left edge, the "GNSS" and "MENU" operation sections 51 are displayed on the right edge, and the display content of the currently displayed screen is displayed in the center. The "Go to Map" operation section 51 is an operation section for displaying a map image 52, and the "GNSS" operation section 51 is an operation section for displaying detailed information of the satellite positioning system such as latitude, longitude, GNSS status, the number of satellites 3 acquiring satellite positioning information, the serial number of the reference station 4, and the remaining battery level of the base station 4. The "MENU" operation section 51 is an operation section for operating when registering a field H or when generating a travel route P in the route generation section 24.

Here, the field registration screen when registering a field H (corresponding to a specific area) will be described with reference to FIG. 4. When registering a field H, it is necessary to specify the shape of the field H, and therefore, as shown in FIG. 2, the wireless communication terminal 2 is provided with an area shape specification unit 25 that specifies the shape of the field H. Then, by inputting various conditions, the route generation unit 24 generates a travel route P (path) for the field H specified by the area shape specification unit 25.

When registering the field H, the user drives the tractor 1 around the outer edge of the field H while acquiring the position information of the tractor 1 by the position information acquisition unit 13. The position information acquisition unit 13 acquires the current position information of the tractor 1 using the position correction information from the reference station 4, and the current position information is transmitted from the tractor 1 to the wireless communication terminal 2 in real time (for example, every few seconds). As a result, on the field registration screen shown in FIG. 4, the display control unit 22 displays the movement trajectory K of the tractor 1 based on the current position information of the tractor 1 transmitted in real time. As a result, the movement trajectory K of the tractor 1 indicating the shape of the field H can be acquired, and the area shape identification unit 25 identifies the shape of the field H based on the movement trajectory K of the tractor 1. For example, by acquiring a rectangular movement trajectory K as the movement trajectory K of the tractor 1 when it circles the outer edge of the field H, the area shape identification unit 25 identifies the shapes of the fields H1 to H7 as rectangular, as shown on the top screen of FIG. 3.

In the field registration screen shown in FIG. 4, the display control unit 22 displays, in the map image 52, the movement trajectory K of the tractor 1 before the shape of the field H is identified by the area shape identification unit 25 (corresponding to the second display state). The display control unit 22 displays the movement trajectory K of the tractor 1 until the shape of the field H is identified by the area shape identification unit 25.

In the field registration screen shown in FIG. 4, the display control unit 22 controls the display magnification of the map image 52 based on the movement trajectory K of the tractor 1. For example, the display control unit 22 controls the display magnification so that the entire movement trajectory K of the tractor 1 is displayed, and displays the map image 52 so that the center of the display screen is the center of gravity position K1 of the movement trajectory K of the tractor 1.

Returning to the top screen shown in FIG. 3, the display form in which the display control unit 22 displays the registered field H will be explained. As shown in FIG. 4, when the field H is registered, positioning correction information from the reference station 4 (corresponding to the second reference station) is used to obtain the position information of the tractor 1. Also, positioning correction information from the reference station 4 (corresponding to the first reference station) is used to obtain the current position information of the tractor 1. However, a plurality of reference stations 4 are arranged, and each of the plurality of reference stations 4 is arranged in a different location. Therefore, simply displaying the field H does not tell whether the reference station 4 (corresponding to the second reference station) used when the field H was registered and the reference station 4 (corresponding to the first reference station) used when obtaining the current position of the tractor 1 are the same reference station 4 or different reference stations 4.

Therefore, when the display control unit 22 displays the registered field H (corresponding to the specific area display unit), the display control unit 22 displays the field H in different display forms depending on whether the reference station 4 used when the field H was registered and the reference station 4 used when obtaining the current position of the tractor 1 are a common reference station 4 or whether the reference station 4 used when the field H was registered and the reference station 4 used when obtaining the current position of the tractor 1 are not a common reference station 4. As shown in FIG. 3, for field H1, where the reference station 4 used when field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are the same, field H1 is displayed in gray, and for fields H2 to H7, where the reference station 4 used when field H was registered and the reference station 4 used when the current position of the tractor 1 were not the same, fields H2 to H7 are displayed in white, and the display forms are differentiated by changing the display color. Regarding the display form, various display forms can be applied, such as, for example, making field H1, which is the common reference station 4, blink and making fields H2 to H7, which are not the common reference station 4, light up, and the display form is not limited to changing the display color.

When the user selects the field list display operation unit 51a (the icon indicated by "←" in the figure) on the top screen shown in FIG. 3, the display control unit 22 transitions from the top screen shown in FIG. 3 to the field list screen shown in FIG. 5.

In the field list screen shown in FIG. 5, the lower display area 54 is divided into a lower left display area 54a and a lower right display area 54b, and the lower left display area 54a displays the multiple operation units 51 and map image 52 displayed in the lower display area 54 of the top screen shown in FIG. 3. In the lower right display area 54b, a list 56 of field information stored in the wireless communication terminal 2 and a driving route list display operation unit 51c (in the figure, an icon of "Display a list of paths for this field") for displaying a list of driving routes P (paths) previously generated in a specific field H are displayed. In the list 56 of field information, the operation units 51 such as "by distance", "by name", and "by registration" can be selected and operated to display the fields in the order in which they were operated. As field information in the field H, the distance from the current position of the tractor 1 to the field H, the date of registration to the wireless communication terminal 2, field position information, etc. are displayed. In addition, when the list of field information 56 is displayed, previous field information 57 (pin) is displayed, which indicates with a specified mark the field H where the tractor 1 last traveled autonomously.

5, when the display control unit 22 displays the list 56 of field information, the display control unit 22 can display the field information for each field H in a different display format depending on whether the reference station 4 used when the field H was registered and the reference station 4 used when the tractor 1's current position is acquired are a common reference station 4 or whether the reference station 4 used when the field H was registered and the reference station 4 used when the tractor 1's current position is acquired are not a common reference station 4. Although not shown in the figure, the display formats can be made different by, for example, changing the color of the portion indicated by "△" in the column displaying each field information. For example, for field information in which the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are the same reference station 4, the portion indicated by "△" can be displayed in red, whereas for field information in which the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are not the same reference station 4, the portion indicated by "△" can be displayed in white. Furthermore, it is possible to change the color of not only the portion indicated by "△" but also the entire field in which the field information is displayed, and it is possible to appropriately change which portion is to be displayed in a different manner. Furthermore, the display manner is not limited to changing the color, and various other display manners, such as changing between lighting and blinking, can be applied. Furthermore, if the reference station 4 used when the field H was registered and the reference station 4 used when the tractor 1's current position was obtained are not the same reference station 4, the "△" is not displayed, and the "△" can be displayed only if the reference station 4 used when the field H was registered and the reference station 4 used when the tractor 1's current position was obtained are the same reference station 4.

When the user selects a particular field H on the field list screen shown in Figure 5 (for example, by selecting a column to display information about each field), the display control unit 22 changes the colour of the frame of the selected field H (H3 in the figure) and surrounds it with a thick line (for example, by surrounding it with a thick red line), thereby displaying the selected field H in a manner that makes it distinguishable from the other fields H, and also changes the colour of the frame of the selected operation unit 51 (the "by distance" icon in the figure) and surrounds it with a thick line (for example, by surrounding it with a thick red line), thereby displaying the selected operation unit 51 in a manner that makes it distinguishable from the other operation units 51. At this time, the display control unit 22 displays any of the displayed fields H1 to H7 as selectable. In other words, among the fields H1 to H7, the user can select not only field H1, where the reference station 4 used when registering field H and the reference station 4 used when obtaining the current position of the tractor 1 are the same reference station 4, but also fields H2 to H7, where the reference station 4 used when registering field H and the reference station 4 used when obtaining the current position of the tractor 1 are not the same reference station 4.

When the user selects a specific field H on the field list screen shown in FIG. 5 and selects the driving route list display operation unit 51c, the display control unit 22 transitions from the field list screen shown in FIG. 5 to the path list screen shown in FIG. 6.

In the path list screen shown in FIG. 6, a map image 52 in which the selected field H is enlarged is displayed in the lower left display area 54a, and a list 59 of previously generated path information (information about the travel route) and a path transfer operation section 51d (the icon indicated by "Start work on this path" in the figure) for transferring the selected path information (information about the travel route) to the tractor 1 are displayed in the lower right display area 54b.

The map image 52, which shows an enlarged view of the field H, displays the travel route P generated by the route generation unit 24. In FIG. 6, for example, multiple linear travel routes P are displayed lined up at intervals in the left-right direction.

In the path information list 59, the path information can be sorted and displayed in the order in which it was operated by selecting an operation unit 51 such as "by distance", "by name", or "by registration", and path information such as the distance from the current position of the tractor 1 to the start position of the path, the date of registration to the wireless communication terminal 2, and the start position information of the path are displayed. In addition, in the path information list 59, a path details display operation unit 51e (the icon shown as "details" in the figure) for displaying detailed information of the path information is displayed, and the selected path information (path A in the figure) and the selected operation unit 51 (the icon shown as "by name" in the figure) are displayed in a manner that makes them distinguishable from other path information and other operation units 51 by changing the color of their frame and surrounding them with a thick line (for example, by surrounding them with a thick red line).

When the user selects a specific path on the path list screen shown in FIG. 6 and selects the path details display operation section 51e, the display control section 22 transitions from the path list screen shown in FIG. 6 to the path details screen shown in FIG. 7.

In the path details screen shown in FIG. 7, the display contents are changed from the path list screen shown in FIG. 6 only in the lower right display area 54b, and path details information 60 is displayed. As the path details information 60, the field area, the presence or absence of obstacles, the width of the non-work area (headland, etc.) surrounding the work area in which the path (travel route) is generated, the reference station information at the time of path generation for the reference station 4 (corresponding to the second reference station) used when the path was generated (when the field was registered), the currently connected reference station information for the reference station 4 (corresponding to the first reference station) with which the tractor 1 is currently communicating, tractor information, information on the implements attached to the tractor 1, the number of paths (travel routes), etc. are displayed.

The path detailed information 60 displays the reference station information at the time of path generation for the reference station 4 (corresponding to the second reference station) used when the path was generated (when the field was registered) and the currently connected reference station information for the reference station 4 (corresponding to the first reference station) with which the tractor 1 is currently communicating, so that the identification information of the reference station 4 (corresponding to the second reference station) used when the path was generated (when the field was registered) and the identification information of the reference station 4 (corresponding to the first reference station) with which the tractor 1 is currently communicating are displayed. This allows the user to recognize whether the reference station 4 used when the field H selected by the user was registered and the reference station 4 used when the current position of the tractor 1 was obtained are the same reference station 4, or whether the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was obtained are not the same reference station 4.

Here, if the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are not the same reference station 4, the reference station 4 from which the positioning correction information is acquired is different, so that there is a possibility that a discrepancy may occur between the current position T of the tractor 1 displayed on the map image 52 and the current position of the tractor 1 actually acquired by the position information acquisition unit 13. Therefore, if the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are not the same reference station 4, the display control unit 22 makes the path transfer operation unit 51d inactive on the path list screen shown in FIG. 6 or the path details screen shown in FIG. 7, so that the path transfer operation unit 51d cannot be selected. As a result, if the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are not the same reference station 4, autonomous driving cannot be started. The path transfer operation unit 51d is not limited to being inactive, and for example, when the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 is obtained are not common reference stations 4, the display control unit 22 can prevent the path transfer operation unit 51d from being displayed. Also, when the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 is obtained are not common reference stations 4, it is possible to select whether the path transfer operation unit 51d is inactive or not displayed.

When the reference station 4 used when the field H was registered and the reference station 4 used when the current position of the tractor 1 was acquired are the same reference station 4, the display control unit 22 switches the path transfer operation unit 51d from an inactive state to an active state. For example, the display control unit 22 lights up the path transfer operation unit 51d in the inactive state and blinks the path transfer operation unit 51d in the active state, thereby changing the display form of the path transfer operation unit 51d so that the user can distinguish between the inactive state and the active state.

When the user selects the active path transfer operation unit 51d on the path list screen shown in FIG. 6 or the path details screen shown in FIG. 7, path information (information about the travel route) is transferred from the wireless communication terminal 2 to the tractor 1 by the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14. At this time, a wireless communication check process is performed to check whether the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 matches the path information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14.

When the display control unit 22 confirms through the wireless communication check process that the path information transmitted via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14 matches the path information acquired by the tractor 1 via the terminal-side wireless communication unit 21 and the vehicle-side wireless communication unit 14, it transitions to the work screen shown in FIG. 8.

8, the lower display area 54 is divided into three display areas in the vertical direction: a lower upper display area 54c located at the top end, a lower lower display area 54d located at the bottom end, and a lower middle display area 54e located between the lower upper display area 54c and the lower lower display area 54d. The lower middle display area 54e displays a map image 52 in which the field H displayed in the lower left display area 54a in the path list screen shown in FIG. 6 or the path details screen shown in FIG. 7 is enlarged, and a plurality of operation units 51 are displayed. As the operation units 51, an enlargement operation unit 51h (the "enlarge" icon in the figure), a full view operation unit 51i (the "panoramic view" icon in the figure), etc. are additionally displayed. The display control unit 22 displays the current position T of the tractor 1 on the map image 52 in which the field H is enlarged, and displays the map image 52 in which the field H is enlarged at a certain display magnification (corresponding to the third display state).

In the lower upper display area 54c, a start operation unit 51f that can instruct the start of autonomous driving is located at the left end, and a stop operation unit 51g that can instruct the stop of autonomous driving is located at the right end. In the lower lower display area 54d, operation units 51 such as a record start operation unit 51j (in the figure, the "start recording" icon), a record instruction operation unit 51k (in the figure, the "save record" icon), and a record deletion operation unit 51m (in the figure, the "discard record" icon) are displayed, as well as the work progress rate and remaining work time due to autonomous driving.

The display control unit 22 sets the start operation unit 51f in an inactive state in which it cannot be selected and operated until various conditions for starting autonomous driving are met, and sets the start operation unit 51f in an active state in which it can be selected and operated once various conditions for starting autonomous driving are met. The display control unit 22 allows the user to distinguish between the inactive state and the active state by changing the display form of the start operation unit 51f, for example, by lighting the start operation unit 51f in the inactive state and blinking the start operation unit 51f in the active state.

When the start of autonomous driving is instructed by the start operation unit 51f and the autonomous driving of the tractor 1 is started, the display control unit 22 changes the start operation unit 51f to a pause operation unit 51f capable of instructing to temporarily suspend the autonomous driving, as shown in FIG. 9. Then, when the pause operation unit 51f is selected and operated, the display control unit 22 changes the start operation unit 51f from the pause operation unit 51f to its original display form, and the start operation unit 51f is configured to be switchable between a display form instructing to start autonomous driving and a display form instructing to temporarily suspend autonomous driving. In this way, by the display control unit 22 changing the display form of the start operation unit 51f, one operation unit can function as two operation units, and the user can easily grasp the work status of the autonomous driving, such as whether autonomous driving has started or been temporarily suspend.

8, a distance display unit 62 is disposed at the right end of the lower intermediate display area 54e, which displays the distance from the current position of the tractor 1 to the end (headland) of the travel route P on which the tractor 1 is currently traveling autonomously. The distance display unit 62 is a bar-shaped display unit extending in the vertical direction, and when the current position of the tractor 1 reaches a position a set distance (e.g., 20 m) before the end (headland) of the travel route P, the display control unit 22 sequentially expands the area in which the distance display unit 62 is turned on from the lower end to the upper end as the tractor 1 moves. Then, when the tractor 1 reaches the end (headland) of the travel route P, the display control unit 22 sets the entire distance display unit 62 as the area in which the distance display unit 62 is turned on. After that, when the tractor 1 reaches the starting position of the next travel route P, the display control unit 22 resets the entire distance display unit 62 to an off state. Incidentally, the timing for resetting the entire distance display unit 62 to an off state may be when the tractor 1 reaches the end (headland) of the travel path P. The display control unit 22 controls the lighting state of the distance display unit 62 when traveling on a straight travel path P as shown in FIG. 8, but does not control the lighting state of the distance display unit 62 when traveling on a route such as a circular travel path.

When the user selects and operates the full-surface operation unit 51i on the work screen shown in FIG. 8 or FIG. 9, the display control unit 22 displays a map image 52 in which the field H is enlarged to cover the entire area excluding the operation unit 51 and the distance display unit 62 in the lower intermediate display area 54e as shown in FIG. 10 (corresponding to the first display state). In this way, when the full-surface operation unit 51i is selected and operated, the display control unit 22 controls the display magnification of the map image 52 based on the field H, and displays the map image 52 with the center of gravity of the field H as the center position of the map image 52. Then, when the user performs a selection operation on the full-surface operation unit 51i, the display control unit 22 maintains the operation unit 51 located close to the full-surface operation unit 51i in a display state.

When the user selects and operates the enlarged operation section 51h on the work screen shown in FIG. 8 or FIG. 9, the display control section 22 displays a map image 52 in which a set range based on the current position T of the tractor 1 in the field H is enlarged in the entire area of the lower intermediate display area 54e excluding the operation section 51 and the distance display section 62, as shown in FIG. 11. Then, as shown in FIG. 11, when the user performs a selection operation on the enlarged operation section 51h, the display control section 22 hides the operation section 51 arranged close to the enlarged operation section 51h. In FIG. 11, two operation sections 51 (a "+" icon and a "-" icon in the figure), a full operation section 51i, and one operation section 51 (a "GNSS position" icon in the figure) are arranged in a row below the enlarged operation section 51h, in that order from the top, and these five operation sections 51 are hidden.

When the user selects the enlargement operation section 51h on the work screen shown in FIG. 11, the display control section 22 returns to the work screen shown in FIG. 8 or FIG. 9 and displays the operation section 51 that was hidden. When the user selects the enlargement operation section 51h on the work screen shown in FIG. 8 or FIG. 9, the display control section 22 stores the display settings of the map image 52 at that time, and when the user selects the enlargement operation section 51h on the work screen shown in FIG. 11, the map image 52 is displayed on the work screen shown in FIG. 8 or FIG. 9 based on the stored display settings. For example, when the user selects the enlargement operation section 51h on the work screen shown in FIG. 8, the display settings such as the display magnification of the map image 52 at that time are stored, and the work screen shown in FIG. 11 is displayed. When the user selects the enlargement operation section 51h on the work screen shown in FIG. 11, the work screen can be returned to the work screen shown in FIG. 8 in a state in which the map image 52 is displayed with the display settings such as the stored display magnification.

As shown in FIG. 9, the display control unit 22 performs a predetermined history display 63 on the travel path P based on the travel trajectory of the tractor 1 on the travel path P generated in the field H during autonomous travel. This history display 63 is performed for the portion of the travel path P on which the tractor 1 has already traveled, and display processing such as painting over the already traveled portion with a predetermined color is performed. This allows the user to easily recognize which portion of the travel path P was used for work performed during autonomous travel.

When performing a predetermined history display, the display control unit 22 performs the history display 63 in either a first history display mode in which the history display 63 is performed based on work status information indicating the work status of the tractor 1 obtained from the tractor 1, or a second history display mode in which the history display 63 is performed without being based on the work status information.

In the first history display mode, the vehicle-side control unit 12 of the tractor 1 is aware of the operating state of the work implement attached to the tractor 1, and generates work status information from the operating state of the work implement. The tractor 1 then transmits the work status information to the wireless communication terminal 2, and the display control unit 22 of the wireless communication terminal 2 acquires the work status information along with the position information of the tractor 1. This allows the display control unit 22 to know which part of the travel route P the tractor 1 is working on, and performs a history display 63 for the part where the tractor 1 worked. In this way, in the first history display mode, the display control unit 22 automatically performs a history display 63 based on the position information and work status information of the tractor 1.

In the second history display mode, the display control unit 22 does not automatically perform the history display 63 based on the position information and work status information of the tractor 1, but performs the history display 63 based on manual operation by the user as shown in FIG. 12. For example, the user selects the record start operation unit 51j to start the history display 63, and when the current position T of the tractor 1 is moved on the screen of the display unit 26, the display control unit 22 performs the history display 63 for the part to which the current position T of the tractor 1 has been moved. In this way, for example, even if a work machine that cannot obtain work status information is attached to the tractor 1, the history display 63 can be performed based on manual operation by the user by switching to the second history display mode.

Although not shown, the switching between the first history display mode and the second history display mode is performed by selecting a specific operation unit 51, and a mode switching operation unit is displayed. When the first history display mode is selected by the mode switching operation unit, the display control unit 22 performs the history display 63 in the first history display mode, and when the second history display mode is selected by the mode switching operation unit, the display control unit 22 performs the history display 63 in the second history display mode. The display form of the record start operation unit 51j is made different by changing the color of the record start operation unit 51j when the first history display mode is selected by the mode switching operation unit and when the second history display mode is selected by the mode switching operation unit. In addition, when performing the second history display mode, the display control unit 22 changes the display of "record start" to "record pause", for example, so that the record start operation unit 51j serves as both the operation unit 51 for starting the history display 63 and the operation unit 51 for pausing the history display 63 in the second history display mode.

Here, in the first history display mode, the display control unit 22 automatically performs the history display 63 based on the position information and the work status information of the tractor 1, but the display control unit 22 can perform the first history display mode not only when the tractor 1 is driven autonomously, but also when the tractor 1 is driven manually by the user. The display control unit 22 differentiates the display form between the history display 63 performed in the first history display mode when the tractor 1 is driven autonomously and the history display 63 performed in the first history display mode when the tractor 1 is driven manually by the user. For example, various display forms can be applied, such as changing the color to be filled in, or changing the part to be filled in between lighting and blinking.

As with the first history mode, the display control unit 22 can also use the second history display mode when the tractor 1 is driven autonomously, as well as when the tractor 1 is driven manually by the user. The display control unit 22 differentiates the display form between the history display 63 performed in the second history display mode when the tractor 1 is driven autonomously and the history display 63 performed in the second history display mode when the tractor 1 is driven manually by the user. For example, various display forms can be applied, such as changing the color used for filling, or changing the part to be filled between being lit and blinking.

When the display control unit 22 performs the history display 63, as shown in FIG. 2, the wireless communication terminal 2 is provided with a recording control unit 23 that records the history display 63 displayed by the display control unit 22 in the recording unit 27. The recording control unit 23 is configured to automatically record the history display 63 in the recording unit 27 after a predetermined period has elapsed since the display control unit 22 started the history display 63. The recording control unit 23 records the history display 63 in the recording unit 27 in association with each of the multiple fields H, and records it in the recording unit 27 in a state in which it is possible to identify which field H the history display 63 is. Then, the recording control unit 23 records the history display 63 in the recording unit 27 at various timings after a predetermined period has elapsed since the history display 63 started. The various timings are, for example, the timing when the wireless communication terminal 2 is powered on, the timing when the work screen shown in FIG. 9 is displayed, and the timing when the work screen shown in FIG. 9 is transitioned to another screen (for example, the top screen shown in FIG. 3).

The recording control unit 23 not only automatically records the history display 63 in the recording unit 27, but can also record the history display 63 in the recording unit 27 in response to a user's selection operation of the record instruction operation unit 51k on the work screen shown in FIG. 9. In this way, the recording control unit 23 can record the history display 63 in the recording unit 27 in accordance with the timing at which the user wants to record the history display 63.

When the recording control unit 23 records the history display 63 in the recording unit 27, the history display 63 displayed by the display control unit 22 is reset. Then, the display control unit 22 can call up the history display 63 recorded in the recording unit 27, thereby displaying the history display 63 when displaying the field H.

When the user selects and operates the record deletion operation section 51m on the work screen shown in FIG. 9, the recording control section 23 deletes the history display 63 recorded in the recording section 27. This allows the history display 63 to be deleted at the timing when the user wants to delete the history display 63.

As described above, the display control unit 22 is configured to be capable of displaying multiple screens including setting screens for configuring the autonomous driving of the tractor 1 (e.g., the top screen shown in FIG. 3, the field registration screen in FIG. 4, the field list screen in FIG. 5, and the path list screen in FIG. 6) and a work screen that can be used to instruct the start and stop of the autonomous driving of the tractor 1 (e.g., the work screens shown in FIG. 8 and FIG. 9).

When the tractor 1 is driven autonomously, the tractor 1 can operate in multiple modes, including a normal autonomous driving mode in which autonomous driving is started in response to settings related to autonomous driving on the setting screen of the wireless communication terminal 2 and an instruction to start autonomous driving on the work screen, and an autonomous driving preparation mode in which autonomous driving is started in response to an instruction to start autonomous driving on the work screen without setting autonomous driving on the setting screen of the wireless communication terminal 2.

When performing normal work, the tractor 1 is in normal autonomous driving mode, but if any abnormality occurs in the control by the display control unit 22 in the wireless communication terminal 2 during autonomous driving, or if wireless communication between the tractor 1 and the wireless communication terminal 2 is interrupted, the vehicle-side control unit 12 temporarily suspends the autonomous driving of the tractor 1 and switches it to an autonomous driving preparation mode in which autonomous driving can be resumed.

When the tractor 1 is in the normal autonomous driving mode, the display control unit 22 displays a setting screen (e.g., the top screen shown in FIG. 3) before displaying a work screen (e.g., the work screens shown in FIGS. 8 and 9). As a result, in the normal autonomous driving mode, various settings related to autonomous driving are made on the setting screen, and then the work screen on which the start of autonomous driving of the tractor 1 can be instructed is displayed.

On the other hand, when the tractor 1 is in the autonomous driving preparation mode, the display control unit 22 displays a work screen (e.g., the work screens shown in Figs. 8 and 9) without displaying a setting screen (e.g., the top screen shown in Fig. 3). As a result, in the autonomous driving preparation mode, the work screen that can be used to instruct the tractor 1 to start autonomous driving is displayed without displaying the setting screen, and autonomous driving can be started on the work screen, so that autonomous driving can be resumed quickly and easily.

<Notes on the invention>
The present invention relates to a position information acquisition unit that acquires position information of a work vehicle based on position correction information acquired from a first reference station;
an area shape specification unit that specifies the shape of a specific area in which the work vehicle is to travel autonomously based on positioning correction information acquired from a second reference station;
a display control unit that displays on a display unit a specific area display unit that indicates the specific area specified by the area shape specifying unit,
It is preferable that the display control unit displays the specific area display unit in different display forms when the first reference station and the second reference station are a common reference station and when the first reference station and the second reference station are not a common reference station.

According to this configuration, the display control unit displays the specific area display unit showing the specific area on the display unit, so that the specific area display unit has position information acquired based on the positioning correction information acquired from the second reference station. On the other hand, the position information acquisition unit acquires the position information of the work vehicle based on the positioning correction information acquired from the first reference station. Therefore, when the first reference station and the second reference station are not a common reference station, the positioning correction information is different, so that there is a possibility that a deviation occurs between the position of the specific area display unit and the position of the work vehicle. Therefore, the display control unit displays the specific area display unit in different display forms when the first reference station and the second reference station are a common reference station and when the first reference station and the second reference station are not a common reference station. As a result, the user can easily grasp whether or not there is a possibility of a deviation occurring between the position of the specific area display unit and the position of the work vehicle by recognizing the display form of the specific area display unit, so that the user can easily recognize in which specific area autonomous driving should be performed, and can easily and appropriately perform operations such as selecting the specific area. Therefore, before autonomous driving begins, a display screen that is easy for the user to operate can be displayed on the display unit.

In the present invention, the display control unit displays the specific area display unit in a selectable manner even when the first reference station and the second reference station are a common reference station or when the first reference station and the second reference station are not a common reference station;
It is preferable that, when the specific area display portion is selected, identification information of at least the second reference station can be displayed.

According to this configuration, when the specific area display unit is selected, the display control unit can display identification information of the second reference station used to identify at least the shape of the specific area, so that the user can easily understand which reference station is the second reference station by the identification information. This allows the user to understand which reference station to change the first reference station to in order to make the first reference station and the second reference station a common reference station, and can appropriately perform operations and tasks to that end.

The present invention relates to a position information acquisition unit that acquires position information of a work vehicle based on position correction information acquired from a first reference station;
an area shape specification unit that specifies the shape of a specific area in which the work vehicle is to travel autonomously based on positioning correction information acquired from a second reference station;
a display control unit for displaying a map image on a display unit,
The display control unit is capable of controlling a display magnification of the map image in response to an operation on a specific operation unit,
When the display unit is in a first display state in which the specified specific area is displayed, the display magnification of the map image is controlled based on the specified specific area;
In a second display state in which a movement trajectory of the work vehicle before the specific area is identified is displayed on the display unit, the display magnification of the map image is controlled based on the movement trajectory;
In the third display state other than the first display state and the second display state, it is preferable that the map image is displayed at a constant display magnification.

According to this configuration, the user can switch between the first display state, the second display state, and the third display state by operating a specific operation unit. In the third display state other than the first display state and the second display state, the display control unit displays the map image at a constant display magnification, so that the user can view the map image at a constant display magnification and can stably recognize the map information.

In contrast, the first display state is for displaying a specific area, and the display control unit controls the display magnification of the map image based on the specific area, such as the size and shape of the specific area. This allows the user to easily recognize the specific area and makes it easier to properly operate the specific area displayed on the display unit. The second display state is for displaying the movement trajectory of the work vehicle, and the display control unit controls the display magnification of the map image based on the movement trajectory of the work vehicle. This allows the user to easily recognize how the work vehicle is moving, and makes it easier to properly operate the movement trajectory displayed on the display unit.

In the present invention, the display control unit displays the map image on the display unit with the center of gravity of the specific area as a center position of the map image in the first display state,
In the second display state, it is preferable that the map image be displayed on the display unit with the center position of the map image being the center position of the map image, the center position being the center of the map image.

According to this configuration, in the first display state, the display control unit causes the display unit to display a map image with the center of gravity of the specific area as the center of the map image, so that the user can easily recognize the specific area, and the map image is easy to view for the specific area. In the second display state, the display control unit causes the display unit to display a map image with the center of gravity of the movement trajectory as the center of the map image, so that the user can easily recognize the movement trajectory of the work vehicle, and the map image is easy to view for the movement trajectory.

The present invention is preferably such that the display control unit is capable of enlarging and displaying the map image in response to an operation on an enlargement operation unit that enlarges the map image, and when an operation is performed on the enlargement operation unit, at least one of the operation units other than the enlargement operation unit is hidden.

According to this configuration, when an operation is performed on the enlargement operation unit, the display control unit hides at least one of the operation units other than the enlargement operation unit, so that the user can easily recognize that an operation has been performed on the enlargement operation unit, and it is possible to prevent the state of the enlarged map image from being changed by an operation on a hidden operation unit.

The present invention is preferably such that, when an operation is performed on the enlargement operation section after at least one of the operation sections other than the enlargement operation section is hidden, the display control section displays the hidden operation section together with the enlargement operation section.

According to this configuration, when an operation is performed on the enlargement operation unit after at least one of the operation units other than the enlargement operation unit is hidden, the display control unit displays the hidden operation unit together with the enlargement operation unit, so that the user can easily recognize that the enlargement of the map image caused by the operation of the enlargement operation unit has been canceled when the hidden operation unit is displayed. In addition, by displaying the hidden operation unit, the state of the map image can be changed by operating that operation unit.

In the present invention, it is preferable that the display control unit stores the display settings of the map image before at least one of the operation units other than the enlargement operation unit is hidden, and displays the map image based on the display settings in response to a subsequent operation on the enlargement operation unit.

According to this configuration, when an operation is performed on the enlargement operation unit after at least one of the operation units other than the enlargement operation unit is hidden, the display control unit displays a map image based on the stored display settings, so that the map image can be easily returned to the image before the operation on the enlargement operation unit was performed, resulting in a display with excellent operability for the user.

The present invention includes a position information acquisition unit that acquires position information of a work vehicle based on position correction information acquired from a reference station;
a display control unit capable of performing a predetermined history display on the travel route displayed on the display unit based on a travel trajectory of the work vehicle on the travel route formed in a specific area,
It is preferable that the display control unit performs the history display in either a first history display mode in which the history display is performed based on work status information indicating the work status of the work vehicle obtained from the work vehicle, or a second history display mode in which the history display is performed without being based on the work status information.

According to this configuration, in the first history display mode, the display control unit can automatically display the history based on the work status information. In the second history display mode, the display control unit can display the history not based on the work status information, but, for example, by manual operation by the user. As a result, by the display control unit performing either the first history display mode or the second history display mode, it is possible to appropriately display the history while flexibly responding to changes in the status of the work vehicle, etc.

The present invention further includes a recording control unit that records the history display displayed by the display control unit in a recording unit,
It is preferable that the recording control unit is capable of automatically recording the history display in the recording unit a predetermined period of time after the history display is started by the display control unit, and is capable of recording the history display in the recording unit in response to operation of a recording instruction operation unit displayed on the display unit.

According to this configuration, the recording control unit automatically records the history display in the recording unit a predetermined period of time after the history display has started, thereby preventing the history display from continuing for a long period of time and preventing a strain on memory capacity and a decrease in processing speed. In addition, the recording control unit can also record the history display in the recording unit in response to the operation of the recording instruction operation unit displayed on the display unit, so that the user can operate the recording instruction operation unit to record the history display in the recording unit at the timing when the user wants to record it. This allows the history display to be recorded in the recording unit not only automatically, but also in response to manual operation by the user, allowing for flexible response and improving operability.

In the present invention, the display control unit is provided in a wireless communication terminal capable of wireless communication with the work vehicle,
The display control unit is capable of displaying a plurality of screens including a setting screen for setting the autonomous driving of the work vehicle and a work screen for instructing the start and stop of the autonomous driving of the work vehicle;
The work vehicle is capable of operating in a plurality of modes including a normal autonomous driving mode in which autonomous driving is started in response to settings related to autonomous driving on the setting screen of the wireless communication terminal and an instruction to start autonomous driving on the work screen, and an autonomous driving preparation mode in which autonomous driving is started in response to an instruction to start autonomous driving on the work screen without making settings related to autonomous driving on the setting screen of the wireless communication terminal,
It is preferable that the display control unit displays the setting screen before displaying the work screen when the work vehicle is in the normal autonomous driving mode, and displays the work screen without displaying the setting screen when the work vehicle is in the autonomous driving preparation mode.

According to this configuration, when the work vehicle is in normal autonomous driving mode, the setting screen is displayed before the work screen is displayed, so that various settings can be made on the setting screen and autonomous driving can be performed according to those settings. On the other hand, when the work vehicle is in autonomous driving preparation mode, the work screen can be displayed without displaying the setting screen, and autonomous driving can be started without making settings related to autonomous driving on the setting screen. By not displaying the setting screen, autonomous driving can be started smoothly.

A first characteristic configuration of the present invention is a position information acquisition unit that acquires position information of a work vehicle using a satellite positioning system;
an area shape specification unit that specifies the shape of a specific area in which the work vehicle is to autonomously travel based on a travel trajectory of the work vehicle;
a display control unit for displaying a map image on a display unit,
The display control unit is capable of controlling a display magnification of the map image in response to an operation on a specific operation unit,
When the display unit is in a first display state in which the specified specific area is displayed, the display magnification of the map image is controlled based on the specified specific area;
In a second display state in which a movement trajectory of the work vehicle before the specific area is identified is displayed on the display unit, the display magnification of the map image is controlled based on the movement trajectory;
The third display state other than the first display state and the second display state is characterized in that the map image is displayed at a constant display magnification.

In a second characteristic configuration of the present invention, the display control unit displays the map image on the display unit with a center position of the specific area as a center position of the map image in the first display state,
In the second display state, the map image is displayed on the display unit with the center position of the center of gravity of the movement trajectory as the center position of the map image.

The third characteristic feature of the present invention is that the display control unit is capable of enlarging the map image in response to an operation on an enlargement operation unit that enlarges the map image, and when an operation is performed on the enlargement operation unit, at least one operation unit other than the enlargement operation unit is hidden.

The fourth characteristic feature of the present invention is that the display control unit displays the hidden operation unit together with the enlargement operation unit when an operation is performed on the enlargement operation unit after at least one of the operation units other than the enlargement operation unit is hidden.

The fifth characteristic feature of the present invention is that the display control unit stores the display settings of the map image before at least one of the operation units other than the enlargement operation unit is hidden, and displays the map image based on the display settings in response to a subsequent operation on the enlargement operation unit.

The work screen display system according to one aspect of the present invention includes a display control unit that displays a map image on a display unit. The display control unit controls the display magnification of the map image based on a specific area identified based on a movement trajectory of a work vehicle and in which the work vehicle is to travel autonomously when in a first display state in which the specific area is displayed on the display unit, and controls the display magnification of the map image based on the movement trajectory when in a second display state in which the movement trajectory before the specific area is identified is displayed on the display unit.

1. Tractor (work vehicle)
13 Position information acquisition unit 22 Display control unit 25 Area shape specification unit 26 Display unit 51h Enlargement operation unit 52 Map image H Farm field (specific area)
K Movement trajectory K1 Center of gravity position of movement trajectory

Claims (7)

A display control unit is provided for displaying a map image on a display unit,
The display control unit displays the registered farm fields on the map image,
the display control unit displays information about the registered farm field simultaneously with the map image,
The registered farm field is a farm field for which a driving route for automatically driving a work vehicle can be generated,
The information about the farm field includes information about the registration date of the farm field.
Screen display system. the display control unit simultaneously displays a plurality of registered farm fields on the map image;
The travel route can be generated by selecting one field from a plurality of registered fields.
The screen display system according to claim 1 . A display control unit is provided for displaying a map image on a display unit,
The display control unit displays the registered farm fields on the map image,
the display control unit displays information about the registered farm field simultaneously with the map image,
The registered farm field is a farm field for which a driving route for automatically driving a work vehicle can be generated,
the display control unit simultaneously displays a plurality of registered farm fields on the map image;
The display control unit displays the map image when the work vehicle performs a current work in the field,
the display control unit identifiably displays, among the plurality of farm fields, a farm field in which the work vehicle previously performed work.
Screen display system. the display control unit displays an operation unit that accepts an operation for displaying the map image based on a current position of the work vehicle.
The screen display system according to any one of claims 1 to 3. the display control unit displays an information list as the information related to the registered farm fields simultaneously with the map image.
The screen display system according to any one of claims 1 to 4. A display control unit is provided for displaying a map image on a display unit,
The display control unit displays the registered farm fields on the map image,
the display control unit displays a list of information about registered farm fields simultaneously with the map image,
The display control unit displays the map image when the work vehicle performs a current work in the field,
The display control unit displays, in the information list, a field in which the work vehicle previously performed work in an identifiable manner.
Screen display system. a display control step of displaying a map image on a display unit;
In the display control step, a registered farm field is displayed on the map image,
In the display control step, information about the registered farm field is displayed simultaneously with the map image,
The registered farm field is a farm field for which a driving route for automatically driving a work vehicle can be generated,
The information about the farm field includes information about the registration date of the farm field.
Screen display method.