AU2015347784A1 - Operation terminal - Google Patents

Abstract

Provided is a remote operation device 112 serving as an operation terminal that can set the dimensions of a chassis and a work machine of an autonomous traveling work vehicle 1 which is capable of automatically travelling and working along a set travel route R, in order to make it possible to easily set, by touch operation on a screen of a display device, the dimensions and a position, which are necessary information for setting the travel route to be autonomously travelled. The remote operation device 112 can communicate, via communication devices 110, 111, with a control device 30 of the autonomous traveling work vehicle 1. The remote operation device 112 is provided with a control device 119 and a display device 113. The display device 113 is configured so as to be operated by touch and so that: on a chassis and work vehicle configuration screen, a schematic diagram of a work vehicle and work machine is displayed; and on such configuration screen, in response to a touching and moving operation of a fingertip on the display screen, a number representing the length necessary for setting of the work machine is changed, and at the same time the size of a displayed schematic image is changed.

Description

PCT/JP2015/81628 Our Ref: PCT-778

DESCRIPTION

OPERATION TERMINAL

Technical Field [0001]

The present invention relates to an operation terminal of an unmanned autonomously moving work vehicle traveling unmannedly, and an art which enables to set easily dimensions of a vehicle body of the autonomously moving work vehicle, dimensions of a work machine attached to the autonomously moving work vehicle, and a work travel route of a plurality of work vehicles in a setting screen of the operation terminal. Background Art [0002]

Conventionally, an art setting a work passage by combining reciprocal work and turning work so as to work while traveling in the field automatically is known (for example, see the Patent Literature 1).

An art displaying a menu screen in a display device having a display part of a touch panel type and a positional data, a content of work, a work width, an interval of display grid lines are inputted and instructed by touch keys is known (for example, see the Patent Literature 2).

Prior Art Reference Patent Literature [0003]

Patent Literature 1: the Japanese Patent Laid Open Gazette H10-66406 Patent Literature 2: the Japanese Patent Laid Open Gazette 2000-14208 Disclosure of Invention Problems to Be Solved by the Invention [0004]

In the above arts, for setting a work route, it is necessary to set previously length, work width and work overlapping length of the work vehicle. In the setting, normally, the operation terminal is connected to a controller of the work vehicle via a cable, and 1 PCT/JP2015/81628 Our Ref: PCT-778 numerals of the lengths are inputted with a keyboard, ten keys or the like of the operation terminal. Accordingly, since an operator inputs the numerals by operating the keyboard, the ten keys or the like of the operation tenninal while looking a setting screen, an input mistake tends to be caused, and when the mistake is caused, the input is redone from the start, whereby the work is troublesome.

In the above arts, only by pushing a route display button, a travel/work route with high work efficiency is set and displayed in consideration of field division, an actual position of the vehicle, the field, contents of the work and the like. However, since the number of the work vehicle is one and simultaneous work with two work vehicles is not considered, it is necessary to set a travel route for each work vehicle for improving efficiency of the simultaneous work with the two work vehicles. Furthermore, at the time of setting the travel route of one of the work vehicles, the other work vehicle is not displayed, whereby travel states of the work vehicles are unclear.

[0005]

The present invention is provided for solving the problems mentioned above, and the purpose of the invention is to provide an operation terminal with which dimensions (full length x full width x height and the like), which are information required for setting a travel route of autonomous travel, can be set easily by an operation touching a screen of a display device.

Means for Solving the Problems [0006]

The problems to be solved by the present invention have been described above, and subsequently, the means of solving the problems will be described below.

According to the present invention, an operation terminal enables operation of an autonomously moving work vehicle which can travel and work automatically along a set travel route by a satellite positioning system. The operation terminal can set dimensions of a vehicle body. The operation terminal can be communicated with a control device of the autonomously moving work vehicle via a communication device. The operation terminal has a control device and a display device and the display device can be operated 2 PCT/JP2015/81628 Our Ref: PCT-778 by touching. In a screen for setting the dimensions of the vehicle body of the autonomously moving work vehicle, a type selection screen selecting a type of the work vehicle is displayed, and by touching a type on the type selection screen, the dimensions of the vehicle body are set.

According to the present invention, when manual setting is selected in the type selection screen, a body dimension setting screen is displayed, and a full length, a vehicle width, an axial distance and a wheel distance can be set by increasing and reducing numerals thereof.

According to the present invention, when manual setting is selected in the type selection screen, a body dimension setting screen is displayed, dimension lines are displayed in a schematic drawing of the vehicle body in the body dimension setting screen, and by operation touching and moving the screen displaying the dimension lines of frill length, vehicle width, axial distance and wheel distance by a finger, the dimensions are changed and size of the displayed schematic drawing is changed.

[0007]

According to the present invention, an operation terminal enables setting dimensions of a work machine attached to fan autonomously moving work vehicle which can travel and work automatically along a set travel route by a satellite positioning system. The operation tenninal can set dimensions of a vehicle body. The operation terminal can be communicated with a control device of the autonomously moving work vehicle via a communication device. The operation terminal has a control device and a display device and the display device can be operated by touching. In a setting screen of dimensions of the work machine, schematic drawings of the work vehicle and the work machine are displayed. In the setting screen, by touching the display screen with the finger and moving the finger, numerals showing lengths necessary for setting the dimensions of the work machine are changed, and simultaneously, size of the displayed schematic image is changed.

According to the present invention, in the screen of the display device for setting the dimensions of the work machine, a work machine selection screen for selecting a kind of 3 PCT/JP2015/81628 Our Ref: PCT-778 the work machine is displayed previously, and in the work machine selection screen, names or schematic images of work machines is displayed so that the work machine can be selected.

According to the present invention, in the work machine selection screen of the display device, a screen selecting a maker name and a type of the work machine is displayed.

[0008]

According to the present invention, the operation terminal, the control device of the autonomously moving work vehicle and/or a control device of an auxiliary moving work vehicle traveling auxiliarily to the autonomously moving work vehicle can be communicated with each other via a communication device, and in a work setting screen of the operation terminal, after determining a field, when a work arrangement position of the auxiliary moving work vehicle concerning the autonomously moving work vehicle is set, a travel route for work of the autonomously moving work vehicle and the auxiliary moving work vehicle is set and displayed.

According to the present invention, a combination of the work arrangement position of the auxiliary moving work vehicle concerning the autonomously moving work vehicle which can be arranged is aligned and displayed and can be selected optionally.

According to the present invention, in the work setting screen, a screen in which whether the autonomously moving work vehicle and the auxiliary moving work vehicle are respectively manned or unmanned is selected is provided.

According to the present invention, the work setting screen displays a screen in which the work machines attached respectively to the autonomously moving work vehicle and the auxiliary moving work vehicle are selected.

Effect of the Invention [0009]

According to the above means, an operator can display the setting screen by the operation terminal (remote control apparatus) so as to change easily set values of dimensions of the vehicle body and the work machine corresponding to kinds and types by touching the screen with a finger. 4 PCT/JP2015/81628 Our Ref: PCT-778

Brief Description of Drawings [0010] [Fig. 1] Fig. 1 is a schematic side view of an autonomously moving work vehicle operated by a remote control apparatus arranged in an auxiliary moving work vehicle.

[Fig. 2] Fig. 2 is a control block diagram.

[Fig. 3] Fig. 3 is a drawing of a state of parallel traveling work by the autonomously moving work vehicle and the auxiliary moving work vehicle.

[Fig. 4] Fig. 4 is a drawing of a type selection screen of a display device of the remote control apparatus.

[Fig. 5] Fig. 5 is a drawing of a body dimension setting screen.

[Fig. 6] Fig. 6 is a drawing of another embodiment of the body dimension setting screen.

[Fig. 7] Fig. 7 is a drawing of a display device of a work machine selection screen of the remote control apparatus.

[Fig. 8] Fig. 8 is a drawing of a screen in which a work machine is set by a maker and a type.

[Fig. 9] Fig. 9 is a drawing of an embodiment in which a length of the work machine is changed by finger operation.

[Fig. 10] Fig. 10 is a drawing of a setting screen of a work arrangement position of a second work vehicle concerning a first work vehicle.

[Fig. 11] Fig. 11 is a drawing of the setting screen of the work arrangement position of another embodiment.

[Fig. 12] Fig. 12 is a drawing of a set travel route in the case in which the first work vehicle and the second work vehicle are arranged aslant in longitudinal and lateral directions.

[Fig. 13] Fig. 13 is a drawing of another set travel route in the case in which the first work vehicle and the second work vehicle are arranged aslant in longitudinal and lateral directions.

[Fig. 14] Fig. 14 is a drawing of another set travel route in the case in which the 5 PCT/JP2015/81628 Our Ref: PCT-778 first work vehicle and the second work vehicle are arranged aslant in longitudinal and lateral directions.

[Fig. 15] Fig. 15 is a drawing of a set travel route in the case in which the second work vehicle travels behind the first work vehicle and works.

[Fig. 16] Fig. 16 is a drawing of a set travel route in the case in which the second work vehicle travels behind the first work vehicle and the work machines thereof are different.

[Fig. 17] Fig. 17 is a drawing of a set travel route in the case in which the first work vehicle and the second work vehicle are arranged adjacently laterally and work.

[Fig. 18] Fig. 18 is a drawing of a set travel route in the case in which the first work vehicle and the second work vehicle are arranged adjacently laterally and perform different kinds of work.

Detailed Description of the Invention [0011] A first work vehicle and a second work vehicle which work while traveling parallel are unmanned or manned tractors. Firstly, an embodiment that the first work vehicle is an autonomously moving work vehicle 1 which can travel automatically unmannedly and the second work vehicle is an auxiliary moving work vehicle 100 operated and steered by an operator so as to travel following the autonomously moving work vehicle 1 which is a typical combination is explained. The autonomously moving work vehicle 1 which is the first work vehicle and the auxiliary moving work vehicle 100 which is the second work vehicle are equipped with rotary tilling devices 24 and 224 as work machines. However, the first work vehicle and the second work vehicle are not limited to the tractors and may alternatively be combines or the like. The work machines are not limited to the rotary tilling devices 24 and may alternatively be fertilizing and seeding machines, mowers, chemical spraying machines, disinfecting machines, harvesting machines or the like.

[0012]

An entire configuration of the tractor which is the autonomously moving work vehicle 6 PCT/JP2015/81628 Our Ref: PCT-778 1 is explained referring to Figs. 1 and 2. An engine 3 is provided in a bonnet 2, a dashboard 14 is provided in a cabin 11 behind the bonnet 2, and a steering wheel 4 which is a steering operation means is provided on the dashboard 14. By rotating the steering wheel 4, a direction of front wheels 9 is rotated via a steering device. A steering direction of the autonomously moving work vehicle 1 is detected by a steering sensor 20. The steering sensor 20 includes an angle sensor such as a rotary encoder and arranged at a rotation base of the front wheels 9. A detection configuration of the steering sensor 20 is not limited and any configuration which recognizes the steering direction may be used. Rotation of the steering wheel 4 may be recognized, or an operation amount of power steering may be recognized. A detection value obtained by the steering sensor 20 is inputted into a control device 30. The control device 30 has a CPU (central processing unit), a storage device 30m such as a RAM or a ROM, an interface and the like, and programs, data and the like for operating the autonomously moving work vehicle 1 are stored in the storage device 30m.

[0013] A seat 5 is disposed behind the steering wheel 4, and a transmission casing 6 is arranged below the seat 5. At left and right sides of the transmission casing 6, rear axle casings 8 are provided continuously, and rear wheels 10 are supported via axles by the rear axle casings 8. Power from the engine 3 is changed in speed by a transmission (a main transmission and a sub transmission) in the transmission casing 6 and can drive the rear wheels 10. For example, the transmission includes a hydraulic stepless transmission, and a movable swash plate of a variable capacity hydraulic pump is operated by a speed change means 44 such as a motor so as to perform the speed change. The speed change means 44 is connected to the control device 30. A rotation speed of the rear wheels 10 is detected by a vehicle speed sensor 27, and inputted into the control device 30 as a traveling speed. A detection method of a vehicle speed and an arrangement position of the vehicle speed sensor 27 are not limited.

[0014] A PTO clutch and a PTO transmission are housed in the transmission casing 6. The 7 PCT/JP2015/81628 Our Ref: PCT-778 PTO clutch is engaged and disengaged by a PTO switching means 45. The PTO switching means 45 is connected to the control device 30 so as to control connection and disconnection of power transmission to a PTO shaft.

[0015] A front axle casing 7 is supported by a front frame 13 supporting the engine 3 and the front wheels 9 are supported at both sides of the front axle casing 7 so that power from the transmission casing 6 can be transmitted to the front wheels 9. The front wheels 9 are steering wheels and turned by rotation operation of the steering wheel 4, and the front wheels 9 can be steered laterally by a steering actuator 40 including a power steering cylinder which is a driving means of a steering device. The steering actuator 40 is connected to the control device 30 and controlled and driven by an automatic traveling means.

[0016]

An engine controller 60 which is an engine rotation control means is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor and the like are connected to the engine controller 60 so as to detect a state of the engine. The engine controller 60 can detect a load from a set rotation speed and an actual rotation speed and perform control so as to prevent overload, and can transmit the state of the engine 3 to a remote control apparatus 112 which is an operation terminal discussed later so as to display the state of the engine 3 on a display device 113.

[0017]

In a fuel tank 15 below a step, a level sensor 29 detecting a level of fuel is arranged and connected to the control device 30. In a display means 49 provided in the dashboard of the autonomously moving work vehicle 1, a fuel gauge displaying residual amount of fuel is provided and connected to the control device 30. Information about the fuel residual amount is transmitted from the control device 30 to the remote control apparatus 112, and the fuel residual amount and workable time can be displayed on the display device 113 of the remote control apparatus 112. 8 PCT/JP2015/81628 Our Ref: PCT-778 [0018]

On the dashboard 14, the display means 49 displaying a rotation meter of the engine, the fuel gauge, a monitor displaying hydraulic pressure and abnormality, a set value and the like are arranged.

[0019]

The rotary tilling device 24 is provided movably vertically as the work machine behind a vehicle body of the tractor via a work machine attachment device 23. A lifting cylinder 26 is provided on the transmission casing 6, and by extending and contracting the lifting cylinder 26, a lifting arm constituting the work machine attachment device 23 is rotated so as to move the rotary tilling device 24 vertically. The lifting cylinder 26 is extended and contracted by a lifting actuator 25, and the lifting actuator 25 is connected to the control device 30.

[0020] A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data reception antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data reception antenna 38 are provided on the cabin 11. The mobile communication device 33 has a position calculation means and can transmit latitude and longitude to the control device 30 so as to grasp an actual position. In addition to a GPS satellite (America), by using a global navigation satellite system (GNSS) such as a quasi-zenith satellite (Japan) and a GLONASS satellite (Russia), more accurate positioning can be performed. However, this embodiment is explained with the GPS satellite.

[0021] A gyro sensor 31 for obtaining information about change of posture of the vehicle body and an azimuth sensor 32 for detecting a traveling direction are provided in the autonomously moving work vehicle 1 and connected to the control device 30. The azimuth sensor 32 can be omitted because the traveling direction can be calculated by position measurement of the GPS. 9 PCT/JP2015/81628 Our Ref: PCT-778

The gyro sensor 31 detects an angle speed of inclination in a longitudinal direction of the autonomously moving work vehicle 1 (pitch), an angle speed of inclination in a lateral direction thereof (roll) and an angle speed of turning thereof (yaw). By integrating the three angle speeds, the inclination angles in the longitudinal direction and the lateral direction and the turning angle of the autonomously moving work vehicle 1 can be found. As a concrete example of the gyro sensor 31, a mechanical gyro sensor, an optical gyro sensor, a fluid type gyro sensor, a vibration type gyro sensor and the like are mentioned. The gyro sensor 31 is connected to the control device 30 and inputs information about the three angle speeds to the control device 30.

[0022]

The azimuth sensor 32 detects a direction of the autonomously moving work vehicle 1 (traveling direction). As a concrete example of the azimuth sensor 32, a magnetic azimuth sensor and the like are mentioned. The azimuth sensor 32 is connected to the control device 30 and inputs information about the direction of the vehicle body to the control device 30.

[0023]

As the above, the control device 30 calculates signals obtained from the gyro sensor 31 and the azimuth sensor 32 by a posture-azimuth calculation means so as to find the posture of the autonomously moving work vehicle 1 (the direction of the vehicle body, the inclination in the longitudinal direction and the lateral direction, and the turning direction).

[0024]

Next, a method obtaining position information of the autonomously moving work vehicle 1 by the GPS (global positioning system) is explained.

The GPS is a system developed originally for navigation support of an airplane, a ship and the like, and includes twenty four GPS satellites (four satellites in each of six raceway surfaces) going around at an altitude of about 20,000km, a control station pursuing and controlling the GPS satellites, and a communication device of an user for positioning.

As a positioning method using the GPS, various methods such as independent 10 PCT/JP2015/81628 Our Ref: PCT-778 positioning, relative positioning, DGPS (differential GPS) positioning and RTK-GPS (real time kinematic GPS) positioning are mentioned, and either of these methods can be used. In this embodiment, a RTK-GPS positioning method with high accuracy is adopted and this method is explained referring to Figs. 1 and 2.

[0025]

The RTK-GPS (real time kinematic GPS) positioning is a method that GPS observation is perfonned simultaneously at a reference station whose position is known and a mobile station whose position is to be found, data observed at the reference station is transmitted to the mobile station on real time by a method such as wireless communication, and the position of the mobile station is found on real time based on positional results of the reference station.

[0026]

In this embodiment, the mobile communication device 33, the mobile GPS antenna 34 and the data reception antenna 38 constituting the mobile station are arranged in the autonomously moving work vehicle 1, and a fixed communication device 35, a fixed GPS antenna 36 and a data transmission antenna 39 constituting the reference station are disposed at a predetermined position not being obstacle of work in the field. In the RTK-GPS (real time kinematic GPS) positioning of this embodiment, measurement of a phase (relative positioning) is performed at both the reference station and the mobile station, and data positioned by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39 to the data reception antenna 38.

[0027]

The mobile GPS antenna 34 arranged in the autonomously moving work vehicle 1 receives signals from GPS satellites 37. The signals are transmitted to the mobile communication device 33 and positioned. Simultaneously, the signals from GPS satellites 37 are received by the fixed GPS antenna 36 which is the reference station, positioned by the fixed communication device 35 and transmitted to the mobile communication device 33, and the measured data are analyzed so as to determine the position of the mobile station. The position information obtained as the above is 11 PCT/JP2015/81628 Our Ref: PCT-778 transmitted to the control device 30.

[0028]

Accordingly, the control device 30 of the autonomously moving work vehicle 1 has an automatic traveling means traveling automatically. The automatic traveling means receives electric waves transmitted from the GPS satellites 37, finds the position information of the vehicle body at set time intervals in the mobile communication device 33, and finds displacement information and azimuth information of the vehicle body from the gyro sensor 31 and the azimuth sensor 32, and controls the steering actuator 40, the speed change means 44, the lifting actuator 25, the PTO switching means 45, the engine controller 60 and the like so as to make the vehicle body travel along a set route R set previously based on the position information and the azimuth information, thereby working automatically. Position information of an outer perimeter of a field H which is a work range is set previously by a known method and stored in the storage device 30m.

[0029]

An obstacle sensor 41 is arranged in the autonomously moving work vehicle 1 and connected to the control device 30 so as to prevent contact with the obstacle. For example, the obstacle sensor 41 includes a laser sensor or an ultrasonic sensor, arranged at front, side or rear part of the vehicle body and connected to the control device 30, and detects whether an obstacle exists before, beside or behind the vehicle body and stops the traveling when the obstacle approaches within a set distance.

[0030]

In the autonomously moving work vehicle 1, a camera 42F photting a front side and a camera 42R photting the work machine at a rear side and a state after the work are mounted and connected to the control device 30. In this embodiment, the cameras 42F and 42R are arranged respectively in an upper front part and an upper rear part of a roof of the cabin 11. However, arrangement positions are not limited and may alternatively be an upper front part and an upper rear part of an inside of the cabin 11, or it may be configured that one camera 42 is arranged at a center of the vehicle body and turned around a vertical axis so as to photo the circumference or that a plurality of cameras 42 12 PCT/JP2015/81628 Our Ref: PCT-778 are arranged at front and rear sides or four corners of the vehicle body so as to photo the circumference. Images photted by the cameras 42F and 42R are displayed on the display device 113 of the remote control apparatus 112 provided in the auxiliary moving work vehicle 100.

[0031]

The remote control apparatus 112 sets a travel route R of the autonomously moving work vehicle 1, controls the autonomously moving work vehicle 1 remotely, supervises traveling state of the autonomously moving work vehicle 1 and operation state of the work machine, stores work data, and has a control device (CPU and memory) 119, a communication device 111, the display device 113 and the like.

[0032]

An operator rides on and operates the auxiliary moving work vehicle 100, and the remote control apparatus 112 is mounted on the auxiliary moving work vehicle 100 so as to operate the autonomously moving work vehicle 1. An explanation of a basic configuration of the auxiliary moving work vehicle 100 is omitted because it is substantially the same as the autonomously moving work vehicle 1. The auxiliary moving work vehicle 100 (or the remote control apparatus 112) may alternatively have a mobile communication device 233 for GPS, a mobile GPS antenna 234 and a data reception antenna 238. The auxiliary moving work vehicle 100 may alternatively have a steering sensor 120, an angle sensor 121, a speed change position detection means 122, an engine rotation speed detection means 123, a PTO on/off detection means 124, a lifting actuator 125, a vehicle speed sensor 127, a traveling stop means 143, a speed change means 144, a PTO switching means 245 and the like so as to travel automatically.

[0033]

The remote control apparatus 112 can be attached to and detached from an operation part such as a dashboard of the auxiliary moving work vehicle 100 and the autonomously moving work vehicle 1. The remote control apparatus 112 can be operated while being attached to the dashboard of the auxiliary moving work vehicle 100, can be taken out from the auxiliary moving work vehicle 100 and operated while being carried, or can be 13 PCT/JP2015/81628 Our Ref: PCT-778 operated while being attached to the dashboard of the autonomously moving work vehicle 1. For example, the remote control apparatus 112 can be configured by a note-type or tablet-type personal computer. In this embodiment, a tablet-type personal computer is used.

[0034]

Furthermore, the remote control apparatus 112 and the control device 30 of the autonomously moving work vehicle 1 can be communicated with each other on radio, and communication devices 110 and 111 for the communication are provided respectively in the autonomously moving work vehicle 1 and the remote control apparatus 112. Furthermore, the remote control apparatus 112 can be communicated with a control device 130 of the auxiliary moving work vehicle 100 via communication device 133 and 111. The communication device 111 is configured integrally with the remote control apparatus 112. For example, the communication means can be communicated with each other by wireless LAN such as WiFi. In a surface of a casing of the remote control apparatus 112, the display device 113 which is a touch panel-type operation screen which can be operated by touching the screen is provided, and the communication device 111, a CPU and a storage device, a battery and the like are housed in the casing.

[0035]

In this configuration, the set travel route R is set previously in the field H as shown in Fig. 3 and stored in the storage device 30m so that the autonomously moving work vehicle 1 can travel along the set travel route R. A method for setting the set travel route R is described later. Map data (information) is referred to for determining a position of the field H, traveling with the satellite positioning system and setting the travel route R. As this map data, map data disclosed in the internet, map data distributed by a map maker or the like, car navigation map data or the like is used. The map data is stored in the storage device 30m of the control device 30 of the autonomously moving work vehicle 1 or a storage device of the remote control apparatus 112.

[0036]

The images photted by the cameras 42F and 42R, the state of the autonomously 14 PCT/JP2015/81628 Our Ref: PCT-778 moving work vehicle 1, the state of the work and information concerning the GPS are transmitted via the communication devices 110 and 111 to the control device 119, and the images, infonnation, operation screen and the like can be displayed on the display device 113 of the remote control apparatus 112, whereby an operator can operate the remote control apparatus 112 while supervising the autonomously moving work vehicle 1.

[0037]

In addition to the screen for the remote control, another setting screen can be displayed. In the state in which a setting screen in connection with the work is displayed, lengths of vehicle bodies and work machines of the autonomously moving work vehicle 1 and the auxiliary moving work vehicle 100 can be set. The set lengths are required for setting the travel route R on which work is performed. Namely, dimensions (full length, vehicle width, height, axial distance, wheel distance, overlapping length and the like) of the vehicle bodies and the work machines in connection with the setting of the set travel route R is in connection with work width, turning diameter, work length and the like, whereby the set lengths are required for setting a work start position in the field of the work, setting a start position of reciprocal work after butt turning, and preventing residual work at the time of final reciprocal work. Lengths from the mobile GPS antenna 34 to front and rear ends of the vehicle body when viewed in plan are required for setting a work start position, a position at which the vehicle reaches a butt and stop the work, a minimum turning diameter at the time of turning, and the like.

In this embodiment, the case in which work widths of the autonomously moving work vehicle 1 and the auxiliary moving work vehicle 100 are overlapped and work is perfonned while the auxiliary moving work vehicle 100 travels behind aslant the autonomously moving work vehicle 1 is explained.

[0038] A screen for setting the dimensions is explained. The setting screen is configured so as to be operated by not only the operation terminal but also the display means 49 of the autonomously moving work vehicle 1 and a display means 149 provided in an operation part of the auxiliary moving work vehicle 100. 15 PCT/JP2015/81628 Our Ref: PCT-778

When the setting screen of vehicle body is selected by the display device 113 of the remote control apparatus 112, a type selection screen 320 shown in Fig. 4 is displayed. In the type selection screen 320, a type of series 320a, a type of displacement 320b, a type of grade 320c and the like of the tractor (work vehicle) are displayed tree-like and the types can be selected. Kinds of the types are not limited to the above types and 4WD specification, cabin/canopy specification, specification of a transmission and the like may be selected, and any configuration which can specify the types can be used. The display is not limited to the tree-like display and the matters may alternatively be aligned in alphabetical order, Japanese alphabetical order or the like.

When the type is touched and selected in the type selection screen 320, the type is lightened and the type of the vehicle which performs the work is displayed so as to be recognized easily.

[0039]

Furthermore, in the type selection screen 320, a confirmation button 321 and a manual setting button 322 are provided. In the type selection screen 320, when the type is selected and the confirmation button 321 is pushed, dimensions (full length, vehicle width, axial distance, wheel distance and the like) of the vehicle of the type is set automatically and reflected to the setting of the travel route R. The dimensions of the full length, vehicle width, axial distance and wheel distance of the vehicle body corresponding to the type are stored previously in the storage device. It may alternatively be configured that the dimensions of the vehicle body are stored previously in the storage device 30m of the control device 30 of the autonomously moving work vehicle 1, and by transmitting a command of reading out to the control device 30 by the setting screen of the remote control apparatus 112, the dimensions are read out to the storage device of the remote control apparatus 112 via the communication device.

[0040]

In the type selection screen 320, when the manual setting button 322 is pushed, the screen is switched to a body dimension setting screen 330 shown in Fig. 5, and in the body dimension setting screen 330, a dimension input screen 330a and a body schematic 16 PCT/JP2015/81628 Our Ref: PCT-778 screen 330b are displayed. In the dimension input screen 330a, a full length L changing button 331, a axial distance HB changing button 332, a vehicle width WL changing button 333, a wheel distance T changing button 334 and a wheel changing button 335 are provided. In the body schematic screen 330b, a schematic front view and a schematic side view of the tractor are displayed, and the length to be changed can be recognized easily.

[0041]

The full length L changing button 331 is configured so that an up button or a down button is touched and a numerical value is increased or reduced so as to set the length when a front weight is attached to a bumper, a work machine attachment device is changed to a different one, a drawbar hitch is equipped with the work machine, or the like.

The axial distance HB changing button 332 is configured so that an up button or a down button is touched and a numerical value is increased or reduced so as to set the length when an axle casing is changed or the like.

The vehicle width WL changing button 333 is configured so that an up button or a down button is touched and a numerical value is increased or reduced so as to set the length when a fender or the cabin is equipped with an optional member.

The wheel distance T changing button 334 is configured so that an up button or a down button is touched and a numerical value is increased or reduced so as to set the length when tread is changed in the case of zoom specification.

The wheel changing button 335 is configured so that required values for the front wheels and the rear wheels are inputted when size of the wheels is changed, the wheels are changed to iron wheels, two wheels are attached respectively to left and right side, or the like.

It may alternatively be configured that when the lengths and the wheels are changed in the body dimension setting screen 330, the size, width (shape) and the like of the tractor is changed simultaneously in the drawings in the body schematic screen 330b. The lengths may alternatively be changed by displaying ten keys, and a method for changing the 17 PCT/JP2015/81628 Our Ref: PCT-778 numerical value is not limited.

Accordingly, when a confirmation button 336 is pushed after the manual operation, the length is determined, and the setting is finished and reflected to the setting of the travel route R.

[0042]

As the above, the remote control apparatus 112 is the operation terminal enabling operation of the autonomously moving work vehicle 1 which can travel and work automatically along the travel route R set by the satellite positioning system. The remote control apparatus 112 which is the operation terminal can set the whole dimensions (full length, vehicle width, axial distance and the like). The remote control apparatus 112 can be communicated with the control device 30 of the autonomously moving work vehicle 1 via the communication devices 110 and 111. The remote control apparatus 112 has the control device 119 and the display device 113. The display device 113 can be operated by touch. In the body dimension setting screen 330 of the autonomously moving work vehicle 1, the type selection screen 320 selecting the type of the work vehicle is displayed. By touching the type selection screen 320, the dimensions of the vehicle body are set. Accordingly, it is not necessary to set the dimensions of the vehicle body independently and the dimensions are inputted automatically^ whereby the setting can be performed easily and it is not necessary to set the dimensions again at the time of the travel route for automatic travel.

[0043]

When manual setting is selected by the manual setting button 322 of the type selection screen 320, the body dimension setting screen 330 is displayed, and the numerical values of the full length, the vehicle width, the axial distance and the like can be increased or reduced so as to set them, whereby the setting can be performed easily by increasing or reducing the numerical values.

[0044]

The setting of the dimensions may be set by finger operation. When the manual setting button 322 is pushed in the type selection screen 320 and the body dimension 18 PCT/JP2015/81628 Our Ref: PCT-778 setting screen 330 is displayed, dimension lines are displayed in the body schematic screen 330b. It may alternatively be configured that in the case of changing the full length, the vehicle width, the axial distance or the wheel distance as shown in Fig. 6, a part of the displayed dimension line is operated by touching with a finger such as pinch-in, pinch-out or drug so as to change the length. When the full length, the vehicle width, the axial distance or the wheel distance is changed by operation of touch and movement, the part of the schematic drawing is enlarged or reduced simultaneously and the size thereof is changed, and the numerical value showing the length is also increased or reduced. Accordingly, the setting can be changed easily by the finger operation, and the results of change of setting can be recognized easily by the size of the schematic drawing and the increase or reduction of the numerical value.

[0045]

It may alternatively be configured that instead of the operation of touching and moving the part of the work vehicle by the finger, when a part of a numerical value showing a lateral length X or a longitudinal length Y is touched, ten keys are displayed, and a numerical value of an actual length is inputted by the ten keys.

[0046]

As the above, when the manual setting is selected in the type selection screen 320, the body dimension setting screen 330 is displayed. In the body dimension setting screen 330, the dimension lines are displayed in the schematic drawing of the vehicle body. By the operation touching and moving the screen displaying the dimension lines of the full length, the vehicle width, the axial distance and the wheel distance by the finger, the dimensions are changed and the size of the displayed schematic drawing is changed. Accordingly, the setting can be changed easily by the touching and moving operation by the finger, and the change can be recognized visually easily.

[0047]

Furthermore, in the state of displaying the setting screen, various lengths (dimensions) of the work machine attached to the autonomously moving work vehicle 1 can be set. The set lengths of the work machine are required for setting the travel route R for 19 PCT/JP2015/81628 Our Ref: PCT-778 autonomous travel of the autonomously moving work vehicle 1. Namely, dimensions concerning the setting of the set travel route R are set. A lateral width of the work machine and an eccentric length from a lateral center of the vehicle body are the work width and required for setting the work start position in the field of the work, setting the start position of reciprocal work after butt turning, and preventing residual work at the time of final reciprocal work. A longitudinal length from the mobile GPS antenna 34 to a rear end of the work machine when viewed in plan is required for setting the work start position, the position at which the vehicle reaches the butt and stop the work, the minimum turning diameter at the time of turning, and the like. It is also necessary to set a lateral overlapping length at the time of the reciprocal work and parallel travel work with two vehicles.

[0048] A screen for setting the lengths of the work machine is explained. The length setting screen can be called and displayed easily suitably by button operation or the like.

As shown in Fig. 7, a setting screen of the work machine displayed in the display device 113 of the remote control apparatus 112 which is the operation terminal has a work machine selection screen 113s and a length setting screen 113g. The work machine selection screen 113s and the length setting screen 113g are aligned laterally. Arrangement positions and sizes of the work machine selection screen 113s and the length setting screen 113g are not limited. It may alternatively be configured that the work machine selection screen 113s is displayed by the full screen and switched to the length setting screen 113g after selection.

[0049]

In the work machine selection screen 113s, names of the plurality of the work machines which can be attached to the autonomously moving work vehicle 1 are displayed. Otherwise, only the owned work machines may alternatively be displayed. Since the names of the work machines may be written with katakana and hard to be distinguished and often mistaken, schematic graphics showing the work machines may be displayed in addition to the names of the work machines. In this embodiment, a rotary tilling device 20 PCT/JP2015/81628 Our Ref: PCT-778 button, a boom sprayer button, a trencher button, a halo button, and a rest button are displayed. For example, when the rotary tilling device button is touched, as shown in Fig. 7, a schematic drawing of the tractor equipped with the rotary tilling device is displayed in the length setting screen 113g. When the trencher button is touched, as shown in Fig. 8, a schematic drawing of the tractor equipped with a trencher is displayed in the length setting screen 113g. When the rest button is touched, work machines which are not displayed in the work machine selection screen 113s and can be attached to the tractor, such as a subsoiler, a seeding machine, a fertilizer, a cultivator and a mower are displayed. The work machine displayed in the length setting screen 113g is rear mount type, but may alternatively be mid mount type or front mount type, and a schematic drawing of the mid mount type or front mount type is displayed corresponding to the work machine.

[0050]

In the length setting screen 113g, the tractor, the work machine attached to the tractor, a lateral length (width) X of the work machine, a longitudinal length Y from a center of the mobile GPS antenna 34 to the rear end of the work machine, and an overlapping length W are displayed. Concerning the work machine arranged eccentrically, an eccentric length (not shown) is displayed.

[0051]

The lateral length X, the longitudinal length Y and the overlapping length W in the length setting screen 113g are displayed with numerals. In the case in which the rotary tilling device is exchanged, a ridging plate or the like is attached to a side or rear part of the rotary tilling device, or a rear cover is extended, when the lateral length X or the longitudinal length Y of the work machine is increased or reduced, as shown in Fig. 9, the part of the work machine (the part of the dimensions) is operated by touching with a finger such as pinch-in, pinch-out or drug so as to change the lateral length X or the longitudinal length Y. The overlapping length W can be changed similarly.

[0052]

When the lateral length X or the longitudinal length Y is changed by touching the part 21 PCT/JP2015/81628 Our Ref: PCT-778 of the work machine (the part of the dimensions) with the finger, a drawing of the part of the work machine is expanded or reduced similarly, and the numeral showing the lateral length X or the longitudinal length Y is also increased or reduced. Accordingly, the length and the shape at the time of the finger operation is shown in the length setting screen 113g, whereby the setting can be changed easily and the result of the change can be recognized easily by the increase/reduction of the size of the drawing and the numeral in the screen.

[0053]

Instead of the operation touching the part of the work machine with the finger, it may alternatively be configured that when the part of the numeral showing the lateral length X or the longitudinal length Y is touched, an increase/reduction mark of the numeral or ten keys are displayed, and by operating the increase/reduction mark or the ten keys, the displayed length is changed.

[0054]

Instead of the operation touching the part of the work machine with the finger, it may alternatively be configured that a name of a maker, name of a type, and the lateral length X and the longitudinal length Y of the type are stored previously the control device 119 of the remote control apparatus 112, and only by selecting the name of the maker and the name of the type, the lateral length X and the longitudinal length Y corresponding to the type are displayed in the length setting screen 113g. For example, when the trencher is touched and selected in the work machine selection screen 113s, the display is shifted to a setting screen shown in Fig. 8, and a maker name selection screen 113m and a type selection screen 113k are displayed. By scrolling the maker name selection screen 113m, names of makers are displayed one by one. The screen is scrolled by upward or downward flicking operation so that the corresponding maker name is displayed and can be selected by touching it. In the type selection screen 113k, types of the work machines (trenchers) manufactured or sold by the maker are displayed. When the number of the types is much, the types can be displayed by scrolling the screen. Accordingly, the screen is scrolled by the upward or downward flicking operation with the finger so as to 22 PCT/JP2015/81628 Our Ref: PCT-778 display the corresponding type and the type is touched and selected, whereby the corresponding work machine and the lengths thereof (the lateral length X and the longitudinal length Y) are displayed automatically in the length setting screen 113g. Since the work machine may be improved uniquely, it may alternatively be configured that the lateral length X and the longitudinal length Y can be changed by touching the part of the work machine (or the part of the dimension) with the finger similarly to the above. Though the display of change in the maker name selection screen 113m and the type selection screen 113k is made by the scrolling operation, it may alternatively be perfonned by selecting an alphabet and is not limited.

[0055]

As the above, the remote control apparatus 112 is the operation terminal enabling setting of dimensions (lateral length, longitudinal length, duplication amount at the time of the work, and the like) of the work machine attached to the autonomously moving work vehicle 1 which can travel and work automatically along the travel route R set by the satellite positioning system. The remote control apparatus 112 and the control device 30 of the autonomously moving work vehicle 1 can be communicated with each other via the communication devices 110 and 111. The remote control apparatus 112 has the control device 119 and the display device 113. The display device 113 can be operated by touch. In the setting screen of the work machine, the schematic drawings of the work vehicle and the work machine are displayed. In the setting screen, by touching the display screen with the finger and moving the finger, the numeral showing the length necessary for setting the work machine is changed, and simultaneously, the size of the displayed schematic image is changed. Accordingly, the length can be changed and set easily by touching and moving it with the finger in the work machine selection screen 113s, and the changed state can be recognized easily by the change of the size of the image.

[0056]

In the setting screen of the display device 113, the work machine selection screen 113s for selecting the kind of the work machine is displayed previously. In the work machine 23 PCT/JP2015/81628 Our Ref: PCT-778 selection screen 113s, the name or schematic image of the work machine is displayed and can be selected. Accordingly, it is not necessary to input the name of the work machine and the work machine can be selected easily. The selection can be selected visually easily by looking the schematic drawing.

[0057]

In the work machine selection screen 113s, the screen selecting the maker name and type of the work machine is displayed so as to be able to be selected easily by touching it. The lateral length X and the longitudinal length Y of the selected work machine are stored previously so that it is not necessary to input any numeral anew. Accordingly, the setting operation can be performed easily.

[0058]

Next, a method setting the set travel route R is explained. A travel route setting device is the remote control apparatus 112, or the display means 49 of the autonomously moving work vehicle 1 which is the first work vehicle and/or the display means 149 of the auxiliary moving work vehicle 100 which is the second work vehicle. In the setting screen of the display device 113 of the remote control apparatus 112, or the display means 49 of the autonomously moving work vehicle 1 and/or the display means 149 of the auxiliary moving work vehicle 100, a setting screen can be displayed. Since the setting methods in the setting screens are the same, the method performing the setting in the display device 113 of the remote control apparatus 112 is explained below.

[0059]

In the display device 113 of the remote control apparatus 112, a setting button and the like are provided so that the setting screen can be displayed easily by touching operation. The setting button may alternatively be provided in the remote control apparatus 112 itself. In the setting screen, after determining the field, a travel route setting screen is displayed. As shown in Fig. 10, the travel route setting screen 315 has a first/second work vehicle arrangement setting screen 315a, a manned/unmanned setting screen 315b, and a work machine setting screen 315c. By selecting a work mode to be performed actually and 24 PCT/JP2015/81628 Our Ref: PCT-778 the work machine in selection screens displayed in the first/second work vehicle arrangement setting screen 315a, the manned/unmanned setting screen 315b, and the work machine setting screen 315c, the travel route along which the work can be performed is displayed, and when the plurality of the travel routes are considered, one of the routes can be selected.

[0060]

In the first/second work vehicle arrangement setting screen 315a, four arrangement patterns of the first work vehicle and the second work vehicle are displayed, and one of the patterns can be selected by touching it. Namely, in the first/second work vehicle arrangement setting screen 315a, a first work vehicle aslant front arrangement 315al, a first work vehicle aslant rear arrangement 315a2, a first/second work vehicle longitudinal arrangement 315a3, and a first/second work vehicle lateral arrangement 315a4 are aligned and displayed. In each of the screens, a lateral turning direction setting button 316 in the butt is provided, and when the button is touched and selected, a selection result is shown by lighting or blink.

[0061]

The first/second work vehicle arrangement setting screen 315a is not limited to the screen mentioned above, and may alternatively be a screen shown in Fig. 11. Namely, in the first/second work vehicle arrangement setting screen 315a of an embodiment shown in Fig. 11, a schematic drawing showing the autonomously moving work vehicle 1 which is the first work vehicle at a center, and schematic drawing of the auxiliary moving work vehicle 100 which is the second work vehicle are arranged at eight sides of the circumference of the above drawing, whereby a work position of the auxiliary moving work vehicle 100 concerning the autonomously moving work vehicle 1 can be selected optionally. The selection operation can be performed by touching the position of the auxiliary moving work vehicle 100 in the screen, and the setting can be recognized by lighting or the like.

[0062]

In the travel route setting screen 315, whether the first work vehicle and the second 25 PCT/JP2015/81628 Our Ref: PCT-778 work vehicle are respectively manned (operated manually) or unmanned (operated automatically) can be selected. Namely, as shown in Fig. 10, in the manned/unmanned setting screen 315b, manned or unmanned operation can be selected concerning the first work vehicle, and manned or unmanned operation can be selected concerning the second work vehicle. The selection can be performed by touching, and the selected operation is lightened.

[0063]

In the travel route setting screen 315, a screen in which the work machines attached respectively to the first work vehicle and the second work vehicle are selected is provided. Namely, as shown in Fig. 10, in the work machine setting screen 315c, when a button of the first work vehicle is touched, the screen is shifted to a screen of Fig. 7, and the work machine selection screen 113s and the length setting screen 113g are displayed. When the setting is performed previously by the above operation, this operation is not necessary. When a button of the second work vehicle in the work machine setting screen 315c is touched, a screen similar to that of the first work vehicle is displayed, and the work machine attached to the second work vehicle can be selected. The configuration of the work machine setting screen 315c is not limited, and it may alternatively be configured that when the button of the first work vehicle is touched, a scroll part in which kinds of the work machines are aligned and displayed appears, and the work machine can be selected by touching it.

In the work machine setting screen 315c, when a determination button 318 is pushed and the setting of the work machine is finished, the screen is returned to that of Fig. 10. When the work machine is set in the work machine setting screen 315c, a schematic drawing imitating the shape of the selected work machine is displayed in a screen displayed henceforth, whereby the set work machine can be confirmed visually.

[0064]

Accordingly, the arrangement of the first work vehicle and the second work vehicle, the manned or unmanned operation of the first work vehicle and the second work vehicle, and the kind of the work machine are selected and set, and the determination button 318 is 26 PCT/JP2015/81628 Our Ref: PCT-778 pushed, whereby a work machine travel route along which the work can be performed the most efficiently is calculated and displayed automatically. Namely, when the arrangement of the first work vehicle and the second work vehicle, the kind of the work machine, and the width, longitudinal length and overlapping length of the work machine are set, the travel route is determined inevitably concerning the field on which the work is performed, whereby travel route patterns permitting the work is displayed from a plurality of travel route patterns stored previously in the storage device 30m. Among the displayed patterns, the travel route in agreement with the actual work is touched and selected.

By the selection by the touching operation, the work travel route of the autonomously moving work vehicle 1 and the auxiliary moving work vehicle 100 is displayed. When the displayed route is enough, the determination button 318 is touched and the travel route is confirmed. When another travel route is wished, a resetting button 317 is pushed and the travel route is set manually. In the manual setting, one of the plurality of the travel routes permitting the automatic travel can be selected and set. By the easy operation as the above, the travel route can be set easily.

[0065]

Next, a concrete embodiment of setting of the travel route is explained.

The travel route setting screen 315 is displayed in the display device 113 of the remote control apparatus 112. An embodiment in which the manned or unmanned operation, the work machine and the travel route are set in the travel route setting screen 315 is explained. However, in addition, the field, work speed, work rotation speed can also be set in another screen, and a detailed explanation thereof is omitted.

[0066]

Firstly, in the first/second work vehicle arrangement setting screen 315a of the travel route setting screen 315, the arrangement (positional relation) of the first work vehicle and the second work vehicle is selected by touching operation. In this embodiment, as shown in Fig. 10, when the work is performed while the first work vehicle is arranged forward aslant and the second work vehicle is arranged rearward and rightward aslant, the 27 PCT/JP2015/81628 Our Ref: PCT-778 first work vehicle aslant front arrangement 315al is touched and selected, and subsequently, whether the work is performed leftward or rightward is selected by the lateral turning direction setting button 316. The screen is lightened (or blinked or the other screens are turned off) by the touching operation so that the result of the selection can be recognized easily.

[0067]

Next, in the manned/unmanned setting screen 315b, whether the first work vehicle and the second work vehicle are respectively manned (operated manually) or unmanned (operated automatically) is selected. When the manned or unmanned operation is touched and selected, the selected operation is lightened. In this embodiment, the first work vehicle is set to be unmanned and the second work vehicle is set to be manned.

[0068]

Next, set in the work machine setting screen 315c, the kinds of the work machines attached to the first work vehicle and the second work vehicle are selected. In this embodiment, the work machine of the first work vehicle is the rotary tilling device and the work machine of the second work vehicle is also the rotary tilling device. Then, required lengths are inputted in the work machine selection screen 113s and the length setting screen 113g shown in Fig. 7. When the input is performed once respectively in the manned/unmanned setting screen 315b and the work machine setting screen 315c, the last setting shall be stored, and the setting can be omitted if it is the same.

[0069]

As mentioned above, as shown in Fig. 10, in the case in which the arrangement of the first work vehicle and the second work vehicle is that the first work vehicle selects the first work vehicle aslant front arrangement 315al and the work is performed leftward on the butt, when it is set that the first work vehicle is the unmanned autonomously moving work vehicle 1, the second work vehicle is the manned auxiliary moving work vehicle 100 and the work machines are the rotary tilling devices, and the determination button 318 is pushed, the set travel route R of the first work vehicle and the second work vehicle shown in Fig. 12 is displayed. When the route is enough, a confirmation button 319 is 28 PCT/JP2015/81628 Our Ref: PCT-778 pushed. When another route is desired, the resetting button 317 is pushed. In the case of Fig. 12, the work machines of the first work vehicle and the second work vehicle are the same and the reciprocal work is performed, whereby the work can be performed with substantially twice efficiency. When the work machines are not the rotary tilling devices but seeding machines, fertilizers, mowers, control machines or the like, similar travel route is set.

[0070]

In the case in which the first work vehicle is the first work vehicle aslant front arrangement 315al and the work machines of the first work vehicle and the second work vehicle are different, for example, the first work vehicle 1 is equipped with a grass collector and the second work vehicle 100 is equipped with a bailer, when the work machines are set in the work machine setting screen 315c, the travel route R shown in Fig. 13 is displayed. In this case, the work machines are attached eccentrically concerning the center of the vehicle body, the reciprocal work cannot be performed and rotational work is performed. When the route is enough, the confirmation button 319 is pushed. When another route is desired, the resetting button 317 is pushed and the desired travel route is selected from a plurality of patterns.

[0071]

In the case in which the first work vehicle aslant rear arrangement 315a2 is selected in the first/second work vehicle arrangement setting screen 315a and the work is performed leftward on the butt, when it is set that the first work vehicle (the auxiliary moving work vehicle 100) is unmanned, the second work vehicle (the autonomously moving work vehicle 1) is manned and the work machines are the rotary tilling devices, and the detennination button 318 is pushed, the travel route R of the first work vehicle and the second work vehicle shown in Fig. 14 is displayed. Along the travel route R, after the first work vehicle 1 performs the reciprocal work, the first work vehicle positions a law skipped one law and rearward aslant the second work vehicle, and performs the work. Accordingly, neither the work machines of the first work vehicle and the second work vehicle is the same or different, the same travel route is used. The first work vehicle 29 PCT/JP2015/81628 Our Ref: PCT-778 travels while targeting a marker projected from the second work vehicle, or may alternatively travel along the travel route while using the satellite positioning system.

[0072]

In the case in which the first/second work vehicle longitudinal arrangement 315a3 is selected in the first/second work vehicle arrangement setting screen 315a and the work is set to be performed leftward on the butt, when it is set that both the work machines are the rotary tilling devices and the detennination button 318 is pushed, as shown in Fig. 15, the travel route along which the work is perfonned while the second work vehicle 100 travels behind the first work vehicle 1 is displayed. This work is the case in which the first work vehicle 1 tills roughly and the second work vehicle 100 tills again so as to ridge, and the like. Concerning the work machines, when the turn and reciprocal work are performed in adjacent laws, since the work widths overlap each other partially, the work machines interfere each other. Accordingly, the work route is set so as to skip every one law.

[0073]

In the case in which the first/second work vehicle longitudinal arrangement 315a3 is selected in the first/second work vehicle arrangement setting screen 315a and the work is set to be performed leftward, and the work machines of the first work vehicle and the second work vehicle are different in the work machine setting screen 315c, for example, the work machine of the first work vehicle of the rotary tilling device and the work machine of the second work vehicle is the seeding machine, and the determination button 318 is pushed, the travel route R in which reciprocal movement is performed in adjacent laws as shown in Fig. 16 is realized. In this case, though the first work vehicle turns to the adjacent law and works while traveling reversely, the work machine of the second work vehicle is narrow and can work without interfering the first work vehicle.

[0074]

In the case in which the first/second work vehicle lateral arrangement 315a4 is selected in the first/second work vehicle arrangement setting screen 315a and the work is set to be performed leftward on the butt, when the work machine narrower than the vehicle width, 30 PCT/JP2015/81628 Our Ref: PCT-778 such as the seeding machine, the fertilizer or the subsoiler is selected in the work machine setting screen 315c, and the detennination button 318 is pushed, as shown in Fig. 17, the travel route R of reciprocal movement skipping every one law is set. When it is set that both the work machines are the rotary tilling devices in the work machine setting screen 315c and the determination button 318 is pushed, it is displayed that the setting is impossible because the rotary tilling devices overlap and hit each other, and change of the setting is urged. In this case, when the overlapping length is set to be minus in the length setting screen 113g, the travel route is displayed.

[0075]

In the case in which the first/second work vehicle lateral arrangement 315a4 is selected in the first/second work vehicle arrangement setting screen 315a and it is set that the work machine of the first work vehicle of the harvesting machine and the work machine of the second work vehicle is the bailer in the work machine setting screen 315c, and the determination button 318 is pushed, the reciprocal travel route as shown in Fig. 18 is displayed. Otherwise, the travel route of the rotational work is displayed.

[0076]

As mentioned above, by touching the arrangement positons of the first work vehicle and the second work vehicle, the travel route is set. When the unmanned work vehicle is arranged at the work start position, the work vehicle positions the position of itself by using the satellite positioning system, and performs the work while traveling along the travel route R. The manned work vehicle performs the work while traveling auxiliarily with the unmanned work vehicle. It may alternatively be configured that the manned work vehicle positions the position of itself by using the satellite positioning system, displays the travel route R in the display means 149, and travels while looking a guide thereof. It may alternatively be configured that the manned work vehicle positions the position of itself by using the satellite positioning system, and travels automatically along the travel route R set previously. When both the first work vehicle and the second work vehicle are unmanned, the work can be performed with the travel route R similar to the above. 31 PCT/JP2015/81628 Our Ref: PCT-778 [0077]

As the above, the travel route setting device for the first work vehicle and the second work vehicle which work while traveling parallel includes the display device 113 of the touch panel type provided in the remote control apparatus 112, and the first work vehicle and/or the second work vehicle can be communicated with the remote control apparatus 112 via the communication device. In the travel route setting screen 315 of the travel route setting device, after determining the field, when the work arrangement position of the second work vehicle concerning the first work vehicle is set, the travel route R for the work of the first work vehicle and the second work vehicle is set and displayed. Accordingly, only by touching and selecting the predetermined screen, an operator can grasp the positional relation of the first work vehicle and the second work vehicle easily and the travel route R is set automatically, whereby the setting work can be performed easily.

[0078]

Combinations of the work arrangement position of the second work vehicle concerning the first work vehicle which can be arranged are aligned and displayed and can be selected optionally. Accordingly, an operator should only select the screen of the arrangement in agreement with the arrangement of the actual work, whereby number of operations for the setting can be reduced and mistakes of the setting can be reduced.

[0079]

In the travel route setting screen 315, the screen in which whether the first work vehicle and the second work vehicle are respectively manned or unmanned is selected is provided. Accordingly, manned or unmanned operation of the first work vehicle and the second work vehicle traveling longitudinally or laterally can be set easily.

[0080]

In the travel route setting screen 315, the screen in which the work machines attached respectively to the first work vehicle and the second work vehicle are selected is provided. Accordingly, the optimal travel route R is set corresponding to the first work vehicle and the second work vehicle, whereby any work route in which the work machines of the first 32 PCT/JP2015/81628 Our Ref: PCT-778 work vehicle and the second work vehicle interfere each other is not set.

Industrial Applicability [0081]

The present invention can be used for a work vehicle such as a constructive machine or an agricultural vehicle which works in a predetermined field by using a satellite positioning system.

Description of Notations [0082] 1 autonomous traveling work vehicle 30 control device 110 and 111 communication devices 112 remote operation device (operation terminal) 113 display device 113s work machine selection screen 113g length setting screen 119 control device 33

Claims (10)

1. An operation terminal enabling operation of an autonomously moving work vehicle which can travel and work automatically along a set travel route by a satellite positioning system, characterized in that the operation terminal can set dimensions of a vehicle body, the operation terminal can be communicated with a control device of the autonomously moving work vehicle via a communication device, the operation terminal has a control device and a display device and the display device can be operated by touching, and in a screen for setting the dimensions of the vehicle body of the autonomously moving work vehicle, a type selection screen selecting a type of the work vehicle is displayed, and by touching a type on the type selection screen, the dimensions of the vehicle body are set.

2. The operation terminal according to claim 1, wherein when manual setting is selected in the type selection screen, a body dimension setting screen is displayed, and a full length, a vehicle width, an axial distance and a wheel distance can be set by increasing and reducing numerals thereof.

3. The operation terminal according to claim 1, wherein when manual setting is selected in the type selection screen, a body dimension setting screen is displayed, dimension lines are displayed in a schematic drawing of the vehicle body in the body dimension setting screen, and by operation touching and moving the screen displaying the dimension lines of full length, vehicle width, axial distance and wheel distance by a finger, the dimensions are changed and size of the displayed schematic drawing is changed.

4. An operation terminal enabling setting dimensions of a work machine attached to fan autonomously moving work vehicle which can travel and work automatically along a set travel route by a satellite positioning system, characterized in that the operation terminal can set dimensions of a vehicle body, the operation terminal can be communicated with a control device of the autonomously moving work vehicle via a communication device, the operation terminal has a control device and a display device and the display device can be operated by touching, in a setting screen of dimensions of the work machine, schematic drawings of the work vehicle and the work machine are displayed, and in the setting screen, by touching the display screen with the finger and moving the finger, numerals showing lengths necessary for setting the dimensions of the work machine are changed, and simultaneously, size of the displayed schematic image is changed.

5. The operation terminal according to claim 4, wherein in the screen of the display device for setting the dimensions of the work machine, a work machine selection screen for selecting a kind of the work machine is displayed previously, and in the work machine selection screen, names or schematic images of work machines is displayed so that the work machine can be selected.

6. The operation terminal according to claim 4 or 5, wherein in the work machine selection screen of the display device, a screen selecting a maker name and a type of the work machine is displayed.

7. The operation terminal according to one of claims 1 to 6, wherein the operation terminal, the control device of the autonomously moving work vehicle and/or a control device of an auxiliary moving work vehicle traveling auxiliarily to the autonomously moving work vehicle can be communicated with each other via a communication device, and wherein in a work setting screen of the operation terminal, after determining a field, when a work arrangement position of the auxiliary moving work vehicle concerning the autonomously moving work vehicle is set, a travel route for work of the autonomously moving work vehicle and the auxiliary moving work vehicle is set and displayed.

8. The operation terminal according to claim 7, wherein a combination of the work arrangement position of the auxiliary moving work vehicle concerning the autonomously moving work vehicle which can be arranged is aligned and displayed and can be selected optionally.

9. The operation terminal according to claim 7, wherein in the work setting screen, a screen is provided wherein whether the autonomously moving work vehicle and the auxiliary moving work vehicle are respectively manned or unmanned is selected.

10. The operation terminal according to claim 7, wherein the work setting screen displays a screen in which the work machines attached respectively to the autonomously moving work vehicle and the auxiliary moving work vehicle are selected.