Abstract:
A remote control apparatus capable of communicating with a control apparatus of an autonomously running work vehicle via a communication apparatus, the remote control apparatus comprising a communication apparatus, a control apparatus, a display apparatus, and cameras for obtaining images of the front and rear, wherein the display apparatus is provided with at least a remote control region for controlling the autonomously running work vehicle, a peripheral image region for displaying images captured by the cameras, and a work status display region, wherein the peripheral image region is provided with a frontal view and a rear view.

Description:
TECHNICAL FIELD 
       [0001]    The present invention relates to a remote control apparatus of an unmanned autonomously moving work vehicle traveling autonomously and a display art of a display device provided in the remote control apparatus. 
       BACKGROUND ART 
       [0002]    Conventionally, an art in which a work machine attached to a tractor and working and a mobile phone are provided, the work machine has a receiving part receiving a wireless operation signal from the mobile phone and a control part controlling an output instrument based on the received operation signal, and operation buttons and an operation screen are provided in the mobile phone so that operation can be performed by the operation buttons is known (for example, see the Patent Literature 1). 
       PRIOR ART REFERENCE 
     Patent Literature 
       [0000]    
       
         Patent Literature 1: the Japanese Patent Laid Open Gazette 2011-120539 
       
     
       DISCLOSURE OF INVENTION 
     Problems to be Solved by the Invention 
       [0004]    In the art, only the work machine attached to the tractor can be operated remotely by the mobile phone, and the tractor cannot be operated remotely. Recently, the tractor can travel unmannedly and can be operated remotely. However, a screen of a remote control apparatus displays an engine rotation speed, a work distance and the like, and a front side and a work state is not displayed and cannot be checked while working, whereby information required for the work cannot be displayed. 
         [0005]    The present invention is provided in consideration of the conditions as mentioned above, and the purpose of the invention is to provide a remote control apparatus in which an image of the surrounding, operation buttons and the like can be displayed by a display device of the remote control apparatus. 
       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. 
         [0007]    According to the present invention, in a remote control apparatus in which a control device of an autonomously moving work vehicle which can perform travel and work automatically along a set travel route using a satellite positioning system can be communicated via a communication device connected to the control device wirelessly, the remote control apparatus has the communication device, the control device and a display device, and the display device has at least a remote control area operating the autonomously moving work vehicle and a circumference image area displaying an image photted by a camera attached to the autonomously moving work vehicle. 
         [0008]    According to the present invention, the display device can display a work state display area displaying a map of a field on which the autonomously moving work vehicle works, the travel route, an actual position and a worked position in addition to the remote control area and the circumference image area. 
         [0009]    According to the present invention, the remote control area, the circumference image area and the work state display area can be displayed simultaneously by being divided laterally or vertically. 
         [0010]    According to the present invention, display positions of the remote control area, the circumference image area and the work state display area and selection of plural display and full screen display can be changed optionally. 
         [0011]    According to the present invention, a camera photting a front side and a rear side is attached to the autonomously moving work vehicle, a front screen displaying an image of the front side of the autonomously moving work vehicle photted by camera and a rear screen displaying an image of the rear side are provided in the display device of the remote control apparatus, and the display device can be switched to two-display displaying the front screen and the rear screen and one-display displaying only a traveling direction. 
         [0012]    According to the present invention, in the case of switching the display device to the one-display and in the case of the vertical two-display, the autonomously moving work vehicle travels along the set travel route, and at a set time before switching the traveling direction longitudinally, the screen of the display device is switched corresponding to a scheduled traveling direction. 
       Effect of the Invention 
       [0013]    According to the above means, by one remote operation apparatus (operation terminal), one or a plurality of required screens can be displayed, the autonomously moving work vehicle can be operated easily by the remote control apparatus, and the display device of the remote control apparatus can display the screens selectively at a legible position. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0014]      FIG. 1  is a schematic side view of an autonomously moving work vehicle operated by a remote control apparatus. 
           [0015]      FIG. 2  is a control block diagram. 
           [0016]      FIG. 3  is a drawing of a state of parallel traveling work by the autonomously moving work vehicle and an auxiliary moving work vehicle. 
           [0017]      FIG. 4  is a drawing of a display device of the remote control apparatus. 
           [0018]      FIG. 5  is a drawing of a state in which a display screen of the display device is exchanged. 
           [0019]      FIG. 6  is a drawing of a state in which one screen is displayed in a circumference image area. 
           [0020]      FIG. 7  is a drawing of a state in which a front screen and a rear screen of the circumference image area are switched upside down. 
           [0021]      FIG. 8  is a drawing of another display device of the remote control apparatus. 
           [0022]      FIG. 9  is a drawing of a second operation screen after pushing an automatic travel start button. 
           [0023]      FIG. 10  is a drawing of the second operation screen after pushing a travel speed change button. 
           [0024]      FIG. 11  is a drawing of the second operation screen after pushing an engine rotation speed change button. 
           [0025]      FIG. 12  is a drawing of the second operation screen after pushing a work machine height change button. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0026]    An embodiment in which an autonomously moving work vehicle  1  which can travel automatically unmannedly and an auxiliary moving work vehicle  100  operated and steered by an operator so as to travel following the autonomously moving work vehicle  1  are tractors, and rotary tilling devices  24  are attached as work machines to the autonomously moving work vehicle  1  and the auxiliary moving work vehicle  100  is explained. The work vehicles 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. 
         [0027]    An entire configuration of the tractor which is the autonomously moving work vehicle  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  30   m  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  30   m.    
         [0028]    A seat  5  is disposed behind the steering wheel  4 , and a transmission casing  6  is arranged below the seat  5 . At left aid 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. 
         [0029]    A PTO clutch and a PTO transmission are housed in the transmission casing  6 . The 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. 
         [0030]    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. 
         [0031]    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  discussed later so as to display the state of the engine  3  on a display device  113 . 
         [0032]    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 . 
         [0033]    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. 
         [0034]    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 . 
         [0035]    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. 
         [0036]    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. 
         [0037]    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 . 
         [0038]    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 . 
         [0039]    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). 
         [0040]    Next, a method obtaining position information of the autonomously moving work vehicle  1  by the GPS (global positioning system) is explained. 
         [0041]    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 20,000 km, a control station pursuing and controlling the GPS satellites, and a communication device of an user for positioning. 
         [0042]    As a positioning method using the GPS, various methods such as independent 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 . 
         [0043]    The RTK-GPS (real time kinematic GPS) positioning is a method that GPS observation is performed 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. 
         [0044]    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 . 
         [0045]    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 transmitted to the control device  30 . 
         [0046]    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  30   m.    
         [0047]    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. 
         [0048]    In the autonomously moving work vehicle  1 , a camera  42 F photting a front side and a camera  42 R 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  42 F and  42 R 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  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  42 F and  42 R are displayed on the display device  113  of the remote control apparatus  112  provided in the auxiliary moving work vehicle  100 , and a screen thereof is described later. 
         [0049]    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. 
         [0050]    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  may alternatively have the mobile communication device  33  for the GPS and the mobile GPS antenna  34 . 
         [0051]    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 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. 
         [0052]    Furthermore, the remote control apparatus  112  and 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  11  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. 
         [0053]    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  30   m  so that the autonomously moving work vehicle  1  can travel along the set travel route R. 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. 
         [0054]    Work widths of the rotary tilling devices of the autonomously moving work vehicle  1  and the auxiliary moving work vehicle  100  are overlapped partly, and the work is performed while the auxiliary moving work vehicle  100  travels behind aslant the autonomously moving work vehicle  1  in parallel. The auxiliary moving work vehicle  100  may alternatively perform different work while traveling behind the autonomously moving work vehicle  1 , and the work mode is not limited. 
         [0055]    The images photted by the cameras  42 F and  42 R, the state of the autonomously 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, information, 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 . 
         [0056]    Namely, the display device  113  is a touch operation type screen, and a display method, a display position, an output corresponding to touch operation and the like are controlled by the control device  119 . As shown ion  FIG. 4 , a display screen of the display device  113  can be divided into a plurality of areas longitudinally or laterally, and in the areas, at least, a remote control area  113 A operating the autonomously moving work vehicle  1  and a circumference image area  113 B displaying the images photted by the cameras  42 F and  42 R attached to the autonomously moving work vehicle  1 . 
         [0057]    The remote control area  113 A is a screen in which operation members (buttons) for travel, steering and operation of the work machine of the autonomously moving work vehicle  1  are arranged. In this embodiment, a traveling speed increase button  201 U, a traveling speed reduction button  201 D, an engine rotation speed increase button  202 U, an engine rotation speed reduction button  202 D, an automatic travel start button  203 , an automatic travel stop button  204 , a sudden stop button  205 , an internet connection button  206 , a work machine lifting button  207 U, a work machine lowering button  207 D, and a PTO on/off button  208  are arranged. Kinds of the operation buttons are not limited, and a brake button, a PTO speed change button, a steering button, a horn button, a setting button and the like can be provided. Any button can be deleted if it is not operated (it is unnecessary). Meters indicating residual fuel amount, engine rotation speed and the like can be provided. Arrangements in the remote control area  113 A and shapes of these buttons are not limited, and can be changed to optional shapes, selected, or changed in position. 
         [0058]    By touching the traveling speed increase button  201 U, the speed change means  44  is operated so as to increase speed for one stage, and by touching the traveling speed reduction button  201 D, the speed change means  44  is operated so as to reduce the speed for one stage. At the time of this operation, it may be configured that name and number of the speed change stage are indicated by popup, or the screen is switched to a screen for the speed change and the other screens are closed. 
         [0059]    By touching the engine rotation speed increase button  202 U, an accelerator actuator is operated and fuel injection amount is increased so as to increase engine rotation speed, and by touching the engine rotation speed reduction button  202 D, the accelerator actuator is operated and the fuel injection amount is reduced so as to reduce the engine rotation speed. At the time of this operation, it may be configured that the engine rotation speed is indicated by popup in digital or analog, or the screen is switched to a screen for the engine rotation speed. By touching continuously the traveling speed increase button  201 U, the traveling speed reduction button  201 D, the engine rotation speed increase button  202 U or the engine rotation speed reduction button  202 D, increase amount or reduction amount can be increased or reduced continuously quickly. 
         [0060]    By touching the automatic travel start button  203 , work is started while traveling automatically on the travel route R set previously, and by touching the automatic travel stop button  204 , the automatic travel and the work are stopped. By touching the sudden stop button  205 , the engine is stopped so as to stop the travel and the work, thereby preventing dangerous state. The sudden stop button  205  is indicated with relative large size and conspicuous color at a center of the screen so as to be recognized and operated easily. By touching the internet connection button  206 , the remote control apparatus is connected to the internet and enters and displays a website set previously. 
         [0061]    By touching the work machine lifting button  207 U, the lifting actuator  25  is operated so as to lift the rotary tilling device  24 , and by touching the work machine lowering button  207 D, the lifting actuator  25  is operated so as to lower the rotary tilling device  24 . In this operation, the height of the work machine (the rotary tilling device  24 ) may be indicated by popup in digital or analog, and the screen may be switched to a screen for vertical movement of the work machine. By touching the PTO on/off button  208 , the PTO switching means  45  is operated so as to engage or disengage the PTO. Accordingly, by touching the screen with a finger while looking the screen, the autonomously moving work vehicle  1  can be operated easily from a distant position. 
         [0062]    The traveling speed, the engine rotation speed and the height of the work machine are set by another screen (not shown). 
         [0063]    It may alternatively be configured that, among the plurality of the switches arranged in the remote control area  113 A, except for the sudden stop button  205  to which immediate response is required in case of emergency, the traveling speed increase button  201 U, the traveling speed reduction button  201 D, the engine rotation speed increase button  202 U, the engine rotation speed reduction button  202 D, the work machine lifting button  207 U, the work machine lowering button  207 D, the automatic travel start button  203 , the automatic travel stop button  204 , the internet connection button  206 , and the PTO on/off button  208  are not operated by one operation, and shift to next screen and are operated by a plurality of operations so as to prevent error operation. In this case, an initial screen is a screen as shown in  FIG. 8 . 
         [0064]    Namely, the automatic travel start button  203  arranged at a substantially center of the remote control area  113 A is a button for starting the work while traveling automatically on the travel route R set previously, and by a second operation in addition to a first operation pushing the automatic travel start button  203  (touching), it is shifted to an automatic travel control mode. When the second operation is performed, it is shifted to the automatic travel control mode, and automatic travel control of the autonomously moving work vehicle  1  is performed by the control device  30 . 
         [0065]    As the second operation, when the first operation pushing the automatic travel start button  203  is performed, it is switched to another confirmation screen, and by operating the confirmation screen once again, it is switched to next mode. For example, when the automatic travel start button  203  is pushed, as shown in  FIG. 9 , a START button  203 A and a CANCEL button  203 B are appeared. Subsequently, when the START button  203 A is pushed, it is shifted to the automatic travel control mode. When it is shifted to the automatic travel control mode, the screen is returned to that of  FIG. 8 . When a position to be pushed is mistaken, by pushing the CANCEL button  203 B, the screen is returned to that of  FIG. 8 . The screen of the second operation is not limited to that of  FIG. 9  and may be any screen in which continuation or cancellation can be selected and confirmed such as “yes” and “no”. 
         [0066]    The operation method of the second operation may be replaced with another operation. Namely, as a second embodiment, by long pressing of the automatic travel start button  203 , it is shifted to the automatic travel control mode. As a third embodiment of the second operation, it may alternatively be configured that by pushing the automatic travel start button  203  twice continuously, it is shifted to the automatic travel control mode. As a fourth embodiment of the second operation, it may alternatively be configured that by pushing the automatic travel start button  203  (first operation), a color of the automatic travel start button  203  is changed, and by pushing it once again (second operation), it is shifted to the automatic travel control mode. As a fifth embodiment of the second operation, it may alternatively be configured that by sliding the automatic travel start button  203  (second operation) while performing long pushing of the automatic travel start button  203  (first operation), it is shifted to the automatic travel control mode. When the second operation is performed and it is shifted to the automatic travel control mode, a screen such as “it is shifted to the automatic travel control mode” may be displayed so that an operator can recognize the shift easily. It may alternatively be controlled that the screen is switched to full screen display when the first operation is performed. 
         [0067]    As the above, the automatic travel start button  203  of the autonomously moving work vehicle  1  is displayed in the display device  113  and it is shifted to the automatic travel control mode by performing the second operation in addition to the first operation of the automatic travel start button  203 . Accordingly, even when the screen of the display device  113  is touched unintentionally or the operation is mistaken, it is not shifted to the automatic travel control mode and the autonomously moving work vehicle  1  does not start travel suddenly, thereby preventing accident and the like. 
         [0068]    After starting the automatic travel, concerning the automatic travel stop button  204 , when the first operation pushing the automatic travel stop button  204  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the automatic travel and the work are stopped. Concerning the internet connection button  206 , when the first operation pushing the internet connection button  206  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the remote control apparatus is connected to the internet and enters and displays the website set previously. Concerning the PTO on/off button  208 , when the first operation pushing the PTO on/off button  208  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the PTO switching means  45  is operated so as to engage the PTO. In the state in which the PTO is engaged, when the first operation pushing the PTO on/off button  208  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the PTO is disengaged. 
         [0069]    Similarly to the operation of the automatic travel start button  203 , concerning the automatic travel stop button  204 , the internet connection button  206  and the PTO on/off button  208 , it may alternatively be configured that when the first operation is performed, instead of switching to another confirmation screen (screen of alternative of “yes” and “no”), by operating the second operation such as the second to fifth embodiments, it is shifted to the next mode. 
         [0070]    Operations of the other buttons arranged in the remote control area  113 A after starting the automatic travel are explained. 
         [0071]    As shown in  FIG. 8 , the traveling speed increase button  201 U and the traveling speed reduction button  201 D are configured as one travel speed change button  201 . When the first operation touching the travel speed change button  201  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the speed change means  44  is operated so as to change the speed for one stage. When the first operation touching the travel speed change button  201  is performed, in this embodiment, the screen is switched to a check confirmation screen shown in  FIG. 10  in which increase or reduction is operated, and the traveling speed increase button  201 U and the traveling speed reduction button  201 D as second traveling speed change buttons for performing the second operations are displayed. By touching the traveling speed increase button  201 U, the speed change means  44  is operated so as to increase the speed for one stage, and by touching the traveling speed reduction button  201 D, the speed change means  44  is operated so as to reduce the speed for one stage. It may alternatively be controlled that the screen is switched to full screen display at the first operation and name and number of the speed change stage are indicated by popup and the screen is switched to a screen for the speed change. 
         [0072]    As shown in  FIG. 8 , the engine rotation speed increase button  202 U and the engine rotation speed reduction button  202 D are configured as one engine rotation speed change button  202 . When the first operation touching the engine rotation speed change button  202  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the accelerator actuator is operated so as to change the fuel injection amount. When the first operation touching the engine rotation speed change button  202  is performed, in this embodiment, the screen is switched to a check confirmation screen shown in  FIG. 11  in which increase or reduction is operated, and the engine rotation speed increase button  202 U and the engine rotation speed reduction button  202 D as second engine rotation speed change buttons for performing the second operations are displayed. By touching the engine rotation speed increase button  202 U, the accelerator actuator is operated and the fuel injection amount is increased so as to increase the engine rotation speed, and by touching the engine rotation speed reduction button  202 D, the accelerator actuator is operated and the fuel injection amount is reduced so as to reduce the engine rotation speed. It may alternatively be controlled that the screen is switched to full screen display at the first operation and the engine rotation speed is indicated by popup in digital or analog and the screen is switched to a screen for the engine rotation speed. By touching continuously the traveling speed increase button  201 U, the traveling speed reduction button  201 D, the engine rotation speed increase button  202 U or the engine rotation speed reduction button  202 D, the increase or reduction amount can be changed quickly. 
         [0073]    As shown in  FIG. 8 , the work machine lifting button  207 U and the work machine lowering button  207 D are configured as one work machine height change button  207 . 
         [0074]    When the first operation touching the work machine height change button  207  is performed, the screen is switched to another confirmation screen, and when the second operation is performed, the lifting actuator  25  is operated so as to lift and lower the rotary tilling device  24 . When the first operation touching the work machine height change button  207  is performed, in this embodiment, the screen is switched to a check confirmation screen shown in  FIG. 12  in which increase or reduction is operated, and the work machine lifting button  207 U and the work machine lowering button  207 D as second work machine height change buttons for performing the second operations are displayed. By touching the work machine lifting button  207 U, the lifting actuator  25  is operated so as to lift the rotary tilling device  24 , and by touching the work machine lowering button  207 D, the lifting actuator  25  is operated so as to lower the rotary tilling device  24 . It may alternatively be controlled that the screen is switched to full screen display at the first operation and name and the height of the work machine (the rotary tilling device  24 ) is indicated by popup in digital or analog and the screen is switched to a screen for lifting and lowering of the work machine. 
         [0075]    The circumference image area  113 B includes a front screen  210  displaying an image of the front side of the vehicle body photted by the camera  42 F and a rear screen  211  displaying an image of the rear side of the vehicle body photted by the camera  42 R, and these screens are arranged vertically (longitudinally) in the circumference image area  113 B so as to display the two screens. The image photted by the rear camera  42 R may be an image of an attachment part between the tractor and the work machine, an image of work state of the work machine, or an image of finish state of the work at the rear side. 
         [0076]    By changing the photting direction, an angle change means may be provided in support parts of the cameras  42 F and  42 R. It may alternatively be configured that the angle can be changed by an actuator and can be adjusted by the remote control apparatus  112 . 
         [0077]    Number of the cameras  42  is not limited, and it may alternatively be configured that three or more cameras are arranged and images of the cameras are displayed in the circumference image area  1 I  3 B. 
         [0078]    The image displayed in the rear screen  211  is a mirror image (reversed laterally) so that an operator does not feel strange at the time of operation in the same direction as the traveling direction of the autonomously moving work vehicle  1 . It may alternatively be configured that a switch means is provided and when an operator does not ride on the auxiliary moving work vehicle  100  and supervises and operates the autonomously moving work vehicle  1  at the front side thereof and facing it, the front screen  210  is a mirror image and the rear screen  211  is a real image. 
         [0079]    In the circumference image area  113 B, in the case in which the front screen  210  and the rear screen  211  are displayed and the autonomously moving work vehicle  1  travels autonomously (automatically), when the longitudinal traveling direction is changed, the vertical arrangement of the front screen  210  and the rear screen  211  is switched. For example, at the time of traveling forward, as shown in  FIG. 4 , the front screen  210  is arranged at an upper side and the rear screen  211  is arranged at a lower side, and at the time of switching from forward travel to rearward travel, the rear screen  211  is arranged at the upper side and the front screen  210  is arranged at the lower side. 
         [0080]    In the switch of the display, the display is switched slightly before switching the traveling direction actually. Namely, the set travel route R is stored in the storage device  30   m  of the control device  30 , and timings of switching from the forward travel to the rearward travel and from the rearward travel to the forward travel in the set travel route R are programmed, whereby the screen of the display device  113  is switched corresponding to a scheduled traveling direction at each set time at which the traveling direction is switched longitudinally. Concretely, before commanding switch of the longitudinal travel for a set time (or before a switching position of the longitudinal travel for a set distance), the display is switched vertically. For example, the switching of display of the screen is performed before operating a longitudinal travel switch actuator of the autonomously moving work vehicle  1  for several seconds (or after stopping the travel). 
         [0081]    By controlling the display device  113  as the above, an operator operating the remote control apparatus  112  can recognize that the longitudinal traveling direction of the autonomously moving work vehicle  1  is to be switched by the switch of the screen. 
         [0082]    Accordingly, if an obstacle exists oppositely to the traveling direction, an operation stopping the autonomously moving work vehicle  1  can be performed before traveling, whereby an accident can be prevented. 
         [0083]    It may alternatively be configured that in the circumference image area  113 B, not the two screens but one screen displaying the traveling direction is only displayed as shown in  FIG. 6 . Namely, at the time of traveling forward, the front screen  210  is displayed, and at the time of traveling rearward, the rear screen  211  is displayed. In this case, similarly to the above, the display of the front screen  210  and the rear screen  211  is switched slightly before switching the longitudinal traveling direction. In the case of displaying the one screen in the circumference image area  113 B, normally, the traveling direction is only displayed. However since there is a case where the finish state after the work is required to be checked, a switch button for switching the display to the rear screen  211  may be provided, or it may alternatively be configured that the screen can be switched by an operation such as double-tapping. 
         [0084]    In the display device  113 , in addition to the remote control area  113 A and the circumference image area  113 B, a work state display area  113 C displaying a map of the field on which the autonomously moving work vehicle  1  works, the set travel route R, an actual position, a worked position and the like can be displayed. In the work state display area  113 C, two-dimensional display in which the set travel route overlaps the map, three-dimensional display and display of overhead view can be performed. A switch means may be provided for switching these displays. 
         [0085]    The screens displayed in the circumference image area  113 B and the work state display area  113 C can be configured to be expanded and reduced. For example, in the case in which the finish after the work is wanted to be looked more accurately by the rear screen  211  of the circumference image area  113 B, the screen may be expanded by pinch-out operation extending a distance between two fingers so as to be checked. In the work state display area  113 C, in the case in which adjacent fields or surrounding ridges are wanted to be checked, the screen may be reduced by pinch-in operation reducing a distance between two fingers so as to be checked. A display position (photting position) of the display screen may be enabled to be changed by drag operation. 
         [0086]    The remote control area  113 A, the circumference image area  113 B and the work state display area  113 C can be displayed simultaneously by being divided laterally or vertically. 
         [0087]    Namely, in the embodiment of  FIG. 4 , the circumference image area  113 B, the remote control area  113 A and the work state display area  113 C are displayed simultaneously at the left side, the center and the right side respectively by dividing the screen into three so that the areas are concentrated to one terminal without providing a plurality of display devices, whereby attachment at the time of operation while riding on the auxiliary moving work vehicle  100  can be performed easily, and operation of check of the position and speed adjustment of the autonomously moving work vehicle  1  can be performed easily while looking the screen. 
         [0088]    By arranging the remote control area  113 A at the center and arranging the circumference image area  113 B and the work state display area  113 C at both the sides, the operation buttons for sudden stop, speed adjustment and the like of the autonomously moving work vehicle  1  which are important concerning the safety are arranged at the center, whereby the buttons are legible and can be operated quickly. The remote control apparatus  112  can be used as longwise. Namely, the display device  113  can be divided into three in the vertical direction. In the divided state, by dragging and moving in parallel a boundary part between either two of the remote control area  113 A, the circumference image area  113 B and the work state display area  113 C, the display areas can be expanded and reduced so as to expand the screen wanted to be looked and to reduce the screen not necessary. 
         [0089]    The display positions of the remote control area  113 A, the circumference image area  113 B and the work state display area  113 C can be changed (exchanged) optionally so as to follow liking of a user or to be made easy to use. Namely, the remote control area  113 A, the circumference image area  113 B and the work state display area  113 C can be arranged freely in consideration of liking and usability of the user. For example, as shown in  FIGS. 4 and 5 , by dragging a part of the screen, the remote control area  113 A can be moved from the center to the left side and the circumference image area  113 B can be moved to the right side. It may alternatively be configured that the circumference image area  113 B and the work state display area  113 C are aligned vertically in the left side and the remote control area  113 A is arranged in the right side. 
         [0090]    Selection of plural display and full screen display can be changed optionally so as to improve visibility and operability. Namely, only the remote control area  113 A may be full screen-displayed so as to display the buttons largely thereby preventing mistake of operation, or the remote control area  113 A and the work state display area  113 C may be displayed so that the autonomously moving work vehicle  1  can be operated while the work position is checked. 
       INDUSTRIAL APPLICABILITY 
       [0091]    The present invention can be used for a display device provided in a remote control apparatus which enables remote control of a construction machine, an agricultural vehicle and the like which can travel autonomously. 
       DESCRIPTION OF NOTATIONS 
       [0000]    
       
         
           
               1  autonomously moving work vehicle 
               30  control device 
               42 F and  42 R cameras 
               110  and  111  communication devices 
               112  remote control apparatus 
               113  display device 
               113 A remote control area 
               113 B circumference image area 
               113 C work state display area 
               119  control device