Motion control method, motion control program, and motion control system

Abstract

Provided are an operation control method, an operation control program, and an operation control system with which it is possible to appropriately control the operation of a work vehicle when a short-distance operation terminal and a long-distance operation terminal are used together. An automatic travel system (1) controls the operation of a work vehicle by means of a close-range operation terminal (30) capable of operating the work vehicle within a prescribed range from the work vehicle (10), and a remote-range operation terminal (20) capable of operating the work vehicle outside the prescribed range from the work vehicle. The automatic travel system sets either a short-distance mode in which operation of the work vehicle by the short-distance operation terminal is permitted or a long-distance mode in which operation of the work vehicle by the long-distance operation terminal is permitted, and controls the operation of the work vehicle on the basis of the set mode. An operation content for operating the work vehicle by the close-range operation terminal and an operation content for operating the work vehicle by the remote-range operation terminal are set.

Description

Technical Field

[0001] The present invention relates to a technology for controlling the operation of a work vehicle capable of autonomous driving. Background Art

[0002] Conventionally, there is known a technique for automatically driving a work vehicle in a work area according to a preset target path. In addition, there is also known a technique for remotely monitoring a work vehicle in automatic driving (for example, see Patent Document 1).

[0003] Patent Document 1: Japanese Patent No. 6253678

[0004] Systems capable of remotely monitoring work vehicles sometimes use a combination of short-range control terminals, such as remote controllers, that can be operated near the work vehicle, and long-range control terminals that can be operated remotely. In this case, each control terminal must be configured with the action content required to activate the work vehicle. Conventional technology makes it difficult to flexibly configure these action contents, making it difficult to appropriately control the work vehicle's movements. Summary of the Invention

[0005] An object of the present invention is to provide a motion control method, a motion control program, and a motion control system capable of appropriately controlling the motion of a work vehicle when a short-distance operation terminal and a long-distance operation terminal are used in combination.

[0006] The motion control method of the present invention is a motion control method for controlling the motion of a work vehicle using a first operator terminal and a second operator terminal. The first operator terminal is capable of causing the work vehicle to move within a specified range from the work vehicle, while the second operator terminal is capable of causing the work vehicle to move outside the specified range. The motion control method comprises: setting a first mode for permitting the motion of the work vehicle by the first operator terminal, or a second mode for permitting the motion of the work vehicle by the second operator terminal; and setting, based on the set mode, the content of the motions that the first operator terminal can cause the work vehicle to move, and the content of the motions that the second operator terminal can cause the work vehicle to move.

[0007] Furthermore, the motion control program according to the present invention is a program for controlling the motion of a work vehicle using a first operator terminal and a second operator terminal. The first operator terminal is capable of causing the work vehicle to move within a predetermined range from the work vehicle, while the second operator terminal is capable of causing the work vehicle to move outside the predetermined range. The motion control program is configured to cause one or more processors to: set a first mode for permitting the motion of the work vehicle by the first operator terminal, or a second mode for permitting the motion of the work vehicle by the second operator terminal; and, based on the set mode, set the content of the motions that the first operator terminal can cause the work vehicle to move, and the content of the motions that the second operator terminal can cause the work vehicle to move.

[0008] Furthermore, the motion control system according to the present invention is a motion control system for controlling the motion of a work vehicle using a first operation terminal and a second operation terminal. The first operation terminal is capable of causing the work vehicle to move within a predetermined range from the work vehicle, while the second operation terminal is capable of causing the work vehicle to move outside the predetermined range. The motion control system sets either a first mode for allowing the work vehicle to move by the first operation terminal or a second mode for allowing the work vehicle to move by the second operation terminal, and sets the content of the motions that the first operation terminal and the second operation terminal can cause the work vehicle to move based on the set mode.

[0009] According to the present invention, it is possible to provide a motion control method, a motion control program, and a motion control system capable of appropriately controlling the motion of a work vehicle when a short-distance operation terminal and a long-distance operation terminal are used in combination. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0011] Figure 2 This is a schematic diagram showing the relationship between the work vehicle, the remote operation terminal, and the short-distance operation terminal according to the embodiment of the present invention.

[0012] Figure 3 This is an external view showing an example of a work vehicle according to an embodiment of the present invention.

[0013] Figure 4 This is a diagram showing an example of a map screen displayed on the operation terminal according to the embodiment of the present invention.

[0014] Figure 5This is a diagram showing an example of a map screen displayed on the operation terminal according to the embodiment of the present invention.

[0015] Figure 6 This is a diagram showing an example of a map screen displayed on the operation terminal according to the embodiment of the present invention.

[0016] Figure 7A This is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention.

[0017] Figure 7B This is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention.

[0018] Figure 7C This is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention.

[0019] Figure 8 This is a diagram showing an example of a map screen and an operation screen displayed on the operation terminal according to the embodiment of the present invention.

[0020] Figure 9 This is a diagram showing registration information of the operation control content of the work vehicle according to the embodiment of the present invention.

[0021] Figure 10 This is a diagram showing registration information of operation control content when communication of a work vehicle according to an embodiment of the present invention is interrupted.

[0022] Figure 11 This is a flowchart showing an example of the procedure of the motion control process executed by the automatic driving system according to the embodiment of the present invention.

[0023] Figure 12 This is a diagram showing an example of obstacle detection information displayed on the operation terminal according to the embodiment of the present invention.

[0024] Description of Reference Numerals

[0025] 1…Automatic driving system; 10…Work vehicle; 11…Vehicle control device; 20…Remote operation terminal (second operation terminal); 21…Operation control unit; 30…Short-range operation terminal (first operation terminal); 53…Camera; 111…Control processing unit; 211…Setting processing unit; 212…Display processing unit; 213…Receiving processing unit; AR…Specified range; F…Field; P1…Map screen; P2…Operation screen (camera screen). DETAILED DESCRIPTION

[0026] The following embodiment is an example of embodying the present invention and does not limit the technical scope of the present invention.

[0027] like Figure 1 As shown, the automatic driving system 1 involved in the embodiment of the present invention includes a work vehicle 10, a remote operation terminal 20 and a short-distance operation terminal 30. The work vehicle 10 can be one or more. In addition, the remote operation terminal 20 and the short-distance operation terminal 30 can each be one or more. In this embodiment, the automatic driving system 1 includes multiple work vehicles 10 ( Figure 1 The following description uses the example of two work vehicles 10a and 10b. Furthermore, a short-range operation terminal 30 is provided for each work vehicle 10. The automated driving system 1 controls the operation of the work vehicles 10 using the long-range operation terminal 20 and the short-range operation terminal 30. Hereinafter, when work vehicles 10a and 10b are not distinguished, they are referred to as "work vehicles 10."

[0028] The work vehicle 10 and the remote control terminal 20 can communicate via the communication network N1. For example, the work vehicle 10 and the remote control terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. The work vehicle 10 and the short-range control terminal 30 can communicate via the communication network N2. For example, the work vehicle 10 and the short-range control terminal 30 can communicate via short-range wireless communication such as Bluetooth (registered trademark), wireless LAN, or infrared communication.

[0029] In this embodiment, the case where the work vehicle 10 is a tractor is taken as an example for explanation. In addition, as other embodiments, the work vehicle 10 may also be a combine harvester, a rice transplanter, a spreader, an engineering machine, or a snowplow. In addition, the work vehicle 10a and the work vehicle 10b may be vehicles of different types, or vehicles of the same type. The work vehicle 10 has a structure that can automatically travel (autonomously travel) within the work area of ​​the field according to a pre-set target path. In addition, the work vehicle 10 can automatically travel within the work area while performing prescribed operations. Furthermore, the work vehicle 10 has a structure that can automatically travel on a road (connecting road) connecting a plurality of fields according to a pre-set path between fields.

[0030] The work vehicle 10 can automatically travel along a preset target route and inter-field route within and outside the field (on roads) based on the current position information of the work vehicle 10 calculated by the positioning unit 17. Furthermore, the work vehicle 10 can also automatically travel with an operator on board.

[0031] For example, if a target route including a work route, a travel start position, and a travel end position are set for a field, the work vehicle 10 automatically travels from the travel start position to the travel end position in accordance with the target route while performing predetermined work in the field.

[0032] Furthermore, after work on one field is completed, work vehicle 10 can move to another field and continue work. For example, after work on a first field is completed, work vehicle 10 automatically travels along a pre-set inter-field route on the road and moves to a second field. Once work vehicle 10 reaches the second field, it automatically travels along a pre-set target route while continuing to perform designated work in the second field.

[0033] The target path within the field is set appropriately based on the work being done. Furthermore, the inter-field path is pre-set based on operator input (teaching). The inter-field path can be a dedicated path for work vehicles, such as farm roads, forest roads, highways, private roads, or motorways, or it can be a path accessible to general vehicles (such as passenger cars).

[0034] The remote operation terminal 20 and the short-range operation terminal 30 are operation terminals that can be operated by an operator, such as smartphones, tablet computers, etc. The remote operation terminal 20 and the short-range operation terminal 30 may have the same function or different functions. For example, the remote operation terminal 20 may be a smartphone, and the short-range operation terminal 30 may be a remote control.

[0035] like Figure 2 As shown, the short-range operation terminal 30 is operated by an operator (e.g., a worker) within a predetermined distance (predetermined range AR) from the work vehicle 10 in the field F. For example, the worker can operate the short-range operation terminal 30 to start the automatic driving of the work vehicle 10, raise or lower the work implement 14, or stop the work vehicle 10 during automatic driving. If the short-range operation terminal 30 moves outside the predetermined range AR, for example, and communication with the work vehicle 10 is interrupted, the short-range operation terminal 30 is restricted (prohibited) from providing instructions to the work vehicle 10 regarding its movements.

[0036] The remote control terminal 20 is operated by an operator (e.g., a supervisor) outside the field F (e.g., at a remote location). For example, the supervisor can operate the remote control terminal 20 to display the state of the work vehicle 10's automatic driving, display an image from the camera 53 mounted on the work vehicle 10, or stop the work vehicle 10 during automatic driving. If communication between the remote control terminal 20 and the work vehicle 10 is severed due to, for example, a deterioration in the network environment, the remote control terminal 20 is restricted (prohibited) from instructing the work vehicle 10 on its movements.

[0037] In this way, the short-range operation terminal 30 is mainly used by the operator to visually confirm the work vehicle 10 while giving action instructions near the work vehicle 10, and the long-range operation terminal 20 is mainly used by the monitor to confirm (monitor) the work vehicle 10 through camera images at a place far away from the work vehicle 10.

[0038] [Work vehicle 10]

[0039] like Figure 1 and Figure 3 As shown, work vehicle 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a work machine 14, an obstacle detection device 15, a communication unit 16, and a positioning unit 17. Vehicle control device 11 is electrically connected to storage unit 12, travel device 13, work machine 14, obstacle detection device 15, and positioning unit 17. Furthermore, vehicle control device 11 and obstacle detection device 15 may be capable of wireless communication, and vehicle control device 11 and positioning unit 17 may also be capable of wireless communication.

[0040] The communication unit 16 is a communication interface for connecting the work vehicle 10 to the communication networks N1 and N2 by wire or wirelessly, and performing data communication with external devices (such as the remote control terminal 20 and the short-range control terminal 30 ) via the communication networks N1 and N2 in accordance with a predetermined communication protocol.

[0041] The storage unit 12 is a non-volatile storage unit such as a HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various information. The storage unit 12 stores information for the vehicle control device 11 to execute the motion control process described later (see Figure 11 ) or other control programs. For example, the motion control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 12. Alternatively, the motion control program may be downloaded from a server (not shown) via the communication network N1 to the work vehicle 10 and stored in the storage unit 12. The storage unit 12 also stores target route data and the like.

[0042] The travel device 13 is a driving unit that drives the work vehicle 10. Figure 3 As shown, the travel device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. Furthermore, the front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. Furthermore, the travel device 13 is not limited to a wheeled type having the front wheels 132 and the rear wheels 133, and may also be a crawler type having crawler tracks provided on the left and right sides of the work vehicle 10.

[0043] The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven by fuel supplied from a fuel tank (not shown). The travel device 13 may also include an electric motor as a driving source together with or instead of the engine 131. In addition, the engine 131 is connected to a generator (not shown), and power is supplied from the generator to electrical components such as the vehicle control device 11, the obstacle detection device 15, and the positioning unit 17 provided in the work vehicle 10, as well as batteries. In addition, the above-mentioned batteries are charged by the power supplied from the above-mentioned generator. Therefore, the electrical components such as the vehicle control device 11, the obstacle detection device 15, and the positioning unit 17 provided in the work vehicle 10 can be driven using the power supplied from the above-mentioned battery even after the engine 131 stops.

[0044] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. Furthermore, the driving force of the engine 131 is transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 is autonomously traveling, the travel device 13 performs travel operations based on commands from the vehicle control device 11. Furthermore, the travel device 13 decelerates and stops the work vehicle 10 based on commands from the vehicle control device 11.

[0045] The work machine 14 is, for example, a tiller, a mower, a plow, a fertilizer spreader, a sprayer (chemical spreader), a harrow, or a seed drill, and can be attached to and detached from the work vehicle 10. Thus, the work vehicle 10 can use each work machine 14 to perform various operations. Figure 3 The case where the working machine 14 is a tiller is shown in FIG.

[0046] The steering wheel 137 is an operating unit operated by an operator or the vehicle control device 11. For example, in the travel device 13, in response to the operation of the steering wheel 137 by the vehicle control device 11, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown), thereby changing the direction of travel of the work vehicle 10.

[0047] In addition to the steering wheel 137, the travel device 13 also includes a shift lever (not shown), an accelerator, and a brake, all of which are operated by the vehicle control device 11. Furthermore, in the travel device 13, the shift lever is operated by the vehicle control device 11, and the gear position of the transmission 134 is switched to a forward or reverse gear, thereby switching the travel mode of the work vehicle 10 to forward or reverse. Furthermore, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 131. Furthermore, the vehicle control device 11 operates the brakes to apply electromagnetic brakes to the front wheels 132 and rear wheels 133.

[0048] The positioning unit 17 is a communication device including a positioning control unit 171, a storage unit 172, a communication unit 173, and a positioning antenna 174. Figure 2 As shown, positioning unit 17 is installed above cab 138, where the operator rides. Positioning unit 17 is not limited to cab 138. Positioning control unit 171, storage unit 172, communication unit 173, and positioning antenna 174 of positioning unit 17 may also be dispersed and located at different locations within work vehicle 10. Furthermore, as described above, positioning unit 17 is connected to the battery and can operate even when engine 131 is stopped. Alternatively, a mobile phone, smartphone, tablet computer, or quantum compass may be used in place of positioning unit 17.

[0049] The positioning control unit 171 is a computer system equipped with one or more processors, nonvolatile memory, and storage memory such as RAM. The storage unit 172 is a nonvolatile memory that stores data such as programs used by the positioning control unit 171 to execute positioning processing, positioning information, and movement information. For example, the programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 172. Alternatively, the programs can be downloaded from a server (not shown) via the communication network N1 to the positioning unit 17 and stored in the storage unit 172.

[0050] The communication unit 173 is a communication interface for connecting the positioning unit 17 to the communication network N1 by wire or wirelessly, and performing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network N1.

[0051] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0052] The positioning control unit 171 calculates the current position of the work vehicle 10 based on GNSS signals received from satellites by the positioning antenna 174. For example, when the work vehicle 10 is autonomously traveling in a field, if the positioning antenna 174 receives radio waves (including transmission time and orbital information) transmitted from multiple satellites, the positioning control unit 171 calculates the distance between the positioning antenna 174 and each satellite and, based on the calculated distances, calculates the current position (latitude and longitude) of the work vehicle 10. Alternatively, the positioning control unit 171 can perform positioning using a real-time kinematic (RTK) GNSS positioning method (RTK), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) located near the work vehicle 10. In this way, the work vehicle 10 uses RTK positioning information for autonomous driving. Furthermore, the current position of the work vehicle 10 may be the same as the positioning position (e.g., the position of the positioning antenna 174) or may be offset from the positioning position. Furthermore, the positioning control unit 171 may calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0053] When the work vehicle 10 detects a detection target during autonomous driving, the obstacle detection device 15 outputs detection information (measurement information) to the vehicle control device 11. Specifically, the obstacle detection device 15 includes a detection control unit 51, a storage unit 52, a camera 53, an obstacle sensor 54, a communication unit 55, and the like. The obstacle detection device 15 can be comprised of a single unit mounted on the work vehicle 10, or multiple components can be dispersed throughout the work vehicle 10.

[0054] The communication unit 55 is a communication interface for connecting the obstacle detection device 15 to the communication networks N1 and N2 by wire or wirelessly, and performing data communication in accordance with a prescribed communication protocol with external devices (remote operation terminal 20, short-range operation terminal 30, etc.) via the communication networks N1 and N2.

[0055] The storage unit 52 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 52 stores a control program for causing the obstacle detection device 15 to execute predetermined processing. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 52. Alternatively, the control program can be downloaded from a server (not shown) via the communication network N1 to the obstacle detection device 15 and stored in the storage unit 52.

[0056] The camera 53 is a digital camera that captures images of a subject within a predetermined capturing range and outputs the images as digital image data. The camera 53 continuously captures the subject at a predetermined frame rate, generates frame images (captured images) of a predetermined resolution, and sequentially transmits the images to the detection control unit 51. The camera 53 also transmits the image data of the captured images to the remote operation terminal 20 via the communication unit 55. The remote operation terminal 20 can display the captured images on the operation screen of the operation display unit 23 (see FIG. Figure 7A wait).

[0057] The cameras 53 include a front camera 53a capable of capturing a front shooting range when viewed from the work vehicle 10, a rear camera 53b capable of capturing a rear shooting range when viewed from the work vehicle 10, a left camera 53c capable of capturing a left shooting range when viewed from the work vehicle 10, and a right camera (not shown) capable of capturing a right shooting range when viewed from the work vehicle 10. Figure 3 As shown, the front camera 53a is disposed on the upper front side of the cab 138, the rear camera 53b is disposed on the upper rear side of the cab 138, the left camera 53c is disposed on the upper left side of the cab 138, and the right camera is disposed on the upper right side of the cab 138. Alternatively, the cameras 53 may consist of only the front camera 53a and the rear camera 53b. Alternatively, the cameras 53 may consist of a single panoramic camera capable of capturing images of all directions around the work vehicle 10.

[0058] The obstacle sensor 54 is a sensor that uses infrared rays, ultrasonic waves, etc. to detect detection objects within a specified detection range. For example, the obstacle sensor 54 may be a radar sensor (distance sensor) that can three-dimensionally measure the distance to the detection object using laser, or a sonar sensor having multiple sonars that can measure the distance to the detection object using ultrasonic waves. The obstacle sensor 54 is provided at the central front portion, central rear portion, etc. of the body of the work vehicle 10 to monitor the surroundings of the work vehicle 10 and detect obstacles. In this embodiment, the following case is cited as an example for explanation, that is, the obstacle sensor 54 includes: a front obstacle sensor 54a that can detect detection objects within the detection range in the front and side (left and right) when observed from the work vehicle 10, and a rear obstacle sensor 54b that can detect detection objects within the detection range in the rear and side (left and right) when observed from the work vehicle 10. As Figure 3As shown, the front obstacle sensor 54a is located on the upper front side of the cab 138, and the rear obstacle sensor 54b is located on the upper rear side of the cab 138. The front obstacle sensor 54a and the rear obstacle sensor 54b can detect objects within a 360-degree detection range around the work vehicle 10. Alternatively, the front camera 53a and the front obstacle sensor 54a may be formed as a single unit, while the rear camera 53b and the rear obstacle sensor 54b may be formed as a single unit. Furthermore, the obstacle sensor 54 may include a left obstacle sensor capable of detecting objects within the detection range on the left side when viewed from the work vehicle 10, and a right obstacle sensor capable of detecting objects within the detection range on the right side when viewed from the work vehicle 10.

[0059] The obstacle sensor 54 uses, for example, laser light (such as a near-infrared laser) to measure the distance to each distance measurement point (measurement target) within the distance measurement range and generates a distance image based on the measurement information. The obstacle sensor 54 includes an integrated electronic control unit, such as a microcontroller, and a processing unit constructed using various control programs. The obstacle sensor 54 is connected to the detection control unit 51, the vehicle control device 11, and other components via a CAN bus for communication.

[0060] The obstacle sensor 54 measures the distance from the obstacle sensor 54 to a distance-measuring point within the measurement range using the Time of Flight (TOF) method. This method measures the distance to the distance-measuring point based on the round-trip time it takes for an emitted laser to reach the distance-measuring point and return. The obstacle sensor 54 scans the laser beam vertically and horizontally across the entire measurement range at high speed, sequentially measuring the distance to the distance-measuring point at each scanning angle (coordinate), thereby performing three-dimensional measurements within the measurement range. The obstacle sensor 54 sequentially measures the intensity (reflection intensity) of the reflected light from each distance-measuring point obtained by scanning the laser beam vertically and horizontally across the entire measurement range at high speed. The obstacle sensor 54 repeatedly measures the distance, reflection intensity, and other parameters of each distance-measuring point within the distance measurement range in real time.

[0061] The obstacle sensor 54 generates a distance image based on measurement information such as the measured distance from each ranging point and the scanning angle (coordinates) relative to each ranging point, and extracts a group of ranging points that are inferred to be obstacles, and sends the measurement information related to the extracted group of ranging points as measurement information related to the obstacle to the detection control unit 51.

[0062] In addition, a control range corresponding to the distance from the work vehicle 10 is set within the measurement range (detection range) of the obstacle sensor 54. For example, within the measurement range, the range of distance L1 from the work vehicle 10 is set as the stop control range, the range from distance L1 to distance L2 is set as the deceleration control range, and the range from distance L2 to distance L3 is set as the reporting control range (where L1 < L2 < L3). In addition, each control range can be set according to the type, model, operation content, vehicle speed, etc. of the work vehicle 10. In addition, the control range can also be switched according to the direction of travel of the work vehicle 10. For example, when the work vehicle 10 is traveling forward, the detection control unit 51 sets the control range on the front side of the body, and when the work vehicle 10 is traveling backward, the control range is set on the rear side of the body.

[0063] The detection control unit 51 outputs measurement information obtained from the obstacle sensor 54 to the vehicle control device 11. While the work vehicle 10 is autonomously traveling, the detection control unit 51 sequentially outputs measurement information to the vehicle control device 11 each time the work vehicle 10 obtains measurement information from the obstacle sensor 54. In another embodiment, the detection control unit 51 may determine the type of the detection target (measurement target) (human, vehicle, structure, material, etc.) based on the captured image obtained from the camera 53 and the measurement information obtained from the obstacle sensor 54, and output the determination result to the vehicle control device 11.

[0064] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage for the various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0065] Specifically, if Figure 1 As shown, the vehicle control device 11 includes various processing units, such as a control processing unit 111. Furthermore, the vehicle control device 11 functions as the various processing units described above by using the CPU to execute various processes in accordance with the automatic driving program. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the automatic driving program may be a program that causes multiple processors to function as the processing units described above.

[0066] The control processing unit 111 controls the operation of the work vehicle 10. For example, if the work vehicle 10's driving mode is automatic driving (automatic driving mode), the control processing unit 111 causes the work vehicle 10 to automatically drive based on position information (positioning information) indicating the current position of the work vehicle 10 as determined by the positioning unit 17. For example, if the work vehicle 10 meets the conditions for starting automatic driving and receives a driving start instruction from the operator, the control processing unit 111 starts automatic driving of the work vehicle 10 based on the positioning information. For example, the control processing unit 111 causes the work vehicle 10 to automatically drive from the driving start position to the driving end position according to a pre-generated and set target route.

[0067] Furthermore, when work vehicle 10 receives a stop instruction from the operator during automatic travel, control processing unit 111 stops the automatic travel of work vehicle 10 .

[0068] Furthermore, when the driving mode of the work vehicle 10 is manual driving (manual driving mode), the work vehicle 10 can be driven manually based on the operator's operation (manual steering control). For example, the control processing unit 111 obtains operation information corresponding to driving operations such as steering wheel operation, gear shift operation, driving direction switching operation, and brake operation performed by the operator, and causes the driving device 13 to execute a driving operation based on this operation information.

[0069] In addition, when the work vehicle 10 detects an obstacle during automatic driving, the control processing unit 111 causes the work vehicle 10 to perform a prescribed response process. Specifically, when an obstacle is detected within the above-mentioned report control range, the control processing unit 111 causes the work vehicle 10 to report a warning sound. In addition, when an obstacle is detected within the above-mentioned deceleration control range, the control processing unit 111 causes the work vehicle 10 in automatic driving to decelerate from a preset vehicle speed. In addition, when an obstacle is detected within the above-mentioned stop control range, the control processing unit 111 causes the work vehicle 10 in automatic driving to temporarily stop (park). In addition, the control processing unit 111 can also cause the work vehicle 10 to perform a response process corresponding to the type of detection object detected by the obstacle detection device 15.

[0070] The control processing unit 111 also changes the speed of the work vehicle 10 during autonomous travel. For example, the control processing unit 111 accelerates the vehicle in response to an operator's acceleration operation and decelerates the vehicle in response to an operator's deceleration operation. Furthermore, the control processing unit 111 changes the engine speed of the work vehicle 10 during autonomous travel in response to an operator's operation. Furthermore, the control processing unit 111 raises or lowers the work implement 14 in response to an operator's operation.

[0071] In this manner, the control processing unit 111 controls the operation of the work vehicle 10 according to the operator's operation.

[0072] Here, the work vehicle 10 includes a short-distance mode that can control the movement of the work vehicle 10 within a specified range AR, and a long-distance mode that can control the movement of the work vehicle 10 via a communication network N1 (the Internet, etc.) (operable via a cloud connection), and the control processing unit 111 can set and switch between the short-distance mode and the long-distance mode. In addition, the short-distance mode can be a mode that can control the movement of the work vehicle 10 through short-distance communication, and the long-distance mode can be a mode that can control the movement of the work vehicle 10 through long-distance communication. In addition, the short-distance mode can also be a remote control mode, and the long-distance mode can also be a smartphone mode. In addition, the control processing unit 111 can control the movement of the work vehicle 10 according to the set mode. Specific examples of the movement control corresponding to the above-mentioned modes will be described later.

[0073] [Remote operation terminal 20]

[0074] like Figure 1 As shown, the remote operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. For example, the remote operation terminal 20 may be a mobile terminal such as a smartphone or tablet computer. Alternatively, the remote operation terminal 20 may be a stationary (desktop) personal computer.

[0075] The communication unit 24 is a communication interface for connecting the remote operation terminal 20 to the communication network N1 by wire or wirelessly, and performing data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0076] The operation display unit 23 is a user interface having a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. The display unit displays a map of a specified area of ​​a field containing the work object, specified information related to the work vehicle 10, and the like. The specified information includes at least one of information related to the current surrounding environment of the work vehicle 10, information related to the current driving status of the work vehicle 10, and information related to the current working status of the work vehicle 10. The operator (monitor) can grasp the driving status of the work vehicle 10 that is automatically driving in a field, road, etc., the detection results of obstacles, etc. based on the specified information displayed by the remote operation terminal 20 at a place far away from the work vehicle 10. That is, the monitor can remotely monitor the work vehicle 10 using the remote operation terminal 20.

[0077] The display unit also displays an operation screen for instructing the work vehicle 10 to start, stop, or resume travel. The display unit also displays a registration screen for registering work vehicle information, field information, and work information.

[0078] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores control programs, such as a control program for causing the operation control unit 21 to execute various processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 22. Alternatively, the control program can be downloaded from a server (not shown) via the communication network N1 to the remote operation terminal 20 and stored in the storage unit 22.

[0079] The storage unit 22 also stores data such as information related to the work vehicle 10, namely, work vehicle information, and information related to the target route, namely, target route information. The work vehicle information includes information such as the vehicle number and model number for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model number is the model number of the work vehicle 10. Furthermore, the storage unit 22 can store the work vehicle information related to a single work vehicle 10 or to multiple work vehicles 10. In this embodiment, the storage unit 22 stores the work vehicle information related to each of the two work vehicles 10a and 10b.

[0080] The target route information includes information such as a route name, field name, address, field area, and operation time for each target route. The route name is the name of the target route. The field name is the name of the field to be worked on, for which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The operation time is the time required for the work vehicle 10 to perform work on the field.

[0081] If the target route is a route corresponding to a road (a route between fields), the target route information includes information such as the route name, address, travel distance, and travel time. The route name is the name of the road, and the address is the address of the road. The travel distance is the distance traveled by the work vehicle 10 on the road, for example, the distance from a first field to a second field. The travel time is the time it takes for the work vehicle 10 to travel on the road, for example, the time required to move from a first field to a second field.

[0082] Furthermore, the storage unit 22 may store the target path information associated with a single target path or multiple target paths. For example, if an operator has generated multiple target paths for one or more fields under their management, the storage unit 22 may store the target path information associated with each target path. Furthermore, a single target path or multiple target paths may be set for a single field. Furthermore, a single inter-field path or multiple inter-field paths may be set for a group of fields. In this embodiment, the storage unit 22 stores target path information corresponding to the target path for work vehicle 10a to travel through a first field and target path information corresponding to the target path for work vehicle 10b to travel through a second field.

[0083] As another embodiment, part or all of the work vehicle information, target route information, and other information may be stored on a server accessible from the remote operation terminal 20. Alternatively, an operator may register the work vehicle information and target route information on the server (e.g., a personal computer, cloud server, etc.). In this case, the operation control unit 21 may obtain the information from the server to execute various processes.

[0084] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage (work area) for the various processes performed by the CPU. The operation control unit 21 controls the remote operation terminal 20 by having the CPU execute various control programs pre-stored in the ROM or storage unit 22.

[0085] like Figure 1 As shown, the operation control unit 21 includes various processing units, such as a setting processing unit 211, a display processing unit 212, and a reception processing unit 213. Furthermore, the operation control unit 21 functions as the various processing units described above by executing various processes in accordance with the control program using the CPU. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the control program may be a program for causing multiple processors to function as the processing units described above.

[0086] The setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information), information related to the field (hereinafter referred to as field information), and information related to how to perform work specifically (hereinafter referred to as work information).

[0087] Specifically, information such as the model of the work vehicle 10, the location where the positioning antenna 174 is installed in the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, the position of the work machine 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning is set by the setting processing unit 211 through the operator's registration operation on the remote operation terminal 20.

[0088] In addition, information such as the position and shape of the field, the work start position (driving start position) and the work end position (driving end position), and the work direction are set by the setting processing unit 211 through registration operations performed on the remote operation terminal 20.

[0089] Information on the location and shape of a field can be automatically acquired, for example, by an operator riding in the work vehicle 10 and driving around the perimeter of the field while recording the changes in the position information of the positioning antenna 174. Alternatively, the location and shape of a field can be acquired based on a polygon created by an operator operating the remote control terminal 20 to designate multiple points on a map displayed on the map.

[0090] In addition, the setting processing unit 211 is configured to be able to set whether or not the work vehicle 10 (unmanned tractor) and the manned work vehicle 10 cooperate in work, the number of work paths skipped when the work vehicle 10 turns at the edge of the field, that is, the number of skips, the width of the edge of the field, and the width of the non-arable land, etc., as work information.

[0091] Furthermore, the setting processing unit 211 generates a target path for the work vehicle 10 to automatically travel within the field based on the aforementioned setting information. Specifically, the setting processing unit 211 generates the target path within the field based on the travel start and end positions registered during field settings. For example, based on the operator's setting operations, the setting processing unit 211 generates a target path that includes the travel start and end positions, a straight path, and a turning path. The setting processing unit 211 associates the generated target path with the field and registers it. Furthermore, the setting processing unit 211 outputs the path data for the target path to the work vehicle 10.

[0092] The display processing unit 212 displays various information on the operation display unit 23. Specifically, the display processing unit 212 displays a map screen P1 on which the operator can select pre-registered work vehicles 10. For example, if a monitor has registered work vehicles 10a and 10b as monitored (managed) targets, the display processing unit 212 displays work vehicles 10a and 10b on the map screen P1 so that they can be selected. The work vehicles 10 displayed on the map screen P1 may be work vehicles 10 whose information has been registered with the remote control terminal 20, or may be work vehicles 10 selected by the monitor from among multiple registered work vehicles 10 for the purpose of starting work.

[0093] Figure 4 An example of a map screen P1 is shown in FIG. Figure 4 As shown in FIG. 1 , the display processing unit 212 displays a map of a predetermined area including the current positions of the work vehicles 10a and 10b registered in advance on the map screen P1. In addition, the display processing unit 212 displays the identification information of the work vehicle 10 at a position corresponding to the current position of the work vehicle 10 on the map. Specifically, Figure 4 As shown, the display processing unit 212 displays the icon image A1 of the work vehicle 10a at a position corresponding to the current position of the work vehicle 10a, and displays the icon image B1 of the work vehicle 10b at a position corresponding to the current position of the work vehicle 10b on the map. The display processing unit 212 obtains position information (positioning information) from the work vehicle 10 and displays the icon image of the work vehicle 10 on the map. The display processing unit 212 updates the position of the icon image on the map in real time. As another embodiment, the display processing unit 212 may also display the name (text information) of the work vehicle 10a on the map instead of the icon image.

[0094] Furthermore, the display processing unit 212 may also display the icon image A1 of the work vehicle 10a and the icon image B1 of the work vehicle 10b in a recognizable manner. For example, the display processing unit 212 may display the name of the work vehicle 10a near the icon image A1 and the name of the work vehicle 10b near the icon image B1. Furthermore, the display processing unit 212 may display the identification information (name, etc.) of the work vehicle 10a when the observer touches or hovers the mouse over the icon image A1, and display the identification information (name, etc.) of the work vehicle 10b when the observer touches or hovers the mouse over the icon image B1.

[0095] Furthermore, the display processing unit 212 may also enlarge or reduce the map display in response to an operation to enlarge or reduce the map on the map screen P1. Furthermore, the display processing unit 212 may automatically adjust the display magnification based on the position of the work vehicle 10 being monitored. For example, the display processing unit 212 may determine the display magnification of the map so that the icon images of all the work vehicles 10 being monitored fit on a single screen (on the same page).

[0096] according to Figure 4 The map screen P1 shown allows the monitor to grasp the current positions of all work vehicles 10 being monitored. Furthermore, the display processing unit 212 may be configured to display work vehicles 10 not in operation and stored at a storage location (such as a warehouse) on the map screen P1, or may be configured to exclude work vehicles 10 not in operation and stored at a storage location from being displayed on the map screen P1. Furthermore, the monitor may be able to set whether or not to display work vehicles 10 not in operation and stored at a storage location on the map screen P1.

[0097] In addition, the display processing unit 212 displays the identification information in the map in a display form corresponding to the current state of the work vehicle 10. Specifically, the display processing unit 212 displays the icon image in the map in a manner that can identify whether the work vehicle 10 is automatically traveling or stopped. That is, the display processing unit 212 displays the work vehicle 10 in a different display form when the work vehicle 10 is automatically traveling and when the work vehicle 10 is stopped. Figure 5 In the example shown, when the work vehicle 10a has stopped, the display processing unit 212 displays the icon image A1 in a manner indicating that the work vehicle 10b is stopped. In addition, when the work vehicle 10b is driving automatically, the display processing unit 212 displays the icon image B1 in a manner indicating that the work vehicle 10b is driving automatically. In addition, the above-mentioned display form can be the type, color, thickness, etc. of the line of the frame image surrounding the icon image, or the color, size, display method (lighting, flashing), etc. of the icon image. For example Figure 5 As shown, the display processing unit 212 displays the frame image A2 of the icon image A1 and the frame image B2 of the icon image B1 in different display modes.

[0098] As another embodiment, the display processing unit 212 may hide the frame image when the work vehicle 10 is normally traveling automatically, and display the frame image when the work vehicle 10 stops traveling automatically.

[0099] Furthermore, the display processing unit 212 may display a message (text information) indicating that the vehicle is stopped near the icon image A1 and a message indicating that the vehicle is in automatic driving near the icon image B1. Furthermore, the display processing unit 212 may display the message indicating that the vehicle is stopped when the operator touches or hovers the mouse over the icon image A1, and display the message indicating that the vehicle is in automatic driving when the operator touches or hovers the mouse over the icon image B1.

[0100] In addition, the work vehicle 10 stops automatic driving when, for example, an obstacle is detected, the work is completed, the remaining amount of the sowing material or fuel is less than a specified amount, the harvest amount is more than a specified amount, the DPF (Diesel Particulate Filter) regeneration operation is required, or the urea water replenishment operation is required.

[0101] As another embodiment, the display processing unit 212 may display identification information indicating the detected obstacle on the map screen P1 when the work vehicle 10a detects an obstacle. For example, when the work vehicle 10a detects an obstacle, the display processing unit 212 may illuminate or flash the icon image A1, or display the frame image A2 of the icon image A1 in a predetermined color. Furthermore, the display processing unit 212 may display the icon image A1 or frame image A2 in a display format corresponding to the detection location (control range) of the work vehicle 10a when the obstacle was detected. For example, when the work vehicle 10a detects an obstacle within the aforementioned report control range, the display processing unit 212 may display the frame image A2 in green. When the work vehicle 10a detects an obstacle within the aforementioned deceleration control range, the display processing unit 212 may display the frame image A2 in yellow. When the work vehicle 10a detects an obstacle within the aforementioned stop control range, the display processing unit 212 may display the frame image A2 in red.

[0102] Furthermore, the display processing unit 212 may display identification information on the map screen P1 that allows identification of the work status. For example, when the work vehicle 10a has completed work in the target field, the display processing unit 212 may illuminate or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color. Furthermore, for example, if the work vehicle 10a is a vehicle (spreader) that spreads material (such as liquid pesticides and water), if the remaining material in the work vehicle 10a falls below a predetermined amount or if the time to refill the material has arrived, the display processing unit 212 may illuminate or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color. Furthermore, for example, if the work vehicle 10a is a vehicle (such as a combine harvester) that harvests more than a predetermined amount or if the time to discharge the material has arrived, the display processing unit 212 may illuminate or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color.

[0103] In this way, the display processing unit 212 can also display the stopped state of the work vehicle 10 in an identifiable manner on the map screen P1 when the work vehicle 10 has stopped automatic driving, and display identification information on the map screen P1 that can determine the reason why the work vehicle 10 has stopped when the work vehicle 10 has stopped automatic driving.

[0104] according to Figure 5 The map screen P1 shown allows the supervisor to understand the current status of each work vehicle 10 to be monitored.

[0105] Here, the display processing unit 212 displays the map screen P1 (see Figure 4 and Figure 5 ) so that the work vehicle 10 can be displayed in a selectable manner. Specifically, the display processing unit 212 displays the icon images A1 and B1 in a selectable manner on the map of the map screen P1. The reception processing unit 213 receives the selection operation of the icon image from the operator on the map screen P1. For example Figure 6 As shown, when a supervisor touches the icon image A1 of the work vehicle 10a displayed on the map screen P1 with a finger, the acceptance processing unit 213 accepts the touch operation. For example, if the supervisor observes the map screen P1 and realizes that the work vehicle 10a has stopped autonomous driving, the supervisor touches the icon image A1 of the work vehicle 10a to confirm the reason for the stop.

[0106] The display processing unit 212 displays the prescribed information related to the work vehicle 10 selected by the monitor on the operation display unit 23. Specifically, the display processing unit 212 displays the prescribed information on the operation screen P2. The prescribed information includes at least one of information related to the current surrounding environment of the work vehicle 10, information related to the current driving status of the work vehicle 10, and information related to the current working status of the work vehicle 10. For example, when the monitor selects the icon image A1 of the work vehicle 10a (refer to Figure 6 ),like Figure 7A As shown, the display processing unit 212 displays the image of the surrounding area of ​​the work vehicle 10a captured by the camera 53 mounted on the work vehicle 10a on the operation screen P2. Here, the display processing unit 212 obtains the front image, rear image, left image, and right image of the work vehicle 10a from the camera 53 and displays them on the operation screen P2. Figure 7A As shown, the display processing unit 212 displays the front image on the upper side of the operation screen P2, and displays the rear image, the left image, and the right image on the lower side of the operation screen P2. Figure 7B As shown, the display processing unit 212 may display the front image at the bottom of the operation screen P2 and the rear image, the left image, and the right image at the top of the operation screen P2. In addition, the operator may set (customize) the arrangement, size, and display / non-display of each image.

[0107] In addition, the display processing unit 212 may also display the image of the obstacle included in the plurality of images captured by the camera 53 on the operation screen P2 in a recognizable manner when the work vehicle 10a detects an obstacle. For example, when the obstacle sensor 54 of the work vehicle 10a detects an obstacle in front of the work vehicle 10a, Figure 7A As shown, the display processing unit 212 displays the front image in an emphasized manner on the operation screen P2.

[0108] In this way, the display processing unit 212 displays the icon images of the plurality of work vehicles 10 registered in advance on the map of the map screen P1 in a display mode corresponding to the current state of the work vehicle 10 (see Figure 6 ), the image of the surroundings of the work vehicle 10 captured by the camera 53 mounted on the work vehicle 10 corresponding to the icon image selected by the monitor from among the multiple icon images on the map screen P1 is displayed on the operation screen P2 (refer to Figure 7A ).

[0109] In addition, the display processing unit 212 displays the switch button ("next item" button, "return" button) for switching the display image on the operation screen P2. If the monitor presses the "next item" button once, the display processing unit 212 enlarges and displays the previous image (see Figure 7C ). Then, if the monitor presses the "Next" button once, the display processing unit 212 enlarges and displays the right image. Then, if the monitor presses the "Next" button once, the display processing unit 212 enlarges and displays the rear image. Then, if the monitor presses the "Next" button once, the display processing unit 212 enlarges and displays the left image. Every time the monitor presses the "Next" button, the display processing unit 212 switches the front image, the right image, the rear image, and the left image in sequence. In addition, every time the monitor presses the "Back" button, the display processing unit 212 switches the front image, the left image, the rear image, and the right image in sequence. In addition, if the monitor presses Figure 7C The "4 cameras" button on the operation screen P2 shown in FIG. 1 is displayed. The display processing unit 212 displays the captured images in four directions (front image, rear image, left image, and right image) on the operation screen P2 (see FIG. 1 ). Figure 7A ).

[0110] In addition, the display processing unit 212 may also be able to Figures 7A to 7C In the operation screen P2 shown, the display magnification (field size) of the captured image is changed (zoomed). Figure 7C In the operation screen P2 shown, if the monitor performs a zoom-in operation (expand), the display processing unit 212 magnifies the front image (expands). If the monitor performs a zoom-out operation (pinch), the display processing unit 212 reduces the front image (reduces). In addition, the display processing unit 212 can also change the shooting range (shooting direction) of the camera 53 according to the monitor's operation.

[0111] Furthermore, the display processing unit 212 may also highlight detected obstacles and tracked obstacles by surrounding them with a frame image in the captured image. Furthermore, the display processing unit 212 may display information on the distance to the detected obstacle and the type of obstacle (person, vehicle, structure, material, etc.) on the operation screen P2. Furthermore, the camera 53 may be positioned so that a portion of the work vehicle 10 is reflected, making it easier to understand the distance to the detected obstacle.

[0112] In addition, the display processing unit 212 displays a "Start" button and a "Stop" button on the operation screen P2. If the supervisor presses the "Start" button, the reception processing unit 213 receives the operation and outputs an instruction to the work vehicle 10 to start or resume automatic driving. For example, if the work vehicle 10a detects an obstacle and stops automatic driving, the supervisor selects the work vehicle 10a (see Figure 6 ) and confirms the safety of the work vehicle 10a on the operation screen P2, then presses the "Start" button. The reception processing unit 213 then outputs an instruction to the work vehicle 10a to resume automatic driving, and the work vehicle 10a resumes automatic driving according to the instruction. In another embodiment, the reception processing unit 213 may permit the "Start" button to be pressed only if no obstacle is detected.

[0113] Furthermore, for example, if the supervisor selects the work vehicle 10b on the map screen P1 and presses the "Stop" button on the operation screen P2 while the work vehicle 10b is automatically traveling, the reception processing unit 213 outputs an instruction to stop the automatic travel to the work vehicle 10b. The work vehicle 10b then stops the automatic travel according to the instruction.

[0114] Furthermore, when the monitor presses the "map" button on the operation screen P2, the display processing unit 212 switches to the map screen P1 (see Figure 5 ). In this way, the supervisor can switch between the map screen P1 and the operation screen P2.

[0115] As another embodiment, the display processing unit 212 may also display the map screen P1 and the operation screen P2 side by side in the left-right direction or the top-bottom direction. Figure 8 As shown, the display processing unit 212 displays the map screen P1 on the left display area of ​​the operation display unit 23, and displays the operation screen P2 corresponding to the work vehicle 10a selected in the map screen P1 on the right display area. Figure 8 If the "map" button is pressed on the operation screen P2 shown, the display processing unit 212 enlarges and displays the map screen P1 (see Figure 6 ), if the monitor presses the "camera" button, the display processing unit 212 enlarges and displays the operation screen P2 (refer to Figure 7A ). In addition, the display processing unit 212 may display the front image on the lower side of the operation screen P2, and the rear image, the left image, and the right image on the upper side of the operation screen P2. In addition, the configuration, size, and display / non-display of each image may be set (customized) by the monitor.

[0116] In addition to the start and stop instructions for automatic driving, the reception processing unit 213 can also receive operation instructions for controlling the operation of the work vehicle 10. For example, the reception processing unit 213 receives the setting operation and change operation of the speed and engine speed of the work vehicle 10 from the supervisor. For example, the display processing unit 212 displays the operation unit for receiving the setting operation and change operation of the speed and engine speed of the work vehicle 10 on the operation screen P2 (see Figure 7A The supervisor can issue an operation instruction for controlling the operation of the work vehicle 10 while being able to check the camera image. The operation control unit 21 outputs the operation instruction received by the reception processing unit 213 to the work vehicle 10.

[0117] Furthermore, the setting process in the setting processing unit 211 described above can also be performed by the short-range operation terminal 30, an operation terminal (not shown) mounted on the work vehicle 10, or the like. Furthermore, as described above, the process of initiating automatic driving in the operation control unit 21 can also be performed by the short-range operation terminal 30. For example, an operator (worker) within the predetermined range AR of the field F can operate the short-range operation terminal 30 to instruct the start of automatic driving.

[0118] Furthermore, the remote operation terminal 20 can also access a website (agricultural support website) for agricultural support services provided by a server (not shown) via the communication network N1. In this case, the remote operation terminal 20 can function as an operation terminal for the server by executing a browser program using the operation control unit 21. Furthermore, the server includes the aforementioned processing units and executes the various processes.

[0119] Here, the remote operation terminal 20 can also be configured to be able to control the action of the work vehicle 10 when the above-mentioned mode is set to the long-distance mode. That is, the automatic driving system 1 sets the action content of the remote operation terminal 20 to be able to control the action of the work vehicle 10 according to whether the above-mentioned mode is set to the short-distance mode or the long-distance mode. A specific example of the action control corresponding to the above-mentioned mode will be described later. In addition, the operation control unit 21 displays information that can identify whether the current above-mentioned mode is the short-distance mode or the long-distance mode on the map screen P1 and the operation screen P2. For example, the operation control unit 21 displays the icon image of the work vehicle 10 set to the short-distance mode and the icon image of the work vehicle 10 set to the long-distance mode in different colors on the map screen P1.

[0120] [Close range operation terminal 30]

[0121] The short-range operation terminal 30 is comprised of a mobile terminal such as a smartphone, tablet computer, or remote controller. The short-range operation terminal 30 may also have the same functions as the long-range operation terminal 20. For example, the short-range operation terminal 30 is connected to the work vehicle 10 via Bluetooth within a predetermined range AR relative to the work vehicle 10.

[0122] In addition to commands to start and stop automatic driving, the short-range operation terminal 30 can also receive operation commands to control the operation of the work vehicle 10. For example, the short-range operation terminal 30 receives commands from the operator to set and change the speed and engine speed of the work vehicle 10, to raise or lower the work implement 14, or to approach a ridge. For example, the short-range operation terminal 30 includes an operation unit that receives commands to set and change the speed and engine speed of the work vehicle 10, to raise or lower the work implement 14, or to approach a ridge. The operator can issue operation commands to control the operation of the work vehicle 10 while visually observing the work vehicle 10 within the field F. The short-range operation terminal 30 outputs the operation commands received from the operator to the work vehicle 10.

[0123] Here, the short-range operation terminal 30 may also be configured to permit an action instruction to control the operation of the work vehicle 10 when the aforementioned mode is set to the short-range mode. Specifically, the automated driving system 1 determines the action content that the short-range operation terminal 30 can use to control the operation of the work vehicle 10, depending on whether the aforementioned mode is short-range mode or long-range mode. Specific examples of action control corresponding to the aforementioned modes will be described later.

[0124] As described above, the automated driving system 1 according to this embodiment includes a structure for controlling the motion of the work vehicle 10 according to a set mode (short-distance mode, long-distance mode). A specific example of motion control is described below. Furthermore, the short-distance operation terminal 30 may display information identifying whether the current mode is short-distance mode or long-distance mode on an operation screen or light of the short-distance operation terminal 30. Furthermore, information identifying whether the current mode is short-distance mode or long-distance mode may also be displayed on an operation terminal (local terminal) mounted on the work vehicle 10.

[0125] [Specific example 1 of motion control]

[0126] For example, the mode is set to the short-distance mode and the short-distance operation terminal 30 is connected to the work vehicle 10 ( Figure 9 The example 1) shown is explained.

[0127] For example, to start the automatic driving of the work vehicle 10, the operator boards the work vehicle 10, turns on (starts) the key of the work vehicle 10, and activates the operation terminal (local terminal) mounted on the work vehicle 10. At this time, the operation terminal is set to the initial short-range mode. This allows the operator to operate the short-range operation terminal 30 within the specified range AR.

[0128] For example, when the proximity operation terminal 30 receives an automatic driving start instruction from the operator, it outputs a driving start instruction to the work vehicle 10. When the work vehicle 10 receives the driving start instruction from the proximity operation terminal 30, it starts automatic driving if the automatic driving start conditions are met.

[0129] For example, when the short-range operation terminal 30 receives an instruction to stop automatic travel from the operator, it outputs a travel stop instruction to the work vehicle 10. When the work vehicle 10 receives the travel stop instruction from the short-range operation terminal 30, it stops automatic travel.

[0130] For example, when the short-distance operation terminal 30 receives a speed change instruction from the operator, it outputs a speed change instruction to the work vehicle 10. When the work vehicle 10 receives the speed change instruction from the short-distance operation terminal 30, it changes the speed of the work vehicle.

[0131] For example, when the proximity operation terminal 30 receives an instruction from the operator to change the engine speed for automatic driving, it outputs the engine speed change instruction to the work vehicle 10. When the work vehicle 10 receives the engine speed change instruction from the proximity operation terminal 30, it changes the engine speed for automatic driving.

[0132] For example, when the short-range operation terminal 30 receives a lifting instruction from the operator to raise or lower the work machine 14, it outputs the lifting instruction to the work vehicle 10. When the work vehicle 10 receives the lifting instruction from the short-range operation terminal 30, it raises or lowers the work machine 14.

[0133] For example, if the proximity operation terminal 30 receives a driving instruction from the operator to move the work vehicle 10 closer to the edge of a ridge, it outputs the driving instruction to the work vehicle 10. The work vehicle 10 then drives (approaches the ridge) in accordance with the driving instruction received from the proximity operation terminal 30. The operator can operate the proximity operation terminal 30 near the work vehicle 10 to cause the work vehicle 10 to drive closer to the edge of the ridge. Furthermore, the driving instruction is not limited to approaching the ridge; it can also include various driving instructions, such as forward, backward, and turning.

[0134] In this way, when the short-distance mode is set and the short-distance operation terminal 30 is connected to the work vehicle 10, the above-mentioned various motion controls can be executed on the work vehicle 10 through the short-distance operation terminal 30 (see Figure 9 "0" in "Case 1").

[0135] On the other hand, when the short-distance mode is set, the above-mentioned operation control of the work vehicle 10 by the remote operation terminal 20 is restricted (see Figure 9 Specifically, when the monitor browses the map screen P1 (refer to Figure 4 etc.) and the operation screen P2 for viewing and displaying camera images (refer to Figure 7A In any of the situations (such as the following), when the close-range mode is set, operations performed by the close-range operation terminal 30 are prioritized, and the remote operation terminal 20 is prohibited from controlling the operation of the work vehicle 10. This prevents repeated execution of the remote operation terminal 20's control of the operation of the work vehicle 10 when the close-range operation terminal 30 is capable of controlling the operation of the work vehicle 10.

[0136] For example, when an operator near work vehicle 10 set to close range mode attempts to start automatic driving, an unintended action or a reduction in safety such as a supervisor at a remote location starting automatic driving of work vehicle 10 can be prevented.

[0137] In the specific example 1 (Case 1), for example, when the short-range operation terminal 30 moves outside the predetermined range AR and the communication with the work vehicle 10 is disconnected, the work vehicle 10 temporarily stops the automatic driving (see Figure 10 This is because if the short-range operation terminal 30 moves outside the predetermined range AR, the automatic driving of the work vehicle 10 cannot be stopped using the short-range operation terminal 30, for example, in an emergency. Furthermore, the automatic driving of the work vehicle 10 cannot be stopped using the long-range operation terminal 20 in the short-range mode. Alternatively, as another embodiment, a mode in which the automatic driving of the work vehicle 10 can be stopped using the long-range operation terminal 20 in the short-range mode may be configured.

[0138] On the other hand, when the short-range mode is set and communication with the remote operation terminal 20 is disconnected, the work vehicle 10 can continue to travel automatically because operations (such as stop operations) using the short-range operation terminal 30 are possible.

[0139] [Specific example 2 of motion control]

[0140] An example (Case 2) will be described in which the above-described mode is set to the remote mode, the short-distance operation terminal 30 is not connected to the work vehicle 10 , and the remote operation terminal 20 is connected to the work vehicle 10 .

[0141] For example, an operator sets the above-mentioned mode to remote mode using the operation terminal (local terminal) mounted on the work vehicle 10. This allows a supervisor at a remote location to operate the remote operation terminal 20. Furthermore, in remote mode, if the short-range operation terminal 30 is not connected to the work vehicle 10, the operator cannot issue action instructions using the short-range operation terminal 30, thus allowing action control by the remote operation terminal 20.

[0142] For example, when the remote operation terminal 20 receives an automatic driving start instruction from a supervisor, it outputs a driving start instruction to the work vehicle 10. When the work vehicle 10 receives the driving start instruction from the remote operation terminal 20, it starts automatic driving if the automatic driving start conditions are met.

[0143] Furthermore, for example, when the remote operation terminal 20 receives an instruction to stop the automatic travel from a supervisor, it outputs a travel stop instruction to the work vehicle 10. When the work vehicle 10 receives the travel stop instruction from the remote operation terminal 20, it stops the automatic travel.

[0144] For example, when the remote control terminal 20 receives a speed change instruction from a supervisor, it outputs a speed change instruction to the work vehicle 10. When the work vehicle 10 receives the speed change instruction from the remote control terminal 20, it changes the speed of the work vehicle.

[0145] For example, when the remote control terminal 20 receives an instruction to change the engine speed during automatic driving from a supervisor, it outputs the engine speed change instruction to the work vehicle 10. When the work vehicle 10 receives the engine speed change instruction from the remote control terminal 20, it changes the engine speed during automatic driving.

[0146] On the other hand, regarding the lifting operation of the work machine 14 and the operation close to the ridge, there is a concern that the safety around the work vehicle 10 will be reduced. In addition, there will be a time lag between the operation instruction timing and the action timing, so the action control is prohibited and excluded from the action control targets of the remote operation terminal 20 (see Figure 9 The “×” in “Case 2”).

[0147] Thus, when the remote mode is set and the remote operation terminal 20 is connected to the work vehicle 10, and the short-distance operation terminal 30 is not connected to the work vehicle 10, the remote operation terminal 20 can perform specific motion control on the work vehicle 10 (refer to Figure 9"0" in "Case 2").

[0148] In addition, since the short-range operation terminal 30 is not connected to the work vehicle 10, each operation control by the short-range operation terminal 30 is prohibited (see Figure 9 The “×” in “Case 2”).

[0149] In the specific example 2 (Case 2), for example, when the communication with the remote control terminal 20 is disconnected, the work vehicle 10 temporarily stops the automatic driving (see Figure 10 In addition, as another embodiment, when the short-range operation terminal 30 is connected to the work vehicle 10, the short-range operation terminal 30 can be operated, so even if the communication with the long-range operation terminal 20 is disconnected, the work vehicle 10 can continue to travel automatically.

[0150] [Specific example 3 of motion control]

[0151] The above-mentioned mode is set to the remote mode, and the short-distance operation terminal 30 and the remote operation terminal 20 are connected to the work vehicle 10, and the map screen P1 is displayed on the remote operation terminal 20 (see FIG. Figure 4 The following describes an example (Case 3) of the case where

[0152] For example, an operator sets the above-mentioned mode to remote mode on the operation terminal (local terminal) mounted on the work vehicle 10. This allows a remote supervisor to operate the remote operation terminal 20. Furthermore, in remote mode, while the local operation terminal 30 is connected to the work vehicle 10, the operator is permitted to issue action instructions via the local operation terminal 30. Furthermore, while the map screen P1 is displayed on the remote operation terminal 20, the supervisor cannot understand (monitor) the situation around the work vehicle 10, so action control using the remote operation terminal 20 is prohibited.

[0153] That is, the specific example 3 (Case 3) performs the same action control as the above-mentioned specific example 1 (Case 1) (refer to Figure 9 As another embodiment, in Example 3, only the stop instruction of the automatic driving by the remote operation terminal 20 may be permitted. In addition, in the specific example 3 (Example 3), when the communication between at least one of the remote operation terminal 20 and the short-range operation terminal 30 is disconnected, the work vehicle 10 temporarily stops the automatic driving (refer to Figure 10 In addition, as another embodiment, the work vehicle 10 may continue to travel automatically even when the communication with the remote operation terminal 20 is disconnected.

[0154] [Specific example 4 of motion control]

[0155] The above-mentioned mode is set to the remote mode, and the short-distance operation terminal 30 and the remote operation terminal 20 are connected to the work vehicle 10, and the operation screen P2 is displayed on the remote operation terminal 20 (refer to FIG. Figure 7A The following describes an example (Case 4) in the case of (etc.).

[0156] For example, an operator sets the above-mentioned mode to remote mode on the operation terminal (local terminal) mounted on the work vehicle 10. This allows a supervisor located at a remote location to operate the remote operation terminal 20. Furthermore, in remote mode, while the short-distance operation terminal 30 is connected to the work vehicle 10, the operator is permitted to issue action instructions via the short-distance operation terminal 30. Furthermore, while the operation screen P2 is displayed on the long-distance operation terminal 20, the supervisor can monitor the situation around the work vehicle 10 through the camera image, thereby allowing the supervisor to issue action instructions via the long-distance operation terminal 20.

[0157] For example, the motion control based on the proximity operation terminal 30 is similar to the above-mentioned specific example 3 (Case 3) and each motion control is permitted (see Figure 9 In contrast, regarding the motion control based on the remote operation terminal 20, the start of automatic driving, the raising and lowering of the working machine 14, and the approach to the ridge of the field (see Figure 9 (“×” in “Case 4” of FIG. 1 ) Only the stopping of the automatic driving and the changing of the vehicle speed and the engine speed are permitted if there is no concern about the safety around the work vehicle 10 being reduced.

[0158] As another embodiment of the specific example 4 (Case 4), the start and stop of the automatic driving by the short-range operation terminal 30 may be prohibited, and the start and stop of the automatic driving by the long-range operation terminal 20 may be permitted.

[0159] In the specific example 4 (Case 4), the automatic driving can be stopped by the remote operation terminal 20. Therefore, for example, when the communication with the short-distance operation terminal 30 is disconnected, the work vehicle 10 can continue to drive automatically (see Figure 10 Thus, even if, for example, the operator moves outside the predetermined range AR with the proximity operation terminal 30 and communication with the work vehicle 10 is cut off, the work vehicle 10 can continue to travel automatically without stopping.

[0160] In addition, when communication with the remote operation terminal 20 is disconnected, the automatic driving of the work vehicle 10 is temporarily stopped. In addition, as another embodiment, when the short-range operation terminal 30 is connected, the work vehicle 10 can continue to automatically drive when communication with the remote operation terminal 20 is disconnected.

[0161] Thus, in Examples 3 and 4, when the remote mode is set, the automated driving system 1 sets the action content that the proximity operation terminal 30 can use to operate the work vehicle 10 as the first action content, and sets the action content that the remote operation terminal 20 can use to operate the work vehicle 10 as the second action content, which is a portion of the first action content. Furthermore, the first action content includes both the action of starting and stopping the automated driving of the work vehicle 10, while the second action content includes the action of stopping the automated driving of the work vehicle 10 and does not include the action of starting the automated driving of the work vehicle 10.

[0162] Furthermore, in Examples 3 and 4, when the display content of the remote operation terminal 20 is an operation screen P2 including a camera image of the work vehicle 10's surroundings, the autonomous driving system 1 sets the action content that the remote operation terminal 20 can use to operate the work vehicle 10 to the first action content. When the display content is a map screen P1 including the work vehicle 10's current location, the action content that the remote operation terminal 20 can use to operate the work vehicle 10 is not set, or the action content that the remote operation terminal 20 can use to operate the work vehicle 10 is set to a portion of the first action content. Furthermore, the operation screen P2 is an example of the first screen of the present invention, and the map screen P1 is an example of the second screen of the present invention. The first screen of the present invention is not limited to a screen including a camera image; any screen that allows operation settings for the work vehicle 10 (a screen that accepts operation setting operations from the operator) may be used. Furthermore, the second screen of the present invention is not limited to a map screen including the current location; any screen that restricts at least a portion of the operation settings for the work vehicle 10 (a status display screen that displays the status of the work vehicle 10 or a screen that accepts a portion of the operation setting operations) may be used.

[0163] In addition, when the display contents of the remote operation terminal 20 of the automatic driving system 1 are both the first screen and the second screen, that is, Figure 8 As shown, when the map screen P1 and the operation screen P2 are displayed side by side, the operation content that the remote operation terminal 20 can operate the work vehicle 10 may be set to the first operation content.

[0164] As described in Examples 1 to 4 (Case Studies 1 to 4) above, the automated driving system 1 sets the action content (action control target) that enables control of the work vehicle 10 for each operation terminal based on the set mode (short-distance mode, long-distance mode) and the connection status of the operation terminals (short-distance operation terminal 30, long-distance operation terminal 20). Furthermore, the automated driving system 1 sets the action content that enables control of the work vehicle 10 for the long-distance operation terminal 20 based on the display content (map, camera image) currently displayed on the long-distance operation terminal 20. Furthermore, the automated driving system 1 temporarily stops or resumes automated driving of the work vehicle 10 based on the aforementioned modes and connection statuses.

[0165] Figure 9 The permission ("0") and non-permission ("×") of each action control object shown are pre-registered according to the registration operation of the operator, and can be changed as appropriate. In addition, the operator can select any one of the cases 1 to 4 in the setting screen (not shown), and can switch as appropriate. That is, the automatic driving system 1 can pre-register a plurality of combinations ( Figure 9 The system accepts an operator's selection from a plurality of combinations (cases 1 to 4). Furthermore, for example, each of cases 1 to 4 can be set to "valid" or "invalid." For example, if cases 1, 3, and 4 are set to "valid" and cases 2 and 3 are set to "invalid," the automated driving system 1 controls the operation of the work vehicle 10 based on the operational details of cases 1, 3, and 4.

[0166] in addition, Figure 9 The motion control targets shown are not limited to the start of automatic driving, the stop of automatic driving, the change of vehicle speed, the change of engine speed, the raising and lowering of the working machine 14, and the approach to the ridge, but may include other motion control targets.

[0167] The above examples 1 to 4 are examples, and the combination of permission and non-permission of each action control object may be as follows.

[0168] For example, in Example 4 above, although the system is in remote mode, it is not possible to start automatic driving using the remote operation terminal 20 when the short-range operation terminal 30 is connected, potentially causing a sense of disharmony among operators (workers, supervisors). Therefore, for example, the short-range operation terminal 30 may be provided with a switch (e.g., a toggle switch) that switches between short-range and long-range modes. When the system is in remote mode, the operator switches the toggle switch to on. In this case, the automatic driving system 1 prioritizes remote mode and permits automatic driving start instructions from the remote operation terminal 20. Furthermore, the automatic driving system 1 permits only automatic driving stop instructions from the short-range operation terminal 30, prohibiting automatic driving start instructions, vehicle speed and engine speed change instructions, raising and lowering the work machine 14, and instructions to approach a ridge. Furthermore, in this case, the automatic driving system 1 can continue automatic driving even if communication with either the remote operation terminal 20 or the short-range operation terminal 30 is interrupted, and temporarily halt automatic driving if communication with both is interrupted.

[0169] If the operator turns the dip switch OFF, the short-distance mode is prioritized. In this case, the automatic driving system 1 permits all operation instructions from the short-distance operation terminal 30 and permits only the stop instruction of the automatic driving from the remote operation terminal 20 .

[0170] As another embodiment, a switching unit that can switch between the short-distance mode and the long-distance mode can also be provided in the local terminal. For example, the operator can also switch to the long-distance mode priority through the switching unit while riding in the work vehicle 10.

[0171] As another embodiment of each of the above examples, the autonomous driving system 1 may switch from the long-distance mode to the short-distance mode if communication with the long-distance operation terminal 20 is interrupted. This allows various operational instructions from the short-distance operation terminal 30 to be executed. Furthermore, the autonomous driving system 1 may notify each operation terminal of the mode switch.

[0172] Alternatively, the above-mentioned mode may be initially set to the short-distance mode. In this case, the autonomous driving system 1 will always set the above-mentioned mode to the short-distance mode, for example, when completing or interrupting field work. For example, if work is interrupted in the long-distance mode, the system may set the mode to the short-distance mode when resuming work, and then switch to the long-distance mode after receiving an instruction to resume work.

[0173] [Motion Control Processing]

[0174] Below, refer to Figure 11An example of the motion control process executed by the automatic driving system 1 will be described.

[0175] In addition, the present invention can be understood as the invention of a motion control method (an example of the motion control method of the present invention) that executes one or more steps included in the above-mentioned motion control processing. In addition, one or more steps included in the above-mentioned motion control processing described here can also be appropriately omitted. In addition, for each step in the above-mentioned motion control processing, the execution order can also be different within the scope of producing the same effect. Moreover, the case where the vehicle control device 11 executes each step in the above-mentioned motion control processing is cited here as an example for explanation, but as another embodiment, a motion control method in which one or more processors execute each step in the motion control processing in a distributed manner can also be considered.

[0176] In step S1, the vehicle control device 11 obtains the aforementioned mode setting information. Specifically, the vehicle control device 11 obtains identification information for the short-range mode or the long-range mode selected by the operator using the operation terminal (local terminal) mounted on the work vehicle 10. In another embodiment, the vehicle control device 11 may also obtain identification information for the short-range mode or the long-range mode selected using the short-range operation terminal 30 or the long-range operation terminal 20.

[0177] Then, in step S2, the vehicle control device 11 obtains the connection status of the operation terminal. Specifically, the vehicle control device 11 obtains the connection status (connected or not connected) between the work vehicle 10 (communication unit 16) and the short-distance operation terminal 30, and the connection status (connected or not connected) between the work vehicle 10 (communication unit 16) and the long-distance operation terminal 20. In addition, when the long-distance operation terminal 20 and the work vehicle 10 are connected, the vehicle control device 11 outputs the position information of the work vehicle 10 and the image data captured by the camera 53 to the long-distance operation terminal 20. As a result, the long-distance operation terminal 20 can display the map screen P1 (refer to Figure 4 etc.) and operation screen P2 (refer to Figure 7A In addition, the short-range operation terminal 30 can be connected to the work vehicle 10 when it is located within a predetermined range AR from the work vehicle 10 .

[0178] Next, in step S3, the vehicle control device 11 determines whether an action instruction has been received. For example, an operator near the work vehicle 10 may issue an action instruction to the work vehicle 10 using the local control terminal 30, or a supervisor located remotely from the work vehicle 10 may issue an action instruction to the work vehicle 10 using the remote control terminal 20. If the vehicle control device 11 has received an action instruction (S3: Yes), the process proceeds to step S4. If the vehicle control device 11 has not received an action instruction (S3: No), the process proceeds to step S5.

[0179] In step S4, the vehicle control device 11 performs the motion control process. Specifically, the vehicle control device 11 performs the motion control process corresponding to the above-mentioned motion instruction based on the above-mentioned mode (short distance mode or long distance mode) and the connection status of each operation terminal. For example, when the motion control content is set to the above-mentioned examples 1 to 4 (refer to Figure 9 ), the vehicle control device 11 executes the action control processing corresponding to the set case.

[0180] For example, when Case 1 (short-distance mode) and Case 4 (long-distance mode) are selected (enabled), the vehicle control device 11 executes the motion control of Case 1 in short-distance mode and the motion control of Case 4 in long-distance mode. For example, when set to short-distance mode, the operator can use the short-distance operation terminal 30 to issue instructions to start and stop automatic driving, change the vehicle speed and engine speed, raise or lower the work machine 14, or instruct the vehicle to approach a ridge. However, the supervisor's motion instructions using the long-distance operation terminal 20 are prohibited. Furthermore, if communication with the short-distance operation terminal 30 is disconnected, automatic driving is temporarily suspended regardless of the connection status of the long-distance operation terminal 20. On the other hand, if communication with the long-distance operation terminal 20 is disconnected, automatic driving continues, provided that the short-distance operation terminal 30 is connected.

[0181] Furthermore, for example, when remote mode is selected, the operator can use the short-range operation terminal 30 to issue commands to start and stop automatic driving, change vehicle speed and engine speed, raise or lower the work implement 14, or instruct the vehicle to approach a ridge. The supervisor can also use the long-range operation terminal 20 to issue commands to stop automatic driving, change vehicle speed and engine speed, or raise or lower the work implement 14. Furthermore, if communication with the short-range operation terminal 30 is disconnected, automatic driving continues as long as the long-range operation terminal 20 is connected. On the other hand, if communication with the long-range operation terminal 20 is disconnected, automatic driving is temporarily suspended regardless of the connection status of the short-range operation terminal 30.

[0182] In case 4, the vehicle control device 11 displays the operation screen P2 on the remote operation terminal 20 (see Figure 7A As a condition, the operation instruction based on the remote operation terminal 20 is permitted. In contrast, when the map screen P1 is displayed on the remote operation terminal 20 (refer to Figure 4 In the case of (etc.), the vehicle control device 11 may also prohibit the action instruction based on the remote operation terminal 20 (equivalent to the above-mentioned case 3).

[0183] In step S5, the vehicle control device 11 determines whether an end operation has been received from the operator. For example, when the operator performs an operation to end the automatic driving of the work vehicle 10, an operation to end remote monitoring, etc., the vehicle control device 11 receives the end operation (S5: Yes) and ends the above-mentioned motion control processing. When the vehicle control device 11 does not receive the end operation from the operator (S5: No), the processing returns to step S1 and executes the above-mentioned processing. The vehicle control device 11 repeatedly executes the processing of steps S1 to S4 until the end operation is received from the operator. In addition, the vehicle control device 11 updates the current position (map information) and camera image of the work vehicle 10 in real time on the map screen P1 and the operation screen P2 until the end operation is received from the operator. Through the above, the vehicle control device 11 executes the above-mentioned vehicle control processing.

[0184] As described above, the automatic driving system 1 according to the present embodiment controls the movement of the work vehicle 10 using the short-range operation terminal 30 (first operation terminal) capable of moving the work vehicle 10 within a predetermined range AR from the work vehicle 10, and the long-range operation terminal 20 (second operation terminal) capable of moving the work vehicle 10 via the communication network N1 (via the cloud). Specifically, the automatic driving system 1 sets either a short-range mode (first mode) permitting movement of the work vehicle 10 by the short-range operation terminal 30 or a long-range mode (second mode) permitting movement of the work vehicle 10 by the long-range operation terminal 20. Based on the set mode, the automatic driving system 1 sets the content of the movement (action control target) that the short-range operation terminal 30 can cause to the work vehicle 10, and the content of the movement that the long-range operation terminal 20 can cause to the work vehicle 10.

[0185] According to the above configuration, for example, when the above-mentioned mode is set to short-distance mode, the short-distance operation terminal 30 can be used to cause the work vehicle 10 to perform actions corresponding to the short-distance mode. Furthermore, for example, when the above-mentioned mode is set to long-distance mode, the long-distance operation terminal 20 can be used to cause the work vehicle 10 to perform actions corresponding to the long-distance mode. In other words, the work vehicle 10 can be caused to perform actions corresponding to the set mode. Thus, when using both the short-distance operation terminal 30 and the long-distance operation terminal 20, the actions of the work vehicle 10 can be appropriately controlled.

[0186] Furthermore, the autonomous driving system 1 may set the aforementioned operational content based on the connection status of the short-range operation terminal 30 and the long-range operation terminal 20, in addition to the aforementioned mode setting information. This allows the work vehicle 10 to execute operations appropriate to the connection status of the short-range operation terminal 30 and the long-range operation terminal 20.

[0187] Furthermore, the autonomous driving system 1 may set the aforementioned action content based on the display content (map screen P1 or operation screen P2) of the remote control terminal 20, in addition to the aforementioned mode setting information and the aforementioned connection status. This allows the work vehicle 10 to perform actions appropriate to the display content of the remote control terminal 20.

[0188] [Other embodiments]

[0189] The present invention is not limited to the above-described embodiment, and the following embodiments are also possible.

[0190] As another embodiment, the automatic driving system 1 may also permit automatic driving when the operator or the short-range operation terminal 30 is within the prescribed range AR relative to the work vehicle 10, and prohibit automatic driving when the operator or the short-range operation terminal 30 is not within the prescribed range AR. In addition, the prescribed range AR is the range of distances within which the short-range operation terminal 30 and the work vehicle 10 can be paired. In addition, in the short-range mode, the short-range operation terminal 30 and the work vehicle 10 may also communicate directly. In addition, when the short-range operation terminal 30 is within the prescribed range AR, the short-range operation terminal 30 and the work vehicle 10 may also communicate via a server. In addition, in the long-range mode, the long-range operation terminal 20 and the work vehicle 10 communicate via a server. In addition, the automatic driving system 1 may also determine the position of the operator through camera images, or may determine the position of the operator through location information of a communication terminal (smartphone, etc.) held by the operator.

[0191] In addition, the automatic driving system 1 can also automatically set the short-distance mode or long-distance mode according to the connection status between the work vehicle 10 and each operation terminal. For example, when the short-distance operation terminal 30 or the operator is within the specified range AR of the work vehicle 10, the automatic driving system 1 is set to the short-distance mode when the short-distance operation terminal 30 and the work vehicle 10 are connected. In addition, the automatic driving system 1 can also automatically switch to the short-distance mode when the short-distance operation terminal 30 is paired. The automatic driving system 1 can also switch to the short-distance mode according to the operation of the pairing button, or it can automatically switch to the short-distance mode without relying on the operation of the pairing button.

[0192] Furthermore, for example, the automated driving system 1 may be set to remote mode when the remote control terminal 20 is connected to the work vehicle 10. Furthermore, the automated driving system 1 may be configured not to be set to remote mode when the remote control terminal 20 is set to not permit notifications from the remote monitoring application. In this case, the automated driving system 1 may notify the remote control terminal 20 that remote mode cannot be set.

[0193] As another embodiment, the automatic driving system 1 may also be able to switch the above-mentioned mode according to requests from each operation terminal. For example, when the vehicle is set to the short-distance mode, if the monitor makes a request to switch to the long-distance mode at the long-distance operation terminal 20, the short-distance operation terminal 30 notifies the operator of whether the above-mentioned switching request is allowed or rejected. If the operator permits, the automatic driving system 1 switches the above-mentioned mode to the long-distance mode. Similarly, for example, when the vehicle is set to the long-distance mode, if the operator makes a request to switch to the short-distance mode at the short-distance operation terminal 30, the long-distance operation terminal 20 notifies the monitor of whether the above-mentioned switching request is allowed or rejected. If the monitor permits, the automatic driving system 1 switches the above-mentioned mode to the short-distance mode.

[0194] As another embodiment, the automated driving system 1 may permit switching from long-distance mode to short-distance mode in any situation, whether the work vehicle 10 is autonomously traveling or parked, or permit switching from short-distance mode to long-distance mode only when the work vehicle 10 is parked. Furthermore, the automated driving system 1 may permit switching from short-distance mode to long-distance mode during autonomous traveling, conditional on the operator's permission. Furthermore, the automated driving system 1 may be configured to allow switching to long-distance mode only when the work vehicle 10 is parked or also during autonomous traveling, based on operator control.

[0195] Furthermore, the automatic driving system 1 may temporarily stop the work vehicle 10 when the supervisor requests switching to the long-distance mode, and resume automatic driving in the short-distance mode if the request is not approved by the operator within a predetermined time.

[0196] As another embodiment, the automatic driving system 1 may allow operation instructions to be issued to the work vehicle 10 from either the short-distance operation terminal 30 or the long-distance operation terminal 20 when the work vehicle 10 is parked, regardless of the set mode.

[0197] In addition, as another embodiment, the automatic driving system 1 may prohibit the automatic driving resumption instruction from the remote operation terminal 20 and only permit the work vehicle 10 resumption instruction from the near-field operation terminal 30 when the temporary stop of the work vehicle 10 is instructed by the near-field operation terminal 30.

[0198] In another embodiment, the automatic driving system 1 may display in a manner that allows identification of the operating terminal from which automatic driving can be started. For example, the automatic driving system 1 may display identification information of the operating terminal that can start automatic driving on the display screen of the operating terminal. Furthermore, for example, the automatic driving system 1 may illuminate a display light (a lamp, LED, etc.) on the operating terminal in a manner that allows identification of the operating terminal that can start automatic driving.

[0199] In addition, as another embodiment, for example, when the working vehicle 10 detects an obstacle in the case of being set to the short-distance mode, the automatic driving system 1 can also switch the short-distance mode to the long-distance mode. For example, if the remote operation terminal 20 obtains the detection information of the obstacle, Figure 12 As shown, a message M1 indicating that an obstacle is detected is displayed on the map screen P1. Then, the automatic driving system 1 switches the short-distance mode to the long-distance mode, and permits the operation instruction of the remote operation terminal 20. For example, if the supervisor presses Figure 12 If the camera image button on the map screen P1 is displayed, the remote operation terminal 20 changes the operation screen P2 (see Figure 7A When the supervisor issues an instruction to resume the automatic driving on the operation screen P2, the automatic driving system 1 resumes the automatic driving of the work vehicle 10.

[0200] In another embodiment, the automated driving system 1 may be configured such that multiple remote control terminals 20 can be connected to a single work vehicle 10. In this case, for example, if communication with some of the multiple remote control terminals 20 is disconnected while the system is in remote mode, the automated driving system 1 can continue the automated driving of the work vehicle 10 as long as at least one remote control terminal 20 is connected to the work vehicle 10. In this case, if communication with all remote control terminals 20 is disconnected, the automated driving system 1 temporarily stops the automated driving of the work vehicle 10.

[0201] In another embodiment, the automated driving system 1 may be configured so that a single remote control terminal 20 can be connected to multiple work vehicles 10. In this case, for example, if communication with the remote control terminal 20 is disconnected while in remote mode, the automated driving system 1 temporarily stops automated driving of all work vehicles 10 connected to the remote control terminal 20. Furthermore, in another embodiment, the automated driving system 1 may cause a work vehicle 10 connected to the short-range control terminal 30, among the multiple work vehicles 10 connected to the remote control terminal 20 whose communication has been disconnected, to continue automated driving.

[0202] <Continue automatic driving process>

[0203] The automated driving system 1 can be configured to permit an instruction to start automated driving from the remote operating terminal 20 in the remote mode, conditional on the close-range operating terminal 30 and the work vehicle 10 being connected. However, in this configuration, if the close-range operating terminal 30 moves outside the predetermined range AR and communication with the work vehicle 10 is interrupted, the remote operating terminal 20 may be unable to start automated driving of the work vehicle 10 even in the remote mode.

[0204] Therefore, to address the above-mentioned issues, the automated driving system 1 may also include a structure that maintains the connection between the short-range operation terminal 30 and the work vehicle 10 when set to long-range mode. For example, if an operator holding the short-range operation terminal 30 moves outside the predetermined range AR, the short-range operation terminal 30 is connected to the operator's communication terminal (e.g., a smartphone), and a connection with the work vehicle 10 is established via the communication terminal. This maintains the connection between the short-range operation terminal 30 and the work vehicle 10, allowing the remote operation terminal 20 to issue an instruction to start automated driving even if the short-range operation terminal 30 moves outside the predetermined range AR.

[0205] In addition, when the short-range operation terminal 30 is connected to the work vehicle 10 via the above-mentioned communication terminal, the automatic driving system 1 may allow the stop instruction of the work vehicle 10, the vehicle speed change instruction, the engine speed change instruction, etc. based on the short-range operation terminal 30, and prohibit the start instruction of the automatic driving of the work vehicle 10.

[0206] <Anti-theft processing in long-distance mode>

[0207] The automated driving system 1 can also be configured to automatically lock the doors when set to remote mode, with only the smart key unlocking the doors. Furthermore, if the automated driving system 1 moves arbitrarily from a predetermined location, it can remotely stop the engine 131 and notify a supervisor of the movement. Furthermore, the automated driving system 1 can also immobilize the work vehicle 10 in remote mode until a permission signal is input from an authorized operation terminal.

[0208] As described above, in the above embodiment, the automatic driving system 1 is equivalent to the motion control system involved in the present invention, but the motion control system involved in the present invention can also be composed of a single vehicle control device 11, or can be composed of a remote operation terminal 20 and a short-range operation terminal 30.

[0209] [Notes on the invention]

[0210] The following is a summary of the invention extracted from the embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0211] Note 1

[0212] A motion control method is provided for controlling the motion of a work vehicle using a first operating terminal and a second operating terminal, wherein the first operating terminal is capable of causing the work vehicle to move within a specified range from the work vehicle, and the second operating terminal is capable of causing the work vehicle to move outside the specified range, wherein:

[0213] setting either a first mode for permitting the operation of the work vehicle by the first operation terminal or a second mode for permitting the operation of the work vehicle by the second operation terminal; and

[0214] Based on the set mode, the operation content of the work vehicle that can be operated by the first operation terminal and the operation content of the work vehicle that can be operated by the second operation terminal are set.

[0215] Note 2

[0216] According to the motion control method described in Note 1,

[0217] obtaining a connection status between the work vehicle and the first operation terminal, and a connection status between the work vehicle and the second operation terminal,

[0218] The above-mentioned action contents are set based on the above-mentioned modes and the above-mentioned connection states.

[0219] Note 3

[0220] According to the motion control method described in Note 2,

[0221] Based on the above-mentioned mode and each of the above-mentioned connection states, the automatic travel of the above-mentioned work vehicle is temporarily stopped or continued.

[0222] Note 4

[0223] The motion control method according to note 2 or 3, wherein:

[0224] When the mode is set to the second mode, the display content of the second operation terminal is obtained.

[0225] The above-mentioned operation contents are set based on the above-mentioned mode, the above-mentioned connection states, and the above-mentioned display contents.

[0226] Note 5

[0227] According to the motion control method described in Note 4,

[0228] When the display content is a first screen capable of performing an action setting of the work vehicle, the action content capable of causing the work vehicle to move by the second operation terminal is set to the first action content.

[0229] In a case where the display content is a second screen in which at least a portion of the action setting of the work vehicle is restricted, the action content on which the second operation terminal can enable the work vehicle to move is not set, or the action content on which the second operation terminal can enable the work vehicle to move is set to a portion of the action content in the first action content.

[0230] Note 6

[0231] The motion control method according to any one of Notes 1 to 5, wherein:

[0232] When the mode is set to the first mode, the operation content that the first operation terminal can operate the work vehicle is set to the first operation content, and the operation content that the second operation terminal can operate the work vehicle is not set.

[0233] Note 7

[0234] The motion control method according to any one of Notes 1 to 6, wherein:

[0235] When the above-mentioned mode is set to the above-mentioned second mode, the action content of the above-mentioned first operation terminal that enables the above-mentioned work vehicle to move is set to the first action content, and the action content of the above-mentioned second operation terminal that enables the above-mentioned work vehicle to move is set to the second action content that is part of the above-mentioned first action content.

[0236] Note 8

[0237] According to the motion control method described in Note 7,

[0238] The first action includes an action of starting the automatic driving of the work vehicle and an action of stopping the automatic driving of the work vehicle.

[0239] The second operation content includes an operation of stopping the automatic driving of the work vehicle, but does not include an operation of starting the automatic driving of the work vehicle.

[0240] Note 9

[0241] The motion control method according to any one of Notes 1 to 8, wherein:

[0242] A plurality of combinations of the mode, the operation content of the work vehicle that the first operation terminal can operate, and the operation content of the work vehicle that the second operation terminal can operate are pre-registered, and a user selection operation from the plurality of combinations is accepted.

[0243] Note 10

[0244] The motion control method according to any one of Notes 1 to 9, wherein:

[0245] The first mode is set when the first operation terminal is located within the predetermined range and the first operation terminal is connected to the work vehicle.

Claims

1. A motion control method for controlling the motion of a work vehicle using a first operating terminal and a second operating terminal, wherein the first operating terminal can cause the work vehicle to move within a specified range from the work vehicle, and the second operating terminal can cause the work vehicle to move outside the specified range from the work vehicle, characterized in that: implement: setting either a first mode for permitting the operation of the work vehicle by the first operation terminal or a second mode for permitting the operation of the work vehicle by the second operation terminal; and Based on the set mode, the operation content that the first operation terminal can use to operate the work vehicle and the operation content that the second operation terminal can use to operate the work vehicle are set.

2. The motion control method according to claim 1, wherein: obtaining a connection status between the work vehicle and the first operation terminal, and a connection status between the work vehicle and the second operation terminal, The content of each operation is set based on the mode and each connection state.

3. The motion control method according to claim 2, wherein: Based on the mode and each of the connection states, the automatic travel of the work vehicle is temporarily stopped or continued.

4. The motion control method according to claim 2, wherein: When the mode is set to the second mode, obtaining display content of the second operation terminal, The action contents are set based on the mode, the connection states, and the display contents.

5. The motion control method according to claim 4, characterized in that: When the display content is a first screen capable of performing operation settings for the work vehicle, the operation content capable of causing the work vehicle to operate by the second operation terminal is set to the first operation content. In a case where the display content is a second screen in which at least a portion of the action setting of the work vehicle is restricted, the action content that the second operation terminal can use to enable the work vehicle to move is not set, or the action content that the second operation terminal can use to enable the work vehicle to move is set to a portion of the action content in the first action content.

6. The motion control method according to claim 1, characterized in that: When the mode is set to the first mode, the operation content that the first operation terminal can use to operate the work vehicle is set to the first operation content, and the operation content that the second operation terminal can use to operate the work vehicle is not set.

7. The motion control method according to claim 1, wherein: When the mode is set to the second mode, the action content of the work vehicle that the first operation terminal can enable is set to the first action content, and the action content of the work vehicle that the second operation terminal can enable is set to the second action content that is part of the first action content.

8. The motion control method according to claim 7, characterized in that: The first action content includes an action of starting the automatic driving of the work vehicle and an action of stopping the automatic driving of the work vehicle. The second operation content includes an operation of stopping the automatic travel of the work vehicle, but does not include an operation of starting the automatic travel of the work vehicle.

9. The motion control method according to claim 1, wherein: A plurality of combinations in which the mode, the operation content that the first operation terminal can cause the work vehicle to operate, and the operation content that the second operation terminal can cause the work vehicle to operate are associated are pre-registered, and a user operation of selecting from the plurality of combinations is accepted.

10. The motion control method according to claim 1, characterized in that: The first mode is set when the first operation terminal is located within the predetermined range and the first operation terminal is connected to the work vehicle.

11. A motion control program for controlling the motion of a work vehicle using a first operating terminal and a second operating terminal, wherein the first operating terminal can move the work vehicle within a specified range from the work vehicle, and the second operating terminal can move the work vehicle outside the specified range from the work vehicle, characterized in that: Used to cause one or more processors to execute: setting either a first mode for permitting the operation of the work vehicle by the first operation terminal or a second mode for permitting the operation of the work vehicle by the second operation terminal; and Based on the set mode, the operation content that the first operation terminal can use to operate the work vehicle and the operation content that the second operation terminal can use to operate the work vehicle are set.

12. A motion control system for controlling the motion of a work vehicle using a first operating terminal and a second operating terminal, wherein the first operating terminal can move the work vehicle within a specified range from the work vehicle, and the second operating terminal can move the work vehicle outside the specified range from the work vehicle, characterized in that: Setting either a first mode for permitting the operation of the work vehicle by the first operation terminal or a second mode for permitting the operation of the work vehicle by the second operation terminal, and Based on the set mode, the operation content that the first operation terminal can use to operate the work vehicle and the operation content that the second operation terminal can use to operate the work vehicle are set.

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