Remote control system

Abstract

The wireless communication terminal device for operating autonomous work vehicles includes: a main body (70) having a display (74) capable of touch screen operation; and an emergency stop remote control (71) having an emergency stop button (72) for stopping the autonomous driving of the work vehicle. The main body (70) and the emergency stop remote control (71) communicate wirelessly with the work vehicle through wireless communication networks with different communication methods.

Description

[0001] This application is a divisional application of the invention patent application with application number 201780064329.6 (international application number PCT / JP2017 / 042861), application date November 29, 2017, entitled "Wireless Communication Terminal Device". Technical Field

[0002] This invention relates to a wireless communication terminal device operated when a work vehicle is autonomously driven. Background Technology

[0003] In recent years, to facilitate efficient and convenient agricultural operations in fields, autonomous driving systems have been developed that enable unmanned vehicles to operate autonomously without the need for operators (see Patent Document 1). The autonomous driving system in Patent Document 1 is a system operated remotely via a server device located away from the vehicle, such as in a residence. This system lacks visual monitoring of the tractor's operational status, making emergency response difficult. Therefore, to enable autonomous operation of vehicles in fields and other work locations, an autonomous driving system utilizing an operating terminal based on a wireless communication terminal device has been developed (see Patent Document 2).

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2011-254704

[0006] Patent Document 2: Japanese Patent Application Publication No. 2016-095658 Summary of the Invention

[0007] However, in autonomous driving systems that utilize touchscreen-based operating terminals such as tablet PCs, the operation buttons on the touchscreen must be visually located, which risks delays in emergency responses.

[0008] The present invention was made in view of the above-mentioned situation, and the technical problem is to provide a wireless communication terminal device that enables operators to operate autonomously moving work vehicles without delay in emergency situations.

[0009] The invention of this application relates to a wireless communication terminal device for operating an autonomously driving work vehicle. The wireless communication terminal device includes: a device body having a display capable of touch screen operation; and an emergency stop remote control having an emergency stop button for stopping the autonomous driving of the work vehicle. The device body and the emergency stop remote control each perform wireless communication with the work vehicle through wireless communication networks with different communication methods.

[0010] In the aforementioned wireless communication terminal device, the aforementioned emergency stop remote control can also be freely attached to and detached from the outer periphery of the main body of the device.

[0011] In the aforementioned wireless communication terminal device, the emergency stop remote control may also include a start button for initiating autonomous driving of the work vehicle. In the display of the main body of the device, an image of the emergency stop button for stopping the autonomous driving of the work vehicle is displayed near the installation location of the emergency stop remote control, and an image of the start button for initiating autonomous driving of the work vehicle is displayed at a position further away from the installation location of the emergency stop remote control than the image of the emergency stop button.

[0012] In the aforementioned wireless communication terminal device, a housing may also be provided to which a remote control housing is mounted. This housing covers the outer edge of the main body of the device throughout its entire circumference, and the remote control housing holds the emergency stop remote control in a manner that allows the emergency stop remote control to be attached and detached.

[0013] In the aforementioned wireless communication terminal device, the aforementioned emergency stop remote control may also have a notification unit that notifies the status of the aforementioned work vehicle.

[0014] According to the present invention, a wireless communication terminal device for operating an autonomous work vehicle includes: a main body having a display capable of touchscreen operation; and an emergency stop remote control having an emergency stop button for stopping the autonomous driving of the work vehicle. Therefore, the operator can quickly identify the emergency stop button and accurately operate it using the emergency stop remote control, enabling a delay-free emergency stop operation in an emergency. Furthermore, in this invention, both the main body and the emergency stop remote control communicate wirelessly with the work vehicle via wireless communication networks with different communication methods. Therefore, multiple wireless communication networks function as failover protection, improving safety. Additionally, appropriate communication methods can be selected to match the data capacity of the communication performed by the main body and the data capacity of the communication performed by the emergency stop remote control. Attached Figure Description

[0015] Figure 1 This is an overall side view of the remote-controlled tractor implemented in this way.

[0016] Figure 2 This is a top view of a remote-controlled tractor.

[0017] Figure 3 This is a functional block diagram of a remote-controlled tractor.

[0018] Figure 4 These are the front view, top view, and right side view of the remote operating device.

[0019] Figure 5 This is the rear view of the remote control device.

[0020] Figure 6 Here are the front view, top view, bottom view, left view, and right view of an example of using a remote control for emergency stop.

[0021] Figure 7 This is a front view of one embodiment of a wireless communication terminal device.

[0022] Figure 8 These are the front and top views used to illustrate the installation and removal status of the emergency stop remote control.

[0023] Figure 9 These are front view, top view, and right side view of an example of the cover of a wireless communication terminal device.

[0024] Figure 10 These are the front view, top view, and right side view of other examples of emergency stop using the remote control.

[0025] Figure 11 These are the front view and right side view of other embodiments of the wireless communication terminal device.

[0026] Figure 12 This is a rear view of this embodiment.

[0027] Figure 13 The front view, top view, and left side view are yet another example of using a remote control to stop an emergency.

[0028] Figure 14 This is a front view of yet another embodiment of the wireless communication terminal device.

[0029] Figure 15 These are the front and top views used to illustrate the installation and removal status of the emergency stop remote control. Detailed Implementation

[0030] Hereinafter, embodiments of the present invention will be described based on the accompanying drawings. First, a remote-controlled tractor 1 (hereinafter, sometimes simply referred to as "tractor") will be described as an example of a work vehicle of the present invention. The tractor 1 has a body 2 that can move autonomously in a field. Figure 1 as well as Figure 2 The work machine 3, shown by the dashed line, is mounted on the machine body 2 in a detachable manner. This work machine 3 is used during agricultural operations. Various work machines, such as tillers, plows, fertilizer applicators, lawn mowers, and seeders, can be used as examples of the work machine 3, and the desired work machine 3 can be selected and mounted on the machine body 2 as needed. The machine body 2 is configured to allow for changes in the height and orientation of the mounted work machine 3.

[0031] In this manual, autonomous driving is referred to as follows: Figure 3As shown, the tractor 1 is controlled by an autonomous driving control device 51 or similar mechanism for driving, and the tractor 1 travels along a predetermined path. Furthermore, in this specification, "autonomous operation" refers to the tractor 1 performing work along a predetermined path by controlling the autonomous driving control device 51 or similar mechanism for driving.

[0032] In the following description, tractors that perform primary driving and autonomous operation are sometimes referred to as "unmanned tractors" or "remote-controlled tractors," while tractors that are driven and operated directly by an operator are referred to as "manned tractors." In a field, where unmanned tractors are used for part of the agricultural work, the remaining work is performed by manned tractors. Sometimes, the sharing of agricultural work between unmanned and manned tractors in a single field is referred to as coordinated operation, following operation, or accompanying operation. Furthermore, the aforementioned coordinated operation can also include situations where unmanned tractors are performing agricultural work in one field while manned tractors are simultaneously performing agricultural work in another field.

[0033] In this embodiment, the difference between unmanned tractors and manned tractors lies in whether or not an operator is directly involved in their operation. The basic structure of a tractor is the same for both types. That is, even unmanned tractors can be directly operated by an operator riding in them (in other words, they can be used as manned tractors). Furthermore, even manned tractors can be autonomously driven and operated by an operator disembarking (in other words, they can be used as unmanned tractors).

[0034] Reference Figure 1 as well as Figure 2 To illustrate the structure of tractor 1. For example... Figure 1 As shown, the front of the body 2, which is the body of the tractor 1, is supported by a pair of front wheels 7, 7 on the left and right, and the rear is supported by a pair of rear wheels 8, 8 on the left and right. The front wheels 7, 7 and the rear wheels 8, 8 constitute the running gear.

[0035] The front of the main body 2 is equipped with an engine hood 9. The engine hood 9 houses the engine 10, which serves as the drive source for the tractor 1, and a fuel tank (not shown). The engine 10 can be, for example, a diesel engine, but is not limited to this; for example, it can also be a gasoline engine. Alternatively, the drive source can be a combination of an engine and an electric motor, or an electric motor can be used instead of an engine.

[0036] A cab 11 for the operator is located behind the engine hood 9. The interior of the cab 11 mainly includes a steering wheel 12 for the user to steer, a seat 13 for the user to sit in, and various operating devices for performing various operations. Agricultural vehicles are not limited to those with a cab 11; they can also be vehicles without a cab 1.

[0037] Although the illustrations are omitted, examples of the aforementioned operating devices include a monitoring device, throttle lever, main shift lever, lift lever, PTO switch, PTO shift lever, and multiple hydraulic shift levers. These operating devices are located near the seat 13 or near the steering wheel 12.

[0038] The monitoring device is configured to display various information about the tractor 1. The throttle lever is used to set the rotational speed of the engine 10. The main gearshift lever is used to change the gear ratio of the gearbox 22. The lifting lever is used to raise and lower the height of the work machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch is used to switch the power transmission to the PTO shaft (power take-off shaft) protruding outward from the rear end of the gearbox 22. That is, when the PTO switch is ON, power is transmitted to the PTO shaft, causing it to rotate and drive the work machine 3; conversely, when the PTO switch is OFF, power to the PTO shaft is cut off, the PTO shaft does not rotate, and the work machine 3 stops. The PTO gearshift lever is used to change the power input to the work machine 3, specifically for changing the rotational speed of the PTO shaft. The hydraulic gearshift lever is used to switch the hydraulic external take-off valve.

[0039] like Figure 1 As shown, a chassis 20 forming its frame is provided at the lower part of the body 2. The chassis 20 is composed of a body frame 21, a gearbox 22, a front axle 23, and a rear axle 24.

[0040] The frame 21 is the front support member of the tractor 1, supporting the engine 10 directly or with the aid of vibration damping members. The gearbox 22 changes and transmits the power from the engine 10 to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the gearbox 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the gearbox 22 to the rear wheels 8.

[0041] like Figure 3As shown, the tractor 1 includes an engine control unit 15, a transmission control unit 16, and a work machine control unit 17, which are interconnected via a vehicle bus circuit 18, serving as control units for controlling the movements of the tractor body 2 (forward, backward, stop, and turn, etc.) and the work machine 3 (lifting, driving, and stopping, etc.). The engine control unit 15 is electrically connected to a common rail device 41, which serves as a fuel injection device, installed in the engine 10. The transmission control unit 16 is electrically connected to a transmission 42, which includes a hydraulic transmission for changing the speed of power from the engine 10. Furthermore, the work machine control unit 17 is electrically connected to a work machine lifting actuator 44.

[0042] The common rail unit 41 is a device for injecting fuel into each cylinder of the engine 10. In this case, the control device 4 controls the opening and closing of the fuel injection valves of the injectors for each cylinder of the engine 10, thereby injecting high-pressure fuel, which is pumped from the fuel tank to the common rail unit 41 by the fuel supply pump, from each injector into each cylinder of the engine 10, and precisely controlling the injection pressure, injection timing, and injection period (injection quantity) of the fuel supplied from each injector.

[0043] Specifically, the transmission 42 is, for example, a hydraulic continuously variable transmission with a movable swashplate, installed in the gearbox 22. The angle of the swashplate is appropriately adjusted by controlling the transmission 42 using the control device 4, thereby setting the gear ratio of the gearbox 22 to the desired gear ratio.

[0044] The lifting actuator 44 can, for example, move the three-point linkage mechanism connecting the work machine 3 to the machine body 2, causing the work machine 3 to rise and fall to either a retreat position (a position where no agricultural work is performed) or a working position (a position where agricultural work is performed). By controlling the lifting actuator 44 with the control device 4, the work machine 3 can be appropriately raised and lowered, for example, enabling agricultural work to be performed at a desired height in the field area using the work machine 3.

[0045] In addition, the engine control unit 15 is electrically connected to sensors such as a rotation speed sensor 31 for detecting the rotation speed of the engine 10, a vehicle speed sensor 32 for detecting the rotation speed of the rear wheels 8, and a steering angle sensor 33 for detecting the steering angle (steering angle) of the steering wheel 12. The detection values ​​of these sensors are converted into detection signals and sent to the engine control unit 15.

[0046] The tractor 1 equipped with the aforementioned control devices 15-17 is configured such that, based on various operations performed by the operator seated in the cab 11, the control devices 15-17 communicate with each other via the vehicle bus circuit 18 to control various parts of the tractor 1 (body 2, work machine 3, etc.), thereby enabling it to perform agricultural operations while traveling in the field. Furthermore, for example, even without the operator seated, the tractor 1 of this embodiment can autonomously drive based on predetermined control signals output via the remote control device 46.

[0047] Specifically, such as Figure 3 As shown, the tractor 1 is equipped with various mechanisms, including an autonomous driving control device 51, which enables autonomous driving. Furthermore, the tractor 1 has various mechanisms, such as a positioning antenna 6, which is necessary to obtain its own (machine body's) position information based on a positioning system. With this configuration, the tractor 1 can autonomously drive on the field by obtaining its own position information based on the positioning system.

[0048] Next, the mechanisms configured for autonomous driving in tractor 1 will be described in detail. Specifically, as follows: Figure 1 as well as Figure 3 As shown, the tractor 1 is equipped with an autonomous driving control device 51, a steering control device 52, a positioning measurement device 53, a wireless communication router (low-power data communication device) 54, a remote control receiver (specific low-power wireless device) 55, a steering actuator 43, a positioning antenna 6, and a wireless communication antenna unit 48, etc.

[0049] The autonomous driving control device 51 and the steering control device 52 are configured to communicate with the engine control device 15, the transmission control device 16, and the work machine control device 17 via the vehicle bus circuit 18. Furthermore, the autonomous driving control device 51 can communicate with the positioning measurement device 53, the wireless communication router 54, and the remote control receiver 55 via the autonomous driving bus circuit 56 in the autonomous driving communication system. This autonomous driving communication system is different from the control communication system based on the vehicle bus circuit 18.

[0050] The steering actuator 43 is located, for example, at the midpoint of the rotation axis (steering shaft) of the steering wheel 12, and is used to adjust the turning angle (steering angle) of the steering wheel 12. When the tractor 1 (assumed to be an unmanned tractor) is traveling on a predetermined path, the steering control device 52 calculates the appropriate turning angle of the steering wheel 12 in a manner that allows the tractor 1 to travel along the path, and controls the steering actuator 43 to turn the steering wheel 12 at the calculated turning angle. In addition, the steering control device 52 communicates with the engine control device 15, the transmission control device 16, and the work machine control device 17 via the vehicle bus circuit 18, and can perform steering corresponding to the speed of the tractor 1. Alternatively, the steering actuator 43 can also adjust the steering angle of the front wheels 7 of the tractor 1 without adjusting the turning angle of the steering wheel 12. In this case, even when turning, the steering wheel 12 does not rotate.

[0051] Positioning antenna 6, for example, receives signals from positioning satellites that constitute a positioning system such as a Global Navigation Satellite System (GNSS). Figure 1 As shown, the positioning antenna 6 is disposed on the upper surface of the cab roof 14 of the cab 11. The signal received by the positioning antenna 6 is input to... Figure 3 The positioning measuring device 53 shown calculates the position information of the tractor 1 (strictly speaking, the positioning antenna 6) into, for example, latitude and longitude information. The autonomous driving control device 51 obtains the position information calculated by the positioning measuring device 53 for the control of the tractor 1.

[0052] The positioning measurement device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and communicates with the base station (portable base station) 60 (described later) through a first wireless communication network based on specific low-power wireless (e.g., a wireless communication network in the 920MHz band). Figure 1 As shown, the wireless communication antenna unit 48 is disposed on the upper surface of the cab roof 14 of the cab 11. The positioning measurement device 53 communicates with the base station 60 at a location near the field via the first wireless communication antenna 48a, thereby correcting the satellite positioning information of the tractor 1 (mobile station) using correction information from the base station 60, and determining the current position of the tractor 1. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time dynamic positioning) can be applied.

[0053] In this embodiment, for example, RTK positioning is applied. In addition to the positioning antenna 6 installed on the tractor 1, which serves as the mobile station, a base station 60 equipped with a base station positioning antenna 61 is also installed. The base station 60 is positioned, for example, around a field, at a location (reference point) that does not affect the movement of the tractor 1. The location information of the reference point where the base station 60 is installed is preset. The base station 60 has a base station communication device 62 capable of communication via a first wireless communication network, which is established between the base station communication device 62, the positioning measurement device 53 of the tractor 1, and the communication device based on the first wireless communication antenna 48a.

[0054] In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the base station 60 set at the reference point and the positioning antenna 6 of the tractor 1, which is the mobile station used to obtain location information. Whenever satellite positioning information is measured from the positioning satellite 63 or whenever a set period elapses, the base station 60 generates correction information including the measured satellite positioning information and the reference point's location information, and transmits the correction information to the tractor 1's first wireless communication antenna 48a from the base station communication device 62. The positioning measurement device 53 of the tractor 1 (equivalent to the mobile station) uses the correction information transmitted from the base station 60 to correct the satellite positioning information measured by the positioning antenna 6, and determines the tractor 1's current location information (e.g., latitude and longitude information).

[0055] Furthermore, this embodiment utilizes a high-precision satellite positioning system using the GNSS-RTK method, but it is not limited to this; other positioning systems can be used as long as high-precision position coordinates can be obtained. GNSS-RTK is a positioning method that improves accuracy by correcting information from known base stations, and there are multiple methods depending on the distribution method of the information from the base stations. This invention does not rely on the GNSS-RTK method, so detailed descriptions are omitted in this embodiment.

[0056] Furthermore, the positioning measurement device 53 can not only measure the position information of the tractor 1 (body 2) based on satellite positioning, but also measure the tilt angle information in all directions based on inertial measurement. The tilt angle information measured by the positioning measurement device 53 is obtained by the autonomous driving control device 51 in a state corresponding to the position information (latitude and longitude information) and used for the control of the tractor 1. In addition, the positioning measurement device 53 can also measure the height position of the positioning antenna 6 relative to the field surface, and thus measure the vehicle height of the tractor 1 (body 2).

[0057] The wireless communication antenna unit 48 is disposed on the upper surface of the cab roof 14 of the tractor 1's cab 11, and has first to third wireless communication antennas 48a to 48c that are connected to first to third wireless communication networks with different frequency bands. For communication of positioning information based on the base station 60, for example, the first wireless communication network is constructed using a specific low-power wireless communication system in the 920MHz band with high data transmission speed. For high-speed communication of large data volumes such as image data, for example, the second wireless communication network is constructed using a low-power data communication system in the 2.4GHz band. The third wireless communication network has a lower data transmission volume than the second wireless communication network, so it is constructed using, for example, a specific low-power wireless communication system in the 400MHz band.

[0058] The first wireless communication antenna 48a is electrically connected to the positioning and measuring device 53, the second wireless communication antenna 48b is electrically connected to the wireless communication router 54, and the third wireless communication antenna 48c is electrically connected to the remote control receiver 55. The wireless communication router 54, connected to the second wireless communication antenna 48b, communicates via the second wireless communication network with a remote control device 70 operated by an operator outside the tractor 1, capable of displaying images. The wireless communication router 54 receives control signals from the remote control device 70 and transmits them to the autonomous driving control device 51 via the autonomous driving bus circuit 56. The remote control receiver 55, connected to the third wireless communication antenna 48c, communicates via the third wireless communication network with an emergency stop remote control 71 operated by an operator outside the tractor 1. The remote control receiver 55 receives control signals from the emergency stop remote control 71 and transmits them to the autonomous driving control device 51 via the autonomous driving bus circuit 56.

[0059] The remote operation device 70 is specifically configured as a tablet-type personal computer with a touchscreen. The operator can confirm information (e.g., information about the field required for autonomous driving) by referring to the information displayed on the touchscreen of the remote operation device 70. Furthermore, the operator operates the remote operation device 70 to send control signals to the autonomous driving control device 51 of the tractor 1 to control the tractor 1. Additionally, the remote operation device 70 in this embodiment is not limited to a tablet-type personal computer; it can also be configured using, for example, a laptop-type personal computer. Alternatively, when a manned tractor (not shown) follows an unmanned tractor 1, a monitoring device mounted on the manned side of the tractor can be used as the remote operation device.

[0060] The autonomous driving control device 51 calculates the driving path within the field area (driving area) according to the instructions of the operator using the remote operation device 70. Then, the autonomous driving control device 51 compares the calculated driving path with the position information of the tractor 1 to confirm the position of the tractor 1 on the driving path, and calculates the steering angle and driving speed of the tractor 1, taking into account tilt angle information, etc., and communicates with each control device 15-17, 52 via the vehicle bus circuit 18. Thus, the tractor 1 can perform agricultural operations based on the work machine 3 while autonomously driving along the driving path. In the following description, the path within the field area (driving area) where the tractor 1 autonomously drives is sometimes referred to as the "driving path". Furthermore, within the field area (driving area), the area where agricultural operations are performed by the work machine 3 based on the tractor 1 (operation area) is determined as the area after removing the field edges and margins from the entire field area, and is set based on these registration points and the working width of the tractor 1 when the operator performs the registration operation described later.

[0061] The emergency stop remote control 71 is a remote control switch used to bring the tractor 1 to an emergency stop. It is held by the operator operating the remote control device 70 and sends an emergency stop control signal when the operator operates the switch. The emergency stop remote control 71 has an emergency stop button 72 protruding from the surface of the remote control body. The operator sends the emergency stop control signal by pressing the emergency stop button 72. Furthermore, the emergency stop remote control 71 is configured to be easily attached to and detached from the remote control device 70, and can be fitted with a sling (rope-like component) and hung on the operator's head or other body so that it is close to the body.

[0062] Based on the operator's operation of the emergency stop button 72 on the emergency stop remote control 71, the autonomous driving control unit 51, through communication with the engine control unit 15, stops fuel injection in the common rail unit 41 and, through communication with the transmission control unit 16, puts the transmission 42 into a neutral state. Then, it activates the braking action based on the braking device 26 (described later). At this time, the autonomous driving control unit 51 can also control the steering actuator 43 through communication with the steering control unit 52 to place the steering wheel 12 in a neutral position and align the left and right front wheels 7, 7 towards the straight-ahead direction.

[0063] The autonomous driving control device 51, via the autonomous driving bus circuit 56, confirms the communication status of the positioning measurement device 53 with the base station 60 (communication status in the first communication network), the communication status of the wireless communication router 54 with the remote operation device 70 (communication status in the second communication network), and the communication status of the remote control receiver 55 with the emergency stop remote control 71 (communication status in the third communication network). When the autonomous driving control device 51 confirms that the communication status in any of the first to third communication networks has been cut off, it communicates with the engine control device 15 and the transmission control device 16, thereby causing the autonomous driving of the tractor 1 to stop urgently. Furthermore, if the positioning measurement device 53, the wireless communication router 54, and the remote control receiver 55 do not receive a signal from the communication partner for a specified period, they determine that communication with that communication partner has been cut off.

[0064] Furthermore, the tractor 1 is equipped with a pair of braking devices 26, 26 that apply braking to the left and right rear wheels 8, 8 via both the operation of the brake pedal or parking brake lever and an automatic control system. That is, the left and right braking devices 26, 26 are configured to apply braking to the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Additionally, if the steering wheel 12's rotation angle is greater than a predetermined angle, the braking device 26 for the inner rear wheel 8 automatically performs braking action according to the instruction of the transmission control device 16 (so-called automatic braking).

[0065] In addition, the tractor 1 is equipped with an obstacle sensor 35 for detecting obstacles in front, to the side, or behind. The obstacle sensor 35 consists of a laser sensor, an ultrasonic sensor, etc., and identifies obstacles present in front of, to the side, and behind the tractor 1, generating detection signals. Furthermore, the tractor 1 is equipped with a camera 36 for capturing images in front, to the side, and behind. The obstacle sensor 35 and the camera 36 are configured to communicate wirelessly with a wireless communication router 54, transmitting obstacle detection signals and image signals to the autonomous driving control device 51 via the wireless communication router 54 and the autonomous driving bus circuit 56. Moreover, the wireless communication router 54 transmits image signals from the camera 36 to the remote operation device 70 via a second wireless communication network, enabling the display of images of the area surrounding the tractor 1 on the remote operation device 70. Alternatively, the obstacle sensor 35 and the camera 36 can also be wired to the autonomous driving control device 51 via the autonomous driving bus circuit 56.

[0066] The portable base station 60 includes: a base station wireless communication antenna 64 for wireless communication with the autonomously moving tractor (work vehicle) 1; a base station positioning antenna 61 for receiving signals from a positioning satellite 63; and a base station communication device 62 electrically connected to the wireless communication antenna 64 and the positioning antenna 61, respectively. The portable base station 60 is positioned at a reference point during the process of determining the location of the tractor (work vehicle) 1, which serves as a mobile station. The portable base station 60 is configured to be disassembled into multiple components, each component being of a size that can be transported by the tractor 1.

[0067] The portable base station 60, assembled and disassembled, is positioned at a reference point. It transmits signals received from the positioning satellite 63 via the base station positioning antenna 61 to the base station communication device 62. The base station communication device 62 generates correction information, including measured satellite positioning information and reference point location information. Then, the portable base station 60 transmits the correction information generated in the base station communication device 62 via the base station wireless communication antenna 64, which is connected to a first wireless communication network capable of communicating with the first wireless communication antenna 48a of the tractor 1.

[0068] Next, refer to Figures 4-8 This describes the implementation method of the wireless communication terminal device 88. For example... Figure 8 As shown, the wireless communication terminal device 88, used to operate the autonomously driving work vehicle, i.e., the unmanned tractor 1, includes a remote control device (terminal device main body) 70 for wireless communication with the tractor 1 and an emergency stop remote controller 71. Furthermore, the remote control device 70 and the emergency stop remote controller 71 communicate with the tractor 1 via wireless communication networks with different communication methods. The remote control device 70 has a display 74 capable of touchscreen operation, and the emergency stop remote controller 71 is configured to be easily attached to and detached from the frame of the remote control device 70. The emergency stop remote controller 71 includes an emergency stop button 72 for stopping the autonomous driving of the tractor 1, and a start button (start button) 73 for initiating wireless communication with the tractor 1.

[0069] like Figure 4 as well as Figure 5As shown, the remote control device 70 has a display 74 on its front surface 70a, a camera 75 on its rear surface 70b, a terminal cover 76 for power connection terminals on its right side 70c, and a terminal cover 77 for connecting external connection terminals such as USB on its left side 70d. Furthermore, a remote control mounting part 79 is mounted and detachable on the outer periphery of the upper right portion of the remote control device 70, extending from the front surface 70a across the upper surface 70e to the rear surface 70b. The remote control mounting part 79 has a roughly U-shaped cross-section, and its upper surface has a tapered ridge 80 that narrows towards the base.

[0070] like Figure 6 As shown, the emergency stop remote control 71 includes an emergency stop button 72, a start button 73, and a light 81 on its front surface 71a that indicates the status of the tractor 1. The front surface 71a has an outer edge formed by two circles of different sizes and two tangents. The emergency stop button 72 is located at the end of the wider side of the front surface 71a, the start button 73 is located in the center of the front surface 71a, and the light 81 is located near the end of the narrower side of the front surface 71a. The light 81 indicates the status of the tractor 1 by means of turning off, turning on, flashing, or changing its color. In addition, the emergency stop remote control 71 has the function of announcing the status of the tractor 1 via voice. When the operator carries the emergency stop remote control 71 alone, even when slightly away from the autonomously moving tractor 1, the status of the tractor 1 can be identified by the light 81 and the voice announcement, which improves safety.

[0071] A suspension member mounting portion 83 is provided on the wider end face 71b of the emergency stop remote control 71, which is capable of mounting a suspension member 82 such as a sling. A mounting groove 84 is provided on one side face 71c of the emergency stop remote control 71, which engages with the protrusion 80 of the remote control mounting portion 79. The mounting groove 84 extends from the middle of one side face 71c to the narrower end face 71d, and when viewed from the other end face 71d side, it has a conical shape that narrows towards one side face 71c, and the end of the other end face 71d side is open.

[0072] like Figure 7 as well as Figure 8 As shown, the emergency stop remote control 71 is detachably mounted to the remote control mounting part 79 of the remote control mounting part 70 by engaging the mounting slot 84 with the protrusion 80. The emergency stop remote control 71 is mounted to the remote control mounting part 79 with its front surface 71a facing the same direction as the front surface 70a of the remote control 70.

[0073] Furthermore, the upper right corner of the display 74 of the remote control device 70 displays an image 86 of an emergency stop button for stopping the autonomous driving of the tractor 1, and the upper left corner of the display 74 displays an image 87 of a start or stop button for starting or stopping the autonomous driving of the tractor 1. Thus, by displaying the emergency stop button image 86 near the mounting location of the emergency stop remote control 71 on the display 74, the emergency stop button 72 and the emergency stop button image 86 can be centrally located. When the operator wants to bring the tractor 1 to an emergency stop, the location of the emergency stop button 72 and the emergency stop button image 86 can be easily identified, thereby reducing delays and misoperations in emergency stop operations.

[0074] Furthermore, initiating wireless communication with the tractor 1 is not an emergency operation. Therefore, with the emergency stop remote control 71 installed on the remote operation device 70, even if the start button 73 and the start or stop button image 87 are positioned apart from each other, the risk of misoperation is low and no particular problem will occur.

[0075] Furthermore, the emergency stop button image 86 is operated by pressing (touching) the touchscreen display 74, so the operator does not feel the action of pressing it. However, because the emergency stop button 72 is designed to be pressed firmly, the operator can feel the action of pressing it. Additionally, the operator can use either the emergency stop button 72 or the emergency stop button image 86 to bring the tractor 1 to an emergency stop.

[0076] Furthermore, the emergency stop remote control 71 can be configured to be expanded in number. Moreover, in addition to monitoring the operator of the autonomously moving tractor 1, workers operating in the same field can identify the status of the tractor 1 through notifications based on lights 81 and voice commands by carrying the emergency stop remote control 71. In an emergency, they can operate the emergency stop button 72 on the emergency stop remote control 71, thus improving the monitoring system for the autonomously moving tractor 1 and enhancing the safety of workers in the field.

[0077] Next, refer to Figures 9-12 Another embodiment of the wireless communication terminal device 88 is described. This embodiment of the wireless communication terminal device 88 includes a housing 90 capable of housing a remote operation device 70 and capable of attaching and detaching an emergency stop remote controller 71. For example... Figure 9As shown, the housing 90 includes: a main housing portion 91 for housing the remote operating device 70; and a remote control housing portion 92 for holding the emergency stop remote control 71. The main housing portion 91 internally includes a remote operating device housing portion 93 for housing the remote operating device 70. Furthermore, the main housing portion 91 has a display opening 94 on its front surface 91a corresponding to the position of the display 74 of the remote operating device 70; a power connection opening 95 on its right side 91b corresponding to the position of the terminal cover 76 for the power connection terminal; an external machine connection opening 96 on its left side 91c corresponding to the position of the terminal cover 77 for the external connection terminal; and a camera opening 97 on its rear side 91d corresponding to the position of the camera 75. The main housing portion 91 holds the outer edge of the remote operating device 70 throughout its entire circumference. Alternatively, the housing 90 may be configured without the camera opening 97.

[0078] The remote control housing 92 has a longitudinally elongated, generally rectangular shape, and is integrally formed protruding to the right and rear sides in the lower right portion of the main housing 91. The remote control housing 92 includes a remote control storage section 98 for detachably storing the emergency stop remote control 71. The remote control storage section 98 comprises the emergency stop remote control 71 (see reference) which has a longitudinally elongated, generally rectangular shape. Figure 10 The remote control housing 92 has a slightly larger hollow portion, which is opened through an opening on the upper surface 92c of the remote control housing 92, allowing the emergency stop remote control 71 to be inserted into or removed from the remote control storage compartment 98 through this opening. Furthermore, the remote control housing 92 has a button opening 99 on the front 92a that exposes the buttons 72, 72 and the light 81 of the emergency stop remote control 71, and an opening 100 on the right side 92b for removing the emergency stop remote control 71 by sliding a finger up and down within the remote control storage compartment 98.

[0079] like Figure 9 As shown, the shell 90 is configured to split into two halves on its side. The front surface 90a and the back surface 90b of the shell are designed to be opened and closed with the lower end as the pivot point, and are fixed by a sliding locking mechanism 101 provided on the upper surface 91e of the shell 90. With the front surface 90a and the back surface 90b of the shell open, after the remote operating device 70 is stored in the remote operating device storage part 93, the front surface 90a and the back surface 90b of the shell are closed and the locking mechanism 101 is fixed, thereby reliably holding the remote operating device storage part 93 within the main shell part 91.

[0080] like Figure 10As shown, the emergency stop remote control 71 has a generally long rectangular shape, and on the front surface 71a, starting from the top, it has a notification light 81, an emergency stop button 72, and a start button 73. The upper part of the rear side of the emergency stop remote control 71 is provided with a suspension member mounting part 83 for mounting the suspension member 82.

[0081] like Figure 11 As shown, the emergency stop remote controller 71 is mounted on the remote controller mounting part 79 with its front surface 71a facing the same direction as the front surface 70a of the remote operating device 70. In this embodiment, similar to the embodiment described above, an emergency stop button image 86 is displayed in the upper right corner of the display 74 of the remote operating device 70, and a start or stop button image 87 is displayed in the upper left corner of the display 74. When the operator wants to bring the tractor 1 to an emergency stop, it is easy to identify the positions of the emergency stop button 72 and the emergency stop button image 86.

[0082] Furthermore, the back of the remote control housing 92 protrudes beyond the back of the main housing 91 91d, giving the remote control housing 92 a shape that is easy for the operator to grip. With the operator holding the remote control housing 92 in their right hand, they can easily operate buttons 72 and 73 with their right thumb, thus enabling the start and stop of wireless communication with the tractor 1, as well as emergency stop operations, to be performed while holding the housing 90 with one hand (right hand).

[0083] Next, refer to Figures 13-15 Another embodiment of the wireless communication terminal device 88 is described below. The emergency stop remote control 71 of the wireless communication terminal device 88 in this embodiment has a generally elongated cuboid shape, and its front surface 71a includes an emergency stop button 72, a start button 73, and a light 81. One end face 71b of the emergency stop remote control 71 is provided with a suspension member mounting portion 83 for mounting the suspension member 82, and one side face 71c is provided with a mounting groove 84 that engages with the protrusion 80 of the remote control mounting portion 79. The emergency stop button 72 is located on the opposite end face 71d, opposite to one end face 71b; the start button 73 is located in the center of the front surface 71a; and the light 81 is located closer to one end face 71b than the start button 73.

[0084] like Figure 14 as well as Figure 15 As shown, compared with the reference Figures 4-8Similarly, in the embodiment described above, the emergency stop remote control 71 is mounted on the remote control mounting portion 79 of the remote control 70 in a detachable manner by engaging the mounting slot 84 with the protrusion 80. Furthermore, an emergency stop button image 86 is displayed on the display 74 near the mounting position of the emergency stop remote control 71, making it easy for the operator to identify the location of the emergency stop button 72 and the emergency stop button image 86 when they wish to bring the tractor 1 to an emergency stop.

[0085] In this embodiment, the emergency stop button 72 is positioned on the opposite side of the suspension member 82 in the emergency stop remote control 71. Therefore, when the operator takes the emergency stop remote control 71 from a position where it is worn with the suspension member 82 hanging over their head, it is positioned at the front end (the end opposite to the suspension member mounting portion 83) of the operator's hand. This makes it easy for the operator to identify the position of the emergency stop remote control 71, thus reducing delays and misoperations in the emergency stop operation.

[0086] According to the above embodiment, the wireless communication terminal device 88 for operating the autonomously driving work vehicle, i.e., the tractor 1, includes: a remote operation device (device body) 70, which has a display 74 capable of touch screen operation; and an emergency stop remote control 71, which has an emergency stop button 72 to stop the autonomous driving of the tractor 1. Therefore, the operator can quickly identify the emergency stop button 72 and reliably operate it by using the emergency stop remote control 71, and can perform an emergency stop operation without delay in an emergency.

[0087] Furthermore, the remote control device 70 and the emergency stop remote controller 71 communicate wirelessly with the tractor 1 through wireless communication networks with different communication methods. Therefore, multiple wireless communication networks function as fail-safe protection, improving safety. Additionally, appropriate communication methods can be selected to match the data capacity of the communication performed by the remote control device 70 and the emergency stop remote controller 71.

[0088] Furthermore, the emergency stop remote control 71 is designed to be easily attached to and detached from the outer periphery of the remote control device 70. Therefore, even with the remote control device 70 and the emergency stop remote control 71 in a fixed relative position, the operator can use either the emergency stop button 72 or the emergency stop button image 86, both of which have the same function, for easier operation. Additionally, by detaching the emergency stop remote control 71 from the remote control device 70 and carrying it, the operator can operate another machine or similar device with both hands while simultaneously pressing the emergency stop button 72 on the emergency stop remote control 71 to perform an emergency stop operation on the autonomously moving tractor 1 without delay. Moreover, by having another operator carry the emergency stop remote control 71, the operator carrying the remote control 70 can flexibly use both devices depending on the situation.

[0089] In addition, the emergency stop remote control 71 has a start button (start button) 73 for initiating wireless communication with the tractor 1. On the display 74 of the remote control device 70, an emergency stop button image 86 for stopping the autonomous driving of the tractor 1 is displayed near the mounting position of the emergency stop remote control 71. An image 87 of the start or stop button for initiating wireless communication with the tractor 1 is displayed at a position farther away from the mounting position of the emergency stop remote control 71 than the emergency stop button image 86. Therefore, the emergency stop button 72 and the emergency stop button image 86 can be centrally configured. When the operator wants to stop the tractor 1 in an emergency, the positions of the emergency stop button 72 and the emergency stop button image 86 are easy to identify, thus suppressing delays and misoperations in emergency stop operations.

[0090] In addition, such as Figures 9-12 As shown, since the housing 90 is formed by mounting the remote control housing 92 on the main housing 91, the main housing 91 holds the outer edge of the remote control device 70 all around the periphery, and the remote control housing 92 holds the emergency stop remote control 71 in a detachable manner, the remote control device 70 can be reliably held and protected, and the emergency stop remote control 71 can be easily installed and removed.

[0091] In addition, the emergency stop remote control has a light 81 as a notification unit for informing the status of the tractor 1 and a voice output function. Therefore, even when the emergency stop remote control 71 is alone, the operator can identify the status of the tractor 1 even when it is some distance away from the autonomously driving tractor 1 by means of notification based on the light 81 and voice, which can improve safety.

[0092] This invention is not limited to the embodiments described above, and can be embodied in various ways. The configuration of each part is not limited to the embodiments shown in the figures, and various modifications can be made without departing from the spirit of this invention.

[0093] Symbol explanation:

[0094] 1: Remote-controlled tractor (work vehicle); 70: Remote control device (device body); 71: Emergency stop remote control; 72: Emergency stop button; 73: Start button; 74: Display; 81: Light (notification unit); 86: Emergency stop button image; 87: Start or stop button image (start button image); 91: Main body shell; 92: Remote control shell; 90: Shell.

Claims

1. A remote control system that is a remote control system for operation of a work vehicle, the work vehicle is provided with a body and a work machine mounted to the body, and performs work while autonomously traveling the body, characterized in that the remote control system is provided with: a remote operation device that transmits a control instruction signal for controlling the body and the work machine to the work vehicle in a first wireless communication mode according to manual operation; and a remote controller that transmits a stop instruction signal for stopping autonomous travel of the body to the work vehicle in a second wireless communication mode different from the first wireless communication mode according to manual operation.

2. The remote control system according to claim 1, characterized in that the work vehicle is capable of communicating with a plurality of the remote controllers through the second wireless communication mode.

3. The remote control system according to claim 1, characterized in that an image of a periphery of the work vehicle taken by a photographing section mounted to the work vehicle is displayed on a display section of the remote operation device.

4. The remote control system according to any one of claims 1 to 3, characterized in that the work vehicle is provided with first to third wireless communication antennas, the first wireless communication antenna is electrically connected to a positioning measurement device, the second wireless communication antenna is electrically connected to a wireless communication router, the third wireless communication antenna is electrically connected to a remote controller receiver, the first to third wireless communication antennas have different communication frequency bands, the positioning measurement device connected to the first wireless communication antenna communicates position measurement information measured by a base station through a first wireless communication network, the wireless communication router connected to the second wireless communication antenna communicates with the remote operation device through a second wireless communication network, the remote controller receiver connected to the third wireless communication antenna communicates with the remote controller through a third wireless communication network. ​

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