Work support system

Abstract

To provide a work support system capable of facilitating work.SOLUTION: A work support system 100 comprises: a work vehicle 10 including a vehicle unit 11 and a work unit 12 which is detachable to the vehicle unit and capable of executing work with the same attached to the vehicle unit; an operation terminal CT which receives operational input; and a server 21 which can communicate with the work vehicle and the operation terminal. The server identifies an operational work vehicle through the operation terminal, transmits operation instruction information based on the operational input into the operation terminal to the identified work vehicle. The work vehicle operates on the basis of the operation instruction information received from the server.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work support system. [Background technology]

[0002] For example, Patent Document 1 discloses an agricultural work machine having a traveling vehicle body that travels by being driven by a traveling motor, and configured so that either a first agricultural work implement that operates by being driven by the agricultural work motor or a second agricultural work implement that operates by being transmitted from the traveling motor can be selectively attached to the traveling vehicle body. This agricultural work machine is provided with a control device that changes and controls the drive speed of the agricultural work motor based on the traveling speed of the traveling vehicle body so that the operating speed of the first agricultural work implement is proportional to the traveling speed when the first agricultural work implement is attached, and is configured so that an alarm device that issues an alarm when the traveling speed is faster than a predetermined value is activated based on detection of the attachment state of the first agricultural work implement and is not activated based on detection of the attachment state of the second agricultural work implement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-130800 A Summary of the Invention [Problem to be solved by the invention]

[0004] For example, agricultural work is a task that places a large physical burden on the user, and thus agricultural machines such as cultivators and rice transplanters have been developed. However, such agricultural machines are expensive per unit, and when a user purchases a machine for each task, the user is burdened with a large amount of cost and management space. In addition, the more advanced the agricultural machine is, the less the physical burden is, but the operation of the agricultural machine tends to become more complicated. Therefore, it is desirable to make it easier to perform tasks that place a large physical burden on the user, such as agricultural work.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide a work assistance system that enables work to be easily performed. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the work assistance system of the present invention comprises a work vehicle including a vehicle unit and a work unit that is detachable from the vehicle unit and capable of performing work while attached to the vehicle unit, an operation terminal that accepts operation input, and a server that is capable of communicating with the work vehicle and the operation terminal, wherein the server identifies the work vehicle that can be operated by the operation terminal and transmits operation instruction information based on the operation input to the operation terminal to the identified work vehicle, and the work vehicle operates based on the operation instruction information received from the server. Effect of the Invention

[0007] The work assistance system according to the present invention has an effect of making it possible to easily perform work. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing a work support system according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing a schematic configuration of the work support system according to the first embodiment. [Diagram 3] FIG. 3 is a schematic diagram illustrating main data handled in the work support system according to the first embodiment. [Figure 4] FIG. 4 is a block diagram showing a schematic configuration of a vehicle unit provided in the work assistance system according to the first embodiment. [Diagram 5] FIG. 5 is a block diagram showing a schematic configuration of a task unit included in the task support system according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing a schematic configuration of a server included in the work support system according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram illustrating main data handled in the work support system according to the first embodiment. [Figure 8] FIG. 8 is a block diagram showing a schematic configuration of a user operation terminal included in the work support system according to the first embodiment. [Figure 9] FIG. 9 is a block diagram showing a schematic configuration of an operator terminal included in the work support system according to the first embodiment. [Figure 10] FIG. 10 is a flow chart showing the operation of the work vehicle in the work support system according to the first embodiment. [Figure 11] FIG. 11 is a flow chart showing the operation of the work vehicle in the work assistance system according to the first embodiment. [Figure 12] FIG. 12 is a block diagram showing a schematic configuration of a vehicle unit provided in a work assistance system according to a first modified example of the first embodiment. [Figure 13] FIG. 13 is a block diagram showing a schematic configuration of a task unit included in a task support system according to a first modified example of the first embodiment. [Figure 14] FIG. 14 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a first modified example of the first embodiment. [Figure 15] FIG. 15 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a first modified example of the first embodiment. [Figure 16] FIG. 16 is a diagram showing an example of a map for inputting operations to a work vehicle, which is displayed on an operation terminal in the work support system according to the second embodiment. [Figure 17] FIG. 17 is a flow chart showing the operation of the work vehicle in the work assistance system according to the second embodiment. [Figure 18] FIG. 18 is a flow chart showing the operation of the work vehicle in the work support system according to the second embodiment. [Figure 19] FIG. 19 is a schematic diagram showing the operation of a work vehicle by a work assistance system according to a first modified example of the second embodiment. [Figure 20] FIG. 20 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a first modified example of the second embodiment. [Figure 21] FIG. 21 is a diagram showing an example of a map for operation input to a work vehicle, which is displayed on an operation terminal in a work support system according to a second modified example of the second embodiment. [Figure 22] FIG. 22 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a second modified example of the second embodiment. [Figure 23] FIG. 23 is a diagram showing an example of a map for operation input to a work vehicle, which is displayed on an operation terminal in a work support system according to a third modified example of the second embodiment. [Figure 24] FIG. 24 is a diagram showing an example of a map for operation input to a work vehicle, which is displayed on an operation terminal in a work support system according to a third modified example of the second embodiment. [Diagram 25] FIG. 25 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a third modified example of the second embodiment. [Figure 26] FIG. 26 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a third modified example of the second embodiment. [Figure 27] FIG. 27 is a block diagram showing a work support system according to the third embodiment. [Figure 28] FIG. 28 is a block diagram showing a schematic configuration of a vehicle unit included in a work assistance system according to the third embodiment. [Figure 29] FIG. 29 is a flow chart showing the operation of a work vehicle in the work support system according to the third embodiment. [Diagram 30] FIG. 30 is a block diagram showing a task support system according to a first modified example of the third embodiment. [Diagram 31] FIG. 31 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a first modified example of the third embodiment. [Diagram 32]FIG. 32 is a block diagram showing a schematic configuration of a server included in a task support system according to a second modified example of the third embodiment. [Diagram 33] FIG. 33 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a second modified example of the third embodiment. [Diagram 34] FIG. 34 is a flow chart illustrating the operation of a work vehicle in a work support system according to a third modified example of the third embodiment. [Diagram 35] FIG. 35 is a block diagram showing a vehicle unit provided in a work assistance system according to a fourth modified example of the third embodiment. [Diagram 36] FIG. 36 is a flow chart illustrating the operation of a work vehicle in a work assistance system according to a fourth modified example of the third embodiment. [Figure 37] FIG. 37 is a block diagram showing a vehicle unit provided in a work assistance system according to a fifth modified example of the third embodiment. [Figure 38] FIG. 38 is a block diagram showing a task unit included in a task support system according to a fifth modified example of the third embodiment. [Figure 39] FIG. 39 is a flow chart illustrating the operation of a work vehicle in a work support system according to a fifth modified example of the third embodiment. [Diagram 40] FIG. 40 is a block diagram showing a vehicle unit provided in the work support system according to the fourth embodiment. [Diagram 41] FIG. 41 is a diagram showing an example of a map for operation input to a work vehicle, which is displayed on an operation terminal in a work support system according to the fourth embodiment. [Diagram 42] FIG. 42 is a flow chart showing the operation of the work vehicle in the work support system according to the fourth embodiment. [Diagram 43] FIG. 43 is a block diagram showing a vehicle unit provided in the work support system according to the fifth embodiment. [Diagram 44] FIG. 44 is a flow chart showing the operation of the work vehicle in the work support system according to the fifth embodiment. [Diagram 45]FIG. 45 is a block diagram showing a vehicle unit provided in a work assistance system according to a first modified example of the fifth embodiment. [Figure 46] FIG. 46 is a block diagram showing a task unit included in a task support system according to a first modified example of the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to this embodiment. In addition, the components in the following embodiments include those that are replaceable and easy for a person skilled in the art, or those that are substantially the same.

[0010] [First embodiment] <Overview of the work support system> The work support system 100 according to the first embodiment shown in Fig. 1 and Fig. 2 includes a work vehicle 10 and a control device 20, which are configured to be able to communicate with each other via a network NW. The network NW constitutes a communication network that connects a plurality of devices so that they can communicate with each other, and enables data communication by various communication methods applicable to this system, whether wired or wireless. The network NW is configured, for example, by an Internet line network, a mobile phone line network, a mobile communication network, a LAN (Local Area Network), a WAN (Wide Area Network), a VPN (Virtual Private Network), etc., and may include various network relay devices such as antennas, gateways, routers, and hubs.

[0011] The work assistance system 100 of this embodiment constitutes a system in which the work vehicle 10 and the control device 20 communicate data with each other via a network NW, and the driving and work of the work vehicle 10 can be controlled by operational input to the control device 20.

[0012] As shown in Fig. 2, the work vehicle 10 includes a vehicle unit 11 and a work unit 12. The work vehicle 10 of the first embodiment is configured to travel by the vehicle unit 11 and to be able to perform a predetermined task by the work unit 12. In the first embodiment, the vehicle unit 11 is a vehicle unit that travels in a field (e.g., a farm) where agricultural products are grown, and the work unit 12 is a work unit that is able to perform agricultural work in the field.

[0013] The vehicle unit 11 is a so-called mover, and is a unit having a traveling function. The vehicle unit 11 is configured to be able to travel with the working unit 12 attached. The working unit 12 is a so-called work, and is detachable from the vehicle unit 11 and is configured to be able to perform work while attached to the vehicle unit 11. The working unit 12 is connected to the vehicle unit 11 so as to be able to communicate with it by being attached to the vehicle unit 11. There are multiple types of working units 12, and each type has different tasks that it can perform. For example, the working units 12 of the first embodiment are configured to be able to perform farm work such as weeding, watering, spraying pesticides, carrying loads, or repelling vermin, depending on the type.

[0014] The control device 20 is a device that controls the operation of the work vehicle 10. The control device 20 is configured to be able to communicate with the work vehicle 10, and transmits various information for controlling the work vehicle 10 to the work vehicle 10, and also receives various information transmitted from the work vehicle 10. The control device 20 in the first embodiment includes a server 21 and an operation terminal CT. The operation terminal CT in the first embodiment includes a user operation terminal 22 and an operator operation terminal 23.

[0015] The server 21 is configured to be able to communicate with the work vehicle 10 and the operation terminal CT, and is a device that relays communication between the work vehicle 10, the user operation terminal 22, and the operator operation terminal 23. The user operation terminal 22 and the operator operation terminal 23 are devices that give operation instructions to the work vehicle 10 based on operation input. The user operation terminal 22 is an operation terminal operated by a user who uses the work vehicle 10. The user in the first embodiment is, for example, an agricultural worker who owns a field and performs agricultural work. The operator operation terminal 23 is an operation terminal operated by an operator who manages the work vehicle 10. The operator in the first embodiment is, for example, an employee who assists agricultural workers who are members of a cooperative organized by agricultural workers, etc.

[0016] In the first embodiment, the work assistance system 100 includes a plurality of work vehicles 10 and a plurality of user operation terminals 22. The plurality of work vehicles 10 are managed by, for example, a cooperative, and a user who wishes to use the work vehicles 10 can use the work vehicles 10 by entering into a specified contract with the cooperative. In the work assistance system 100, for example, a user can request an operator to perform work using the work vehicles 10 using the user operation terminal 22 or the like. Then, in response to a request from a user, the operator can give operation instructions to the work vehicle 10 of the user by operating the operator operation terminal 23. In addition, a user can also give operation instructions to the work vehicle 10 of the user without going through an operator using the user operation terminal 22 or the like.

[0017] Here, operator authority for the work vehicle 10 is assigned to a person who is able to operate the work vehicle 10. For example, when a user enters into a usage contract for the work vehicle 10 with the cooperative, operator authority for the work vehicle 10 is assigned to the user (the farmer himself / herself) and an operator who receives requests from the user.

[0018] For example, the server 21 can store work vehicle data (vehicle unit data D10 and work unit data D20) relating to a work vehicle 10 for which a user has entered into a usage contract from among a plurality of work vehicles 10, in association with user data D30 (see FIG. 3) relating to the user.

[0019] The server 21 can also store operator data D50 (see FIG. 3) relating to the operator, and the operator data D50 is stored in association with the user data D30 of the user to be assisted by the operator and the work vehicle data (vehicle unit data D10 and work unit data D20) of the work vehicle 10 for which the user has entered into a usage contract. In the server 21, the work vehicle data of the work vehicle 10 for which the user has entered into a usage contract, the user data D30 of the user, and the operator data D50 of the operator assisting the user are stored in the server 21 in association with each other as registration information relating to the operator authority of the work vehicle 10. By storing the registration information in the server 21, the operator authority of the work vehicle 10 for which the user has entered into a usage contract is allocated to the user and the operator.

[0020] For example, when a user uses the user operation terminal 22 to request an operator to give an operation instruction to a work vehicle 10 for which the user has made a service contract, the operator performs an input operation to the operator operation terminal 23 in response to the user's request. Then, the server 21 identifies the work vehicle 10 to which the operator should give an operation instruction based on the operator data D50, the user data D30, and the work vehicle data, and permits an operation instruction based on an operation input to the operator operation terminal 23 for the identified work vehicle 10. Then, if the operation instruction is permitted by the server 21, the work vehicle 10 operates based on the operation input to the operator operation terminal 23. Also, when a user uses the user operation terminal 22 or the like to give an operation instruction to the user's work vehicle 10 without the intervention of an operator, the server 21 identifies the work vehicle 10 to which the user should give an operation instruction based on the user data D30 and the work vehicle data, and permits an operation instruction based on an operation input to the user operation terminal 22 for the identified work vehicle 10. Then, if the operation instruction is permitted by the server 21, the work vehicle 10 operates based on the operation input to the user operation terminal 22.

[0021] In this manner, the work assistance system 100 provides a service that causes the work vehicle 10 to perform a work desired by the user.

[0022] Hereinafter, each component of the work support system 100 will be described in detail with reference to each drawing. Note that, in the following, an overview of main data handled by the work support system 100 will first be described with reference to Fig. 3, and then each component of the work support system 100 will be described in detail with reference to other drawings.

[0023] <Major data handled by the work support system> Main data handled by the work support system 100 includes, for example, vehicle unit data D10, task unit data D20, user data D30, user operation terminal data D40, operator data D50, operator operation terminal data D60, and ID data D70, as illustrated in Fig. 3. The vehicle unit data D10, task unit data D20, user data D30, user operation terminal data D40, operator data D50, and operator operation terminal data D60 are managed in the work support system 100 in association with the ID data D70, etc.

[0024] <Vehicle unit data> The vehicle unit data D10 is data related to the vehicle unit 11. The vehicle unit data D10 is data transmitted from the vehicle unit 11 to the server 21. Here, the vehicle unit data D10 includes data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, map information D14, and driving instruction information D15.

[0025] The vehicle unit identification information D11 is unique information assigned to each vehicle unit 11 in order to identify the vehicle unit 11, and is, for example, information such as a vehicle identification number (VIN). In addition, the vehicle unit identification information D11 may be information such as a chassis number.

[0026] The vehicle unit basic information D12 is information about the vehicle unit 11 such as its model.

[0027] The driving condition information D13 is information related to the driving condition of the vehicle unit 11. The driving condition information D13 includes, for example, vehicle unit status information, position information, and image information. The vehicle unit status information is basic information related to the status of the vehicle unit 11, such as driving speed, acceleration / deceleration, information related to the weather during driving, information related to the presence or absence of obstacles, fuel efficiency, accumulated driving distance, driving history information, remaining battery charge, etc. The position information is information such as the position information (GPS information) of the vehicle unit 11. The image information is, for example, information such as moving images of the inside and outside of the vehicle captured by the vehicle unit 11.

[0028] The map information D14 is information about a travel route in a place where the vehicle unit 11 travels. The map information D14 is created, for example, by making the vehicle unit 11 travel in advance in a predetermined place by operating the operation terminal CT and storing the travel route in the place in the vehicle unit 11. The map information D14 may also be created by storing in the vehicle unit 11 a satellite photograph or location information (GPS information, etc.) of the place where the vehicle unit 11 travels.

[0029] The driving instruction information D15 is information regarding driving instructions for the vehicle unit 11. The driving instruction information D15 is information that is generated by the control device 20 based on an operation input to the control device 20 by a user or operator, and is transmitted to the vehicle unit 11. In the first embodiment, for example, the driving instruction information D15 is generated by the server 21 based on information regarding the operation input transmitted from the user operation terminal 22 to the server 21. Also, for example, the driving instruction information D15 may be generated by the server 21 based on information regarding the operation input transmitted from the operator operation terminal 23 to the server 21.

[0030] Task unit data D20 is data related to task unit 12. Task unit data D20 is data transmitted from task unit 12 to server 21. Here, task unit data D20 includes data related to task unit identification information D21, task unit basic information D22, task status information D23, and task instruction information D24, etc.

[0031] Task unit identification information D21 is unique information assigned to each task unit 12 to identify the task unit 12. For example, task unit identification information D21 is information such as an identification number assigned to each task unit 12. Task unit basic information D22 is information such as the type and model of task unit 12. Tasks that can be performed vary depending on the type of task unit 12, and the task unit basic information D22 makes it possible to identify the tasks that can be performed by the task unit 12. Task status information D23 is information related to the task status of task unit 12. Task status information D23 includes, for example, task unit state information.

[0032] Task unit state information is basic information regarding the state of a task unit 12. The type of information included in the task unit state information varies depending on the type of task unit 12. For example, task unit state information includes information regarding a task speed per predetermined unit time, a task frequency per predetermined unit time, or a task amount per predetermined unit time.

[0033] More specifically, in the first embodiment, if the work unit 12 is, for example, a work unit 12 capable of mowing, the work unit status information includes information on the mowing speed of the work vehicle 10 and the rotation speed of the mower blade (grass cutting blade). If the work unit 12 is, for example, a work unit 12 capable of watering, the work unit status information includes information on the temperature of the water to be sprayed, information on the amount of water used per a predetermined unit time, information on the remaining amount of water, etc. If the work unit 12 is, for example, a work unit 12 capable of spraying pesticides, the work unit status information includes information on the amount of pesticide used per a predetermined unit time, information on the remaining amount of pesticide, etc. If the work unit 12 is, for example, a work unit 12 capable of carrying loads, the work unit status information includes information on the number and weight of loads loaded on the work unit 12, information on the height position of the loading platform, etc. In addition, in the case where the work unit 12 is, for example, a work unit 12 capable of performing work such as spraying a pest repellent to repel pests, the work unit status information includes information regarding the amount of pest repellent used per specified unit time and information regarding the remaining amount of pest repellent.

[0034] Work instruction information D24 is information related to work instructions for the work unit 12. Work instruction information D24 is information generated by control device 20 based on operation input to control device 20 by a user or operator, and transmitted to the work unit 12. In the first embodiment, for example, work instruction information D24 is generated by server 21 based on information related to operation input transmitted to server 21 from user operation terminal 22. Also, for example, work instruction information D24 may be generated by server 21 based on information related to operation input transmitted to server 21 from operator operation terminal 23.

[0035] <user data> The user data D30 is data related to a user who uses the work vehicle 10. Here, the user is typically a service user who enjoys the service provided by the work support system 100, for example, a contractor who has made a contract to receive the provision of the service and has been granted operator authority for the work vehicle 10. As described above, the user in the first embodiment is, for example, a farmer who performs agricultural work and uses the work vehicle 10. The user data D30 can also be contractor data related to the service provided by the work support system 100, or data of members of a cooperative that provides the service, and when the service is provided by a service provider, can also be customer data of the service provider. The user data D30 includes, for example, data registered in the server 21 by operation input to the operation terminal CT, and data automatically generated based on the data registered in the server 21. The user data D30 includes data relating to, for example, user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, contract package information D35, and the like.

[0036] The user basic information D31 is information about a user (user) of the work vehicle 10 that is registered in the server 21 by the user himself or herself, or that is registered in the server 21 by an operator based on a user's application. The user basic information D31 is information such as the user's name, age, sex, postal code, address, email address, and telephone number.

[0037] The user attribute information D32 is information on the attributes of a user that is registered by the user himself or by the operator based on the user's application. The user attribute information D32 in the first embodiment is, for example, information on the branch to which the user belongs in the cooperative, and information on the address of the location (here, the field) where the user runs the work vehicle 10.

[0038] The registered vehicle unit information D33 is information used to identify the vehicle unit 11 for which the user has operator authority, and is, for example, an identification number of the vehicle unit 11 for which the user has operator authority. In the first embodiment, the registered vehicle unit information D33 may be a management number of the vehicle unit 11 assigned to each vehicle unit 11 by a cooperative that manages the vehicle unit 11. The registered vehicle unit information D33 is, for example, information that is registered in the server 21 by the user himself or by an operator. The registered vehicle unit information D33 may be automatically generated based on data registered in the server 21.

[0039] The registered work unit information D34 is information used to identify the work unit 12 attached to the vehicle unit 11 for which the user has operator authority, and is, for example, an identification number of the work unit 12. In the first embodiment, the registered work unit information D34 may be a management number of the work unit 12 assigned to each work unit 12 by the cooperative that manages the work units 12. The registered work unit information D34 is, for example, information that is registered in the server 21 by the user himself or by the operator. The registered work unit information D34 may be automatically generated based on data registered in the server 21.

[0040] The contract package information D35 is information about the contract that is automatically generated by the server 21, such as the contract status (valid / expired / cancelled), the contract start date / expiration date / cancellation date, contract plan, etc. In addition, the user data D30 also includes information such as the acquisition date and time of each piece of information.

[0041] <User operation terminal data> The user operation terminal data D40 is data relating to an access history from the user operation terminal 22 to the work vehicle 10, an access history from the user operation terminal 22 to the server 21, a notification history from the work vehicle 10 to the user operation terminal 22, a notification history from the server 21 to the user operation terminal 22, and a communication history between the user operation terminal 22 and the operator operation terminal 23. The user operation terminal data D40 includes, for example, data relating to terminal basic information D41, access history information D42, notification history information D43, and communication history information D44. The user operation terminal data D40 is, for example, data collected in association with an access from the user operation terminal 22 to the work vehicle 10, an access from the user operation terminal 22 to the server 21, reception of a notification from the work vehicle 10 at the user operation terminal 22, reception of a notification from the server 21 at the user operation terminal 22, and communication between the user operation terminal 22 and the operator operation terminal 23.

[0042] The terminal basic information D41 is basic information for identifying the user operated terminal 22, and is information such as the type of terminal and the owner of the terminal. The access history information D42 is information regarding the access history from the user operated terminal 22 to the work vehicle 10, and the access history from the user operated terminal 22 to the server 21, etc. The notification history information D43 is information regarding the notification history from the work vehicle 10 to the user operated terminal 22, and the notification history from the server 21 to the user operated terminal 22, etc. The communication history information D44 is information regarding the communication history between the user operated terminal 22 and the operator operated terminal 23. In addition to this, the user operated terminal data D40 also includes information such as the acquisition date and time of each piece of information, for example.

[0043] <Operator Data> The operator data D50 is data related to an operator. Here, the operator is a person who assists a user who uses the work vehicle 10 and has operator authority of the operator operation terminal 23. As described above, the operator in the first embodiment is, for example, a staff member of a cooperative organized by agricultural workers who assists agricultural workers who are members of the cooperative. The operator data D50 includes, for example, data registered in the server 21 by operation input to the operator operation terminal 23, and data automatically generated based on the data registered in the server 21. The operator data D50 includes, for example, data related to operator basic information D51, operator attribute information D52, responsible user information D53, operation authority information D54, and the like.

[0044] The operator basic information D51 is information about an operator that is registered in the server 21 by the operator himself / herself, or that is registered in the server 21 by the system administrator of the work support system 100. The operator basic information D51 is information such as the operator's name, age, sex, postal code, address, email address, telephone number, and staff number (employee number), for example.

[0045] The operator attribute information D52 is information on the attributes of an operator that is registered in the server 21 by the operator himself / herself, or that is registered in the server 21 by the system administrator of the work support system 100. The user attribute information D32 in the first embodiment is, for example, information on the branch to which the operator belongs in the cooperative, and information on the rank of the operator in the cooperative.

[0046] The responsible user information D53 is information that is registered in the server 21 by the operator himself / herself, or is automatically generated by the server 21 based on a user's application, and is information about the user for which the operator is responsible.

[0047] The operation authority information D54 is information automatically generated by the server 21 based on information registered in the server 21, and is information regarding the operator authority of the work vehicle 10 (vehicle unit 11 and work unit 12) used by the user in charge of the operator.

[0048] <Operator operation terminal data> The operator operated terminal data D60 is data relating to an access history from the operator operated terminal 23 to the server 21, a notification history from the server 21 to the operator operated terminal 23, and a communication history between the operator operated terminal 23 and the user operated terminal 22. The operator operated terminal data D60 includes, for example, data relating to terminal basic information D61, access history information D62, notification history information D63, and communication history information D64. The operator operated terminal data D60 is data collected, for example, in association with an access from the operator operated terminal 23 to the server 21, reception of a notification from the server 21 at the operator operated terminal 23, and communication between the operator operated terminal 23 and the user operated terminal 22.

[0049] The terminal basic information D61 is basic information for identifying the operator-operated terminal 23, and is information such as the type of terminal and the person in charge who has been granted operator authority for the terminal. The access history information D62 is information regarding the access history from the operator-operated terminal 23 to the server 21. The notification history information D63 is information regarding the notification history from the server 21 to the operator-operated terminal 23. The communication history information D64 is information regarding the communication history between the operator-operated terminal 23 and the user-operated terminal 22. In addition, the operator-operated terminal data D60 also includes information such as the acquisition date and time of each piece of information.

[0050] <IDデータ> The ID data D70 is an identifier for managing the above-mentioned vehicle unit data D10, task unit data D20, user data D30, user operation terminal data D40, operator data D50, and operator operation terminal data D60 in association with one another. The ID data D70 includes data relating to, for example, a vehicle unit ID D71, a task unit ID D72, a user ID D73, and an operator ID D74.

[0051] The vehicle unit ID D71 is a unique identifier assigned to each vehicle unit 11 in order to identify the vehicle unit 11. The vehicle unit ID D71 may be, for example, the same information as the vehicle unit identification information D11 of the vehicle unit 11 described above. The above-mentioned vehicle unit data D10 is managed in association with this vehicle unit ID D71.

[0052] The task unit ID D72 is a unique identifier assigned to each task unit 12 in order to identify the task unit 12. The task unit ID D72 may be, for example, the same information as the task unit identification information D21 of the task unit 12 described above. The task unit data D20 described above is managed in association with this task unit ID D72.

[0053] The user ID D73 is a unique identifier assigned to each user to identify the user. The above-mentioned user data D30 and user operation terminal data D40 are managed in association with this user ID D73.

[0054] The user ID·D73 and the vehicle unit ID·D71 are associated with each other so that the user corresponds to the vehicle unit 11 that the user uses. For example, when one user uses multiple vehicle units 11, multiple vehicle unit IDs·D71 are associated with one user ID·D73.

[0055] Furthermore, the vehicle unit ID·D71 and the work unit ID·D72 are associated with each other in accordance with the work unit 12 attached to the vehicle unit 11. For example, when the work unit 12 attached to the vehicle unit 11 is replaced with another work unit 12, the vehicle unit ID·D71 is accordingly released from its association with the work unit ID·D72 of the previous work unit 12, and associated with the work unit ID·D72 of the replaced work unit 12.

[0056] As a result, the vehicle unit data D10, the task unit data D20, the user data D30, and the user operation terminal data D40 can be associated with each other for each user corresponding to each user ID·D50, based on the user ID·D50 and the like.

[0057] The operator ID·D74 and the user ID·D73 are associated with each other so that an operator corresponds to a user that the operator is in charge of. For example, when one operator is in charge of multiple users, multiple user IDs·D73 are associated with one operator ID·D74.

[0058] In other words, vehicle unit data D10 relating to the vehicle unit 11 used by a specific user, work unit data D20 relating to the work unit 12 attached to the vehicle unit 11, user data D30 relating to the specific user, user operation terminal data D40 relating to the user operation terminal 22 of the specific user, operator data D50 of the operator in charge of the specific user, and operator operation terminal data D60 relating to the operator operation terminal 23 of the operator can be related to each other via the vehicle unit ID D71, work unit ID D72, user ID D73, and operator ID D74 and managed as a single data set.

[0059] The above describes an overview of the main data handled by the work assistance system 100. The work assistance system 100 also handles data other than the data described above, which will be described later as appropriate.

[0060] Next, each component of the work support system 100 will be described with reference to Fig. 4 to Fig. 9. In the following description, Fig. 2 may be referred to as appropriate for the configuration of the work support system 100. Also, Fig. 3 may be referred to as appropriate for various data.

[0061] <Basic configuration of vehicle unit> The vehicle unit 11 shown in Fig. 4 is a unit that travels based on an operation input to an operation terminal (user operation terminal 22 or operator operation terminal 23) with a working unit 12 attached. As shown in Fig. 4, the vehicle unit 11 includes an acquisition unit 11A, a traveling output unit 11B, a network communication unit 11C, a communication unit 11D, a vehicle unit storage unit 11E, and a processing unit 11F. The acquisition unit 11A, the traveling output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit storage unit 11E, and the processing unit 11F are connected to each other so as to be able to communicate with each other.

[0062] The acquisition unit 11A is a device that acquires various pieces of information included in the vehicle unit data D10 related to the vehicle unit 11. The acquisition unit 11A acquires vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, map information D14, and the like, as the vehicle unit data D10. The acquisition unit 11A is configured to include, for example, various sensors, detectors, thermometers, GPS receivers, imaging devices, and the like provided in each part of the vehicle unit 11. The acquisition unit 11A may also be configured to include, for example, a device that acquires various pieces of information from a processing unit 11F that comprehensively controls the entire vehicle unit 11.

[0063] The traveling output unit 11B is a part related to the traveling of the vehicle unit 11. As shown in FIG. 2, the vehicle unit 11 in the first embodiment is a four-wheel vehicle unit having a vehicle body 11a and four wheels 11b. The traveling output unit 11B is composed of, for example, the wheels 11b, a steering unit that controls the orientation of the wheels 11b, and a power unit that rotates the wheels 11b. The power unit includes a motor, and is driven by power supply from a power source such as a battery mounted on the vehicle unit 11, for example, and transmits driving force to each wheel 11b via gears or the like to rotate the wheels 11b, thereby causing the vehicle unit 11 to travel.

[0064] The network communication unit 11C is a communication module capable of communicating with devices outside the vehicle unit 11. The network communication unit 11C is communicatively connected to a network NW by wireless communication, and communicates with devices (control devices 20) outside the vehicle unit 11 via the network NW.

[0065] The communication unit 11D is a communication module capable of communicating with the operation unit 12. The communication unit 11D is communicatively connected to the operation unit 12 via wired communication.

[0066] The vehicle unit storage unit 11E is a storage circuit that stores various data. The vehicle unit storage unit 11E may be, for example, a relatively large-capacity storage device such as an HDD, SSD, or optical disk, or a semiconductor memory that allows data to be rewritten, such as a RAM, a flash memory, or a non-volatile static random access memory (NVSRAM). The vehicle unit storage unit 11E stores, for example, programs that enable each part of the vehicle unit 11 to realize various functions. The vehicle unit storage unit 11E stores various data necessary for various processes in the processing unit 11F, and the various data are read out by the processing unit 11F, etc., as necessary.

[0067] The vehicle unit storage unit 11E of the first embodiment conceptually includes a vehicle unit data storage unit 11Ea and a task unit data storage unit 11Eb.

[0068] The vehicle unit data storage unit 11Ea is a storage area in the vehicle unit storage unit 11E that stores vehicle unit data D10. The vehicle unit data storage unit 11Ea stores data related to the vehicle unit identification information D11, the vehicle unit basic information D12, the driving situation information D13, the map information D14, and the like acquired by the acquisition unit 11A as the vehicle unit data D10. The vehicle unit data storage unit 11Ea also stores data related to the driving instruction information D15, and the like acquired by the network communication unit 11C from the control device 20 as the vehicle unit data D10.

[0069] The task unit data storage unit 11Eb is a storage area in the vehicle unit storage unit 11E that stores task unit data D20. The task unit data storage unit 11Eb stores data related to task unit identification information D21, task unit basic information D22, task status information D23, and the like, acquired by the communication unit 11D from the task unit 12, as task unit data D20. The task unit data storage unit 11Eb also stores data related to task instruction information D24, and the like, acquired by the network communication unit 11C from the control device 20, as task unit data D20.

[0070] The processing unit 11F is a processing circuit that comprehensively controls the vehicle unit 11 and realizes various processing functions in the vehicle unit 11. The processing unit 11F is realized by, for example, a processor, a RAM, a ROM, etc. The processor refers to, for example, a circuit such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), an FPGA (Field Programmable Gate Array), or an ASIC (Application Specific Integrated Circuit).

[0071] The processing unit 11F realizes each processing function by executing a program read from the vehicle unit storage unit 11E, for example. For example, the processing unit 11F can execute a process of acquiring vehicle unit data D10 (data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14, etc.) by the acquisition unit 11A and storing the data in the vehicle unit data storage unit 11Ea, a process of operating the driving output unit 11B, a process of performing data communication with the control device 20 via the network communication unit 11C, and a process of performing data communication with the work unit 12 via the communication unit 11D, etc. In addition, the processing unit 11F can execute a process of acquiring vehicle unit data D10 (data related to driving instruction information D15, etc.) from the control device 20 by data communication with the control device 20 via the network communication unit 11C, and storing the data in the vehicle unit data storage unit 11Ea, etc. Processing unit 11F is also capable of executing processes such as acquiring task unit data D20 (data related to task instruction information D24, etc.) from control device 20 through data communication with control device 20 via network communication unit 11C and storing the data in task unit data storage unit 11Eb. Processing unit 11F is also capable of executing processes such as acquiring task unit data D20 (data related to task unit identification information D21, task unit basic information D22, and task status information D23, etc.) from task unit 12 through data communication with task unit 12 via communication unit 11D and storing the data in task unit data storage unit 11Eb.

[0072] In order to realize the above-mentioned various processing functions, the processing unit 11F of the present embodiment is functionally configured to include a data processing unit 11Fa, a communication processing unit 11Fb, and a driving control unit 11Fc. The processing unit 11F, for example, reads a program (not shown) stored in the vehicle unit storage unit 11E and executes the program to realize each processing function of the data processing unit 11Fa, the communication processing unit 11Fb, and the driving control unit 11Fc.

[0073] The data processing unit 11Fa is a part having a function capable of executing processing related to various data in the vehicle unit 11. The data processing unit 11Fa can execute processing for acquiring information constituting the vehicle unit data D10 by the acquisition unit 11A. The data processing unit 11Fa can also execute processing for storing the information acquired by the acquisition unit 11A in the vehicle unit data storage unit 11Ea as the vehicle unit data D10. The data processing unit 11Fa can also execute processing for reading the vehicle unit data D10 from the vehicle unit data storage unit 11Ea in response to a request. The data processing unit 11Fa can also execute processing for reading the task unit data D20 from the vehicle unit data storage unit 11Ea in response to a request.

[0074] The communication processing unit 11Fb is a part having a function of controlling the network communication unit 11C and the communication unit 11D and executing a process of performing data communication. The communication processing unit 11Fb can execute a process of transmitting and receiving data to and from other devices such as the control device 20 via the network communication unit 11C. More specifically, the communication processing unit 11Fb can execute a process of transmitting the vehicle unit data D10 to the control device 20 (server 21) via the network communication unit 11C in a state in which the vehicle unit identification information D11 and the corresponding vehicle unit data D10 are associated with each other. The communication processing unit 11Fb can also execute a process of transmitting and receiving data to and from the work unit 12 via the communication unit 11D. The communication processing unit 11Fb can also execute a process of receiving various commands, requests, and various information from the control device 20 via the network communication unit 11C. The communication processing unit 11Fb can also execute a process of transmitting various commands, requests, and various information to the control device 20 via the network communication unit 11C.

[0075] The travel control unit 11Fc is a part that controls the travel of the vehicle unit 11 by controlling the travel output unit 11B. The travel control unit 11Fc can also start and stop the vehicle unit 11 based on an operation input to the control device 20. The travel control unit 11Fc can also control the supply of power to the work unit 12 from a power source such as a battery of the vehicle unit 11 when the power of the work unit 12 attached to the vehicle unit 11 is turned on. The travel control unit 11Fc can control the travel of the vehicle unit 11 regardless of the type of work unit 12 attached to the vehicle unit 11. Therefore, the vehicle unit 11 can be shared for multiple types of work units 12.

[0076] The driving control unit 11Fc controls the driving of the vehicle unit 11 based on the driving instruction information D15 of the vehicle unit data D10 read by the data processing unit 11Fa. For example, the driving control unit 11Fc can execute a process of controlling the driving speed of the vehicle unit 11 by controlling the power supply from the battery to the power unit in the driving output unit 11B in the vehicle unit 11. In addition, the driving control unit 11Fc can execute a process of controlling the direction in which the vehicle unit 11 drives by changing the direction of the wheels 11b by controlling the steering unit of the driving output unit 11B. In addition, the driving control unit 11Fc may function as a signal converter that converts a control signal received from the control device 20 and a signal received from various sensors of the acquisition unit 11A into a CAN signal. For example, the driving control unit 11Fc can convert a PWN (Pulse Width Modulation) signal or a USB (Universal Serial Bus) serial signal into a CAN (Controller Area Network) signal, which is a control signal in the vehicle unit 11, and control the driving of the vehicle unit 11 according to the converted signal. In addition, the driving control unit 11Fc can also output the converted signal as information on the driving situation of the vehicle unit 11 to the control device 20 and the like via the network communication unit 11C.

[0077] <Basic configuration of a work unit> The working unit 12 shown in FIG. 5 is a unit that performs work based on an operation input to an operation terminal (user operation terminal 22 or operator operation terminal 23) while attached to the vehicle unit 11. For example, the working unit 12 may be operated by power supply from a power source such as a battery in the vehicle unit 11. The working unit 12 may also have a power source separate from the power source of the vehicle unit 11. For example, the working unit 12 may be equipped with a power generation device such as a battery or a solar panel as a power source separate from the power source of the vehicle unit 11. In this case, the working unit 12 operates by power supply from the power source equipped in the working unit 12. The working unit 12 may also be operated by using a power source such as a motor, and the working unit 12 may have a power source separate from the power source of the vehicle unit 11. For example, the working unit 12 may have a motor or the like as a power source separate from the power source of the vehicle unit 11.

[0078] 5, the task unit 12 includes an acquisition unit 12A, an action output unit 12B, a communication unit 12C, a task unit storage unit 12D, and a processing unit 12E. The acquisition unit 12A, the action output unit 12B, the communication unit 12C, the task unit storage unit 12D, and the processing unit 12E are connected to each other so as to be able to communicate with each other.

[0079] Acquisition unit 12A is a device that acquires various information included in task unit data D20 related to task unit 12. Acquisition unit 12A acquires task unit identification information D21, task unit basic information D22, task status information D23, etc. as task unit data D20. Acquisition unit 12A is configured to include, for example, various sensors, detectors, etc. provided in each part of task unit 12. Acquisition unit 12A may also be configured to include, for example, a device that acquires various information from processing unit 12E that comprehensively controls the entire task unit 12.

[0080] The work output unit 12B is a part that executes the work. As shown in Fig. 2, the work unit 12 in the first embodiment is placed on the vehicle body 11a of the vehicle unit 11 and is connected to the vehicle unit 11 by a connection part (not shown). The work output unit 12B has a different configuration for each type of work unit 12.

[0081] For example, if the work unit 12 is a unit capable of mowing, the work output unit 12B is configured to include components necessary for performing mowing. In this case, the work output unit 12B is configured to include, for example, a cutting blade, an arm unit that connects the main body of the work unit 12 and the cutting blade, and a power unit that rotates the cutting blade.

[0082] Furthermore, for example, when task unit 12 is a unit capable of performing watering, task output unit 12B is configured to include components necessary for performing watering. In this case, task output unit 12B is configured to include, for example, a water storage tank for storing water, a watering nozzle, a pipe connecting the watering nozzle and the water storage tank, an electromagnetic valve for controlling the supply of water from the water storage tank to the watering nozzle, and a high-pressure pump attached to the pipe.

[0083] Furthermore, for example, when the work unit 12 is a unit capable of spraying pesticides, the work output unit 12B is configured to include components necessary for spraying the pesticides. In this case, the work output unit 12B is configured to include, for example, a pesticide tank for storing the pesticide, a spray nozzle, a pipe connecting the spray nozzle and the pesticide tank, an electromagnetic valve for controlling the supply of the pesticide from the pesticide tank to the spray nozzle, and a high-pressure pump attached to the pipe.

[0084] Furthermore, for example, when task unit 12 is a unit capable of carrying a load, work output unit 12B is configured to include components necessary for carrying a load. In this case, work output unit 12B is configured to include, for example, a loading platform, a lifting device for raising and lowering the loading platform, and the like.

[0085] Also, for example, if the work unit 12 is a unit capable of repelling pests, the work output unit 12B is configured to include components necessary to repel pests. For example, if the work unit 12 is a unit that repels pests using sound, the work unit 12 is configured to include a sound generator, etc. Also, for example, if the work unit 12 is a unit that repels pests using light, the work unit 12 is configured to include a light emitting unit, etc.

[0086] The communication unit 12C is a communication module capable of communicating with the vehicle unit 11. The communication unit 12C is communicatively connected to the vehicle unit 11 via wired communication.

[0087] The task unit memory unit 12D is a memory circuit that stores various data. The task unit memory unit 12D may be, for example, a relatively large-capacity storage device such as an HDD, SSD, or optical disk, or a semiconductor memory that allows data to be rewritten, such as a RAM, flash memory, or NVSRAM (Non Volatile Static Random Access Memory). The task unit memory unit 12D stores, for example, programs that enable each part of the task unit 12 to realize various functions. The task unit memory unit 12D stores various data necessary for various processes in the processing unit 12E, and these various data are read out by the processing unit 12E, etc. as necessary.

[0088] The task unit storage section 12D of the first embodiment is configured, functionally and conceptually, to include a task unit data storage section 12Da.

[0089] The task unit data storage unit 12Da is a storage area in the task unit storage unit 12D that stores task unit data D20. The task unit data storage unit 12Da stores data relating to task unit identification information D21, task unit basic information D22, task status information D23, and the like acquired by the acquisition unit 12A as task unit data D20. The task unit data storage unit 12Da also stores data relating to task instruction information D24, and the like acquired by the communication unit 12C from the vehicle unit 11 as task unit data D20.

[0090] The processing unit 12E is a processing circuit that comprehensively controls the operation unit 12 and realizes various processing functions in the operation unit 12. The processing unit 12E is realized by, for example, a processor, a RAM, a ROM, and the like.

[0091] The processing unit 12E realizes each processing function by, for example, executing a program read from the task unit storage unit 12D. For example, the processing unit 12E can execute a process of acquiring task unit data D20 (task unit identification information D21, task unit basic information D22, task status information D23, etc.) by the acquisition unit 12A and storing the task unit data storage unit 12Da, a process of operating the task output unit 12B, and a process of performing data communication with the vehicle unit 11 via the communication unit 12C. The processing unit 12E can also execute a process of acquiring task unit data D20 (data related to task instruction information D24, etc.) from the vehicle unit 11 by data communication with the vehicle unit 11 via the communication unit 12C and storing the task unit data storage unit 12Da.

[0092] In order to realize the above-mentioned various processing functions, the processing unit 12E of this embodiment is functionally configured to include a data processing unit 12Ea, a communication processing unit 12Eb, and a task processing unit 12Ec. The processing unit 12E, for example, reads a program (not shown) stored in the task unit storage unit 12D and executes the program to realize each processing function of the data processing unit 12Ea, the communication processing unit 12Eb, and the task processing unit 12Ec.

[0093] The data processing unit 12Ea is a part having a function capable of executing processing related to various data in the task unit 12. The data processing unit 12Ea can execute processing to acquire information constituting task unit data D20 by the acquisition unit 12A. The data processing unit 12Ea can also execute processing to store the information acquired by the acquisition unit 12A as task unit data D20 in the task unit data storage unit 12Da. The data processing unit 12Ea can also execute processing to read out the task unit data D20 from the task unit data storage unit 12Da in response to a request.

[0094] The communication processing unit 12Eb has a function of controlling the communication unit 12C and executing a process of performing data communication. The communication processing unit 12Eb can execute a process of transmitting and receiving data to and from the vehicle unit 11 via the communication unit 12C. The communication processing unit 12Eb can also execute a process of receiving various commands, requests, and various information from the control device 20 via the communication unit 12C and the network communication unit 11C of the vehicle unit 11. The communication processing unit 12Eb can also execute a process of transmitting various commands, requests, and various information to the control device 20 via the communication unit 12C and the network communication unit 11C of the vehicle unit 11.

[0095] The task processing unit 12Ec is a part that controls the task output unit 12B, thereby controlling the task of the task unit 12. The task processing unit 12Ec controls the task of the task unit 12 based on the task instruction information D24 of the task unit data D20 read by the data processing unit 12Ea.

[0096] For example, when the work unit 12 is a unit capable of mowing, the work processing section 12Ec controls the rotation speed of the cutting blade in the work unit 12 by controlling the power supply from a power source such as a battery to a power section in the work output section 12B.

[0097] Also, for example, when the work unit 12 is a unit capable of performing watering, the work processing unit 12Ec controls the amount of watering in the work unit 12 by controlling the power supply from a power source such as a battery to an electromagnetic valve and a high-pressure pump in the work output unit 12B.

[0098] Also, for example, when the work unit 12 is a unit capable of spraying pesticides, the work processing unit 12Ec controls the amount of pesticide to be sprayed by controlling the power supply from a power source such as a battery to an electromagnetic valve and a high-pressure pump in the work output unit 12B in the work unit 12.

[0099] Furthermore, for example, when work unit 12 is a unit capable of carrying a load, work processing section 12Ec controls the height position of the loading platform in work unit 12 by controlling the lifting device in work output section 12B.

[0100] Also, for example, if the work unit 12 is a unit capable of repelling pests, the work processing unit 12Ec controls a sound generator and a light-emitting unit in the work output unit 12B in the work unit 12 to generate sounds and lights that pests dislike.

[0101] <Basic configuration of control devices> The control device 20 is a device that comprehensively manages various data handled by the work assistance system 100 and can issue operation instructions to the work vehicle 10 in response to operation input by a user or operator to operation input units 22C, 23C (see Figs. 8 and 9). The control device 20 of the first embodiment is configured to include a server 21 and an operation terminal CT, as shown in Fig. 2. In addition, the operation terminal CT is configured to include a user operation terminal 22 and an operator operation terminal 23.

[0102] The server 21 constitutes a base station device provided in a base station that relays communication between the user, the operator, and the work vehicle 10, and is managed, for example, by a cooperative or a service provider. The user operation terminal 22 is an operation terminal possessed by the user, and can transmit and receive various information to and from the server 21 in response to an operation input by the user to the operation input unit 22C. The operator operation terminal 23 is an operation terminal possessed by the operator, or an operation terminal managed by a cooperative or a service provider, etc., and the operator has the operation authority, and can transmit and receive various information to and from the server 21 in response to an operation input by the operator to the operation input unit 23C. In the first embodiment, the server 21 and the operator operation terminal 23 are managed within a facility (center) of the cooperative or the service provider, etc.

[0103] In the control device 20 of the first embodiment, the server 21 is configured to be able to communicate with the work vehicle 10, the user operation terminal 22, and the operator operation terminal 23. The vehicle unit data D10 (travel instruction information D15) and the work unit data D20 (work instruction information D24) transmitted from the user operation terminal 22 or the operator operation terminal 23 are transmitted to the work vehicle 10 via the server 21.

[0104] The server 21, the user operation terminal 22, and the operator operation terminal 23 are configured, for example, by various computer devices, etc. Also, the server 21, the user operation terminal 22, and the operator operation terminal 23 can be configured, for example, by installing a program that realizes various processes in a known computer device.

[0105] The configuration of each of the server 21, the user operation terminal 22, and the operator operation terminal 23 will be described below.

[0106] <Basic server configuration> 6 is a server that manages data used mainly for services related to work support by the work vehicle 10. In the work support system 100 of the first embodiment, the data stored in the server 21 is used to provide a service that supports work such as agricultural work by permitting a user or an operator requested by the user to remotely operate the work vehicle 10.

[0107] Specifically, as shown in Fig. 6, the server 21 includes a network communication unit 21A, a data input / output unit 21B, a server storage unit 21C, and a processing unit 21D. The network communication unit 21A, the data input / output unit 21B, the server storage unit 21C, and the processing unit 21D are connected to each other so as to be able to communicate with each other.

[0108] The network communication unit 21A is a communication module capable of communicating with devices other than the server 21. The network communication unit 21A is communicably connected to the network NW regardless of whether it is wireless communication or wired communication, and communicates with other devices (e.g., the work vehicle 10, the user operation terminal 22, the operator operation terminal 23, etc.) via the network NW.

[0109] The data input / output unit 21B is a data input / output device that inputs and outputs data (information) to and from the server 21. The data input / output unit 21B is configured by a recording medium interface and the like, and reads and writes various data from and to recording media such as a flexible disk (FD), a solid state drive (SSD), a hard disk drive (HDD), a magneto-optical disk, a USB memory, an SD card memory, a flash memory, a CD-ROM, and a DVD.

[0110] The server storage unit 21C is a storage circuit that stores various data. The server storage unit 21C may be, for example, a relatively large-capacity storage device such as an HDD, SSD, or optical disk, or a semiconductor memory that allows data to be rewritten, such as a RAM, a flash memory, or a non-volatile static random access memory (NVSRAM). The server storage unit 21C stores, for example, a program that enables each unit of the server 21 to realize various functions. The server 21 stores various data necessary for various processes in the processing unit 21D, and the various data are read out by the processing unit 21D, etc., as necessary.

[0111] The server memory unit 21C of the first embodiment is functionally conceptually configured to include a vehicle unit data memory unit 21Ca, a work unit data memory unit 21Cb, a user data memory unit 21Cc, a user operation terminal data memory unit 21Cd, an operator data memory unit 21Ce, an operator operation terminal data memory unit 21Cf, and an ID data memory unit 21Cg.

[0112] The vehicle unit data storage unit 21Ca is a storage area in the server storage unit 21C that stores the vehicle unit data D10. The vehicle unit data storage unit 21Ca stores data related to the vehicle unit identification information D11, the vehicle unit basic information D12, the driving situation information D13, the map information D14, and the like, acquired by the network communication unit 21A from the vehicle unit 11, as the vehicle unit data D10. The vehicle unit data storage unit 21Ca also stores data related to the driving instruction information D15, and the like, acquired by the network communication unit 21A from the user operation terminal 22 or the operator operation terminal 23, as the vehicle unit data D10. The vehicle unit data storage unit 21Ca may generate driving instruction information D15 in the data processing unit 21Da of the processing unit 21D based on information related to the operation input to the operation input units 22C and 23C acquired by the network communication unit 21A from the user operation terminal 22 or the operator operation terminal 23, and store the information as the vehicle unit data D10.

[0113] The task unit data storage unit 21Cb is a storage area in the server storage unit 21C that stores task unit data D20. The task unit data storage unit 21Cb stores data relating to task unit identification information D21, task unit basic information D22, task status information D23, etc., acquired by the network communication unit 21A from the task unit 12 as task unit data D20. The task unit data storage unit 21Cb also stores data relating to task instruction information D24, etc., acquired by the network communication unit 21A from the user operation terminal 22 or the operator operation terminal 23 as task unit data D20. In the first embodiment, the data relating to task unit identification information D21, task unit basic information D22, task status information D23, etc., is acquired by the network communication unit 21A from the task unit 12 via the vehicle unit 11. In addition, the task unit data memory unit 21Cb may generate work instruction information D24 in the data processing unit 21Da of the processing unit 21D based on information regarding operation input to the operation input units 22C, 23C obtained by the network communication unit 21A from the user operation terminal 22 or the operator operation terminal 23, and store this as task unit data D20.

[0114] The user data storage unit 21Cc is a storage area that stores user data D30 in the server storage unit 21C. The user data storage unit 21Cc stores, as user data D30, data related to user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, and contract package information D35, which are acquired from the work vehicle 10, registered via the operation terminal CT, or automatically generated by the processing unit 21D of the server 21, for example.

[0115] The user operation terminal data storage unit 21Cd is a storage area that stores the user operation terminal data D40 in the server storage unit 21C. The user operation terminal data storage unit 21Cd stores, for example, information related to terminal basic information D41 and access history information D42 acquired in association with an access from the user operation terminal 22 to the server as the user operation terminal data D40. The user operation terminal data storage unit 21Cd also stores, for example, information related to notification history information D43 acquired in association with a notification from the server 21 to the user operation terminal 22 as the user operation terminal data D40.

[0116] The operator data storage unit 21Ce is a storage area that stores the operator data D50 in the server storage unit 21C. The operator data storage unit 21Ce stores, as the operator data D50, data related to the operator basic information D51, the operator attribute information D52, the responsible user information D53, and the operation authority information D54, which are acquired from the work vehicle 10, registered via the operation terminal CT, or the like, or automatically generated by the processing unit 21D of the server 21, for example.

[0117] The operator operated terminal data storage unit 21Cf is a storage area that stores the operator operated terminal data D60 in the server storage unit 21C. The operator operated terminal data storage unit 21Cf stores, for example, information on terminal basic information D61 and access history information D62 acquired in association with an access from the operator operated terminal 23 to the server 21 as the operator operated terminal data D60. In addition, the operator operated terminal data storage unit 21Cf stores, for example, information on notification history information D63 acquired in association with a notification from the server 21 to the operator operated terminal 23 as the operator operated terminal data D60.

[0118] The ID data storage unit 21Cg is a storage area that stores ID data D70 in the server storage unit 21C. The ID data storage unit 21Cg stores, for example, data related to a vehicle unit ID D71 acquired from the vehicle unit 11, a task unit ID D72 acquired from the task unit 12, a user ID D73 acquired from the user operation terminal 22, and an operator ID D74 acquired from the operator operation terminal 23, as the ID data D70, via the network communication unit 21A.

[0119] The processing unit 21D is a processing circuit that comprehensively controls the server 21 and realizes various processing functions in the server 21. The processing unit 21D is realized by, for example, a processor, a RAM, a ROM, and the like.

[0120] The processing unit 21D realizes each processing function by, for example, executing a program read from the server storage unit 21C. For example, the processing unit 21D can execute a process of performing data communication with the work vehicle 10, the user operation terminal 22, and the operator operation terminal 23 through the network communication unit 21A, a process of identifying the work vehicle 10 for which a specific user has operation authority from various data stored in the server storage unit 21C, and the like. The processing unit 21D may also be capable of executing a process of generating the travel instruction information D15 and the work instruction information D24 based on information regarding the operation input to the operation input unit 22C of the user operation terminal 22 acquired via the network communication unit 21A. Furthermore, the processing unit 21D may also be capable of executing a process of generating the travel instruction information D15 and the work instruction information D24 based on information regarding the operation input to the operation input unit 23C of the operator operation terminal 23 acquired via the network communication unit 21A.

[0121] The processing unit 21D of the first embodiment is conceptually configured to include a data processing unit 21Da and a communication processing unit 21Db in order to realize the above various processing functions. The processing unit 21D realizes each processing function of the data processing unit 21Da and the communication processing unit 21Db by, for example, reading a program (not shown) stored in the server storage unit 21C and executing the program.

[0122] The data processing unit 21Da is a part having a function capable of executing processing related to various data in the server 21. The data processing unit 21Da can execute processing for storing data received via the network communication unit 21A in the server storage unit 21C. The data processing unit 21Da can also execute processing for reading data to be transmitted via the network communication unit 21A from the server storage unit 21C. The data processing unit 21Da can also execute processing for storing data input via the data input / output unit 21B in the server storage unit 21C, and processing for reading data to be output via the data input / output unit 21B from the server storage unit 21C.

[0123] The data processing unit 21Da can also execute a process of acquiring vehicle unit data D10 (such as data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14) from the vehicle unit 11 via the network communication unit 21A and storing the data in the vehicle unit data storage unit 21Ca. The data processing unit 21Da can also execute a process of acquiring vehicle unit data D10 (such as data related to driving instruction information D15) from the user operation terminal 22 and the operator operation terminal 23 through data communication with these operation terminals CT via the network communication unit 21A and storing the data in the vehicle unit data storage unit 21Ca.

[0124] The data processing unit 21Da may be capable of acquiring information related to operation input to the operation input units 22C, 23C of the user operation terminal 22 and the operator operation terminal 23 through data communication with the network communication unit 21A, generating travel instruction information D15 based on the information, and storing the information in the vehicle unit data storage unit 21Ca as vehicle unit data D10. The data processing unit 21Da is also capable of reading out the vehicle unit data D10 from the vehicle unit data storage unit 21Ca in response to a request from the work vehicle 10 or the like.

[0125] The data processing unit 21Da can also execute a process of acquiring task unit data D20 (data relating to task unit identification information D21, task unit basic information D22, task status information D23, etc.) from the task unit 12 via the network communication unit 21A and storing it in the task unit data storage unit 21Cb. The data processing unit 21Da can also execute a process of acquiring task unit data D20 (data relating to task instruction information D24, etc.) from the user operation terminal 22 and the operator operation terminal 23 through data communication with these operation terminals CT via the network communication unit 21A and storing it in the task unit data storage unit 21Cb.

[0126] The data processing unit 21Da may be capable of acquiring information regarding operation input to the operation input units 22C, 23C of the user operation terminal 22 and the operator operation terminal 23 through data communication via the network communication unit 21A, generating work instruction information D24 based on the information, and storing it in the work unit data storage unit 21Cb as work unit data D20. The data processing unit 21Da is also capable of reading out work unit data D20 from the work unit data storage unit 21Cb in response to a request from the work vehicle 10 or the like.

[0127] The data processing unit 21Da can also execute a process of storing user data D30 (user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, data related to contract package information D35, etc.) registered from the user operation terminal 22 or the operator operation terminal 23 in the user data storage unit 21Cc via the network communication unit 21A. The data processing unit 21Da can also execute a process of automatically generating data related to the registered vehicle unit information D33, the registered task unit information D34, and the contract package information D35, etc., based on information registered via the user operation terminal 22 or the operator operation terminal 23, etc., and storing the generated data in the user data storage unit 21Cc as user data D30. The data processing unit 21Da can also execute a process of reading out the user data D30 from the user data storage unit 21Cc in response to a request from the operation terminal CT, etc.

[0128] The data processing unit 21Da can also execute a process of storing the user operation terminal data D40 (data related to terminal basic information D41, etc.) acquired from the user operation terminal 22 via the network communication unit 21A in the user operation terminal data storage unit 21Cd. The data processing unit 21Da can also execute a process of generating data related to access history information D42 and notification history information D43, etc., in association with access from the user operation terminal 22 via the network communication unit 21A or notification to the user operation terminal 22, and storing the data as user operation terminal data D40 in the user operation terminal data storage unit 21Cd. The data processing unit 21Da can also execute a process of reading out the user operation terminal data D40 from the user operation terminal data storage unit 21Cd in response to a request from the operation terminal CT, etc.

[0129] The data processing unit 21Da can also execute a process of storing the operator data D50 (data related to the operator basic information D51, the operator attribute information D52, the responsible user information D53, the operation authority information D54, etc.) registered from the operator operation terminal 23 in the operator data storage unit 21Ce via the network communication unit 21A. The data processing unit 21Da can also execute a process of automatically generating data related to the operator basic information D51, the operator attribute information D52, the responsible user information D53, the operation authority information D54, etc. based on information registered via the operator operation terminal 23, etc., and storing the generated data as the operator data D50 in the operator data storage unit 21Ce. The data processing unit 21Da can also execute a process of reading out the operator data D50 from the operator data storage unit 21Ce in response to a request from the operation terminal CT, etc.

[0130] The data processing unit 21Da can also execute a process of storing the operator operated terminal data D60 (data related to terminal basic information D61, etc.) acquired from the operator operated terminal 23 via the network communication unit 21A in the operator operated terminal data storage unit 21Cf. The data processing unit 21Da can also execute a process of generating data related to access history information D62 and notification history information D63, etc., in association with access from the operator operated terminal 23 via the network communication unit 21A and notification to the operator operated terminal 23, and storing the data in the operator operated terminal data storage unit 21Cf as the operator operated terminal data D60. The data processing unit 21Da can also execute a process of reading out the operator operated terminal data D60 from the operator operated terminal data storage unit 21Cf in response to a request from the operation terminal CT, etc.

[0131] The data processing unit 21Da can also execute a process of storing data related to the vehicle unit ID·D71, the work unit ID·D72, the user ID·D73, the operator ID·D74, etc., registered via the user operation terminal 22, the operator operation terminal 23, etc., in the ID data storage unit 21Cg as ID data D70. The data processing unit 21Da can also execute a process of automatically generating data related to the vehicle unit ID·D71, the work unit ID·D72, the user ID·D73, the operator ID·D74, etc., based on information registered via the user operation terminal 22, the operator operation terminal 23, etc., and storing the generated data in the ID data storage unit 21Cg as ID data D70. The data processing unit 21Da can also execute a process of automatically generating data related to the vehicle unit ID·D71, the work unit ID·D72, etc., based on information acquired from the vehicle unit 11, the work unit 12, etc., and storing the generated data in the ID data storage unit 21Cg as ID data D70. The data processing unit 21Da is also capable of executing a process of reading out the ID data D70 from the ID data storage unit 21Cg in response to a request from the operation terminal CT or the like.

[0132] Furthermore, as described above, when the data processing unit 21Da stores the vehicle unit data D10, work unit data D20, user data D30, user operated terminal data D40, operator data D50, and operator operated terminal data D60 in the vehicle unit data memory unit 21Ca, work unit data memory unit 21Cb, user data memory unit 21Cc, user operated terminal data memory unit 21Cd, operator data memory unit 21Ce, and operator operated terminal data memory unit 21Cf, respectively, the data processing unit 21Da is capable of executing a process of interrelating the vehicle unit data D10, work unit data D20, user data D30, user operated terminal data D40, operator data D50, and operator operated terminal data D60 with each other.

[0133] For example, the data processing unit 21Da associates the vehicle unit data D10, work unit data D20, user data D30, user operated terminal data D40, operator data D50, and operator operated terminal data D60, which are respectively stored in the vehicle unit data memory unit 21Ca, work unit data memory unit 21Cb, user data memory unit 21Cc, user operated terminal data memory unit 21Cd, operator data memory unit 21Ce, and operator operated terminal data memory unit 21Cf, with each other via the vehicle unit ID·D71, work unit ID·D72, user ID·D73, and operator ID·D74 that constitute the ID data D70, to form a single data set.

[0134] In other words, the above-mentioned server memory unit 21C stores the vehicle unit data D10 stored in the vehicle unit data memory unit 21Ca, the task unit data D20 stored in the task unit data memory unit 21Cb, the user data D30 stored in the user data memory unit 21Cc, the user operated terminal data D40 stored in the user operated terminal data memory unit 21Cd, the operator data D50 stored in the operator data memory unit 21Ce, and the operator operated terminal data D60 stored in the operator operated terminal data memory unit 21Cf in a mutually associated manner based on the ID data D70 by the data processing unit 21Da, and stores these in a database as a single data set.

[0135] Fig. 7 is an example of a database stored in the server 21. For example, as shown in Fig. 7, the server 21 stores vehicle unit data D10, task unit data D20, user data D30, user operation terminal data D40, operator data D50, operator operation terminal data D60, and user ID D73 as a database in a table format in which these data are associated with each other.

[0136] 6 is a part having a function of controlling the network communication unit 21A and executing processing for performing data communication. The communication processing unit 21Db is capable of executing processing for transmitting and receiving data between the work vehicle 10, the user operation terminal 22, the operator operation terminal 23, and other devices via the network communication unit 21A.

[0137] For example, the communication processing unit 21Db can execute a process of receiving vehicle unit data D10 (such as data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14) from the vehicle unit 11 via the network communication unit 21A. The communication processing unit 21Db can also execute a process of receiving task unit data D20 (such as data related to task unit identification information D21, task unit basic information D22, and task situation information D23) from the task unit 12 via the network communication unit 21A.

[0138] In addition, the communication processing unit 21Db is capable of executing a process of receiving vehicle unit data D10 (data related to driving instruction information D15, etc.), work unit data D20 (data related to work instruction information D24, etc.), user data D30 (user basic information D31, user attribute information D32, registered vehicle unit information D33, registered work unit information D34, contract package information D35, etc.), user operation terminal data D40 (data related to terminal basic information D41, etc.), operator data D50 (operator basic information D51, operator attribute information D52, responsible user information D53, data related to operation authority information D54, etc.), operator operation terminal data D60 (data related to terminal basic information D61, etc.), and ID data D70 (data related to vehicle unit ID·D71, work unit ID·D72, user ID·D73, and operator ID·D74, etc.) from the user operation terminal 22, the operator operation terminal 23, etc. via the network communication unit 21A. Furthermore, the communication processing unit 21Db is capable of executing processing for receiving various commands and requests from the vehicle unit 11, the work unit 12, the user operation terminal 22, the operator operation terminal 23, and the like via the network communication unit 21A.

[0139] <Basic configuration of user-operated terminal> The user operation terminal 22 shown in Fig. 8 is a terminal device configured to be able to remotely operate the work vehicle 10 via the server 21. The user operation terminal 22 is mainly owned and used by a user. The user operation terminal 22 may be configured by various computer devices such as a smartphone, a tablet PC, a notebook PC, a desktop PC, etc. The user operation terminal 22 in the first embodiment is, for example, a portable terminal device such as a smartphone.

[0140] Specifically, the user operation terminal 22 includes a network communication unit 22A, a display unit 22B, an operation input unit 22C, a terminal storage unit 22D, and a processing unit 22E. The network communication unit 22A, the display unit 22B, the operation input unit 22C, the terminal storage unit 22D, and the processing unit 22E are connected to each other so as to be able to communicate with each other.

[0141] The network communication unit 22A is a communication module capable of communicating with devices other than the user operation terminal 22. The network communication unit 22A is communicatively connected to the network NW, regardless of whether it is by wireless communication or wired communication, and communicates with other devices (e.g., the work vehicle 10, the server 21, the operator operation terminal 23, etc.) via the network NW.

[0142] The display unit 22B is a portion capable of displaying a user interface when remotely operating the work vehicle 10. The display unit 22B is, for example, a liquid crystal display. On the display unit 22B, for example, images (real-time moving images captured by the work vehicle 10) acquired by the user operation terminal 22 from the work vehicle 10 via the network communication unit 22A and an operation screen for issuing operational instructions to the work vehicle 10 are displayed.

[0143] The operation input unit 22C is a part capable of receiving an operation input in the user operation terminal 22. The operation input unit 22C may be configured to include, as an operation input device, for example, a keyboard, a switch, an input button, a mouse pointer, a trackball, a joystick, a touch pad, a microphone, a voice input device, etc. In the user operation terminal 22 of the first embodiment, the display unit 22B has a touch panel function and also functions as the operation input unit 22C.

[0144] The terminal storage unit 22D is a storage circuit that stores various data. The terminal storage unit 22D may be, for example, a relatively large-capacity storage device such as an HDD, SSD, or optical disk, or a semiconductor memory that allows data to be rewritten, such as a RAM, a flash memory, or a non-volatile static random access memory (NVSRAM). The terminal storage unit 22D stores, for example, a program that enables each unit of the user operation terminal 22 to realize various functions. The user operation terminal 22 stores various data necessary for various processes in the processing unit 22E, and the various data are read out by the processing unit 22E, etc., as necessary.

[0145] The terminal storage unit 22D in the first embodiment is conceptually configured to include, in terms of function, a vehicle unit data storage unit 22Da, a task unit data storage unit 22Db, a user data storage unit 22Dc, and a user operation terminal data storage unit 22Dd.

[0146] The vehicle unit data storage unit 22Da is a storage area in the terminal storage unit 22D that stores vehicle unit data D10. The vehicle unit data storage unit 22Da stores data related to the vehicle unit identification information D11, the vehicle unit basic information D12, the driving situation information D13, the map information D14, and the like acquired by the network communication unit 22A from the vehicle unit 11 as the vehicle unit data D10. In addition, the vehicle unit data storage unit 22Da stores data related to driving instruction information D15, and the like, generated based on an operation input to the operation input unit 22C of the user operation terminal 22, as the vehicle unit data D10.

[0147] Task unit data storage unit 22Db is a storage area in terminal storage unit 22D that stores task unit data D20. Task unit data storage unit 22Db stores data relating to task unit identification information D21, task unit basic information D22, task status information D23, and the like acquired by network communication unit 22A from task unit 12 as task unit data D20. Task unit data storage unit 22Db also stores data relating to task instruction information D24, and the like generated based on operation input to operation input unit 22C of user operation terminal 22 as task unit data D20.

[0148] The user data storage unit 22Dc is a storage area that stores user data D30 in the terminal storage unit 22D. The user data storage unit 22Dc stores, as user data D30, data related to user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, and contract package information D35, which are acquired from the work vehicle 10, automatically generated by the processing unit 22E of the user operation terminal 22, or acquired from the server 21, for example.

[0149] The user operation terminal data storage unit 22Dd is a storage area that stores the user operation terminal data D40 in the terminal storage unit 22D. The user operation terminal data storage unit 22Dd stores, for example, information on terminal basic information D41 generated by the user operation terminal 22, access history information D42 generated in association with access from the user operation terminal 22 to the server 21, and the like, as the user operation terminal data D40. The user operation terminal data storage unit 22Dd also stores, for example, information on notification history information D43 generated in association with a notification from the server 21 to the user operation terminal 22, and the like, as the user operation terminal data D40. The user operation terminal data storage unit 22Dd also stores, for example, information on communication history information D44 generated in association with communication between the user operation terminal 22 and the operator operation terminal 23, and the like, as the user operation terminal data D40.

[0150] The processing unit 22E is a processing circuit that comprehensively controls the user operation terminal 22 and realizes various processing functions in the user operation terminal 22. The processing unit 22E is realized by, for example, a processor, a RAM, a ROM, and the like.

[0151] The processing unit 22E realizes each processing function by, for example, executing a program read from the terminal storage unit 22D. For example, the processing unit 22E can execute a process of performing data communication with the work vehicle 10, the server 21, and the operator operation terminal 23 by the network communication unit 22A, a process of displaying an image on the display unit 22B, a process of receiving an operation input to the operation input unit 22C and generating the travel instruction information D15 and the work instruction information D24 based on the operation input, and the like. In addition, the processing unit 22E may be capable of executing a process of transmitting information regarding the operation input to the operation input unit 22C of the user operation terminal 22 to the server 21 via the network communication unit 22A, instead of the process of generating the travel instruction information D15 and the work instruction information D24 based on the operation input. In this case, the processing unit 21D of the server 21 generates the travel instruction information D15 and the work instruction information D24 based on the information regarding the operation input to the operation input unit 22C.

[0152] The processing unit 22E of the first embodiment is configured to include, functionally, a data processing unit 22Ea and a communication processing unit 22Eb in order to realize the above various processing functions. The processing unit 22E, for example, reads a program (not shown) stored in the terminal storage unit 22D and executes the program to realize each processing function of the data processing unit 22Ea and the communication processing unit 22Eb.

[0153] The data processing unit 22Ea is a part having a function capable of executing processes related to various data in the user operation terminal 22. The data processing unit 22Ea can execute a process of storing data received via the network communication unit 22A in the terminal storage unit 22D. The data processing unit 22Ea can also execute a process of reading data to be transmitted via the network communication unit 22A from the terminal storage unit 22D.

[0154] The data processing unit 22Ea can also execute a process of acquiring vehicle unit data D10 (such as data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14) from the vehicle unit 11 via the network communication unit 22A and storing the data in the vehicle unit data storage unit 22Da. The data processing unit 22Ea can also execute a process of storing data related to driving instruction information D15 generated based on an operation input to the operation input unit 22C as vehicle unit data D10 in the vehicle unit data storage unit 22Da. The data processing unit 22Ea can also execute a process of reading out the vehicle unit data D10 from the vehicle unit data storage unit 22Da in response to a request.

[0155] Data processing unit 22Ea can also execute a process of acquiring task unit data D20 (data relating to task unit identification information D21, task unit basic information D22, task status information D23, etc.) from task unit 12 via network communication unit 22A and storing it in task unit data storage unit 22Db. Data processing unit 22Ea can also execute a process of storing data relating to task instruction information D24 generated based on operation input to operation input unit 22C as task unit data D20 in task unit data storage unit 22Db. Data processing unit 22Ea can also execute a process of reading task unit data D20 from task unit data storage unit 22Db in response to a request.

[0156] The data processing unit 22Ea can also execute a process of storing in the user data storage unit 22Dc user data D30 (user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, contract package information D35, etc.) registered by operation input to the operation input unit 22C or registered from the operator operation terminal 23 via the network communication unit 22A. The data processing unit 22Ea can also execute a process of reading out the user data D30 from the user data storage unit 22Dc in response to a request.

[0157] The data processing unit 22Ea can also execute a process of storing the user operation terminal data D40 (data related to terminal basic information D41, etc.) generated by the user operation terminal 22 in the user operation terminal data storage unit 22Dd. The data processing unit 22Ea can also execute a process of generating data related to access history information D42, notification history information D43, etc., in response to an access to the server 21 via the network communication unit 22A or a notification from the server 21, and storing the data in the user operation terminal data storage unit 22Dd as the user operation terminal data D40. The data processing unit 22Ea can also execute a process of reading out the user operation terminal data D40 from the user operation terminal data storage unit 22Dd in response to a request.

[0158] The communication processing unit 22Eb has a function of controlling the network communication unit 22A and executing a process for performing data communication. The communication processing unit 22Eb can execute a process for transmitting and receiving data between the work vehicle 10, the server 21, the operator operation terminal 23, and other devices via the network communication unit 22A.

[0159] For example, the communication processing unit 22Eb can execute a process of receiving vehicle unit data D10 (data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14, etc.) from the vehicle unit 11 via the network communication unit 22A. The communication processing unit 22Eb can also execute a process of receiving task unit data D20 (data related to task unit identification information D21, task unit basic information D22, and task situation information D23, etc.) from the task unit 12 via the network communication unit 22A. The communication processing unit 22Eb can also execute a process of receiving user data D30 (data related to registered vehicle unit information D33, registered task unit information D34, contract package information D35, etc.) from the vehicle unit 11, task unit 12, server 21, operator operation terminal 23, etc. via the network communication unit 22A. The communication processing unit 22Eb can also execute a process of receiving various commands and requests from the vehicle unit 11, the work unit 12, the server 21, the operator operation terminal 23, etc., via the network communication unit 22A. The communication processing unit 22Eb can also execute a process of transmitting information related to the operation input to the operation input unit 22C of the user operation terminal 22 to the server 21 via the network communication unit 22A. In this case, the server 21 generates operation instruction information (travel instruction information D15 and work instruction information D24) based on the information related to the operation input to the operation input unit 22C.

[0160] <Basic configuration of operator operation terminal> The operator operation terminal 23 shown in FIG. 9 is a terminal device configured to be able to remotely operate the work vehicle 10 via the server 21. For example, the operator operation terminal 23 is an operation terminal operated by an operator who receives a request from a user. The operator operation terminal 23 may be configured with various computer devices such as a smartphone, a tablet PC, a notebook PC, a desktop PC, etc. In the first embodiment, the operator operation terminal 23 is a desktop PC or a smartphone managed in a facility (center) of a cooperative or a business providing a service. For example, an operator who receives a request from a user in a center uses a desktop PC as the operator operation terminal 23 to remotely operate the work vehicle 10. In addition, when the operator goes to a field or the like where the work vehicle 10 travels to operate the work vehicle 10, the operator uses a smartphone as the operator operation terminal 23 to remotely operate the work vehicle 10.

[0161] Specifically, the operator operation terminal 23 has a configuration substantially similar to that of the above-described user operation terminal 22, and includes a network communication unit 23A, a display unit 23B, an operation input unit 23C, a terminal storage unit 23D, and a processing unit 23E. The network communication unit 23A, the display unit 23B, the operation input unit 23C, the terminal storage unit 23D, and the processing unit 23E are connected to each other so as to be able to communicate with each other.

[0162] The network communication unit 23A is a communication module capable of communicating with other devices other than the operator operation terminal 23. The network communication unit 23A is communicably connected to the network NW, regardless of whether it is by wireless communication or wired communication, and communicates with other devices (e.g., the work vehicle 10, the server 21, the user operation terminal 22, etc.) via the network NW.

[0163] Display unit 23B is a portion capable of displaying a user interface when remotely operating work vehicle 10. Display unit 23B is, for example, a liquid crystal display. Display unit 23B displays, for example, images (real-time moving images captured by work vehicle 10) acquired by user operation terminal 22 from work vehicle 10 via network communication unit 23A and an operation screen for issuing operational instructions to work vehicle 10.

[0164] The operation input unit 23C is a part capable of receiving operation input in the operator operation terminal 23. The operation input unit 23C may be configured to include, as operation input devices, for example, a keyboard, a switch, an input button, a mouse pointer, a trackball, a joystick, a touch pad, a microphone, a voice input device, etc. In addition, when the operator operation terminal 23 is a smartphone, the display unit 22B has a touch panel function and also functions as the operation input unit 23C.

[0165] The terminal storage unit 23D is a storage circuit that stores various data. The terminal storage unit 23D may be, for example, a relatively large-capacity storage device such as an HDD, SSD, or optical disk, or a semiconductor memory that allows data to be rewritten, such as a RAM, a flash memory, or a non-volatile static random access memory (NVSRAM). The terminal storage unit 23D stores, for example, programs that enable each unit of the operator operation terminal 23 to realize various functions. The operator operation terminal 23 stores various data necessary for various processes in the processing unit 23E, and the various data are read out by the processing unit 23E, etc., as necessary.

[0166] In the first embodiment, terminal storage unit 23D conceptually includes, in terms of function, a vehicle unit data storage unit 23Da, a task unit data storage unit 23Db, a user data storage unit 22Dc, an operator data storage unit 23Dd, and an operator operation terminal data storage unit 23De.

[0167] The vehicle unit data storage unit 23Da is a storage area in the terminal storage unit 23D that stores vehicle unit data D10. The vehicle unit data storage unit 23Da stores data related to the vehicle unit identification information D11, the vehicle unit basic information D12, the driving situation information D13, the map information D14, and the like acquired by the network communication unit 23A from the vehicle unit 11 as the vehicle unit data D10. In addition, the vehicle unit data storage unit 23Da stores data related to the driving instruction information D15, and the like, generated based on an operation input to the operation input unit 23C of the operator operation terminal 23, as the vehicle unit data D10.

[0168] Task unit data storage unit 23Db is a storage area in terminal storage unit 23D that stores task unit data D20. Task unit data storage unit 32Db stores data relating to task unit identification information D21, task unit basic information D22, task status information D23, etc., acquired by network communication unit 23A from task unit 12 as task unit data D20. Task unit data storage unit 23Db also stores data relating to task instruction information D24, etc., generated based on operation input to operation input unit 23C of operator operation terminal 23 as task unit data D20.

[0169] The user data storage unit 23Dc is a storage area that stores user data D30 in the terminal storage unit 23D. The user data storage unit 23Dc stores, as user data D30, data related to user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, and contract package information D35, which are acquired from the work vehicle 10 or the user operation terminal 22, automatically generated by the processing unit 23E of the operator operation terminal 23, or acquired from the server 21, for example.

[0170] The operator data storage unit 23Dd is a storage area that stores the operator data D50 in the terminal storage unit 23D. The operator data storage unit 23Dd stores, for example, data related to the operator basic information D51, the operator attribute information D52, the responsible user information D53, and the operation authority information D54, which are acquired from the work vehicle 10, automatically generated by the processing unit 23E of the operator operation terminal 23, or acquired from the server 21, as the operator data D50.

[0171] The operator operated terminal data storage unit 23De is a storage area that stores the operator operated terminal data D60 in the terminal storage unit 23D. The operator operated terminal data storage unit 23De stores, for example, information on terminal basic information D61 generated by the operator operated terminal 23, access history information D62 generated in association with access from the operator operated terminal 23 to the server 21, and the like, as the operator operated terminal data D60. The operator operated terminal data storage unit 23De also stores, for example, information on notification history information D63 generated in association with a notification from the server 21 to the operator operated terminal 23, and the like, as the operator operated terminal data D60. The operator operated terminal data storage unit 23De also stores, for example, information on communication history information D64 generated in association with communication between the operator operated terminal 23 and the user operated terminal 22, and the like, as the operator operated terminal data D60.

[0172] The processing unit 23E is a processing circuit that comprehensively controls the operator terminal 23 and realizes various processing functions in the operator terminal 23. The processing unit 23E is realized by, for example, a processor, a RAM, a ROM, and the like.

[0173] The processing unit 23E realizes each processing function by, for example, executing a program read from the terminal storage unit 23D. For example, the processing unit 23E can execute a process of performing data communication with the work vehicle 10, the server 21, and the user operation terminal 22 by the network communication unit 23A, a process of displaying an image on the display unit 23B, a process of receiving an operation input to the operation input unit 23C and generating the travel instruction information D15 and the work instruction information D24 based on the operation input, and the like. In addition, the processing unit 23E may be capable of executing a process of transmitting information regarding the operation input to the operation input unit 23C of the operator operation terminal 23 to the server 21 via the network communication unit 23A, instead of the process of generating the travel instruction information D15 and the work instruction information D24 based on the operation input. In this case, the processing unit 21D of the server 21 generates the travel instruction information D15 and the work instruction information D24 based on the information regarding the operation input to the operation input unit 23C.

[0174] The processing unit 23E of the first embodiment is conceptually configured to include a data processing unit 23Ea and a communication processing unit 23Eb in order to realize the above-mentioned various processing functions. The processing unit 23E realizes each processing function of the data processing unit 23Ea and the communication processing unit 23Eb by, for example, reading a program (not shown) stored in the terminal storage unit 23D and executing the program.

[0175] The data processing unit 23Ea is a part having a function capable of executing processing related to various data in the operator operation terminal 23. The data processing unit 23Ea can execute processing for storing data received via the network communication unit 23A in the terminal storage unit 23D. The data processing unit 23Ea can also execute processing for reading data to be transmitted via the network communication unit 23A from the terminal storage unit 23D.

[0176] The data processing unit 23Ea can also execute a process of acquiring vehicle unit data D10 (such as data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14) from the vehicle unit 11 via the network communication unit 23A and storing the data in the vehicle unit data storage unit 23Da. The data processing unit 23Ea can also execute a process of storing data related to driving instruction information D15 generated based on an operation input to the operation input unit 23C as vehicle unit data D10 in the vehicle unit data storage unit 23Da. The data processing unit 23Ea can also execute a process of reading out the vehicle unit data D10 from the vehicle unit data storage unit 23Da in response to a request.

[0177] Data processing unit 23Ea can also execute a process of acquiring task unit data D20 (data relating to task unit identification information D21, task unit basic information D22, task status information D23, etc.) from task unit 12 via network communication unit 23A and storing it in task unit data storage unit 23Db. Data processing unit 23Ea can also execute a process of storing data relating to task instruction information D24 generated based on operation input to operation input unit 23C as task unit data D20 in task unit data storage unit 23Db. Data processing unit 23Ea can also execute a process of reading task unit data D20 from task unit data storage unit 23Db in response to a request.

[0178] The data processing unit 23Ea can also execute a process of storing in the user data storage unit 23Dc the user data D30 (such as data related to user basic information D31, user attribute information D32, registered vehicle unit information D33, registered task unit information D34, and contract package information D35) registered by an operation input to the operation input unit 23C or acquired from the user operation terminal 22. The data processing unit 23Ea can also execute a process of reading out the user data D30 from the user data storage unit 23Dc in response to a request.

[0179] The data processing unit 23Ea can also execute a process of storing the operator data D50 (data related to the operator basic information D51, the operator attribute information D52, the responsible user information D53, and the operation authority information D54, etc.) registered by operation input to the operation input unit 23C in the operator data storage unit 23Dd. The data processing unit 23Ea can also execute a process of reading out the operator data D50 from the operator data storage unit 23Dd in response to a request.

[0180] The data processing unit 23Ea can also execute a process of storing the operator operated terminal data D60 (data related to terminal basic information D61, etc.) generated by the operator operated terminal 23 in the operator operated terminal data storage unit 23De. The data processing unit 23Ea can also execute a process of generating data related to access history information D62, notification history information D63, etc., in association with access to the server 21 via the network communication unit 23A and notification from the server 21, and storing the data in the operator operated terminal data storage unit 23De as the operator operated terminal data D60. The data processing unit 23Ea can also execute a process of reading out the operator operated terminal data D60 from the operator operated terminal data storage unit 23De in response to a request.

[0181] The communication processing unit 23Eb has a function of controlling the network communication unit 23A and executing a process for performing data communication. The communication processing unit 23Eb can execute a process for transmitting and receiving data between the work vehicle 10, the server 21, the user operation terminal 22, and other devices via the network communication unit 23A.

[0182] For example, the communication processing unit 23Eb can execute a process of receiving vehicle unit data D10 (data related to vehicle unit identification information D11, vehicle unit basic information D12, driving situation information D13, and map information D14, etc.) from the vehicle unit 11 via the network communication unit 23A. The communication processing unit 23Eb can also execute a process of receiving task unit data D20 (data related to task unit identification information D21, task unit basic information D22, and task situation information D23, etc.) from the task unit 12 via the network communication unit 23A. The communication processing unit 23Eb can also execute a process of receiving user data D30 (data related to registered vehicle unit information D33, registered task unit information D34, contract package information D35, etc.) from the vehicle unit 11, task unit 12, server 21, user operation terminal 22, etc. via the network communication unit 23A. The communication processing unit 23Eb can also execute a process of receiving various commands and requests from the vehicle unit 11, the work unit 12, the server 21, the user operation terminal 22, etc., via the network communication unit 23A. The communication processing unit 23Eb can also execute a process of transmitting information related to an operation input to the operation input unit 23C of the operator operation terminal 23 to the server 21 via the network communication unit 23A. In this case, the server 21 generates operation instruction information (travel instruction information D15 and work instruction information D24) based on the information related to the operation input to the operation input unit 23C.

[0183] The outline of the overall configuration of the work support system 100 according to the first embodiment has been described above.

[0184] <Data flow in the work support system> Next, an example of the flow of each process in the work support system 100 will be described with reference to Figures 10 and 11. In the following description, data is transmitted and received by wired communication or wireless communication via a network NW, but the description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, the description of the specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited to this.

[0185] <Operator terminal gives instructions to work vehicles> First, an operation instruction to the work vehicle 10 by the operator operation terminal 23 will be described. As shown in FIG. 10, a user issues a work request to the operator operation terminal 23 by the user operation terminal 22 (step S1). The work request may be made via a dedicated application, or may be a telephone call or email. In response to an operation input by the operator to the operation input unit 23C, the operator operation terminal 23 transmits operator data D50 such as operator basic information D51 and user data D30 such as user basic information D31 of a user assisted by the operator together with an access request to a specific work vehicle 10 to the server 21 (step S2).

[0186] The server 21 compares the user data D30 (user basic information D31, etc.) received from the operator operation terminal 23 with the ID data D70 (user ID·D73) stored in the server 21 (step S3). As described above, in the server 21, for a user who can use the services of the work support system 100, at least the user ID·D73 and the vehicle unit ID·D71 of the vehicle unit 11 to which the user has been granted operation authority are associated with the user data D30 (user basic information D31, etc.), and are stored in the server storage unit 21C as registration information related to the operator authority of the work vehicle 10. In addition, the operator ID·D74 of the operator assisting the user is also associated with at least the user ID·D73 and vehicle unit ID·D71 of the user, and are stored in the server storage unit 21C as registration information related to the operator authority of the work vehicle 10. The server 21 identifies the work vehicle 10 for which the user has operator authority based on the registration information (step S4).

[0187] Then, if there is no work vehicle 10 (vehicle unit 11) corresponding to the registration information, the server 21 denies access to the operator operation terminal 23. If there is a work vehicle 10 (vehicle unit 11) corresponding to the registration information, the server 21 identifies the work vehicle 10 (vehicle unit 11) and requests information about the work vehicle 10 from the identified vehicle unit 11 (step S15). In the first embodiment, the server 21 requests the vehicle unit 11 to send vehicle unit data D10 and work unit data D20 as information about the work vehicle 10. Then, the vehicle unit 11 that has been requested to send the vehicle unit data D10 and work unit data D20 requests the work unit data D20 from the work unit 12. In other words, the server 21 requests the work unit data D20 from the work unit 12 via the vehicle unit 11.

[0188] The vehicle unit 11 that receives the request for the vehicle unit data D10 transmits at least the vehicle unit identification information D11 as the vehicle unit data D10 to the server (step S6a). Also, the task unit 12 that receives the request for the task unit data D20 via the vehicle unit 11 transmits at least the task unit identification information D21 as the task unit data D20 to the server 21 via the vehicle unit 11 (step S6b).

[0189] When the server 21 receives the vehicle unit data D10 and the task unit data D20, it permits access from the operator operation terminal 23 based on the operator data D50 (step S7). At this time, the server 21 identifies the type of task unit 12 attached to the vehicle unit 11 from the task unit data D20 (task unit identification information D21).

[0190] In the first embodiment, the operator operation terminal 23 that has been permitted to access by the server 21 displays on the display unit 23B a screen for operation input corresponding to the work vehicle 10 identified by the server 21, and the operation input unit 23C accepts operation input corresponding to the work vehicle 10. In particular, since the screen for operation input may differ significantly depending on the type of work unit 12, the server 21 displays on the display unit 23B a screen for operation input corresponding to the type, etc., of the work unit 12, and the operation input unit 23C accepts operation input corresponding to the type, etc., of the work unit 12.

[0191] The operator operation terminal 23 transmits operation instruction information (driving instruction information D15 and work instruction information D24) for the work vehicle 10 to the server 21 in response to an operation input by the operator to the operation input unit 23C (step S8). Then, the server 21, which has received the operation instruction information (driving instruction information D15 and work instruction information D24) from the operator operation terminal 23, transmits the received operation instruction information (driving instruction information D15 and work instruction information D24) to the identified work vehicle 10 (vehicle unit 11) (step S9).

[0192] The vehicle unit 11, which has received operation instruction information (driving instruction information D15 and work instruction information D24) from the server 21, transmits the work instruction information D24 included in the operation instruction information to the work unit 12. Then, the vehicle unit 11 starts driving based on the received driving instruction information D15, and the work unit 12 starts working based on the received work instruction information D24 (steps S10a, S10b).

[0193] <Operation instructions to work vehicles from user-operated terminals> Next, an explanation will be given of an operation instruction to the work vehicle 10 by the user operation terminal 22. As shown in Fig. 11, in response to an operation input by the user to the operation input unit 22C, the user operation terminal 22 transmits an access request to a specific work vehicle 10 together with user data D30 such as user basic information D31 to the server 21 (step S11).

[0194] The server 21 compares the user data D30 (user basic information D31, etc.) received from the user operation terminal 22 with the ID data D70 (user ID·D73) stored in the server 21 (step S12). In the server 21, for a user who can use the services of the work assistance system 100, at least the user ID·D73 and the vehicle unit ID·D71 of the vehicle unit 11 for which the user has been granted operation authority are associated with the user data D30 (user basic information D31, etc.) and stored in the server storage unit 21C as registration information related to the operator authority of the work vehicle 10. The server 21 identifies the work vehicle 10 for which the user has operator authority based on the registration information (step S13).

[0195] Then, if there is no work vehicle 10 (vehicle unit 11) corresponding to the registration information, the server 21 denies access to the user operation terminal 22. On the other hand, if there is a work vehicle 10 (vehicle unit 11) corresponding to the registration information, the server 21 identifies the work vehicle 10 (vehicle unit 11) and requests information about the work vehicle 10 from the identified vehicle unit 11 (step S14). In the first embodiment, the server 21 requests vehicle unit data D10 and work unit data D20 from the vehicle unit 11 as information about the work vehicle 10. Then, the vehicle unit 11 that has been requested to send the vehicle unit data D10 and work unit data D20 requests the work unit data D20 from the work unit 12. In other words, the server 21 requests the work unit data D20 from the work unit 12 via the vehicle unit 11.

[0196] The vehicle unit 11 that receives the request for the vehicle unit data D10 transmits at least the vehicle unit identification information D11 as the vehicle unit data D10 to the server (step S15a). Also, the task unit 12 that receives the request for the task unit data D20 via the vehicle unit 11 transmits at least the task unit identification information D21 as the task unit data D20 to the server 21 via the vehicle unit 11 (step S15b).

[0197] When the server 21 receives the vehicle unit data D10 and the task unit data D20, it permits access from the user operation terminal 22 (step S16). At this time, the server 21 identifies the type of task unit 12 attached to the vehicle unit 11 from the task unit data D20 (task unit identification information D21).

[0198] In the first embodiment, the user operation terminal 22 that has been permitted to access by the server 21 displays on the display unit 22B a screen for operation input corresponding to the work vehicle 10 identified by the server 21, and the operation input unit 22C accepts operation input corresponding to the work vehicle 10. In particular, since the screen for operation input may differ significantly depending on the type of work unit 12, the server 21 displays on the display unit 22B a screen for operation input corresponding to the type, etc., of the work unit 12, and the operation input unit 22C accepts operation input corresponding to the type, etc., of the work unit 12.

[0199] The user operation terminal 22 transmits operation instruction information (driving instruction information D15 and work instruction information D24) for the work vehicle 10 to the server 21 in response to an operation input by the user to the operation input unit 22C (step S17). Then, the server 21, which has received the operation instruction information (driving instruction information D15 and work instruction information D24) from the user operation terminal 22, transmits the received operation instruction information (driving instruction information D15 and work instruction information D24) to the identified work vehicle 10 (vehicle unit 11) (step S18).

[0200] The vehicle unit 11, which has received operation instruction information (driving instruction information D15 and work instruction information D24) from the server 21, transmits the work instruction information D24 included in the operation instruction information to the work unit 12. Then, the vehicle unit 11 starts driving based on the received driving instruction information D15, and the work unit 12 starts working based on the received work instruction information D24 (steps S19a, S19b).

[0201] In the above-mentioned first embodiment, the work is described as an example of agricultural work, but the present invention is not limited to this configuration. For example, the work may be transporting goods in a warehouse. In this case, the travel area of ​​the work vehicle 10 is inside a warehouse. The work may be harvest sorting, processing, packing, shipping, etc., which are subsequent processes of agricultural work. The travel area when the work vehicle 10 performs harvest sorting, packing, and shipping is, for example, inside a warehouse. The travel area when the work vehicle 10 performs harvest processing is, for example, inside a factory (for example, inside a food factory). The work may be forestry work (for example, tree cutting, etc.) or fishery work (fish sorting). For example, when the work vehicle 10 performs forestry work, the travel area of ​​the work vehicle 10 is a mountain forest, etc. When the work vehicle 10 performs fishery work, the travel area of ​​the work vehicle 10 is a fishing port, etc. The work may be the production of industrial products such as cars. When the work vehicle 10 is engaged in the production of industrial products such as cars, the travel area is, for example, inside a factory. The work may also be cleaning. When the work vehicle 10 is engaged in cleaning, the travel area is, for example, an office building.

[0202] In the above-described first embodiment, an example has been described in which the user is able to use the work vehicle 10 by entering into a usage contract for the work vehicle 10, but this is not limited thereto. For example, the user may be able to use the work vehicle 10 by purchasing it. In this case, for example, registration information is registered in the server 21 or the like during the purchase procedure, allowing the user to enjoy the services of the work assistance system 100. Also, the vehicle unit 11 may be purchased and the work unit 12 may be used by entering into a usage contract. Also, the vehicle unit 11 may be purchased and the vehicle unit 11 may be used by entering into a usage contract.

[0203] <Effects of the First Embodiment> As described above, the work support system 100 of the first embodiment comprises a work vehicle 10 including a vehicle unit 11 and a work unit 12 that is detachable from the vehicle unit 11 and capable of performing work while attached to the vehicle unit 11, an operation terminal CT that accepts operation input, and a server 21 that is capable of communicating with the work vehicle 10 and the operation terminal CT, and the server 21 identifies a work vehicle 10 that can be operated by the operation terminal CT and transmits operation instruction information based on the operation input to the operation terminal CT to the identified work vehicle 10, and the work vehicle 10 operates based on the operation instruction information received from the server 21.

[0204] In the work assistance system 100 according to the first embodiment, a user or an operator who receives a request from a user can easily perform physically demanding work, such as farm work, by operating the work vehicle 10 via an operation terminal. In addition, the work vehicle 10 autonomously performs work on behalf of the user, thereby reducing the physical burden on the user.

[0205] In addition, in the work support system 100 according to the first embodiment, the server 21 has a memory unit 21C that stores registration information regarding the operator authority of the work vehicle 10, and identifies the work vehicle 10 for which the operator of the operation terminal has operator authority based on the registration information.

[0206] In the work assistance system 100 according to the first embodiment, by storing registration information regarding the operator authority of the work vehicle 10 in the server 21, the work vehicle 10 to be operated can be identified based on the registration information, so that the work assistance system 100 can manage multiple users in correspondence with multiple work vehicles 10.

[0207] Furthermore, in the work assistance system 100 of the first embodiment, the vehicle unit 11 can be equipped with multiple types of work units 12, each capable of performing a different task, and the work vehicle 10 is configured by mounting one work unit 12 selected from the multiple types of work units 12 to the vehicle unit 11, and when the operation terminal CT receives work unit identification information D21 including information regarding the type of work unit 12 mounted on the vehicle unit 11, it accepts operation input corresponding to the type of work unit 12 mounted on the vehicle unit 11.

[0208] In the work assistance system 100 according to the first embodiment, one of multiple types of work units 12 is selected and attached to the vehicle unit 11, allowing work to be performed according to the type of work unit 12. Furthermore, even if the work unit 12 attached to the vehicle unit 11 is changed, the method of driving control of the vehicle unit 11 does not change because the vehicle unit 11 is standardized. Therefore, it is no longer necessary to change the driving control program of the vehicle unit 11 for each work performed by the work unit 12, making it easier to develop the work vehicle 10.

[0209] Furthermore, in the work assistance system 100 according to the first embodiment, the vehicle unit 11 receives driving instruction information D15 and work instruction information D24 from the server 21, and the work unit 12 receives the work instruction information D24 from the vehicle unit 11.

[0210] In the work assistance system 100 of the first embodiment, the work unit 12 can communicate with the server 21 via the vehicle unit 11, thereby eliminating duplication of data exchanged between the work vehicle 10 and the server 21, and enabling efficient communication between the work vehicle 10 and the server 21.

[0211] Furthermore, in the work assistance system 100 according to the first embodiment, the operation terminal CT includes a user operation terminal 22 operated by a user who uses the work vehicle 10, and an operator operation terminal 23 operated by an operator who manages the registration information of the work vehicle 10, and the user operation terminal 22 is capable of requesting operation instructions to the work vehicle 10 from the operator operation terminal 23, and the operator operation terminal 23 transmits operation instruction information regarding the operation instructions to the work vehicle 10 requested by the user operation terminal 22 to the work vehicle 10, and the work vehicle 10 operates based on the operation instruction information.

[0212] In the work assistance system 100 according to the first embodiment, not only the user can give operational instructions to the work vehicle 10, but also the operator can give operational instructions to the work vehicle 10. With this configuration, for example, the operator can give operational instructions to the work vehicle 10 on behalf of a user who is not good at operating the user operation terminal 22.

[0213] [First Modification of the First Embodiment] Next, a first modified example of the first embodiment will be described with reference to Fig. 12 to Fig. 15. As shown in Fig. 12 and Fig. 13, the work support system 100 according to the first modified example differs from the work support system 100 according to the first embodiment described above in that the vehicle unit 11 and the work unit 12 do not have communication units 11D, 12C, and the work unit 12 has a network communication unit 12F. In other words, the work support system 100 according to the first modified example differs from the work support system 100 according to the first embodiment described above in that the work unit 12 performs data communication with the server 21 without going through the vehicle unit 11.

[0214] In the first modified example, a two-dimensional code (such as a QR code (registered trademark)) or an RFID (Radio Frequency Identifier) ​​tag is attached to the work unit 12, and the acquisition unit 11A of the vehicle unit 11 includes a reading unit for reading the two-dimensional code or RFID tag. The two-dimensional code or RFID tag of the work unit 12 includes work unit identification information D21 for identifying the type of the work unit 12, and when the work unit 12 is attached, the vehicle unit 11 reads the two-dimensional code or RFID tag using the acquisition unit 11A and stores the work unit identification information D21 as work unit data D20 in the vehicle unit memory unit 11E.

[0215] <Data flow in the work support system according to the first modification of the first embodiment> Next, an example of the flow of each process in the work support system 100 according to the first modified example of the first embodiment will be described with reference to Figs. 14 and 15. As in the first embodiment described above, in the following description, data is transmitted and received by wired communication or wireless communication via the network NW, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0216] <Operation instruction for work vehicle by operator operation terminal in first modified example of first embodiment> 14, steps S1 to S4 are performed in the same manner as in the first embodiment described above for remote operation of a work vehicle 10 by an operator operation terminal 23 in a work support system 100 according to a first modified example of the first embodiment. Then, in step S5, if there is a work vehicle 10 (vehicle unit 11) that corresponds to the registration information, the server 21 identifies that work vehicle 10 (vehicle unit 11) and requests the vehicle unit data D10 and work unit data D20 from the identified vehicle unit 11 (step S5).

[0217] Then, the vehicle unit 11 that has received the request for the vehicle unit data D10 transmits the vehicle unit identification information D11 to the server as the vehicle unit data D10 (step S6a), and further transmits the task unit identification information D21 stored in the vehicle unit storage unit 11E to the server 21 as the task unit data D20 (step S6b). Then, the work support system 100 according to the first modified example performs steps S7 to S8 in the same manner as in the first embodiment described above, and the server 21 that has received the operation instruction information (travel instruction information D15 and task instruction information D24) from the operator operation terminal 23 transmits the received travel instruction information D15 to the identified vehicle unit 11, and transmits the received task instruction information D24 to the task unit 12 attached to the identified vehicle unit 11 (step S9). Then, the vehicle unit 11 starts traveling based on the received travel instruction information D15, and the task unit 12 starts working based on the received task instruction information D24 (steps S10a, S10b).

[0218] <Operation instruction for work vehicle by user operation terminal in first modified example of first embodiment> 15, steps S11 to S13 are performed in the same manner as in the first embodiment for remote operation of a work vehicle 10 by a user operation terminal 22 in a work support system 100 according to a first modified example of the first embodiment. Then, in step S13, if there is a work vehicle 10 (vehicle unit 11) that corresponds to the registration information, the server 21 identifies that work vehicle 10 (vehicle unit 11) and requests the vehicle unit data D10 and work unit data D20 from the identified vehicle unit 11 (step S14).

[0219] Then, the vehicle unit 11 that has received the request for the vehicle unit data D10 transmits the vehicle unit identification information D11 to the server as the vehicle unit data D10, and transmits the task unit identification information D21 stored in the vehicle unit storage unit 11E to the server 21 as the task unit data D20 (step S15a). Then, the task support system 100 according to the first modified example performs steps S16 to S17 in the same manner as in the first embodiment described above, and the server 21 that has received the operation instruction information (travel instruction information D15 and task instruction information D24) from the user operation terminal 22 transmits the received travel instruction information D15 to the identified vehicle unit 11, and transmits the received travel instruction information D15 to the task unit 12 attached to the identified vehicle unit 11 (step S18). Then, the vehicle unit 11 starts traveling based on the received travel instruction information D15, and the task unit 12 starts working based on the received task instruction information D24 (steps S19a, S19b).

[0220] <Effects of the first modified example of the first embodiment> As described above, in the work assistance system 100 relating to the first modified example of the first embodiment, the operation instruction information includes driving instruction information D15 regarding driving instructions to the vehicle unit 11 and work instruction information D24 regarding work instructions to the work unit 12, and the vehicle unit 11 drives based on the driving instruction information D15 received from the server 21, and the work unit 12 performs work based on the work instruction information D24 received from the server 21.

[0221] The work support system 100 according to the first modified example of the first embodiment makes the vehicle unit 11 travel according to the travel instruction information D15 from the server 21, and makes the work unit 12 work according to the work instruction information D24 from the server 21, so that the travel instruction from the server 21 to the vehicle unit 11 and the work instruction from the server 21 to the work unit 12 can be separately performed. In such a configuration, for example, since a physical communication connection between the vehicle unit 11 and the work unit 12 is not required, the work of attaching the work unit 12 to the vehicle unit 11 can be simplified, and it becomes easy to attach the work unit 12 to the vehicle unit 11. In addition, since the travel instruction to the vehicle unit 11 and the work instruction to the work unit 12 included in the work instruction information D24 are configured separately, the operation instruction to the work vehicle 10 can be easily set without setting the travel instruction and the work instruction as a single integrated instruction information that is a combination of the adjustment.

[0222] In the work assistance system 100 according to the first modified example of the first embodiment, the vehicle unit 11 and the work unit 12 are capable of communicating with the operation terminal CT via the server 21.

[0223] Since the vehicle unit 11 and the work unit 12 can each directly communicate with the server 21, there is no need for a physical communication connection between the vehicle unit 11 and the work unit 12. With this configuration, for example, since a communication connection for direct data communication between the vehicle unit 11 and the work unit 12 is not required, the work of attaching the work unit 12 to the vehicle unit 11 can be simplified, making it easier to attach the work unit 12 to the vehicle unit 11.

[0224] [Second embodiment] Next, a second embodiment will be described with reference to Fig. 16 to Fig. 18. The basic configuration of the work support system 100 according to the second embodiment is similar to the basic configuration of the work support system 100 according to the first modified example of the first embodiment. The work support system 100 according to the second embodiment differs from the work support system 100 according to the first modified example of the first embodiment in that the server 21 transmits operation instruction information to the work vehicle 10 in association with position information in response to an input operation to the operation terminal CT (the user operation terminal 22 and the operator operation terminal 23).

[0225] 16 is a diagram showing an example of a map MP for inputting operations to the work vehicle 10, which is displayed on the operation terminal CT. The map MP is displayed, for example, on the display unit 23B of the operator operation terminal 23. The map MP in the second embodiment is a map image of a travel area FD (here, a field) in which the work vehicle 10 travels. For example, the map MP is created based on information acquired by a spatial sensor that can acquire surrounding conditions in real time and three-dimensionally by having the vehicle unit 11, which includes a spatial sensor in the acquisition unit 11A, travel in advance through the travel area FD.

[0226] Furthermore, the map MP may be created, for example, by the operator operation terminal 23 based on information such as a satellite photograph of the travel area FD and location information of the travel area. The created map MP is stored as vehicle unit data D10 (map information D14) in the vehicle unit storage unit 11E or the server storage unit 21C, and is read out as necessary by an operation terminal CT that has been granted access permission, and is stored in the terminal storage unit of the operation terminal CT.

[0227] As shown in Fig. 16, the operator can place operation icons I1-I4 at any point on the map MP displayed on the display unit 23B of the operator operation terminal 23. For example, if the operation input unit 23C of the operator operation terminal 23 is a touch panel, the operator can move the positions of the operation icons I1-I4 to any point with his / her finger HD as shown in Fig. 16. Then, the operator can set operation instruction information for the work vehicle 10 in each of the operation icons I1-I4.

[0228] For example, the travel area FD in Fig. 16 is a field with multiple ridges RE arranged at regular intervals. Here, the map MP shown in Fig. 16 shows a part of the field, and on both sides of two ridges RE in the map MP, there are ridges RE (not shown) arranged at intervals.

[0229] A work unit 12 capable of spraying pesticides is attached to the vehicle unit 11 of the work vehicle 10 shown in Figure 16, and the work vehicle 10 is configured to spray pesticides toward both or one of the ridges RE adjacent to the work vehicle 10 by traveling between ridges RE (between the ridges). Here, the map MP may be set with areas where the work vehicle 10 cannot travel (travel-prohibited areas), and the operation icons I1 to I4 may be set so that they cannot be placed on the travel-prohibited areas. The travel-prohibited areas in Figure 16 are on the ridges RE.

[0230] The operation icon I1 is located at one end of the furrow (first furrow). The latitude and longitude of the location are associated with the operation icon I1 as position information, and operation instruction information for the work vehicle 10 set by the operator is also associated with the operation icon I1. For example, in the operation icon I1, driving instruction information D15 for the vehicle unit 11 to travel straight through the furrow at a speed of 3.0 kilometers per hour to the position of the next operation icon I2, and work instruction information D24 for the work unit 12 to spray pesticides at 1 milliliter per second are set in association with the position information of the operation icon I1.

[0231] The operation icon I2 is located at the other end of the first furrow, and the latitude and longitude of that point are associated with the operation icon I1 as location information. In the operation icon I2, driving instruction information D15 for the vehicle unit 11 to turn right at a speed of 2.0 kilometers per hour to the location of the next operation icon I3, and work instruction information D24 for the work unit 12 to stop spraying pesticides are set in association with the location information of the operation icon I2.

[0232] The operation icon I3 is located at one end of the second furrow adjacent to the first furrow. This point is where the turned work vehicle 10 is located, and the latitude and longitude of this point are associated with the operation icon I1 as position information. In the operation icon I1, driving instruction information D15 for the vehicle unit 11 to travel straight through the second furrow at a speed of 3.0 km / h to the position of the next operation icon I4, and work instruction information D24 for the work unit 12 to spray pesticides at 1 milliliter per second are set in association with the position information of the operation icon I1.

[0233] Moreover, the operation icon I4 is disposed at the other end of the second furrow. This point is the end point of the operation of the work vehicle 10, and the latitude and longitude of this point are associated with the operation icon I1 as position information. In the operation icon I1, driving instruction information D15 for the vehicle unit 11 to stop, and work instruction information D24 for the work unit 12 to stop spraying pesticides are set in association with the position information of the operation icon I1.

[0234] After placing the operation icons I1-I4 on the map MP, the operator can touch the setting completion button B1 to set a command that associates position information with operation instruction information for the work vehicle 10. By receiving the command, the work vehicle 10 can execute the operation instruction associated with the position information corresponding to the location where the operation icons I1-I4 are placed. In the example shown in FIG. 16, the work vehicle travels through the travel area FD in the order of the operation icons I1-I4, and at the location where each of the operation icons I1-I4 is placed, performs the operation corresponding to the operation icon I1-I4 placed at that location.

[0235] In the above description, the operator sets a command that associates position information with operation instruction information for the work vehicle 10 using the operator operation terminal 23, thereby causing the work vehicle 10 to execute an operation instruction at a predetermined location, but the present invention is not limited to this configuration. For example, a similar command may be set using the user operation terminal 22 of the user.

[0236] <Data flow in the work support system according to the second embodiment> Next, an example of the flow of each process in the work support system 100 according to the second embodiment will be described with reference to Figs. 17 and 18. As in the above-mentioned first embodiment, in the following description, data is transmitted and received by wired communication or wireless communication via the network NW, but the description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, the description of the specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0237] <Command setting via operator terminal> First, a description will be given of an example of the flow of a command setting process by the operator terminal 23 in the second embodiment. Fig. 17 is a flow chart showing an example of the flow of a command setting process by the operator terminal 23 in the second embodiment.

[0238] In the command setting process by the operator operation terminal 23 in the second embodiment, up to the access permission to the operator operation terminal 23 of the server 21 (step S7), the process is performed in the same manner as the operation instruction to the work vehicle 10 by the operator operation terminal 23 in the first modified example of the first embodiment shown in FIG. 14. Then, when the access permission is granted, the operator performs command setting by placing a desired number of operation icons corresponding to desired operation instruction information at desired points by operation input to the operation input unit 23C using the operator operation terminal 23 as shown in FIG. 17 (step S21). Then, when the command setting is completed, the operator operation terminal 23 transmits the set command to the server 21 (step S22). Specifically, the operation instruction information (travel instruction information D15 and work instruction information D24) corresponding to the operation icon is transmitted to the server 21 in association with the position information of the operation icon. Then, the server 21 transmits driving instruction information D15 corresponding to the operation icon in association with the position information of the operation icon to the vehicle unit 11, and transmits work instruction information D24 corresponding to the operation icon in association with the position information of the operation icon to the work unit 12 (step S23). The vehicle unit 11 drives based on the driving instruction information D15 received from the server 21 and the position information associated with the driving instruction information D15 (step S24a). Also, the work unit 12 performs work based on the work instruction information D24 received from the server 21 and the position information associated with the work instruction information D24 (step S24b).

[0239] <Command setting via user-operated terminal> Next, a description will be given of an example of the flow of a command setting process by the user operation terminal 22 in the second embodiment. Fig. 18 is a flow chart illustrating an example of the flow of a command setting process by the user operation terminal 22 in the second embodiment.

[0240] In the command setting process by the user operation terminal 22 in the second embodiment, up to the access permission for the user operation terminal 22 of the server 21 (step S16), the process is performed in the same manner as the operation instruction to the work vehicle 10 by the user operation terminal 22 in the first modified example of the first embodiment shown in FIG. 15. Then, the user who has been granted the access permission performs command setting by placing a desired number of operation icons corresponding to desired operation instruction information at desired locations by operation input to the operation input unit 22C using the user operation terminal 22 as shown in FIG. 18 (step S31). Then, when the command setting is completed, the user operation terminal 22 transmits the set command to the server 21 (step S32). Specifically, the operation instruction information (travel instruction information D15 and work instruction information D24) corresponding to the operation icons is transmitted to the server 21 in association with the position information of the operation icons. Then, the server 21 transmits driving instruction information D15 corresponding to the operation icon in association with the position information of the operation icon to the vehicle unit 11, and transmits work instruction information D24 corresponding to the operation icon in association with the position information of the operation icon to the work unit 12 (step S33). The vehicle unit 11 drives based on the driving instruction information D15 received from the server 21 and the position information associated with the driving instruction information D15 (step S34a). Also, the work unit 12 performs work based on the work instruction information D24 received from the server 21 and the position information associated with the work instruction information D24 (step S34b).

[0241] <Effects of the Second Embodiment> As described above, in the work assistance system 100 according to the second embodiment, the operation terminal CT has display units 22B, 23B which display a map corresponding to the location where the work vehicle 10 is traveling, and based on an operation input to the operation terminal CT, operation icons relating to operation instructions to the work vehicle 10 are arranged on the map, operation instruction information corresponding to the operation icons is associated with position information of the operation icons on the map MP and transmitted to the work vehicle 10, and the work vehicle 10 operates based on the operation instruction information.

[0242] In the work assistance system 100 according to the second embodiment, by transmitting operation instruction information to the work vehicle 10 in association with position information, it is possible to cause the work vehicle 10 to perform a desired task at a desired location without the need for real-time remote control. This configuration enables the user to easily perform tasks that involve a large physical load, such as farm work. The work vehicle 10 autonomously performs tasks based on the operation instruction information on behalf of the user, thereby reducing the physical burden on the user.

[0243] In addition, in the work assistance system 100 relating to the first variant of the second embodiment, the work vehicle 10 has at least an acquisition unit 11A that acquires current position information of the work vehicle 10, and starts the operation included in the operation instruction information based on the current position information acquired by the acquisition unit 11A and the position information of the operation icon.

[0244] In the work assistance system 100 relating to the first variant of the second embodiment, the work vehicle 10 also travels and performs work based on position information and operation instruction information associated with the position information, so that the work vehicle 10 can be made to start a desired operation at a desired position.

[0245] [First Modification of the Second Embodiment] Next, a first modified example of the second embodiment will be described with reference to Fig. 19 and Fig. 20. The basic configuration of the work support system 100 according to the first modified example of the second embodiment is similar to the basic configuration of the work support system 100 according to the second embodiment. The work support system 100 according to the first modified example of the second embodiment differs from the work support system 100 according to the second embodiment in that the work vehicle 10 requests an operation instruction from the control device 20 based on position information.

[0246] 19, in the work support system 100 according to the first modified example of the second embodiment, as in the above-described second embodiment, commands are set by placing operation icons I1 to I4 at any point on the map MP displayed on the display unit 23B of the operator operation terminal 23. Moreover, in the work support system 100 according to the first modified example of the second embodiment, the content and timing of information transmission and reception between the control device 20 and the work vehicle 10 differ from those in the work support system 100 according to the second embodiment.

[0247] <Data flow in the work support system according to the first modified example of the second embodiment> An example of the flow of each process in the work support system 100 according to the first modified example of the second embodiment will be described below with reference to FIG. 20. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0248] <Command setting via operator terminal> An example of the flow of a command setting process by the operator terminal 23 in the first modified example of the second embodiment will be described below. Fig. 20 is a flowchart illustrating an example of the flow of a command setting process by the operator terminal 23 in the first modified example of the second embodiment.

[0249] In the command setting process by the operator operation terminal 23 in the first modified example of the second embodiment, up to the access permission to the operator operation terminal 23 of the server 21 (step S7), the operation instructions to the work vehicle 10 by the operator operation terminal 23 in the first modified example of the first embodiment shown in FIG. 15 are performed. Then, when the access permission is granted, the operator performs command setting by placing a desired number of operation icons corresponding to desired operation instruction information at desired points by operation input to the operation input unit 23C using the operator operation terminal 23 as shown in FIG. 20 (step S21). Then, when the command setting is completed, the operator operation terminal 23 transmits the set command to the server 21 (step S22). Specifically, the operator operation terminal 23 transmits to the server 21 predetermined position information (position information of the operation icon) and operation instruction information corresponding to the operation icon (travel instruction information D15 and work instruction information D24) in association with each other. Here, the server 21 stores in the memory unit 21C the specified position information (position information of the operation icon) received from the operator operation terminal 23 and the operation instruction information (travel instruction information D15 and work instruction information D24) corresponding to the operation icon in an associated state.

[0250] In the first modified example of the second embodiment, the server 21 transmits the position information of each operation icon stored in the storage unit 21C to the vehicle unit 11 (step S41). The vehicle unit 11 then determines whether the current position of the work vehicle 10 corresponds to the position information (operation start position) of the operation icon received from the server 21 (step S42). If the vehicle unit 11 determines that the current position of the work vehicle 10 does not correspond to the position information (operation start position) of the operation icon received from the server 21, it returns to step S42 again and continues the process. If the vehicle unit 11 determines that the current position of the work vehicle 10 corresponds to the position information (operation start position) of the operation icon received from the server 21, it requests the server 21 for operation instruction information corresponding to the position information of the operation icon (step S43). In response to the request from the vehicle unit 11, the server 21 transmits the operation instruction information corresponding to the position information of the operation icon (i.e., the current position of the work vehicle 10) to the work vehicle 10 (step S44). Here, driving instruction information D15 corresponding to the position information of the operation icon (i.e., the current position of the work vehicle 10) is transmitted to the vehicle unit 11, and work instruction information D24 corresponding to the position information of the operation icon (i.e., the current position information of the work vehicle 10) is transmitted to the work unit 12. Then, the vehicle unit 11 drives based on the received driving instruction information D15, and the work unit 12 performs work based on the received work instruction information D24 (steps S45a, S45b).

[0251] In the above description, an example in which commands are set by the operator operation terminal 23 has been described. However, for example, a user may set a similar command by using the user operation terminal 22.

[0252] <Functions and Effects of the First Modification of the Second Embodiment> As described above, in the work assistance system 100 relating to the first modified example of the second embodiment, the server 21 has a memory unit 21C that associates and stores predetermined position information and operation instruction information, the work vehicle 10 has an acquisition unit 11A that acquires at least the current position information of the work vehicle 10, the server 21 transmits only the position information stored in the memory unit 21C to the work vehicle 10, and the work vehicle 10 requests the server 21 to transmit operation instruction information corresponding to the position information received from the server 21 based on the position information received from the server 21 and the current position information of the work vehicle 10.

[0253] In the work assistance system 100 according to the first modified example of the second embodiment, a user or an operator who has received a request from a user can transmit driving instruction information D15 or work instruction information D24 to the work vehicle 10 in association with position information, thereby making it possible to cause the work vehicle 10 to start a desired operation at a desired position based on the contents previously input to the operation terminal, without the need for real-time operation instructions. In addition, by transmitting information for each operation start position of each operation icon, the amount of operation instruction information passed at one time can be reduced, and therefore, for example, the storage capacity of the vehicle unit storage unit 11E and the storage capacity of the task unit storage unit 12D required for executing command settings can be reduced.

[0254] In addition, in the work assistance system 100 relating to the first variant of the second embodiment, the control device 20 transmits operation instruction information associated with location information to the work vehicle 10 in response to a request from the work vehicle 10, and the work vehicle 10 operates based on the operation instruction information received from the control device 20.

[0255] In the work assistance system 100 according to the first modified example of the second embodiment, operation instruction information associated with position information is transmitted to the work vehicle 10 in response to a request from the work vehicle 10, so that the amount of operation instruction information passed at one time can be reduced by transmitting operation instruction information for each operation start position, for example. Therefore, for example, the storage capacity of the vehicle unit storage unit 11E and the storage capacity of the task unit storage unit 12D required for executing command settings can be reduced.

[0256] [Second Modification of the Second Embodiment] Next, a second modified example of the second embodiment will be described with reference to Fig. 21 and Fig. 22. The basic configuration of the work support system 100 according to the second modified example of the second embodiment is similar to the basic configuration of the work support system 100 according to the first modified example of the second embodiment. The work support system 100 according to the second modified example of the second embodiment differs from the work support system 100 according to the first modified example of the second embodiment in that when the work vehicle 10 enters a range (preparation area R1) of a predetermined size centered on a point corresponding to the position information received from the server 21, the work vehicle 10 requests the server 21 to transmit operation instruction information.

[0257] As shown in FIG. 21, in the work assistance system 100 according to the second modification of the second embodiment, a range (preparation area R1) is set with the point where each of the action icons I1 to I4 is located as the center. Information about this preparation area R1 is included in the position information associated with the action icon when a command is transmitted, and is stored in the vehicle unit data storage unit 21Ca and the task unit data storage unit 21Cb of the server storage unit 21C of the server 21. In the server storage unit 21C, this position information is stored in association with the action instruction information (travel instruction information D15 and work instruction information D24). Then, similar to the first modification of the second embodiment, the position information including the information about the preparation area R1 is transmitted from the control device 20 to the work vehicle 10, and when the work vehicle 10 is located within the preparation area R1, the work vehicle 10 requests the control device 20 for the action instruction information (travel instruction information D15 and work instruction information D24) associated with the position information, based on the information about the preparation area R1. Other configurations of the work support system 100 according to the second modified example of the second embodiment are similar to those of the work support system 100 according to the first modified example of the second embodiment. The size of the preparation area R1 is preferably set so that the time from when the work vehicle 10 enters the preparation area R1 requests operation instruction information, when it receives the operation instruction information from the control device 20, until it becomes capable of operating based on the operation instruction information is shorter than the time it takes for the work vehicle 10 to reach a point where it is to start operating.

[0258] <Data flow in the work support system according to the second modification of the second embodiment> An example of the flow of each process in the work support system 100 according to the second modified example of the second embodiment will be described below with reference to FIG. 22. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0259] <Reception of a command based on location information in the second modified example of the second embodiment> An example of the flow of receiving a command based on location information in the second modified example of the second embodiment will be described below. Fig. 22 is a flow chart showing an example of the flow of receiving a command based on location information in the second modified example of the second embodiment.

[0260] In receiving a command based on position information in the second modified example of the second embodiment, as shown in FIG. 22, up to the transmission of position information (step S41), the process is performed in the same manner as command setting by the operator operation terminal in the first modified example of the second embodiment shown in FIG. 20. Here, the position information includes information on the preparation area R1 centered on the point corresponding to the position of the operation icon. Then, the vehicle unit 11 judges whether the current position of the work vehicle 10 is located within the preparation area R1 received from the control device 20 (step S51). If the vehicle unit 11 judges that the current position of the work vehicle 10 is not located within the preparation area R1, it returns to step T11 again and continues the process. Then, if the vehicle unit 11 judges that the current position of the work vehicle 10 is located within the preparation area R1, it requests the control device 20 (server 21) for operation instruction information corresponding to the position information of the operation icon (step S52). Then, the control device 20 (server 21) transmits operation instruction information corresponding to the position information of the operation icon to the work vehicle 10 in response to the request from the vehicle unit 11 (step S53). Here, the control device 20 (server 21) transmits driving instruction information D15 corresponding to the position information of the operation icon to the vehicle unit 11, and transmits work instruction information D24 corresponding to the position information of the operation icon to the work unit 12. Then, the vehicle unit 11 drives based on the received driving instruction information D15, and the work unit 12 performs work based on the received work instruction information D24 (steps S54a, S54b).

[0261] In the above description, an example in which commands are set by the operator operation terminal 23 has been described. However, a similar command may be set by the user operation terminal 22 of the user, for example.

[0262] <Functions and Effects of the Second Modification of the Second Embodiment> In the work assistance system 100 according to the second variant of the second embodiment, when the work vehicle 10 enters a range of a predetermined size centered on a point corresponding to the position information, the work vehicle 10 requests the control device 20 to transmit operation instruction information.

[0263] In the work assistance system 100 according to the second modification of the second embodiment, the work vehicle 10 can prepare in advance to start an operation based on the operation instruction information by requesting the control device for operation instruction information before arriving at the point where the operation is to be started. For example, it is possible to prevent a deviation from occurring in the point where the operation actually starts due to a time lag or the like when starting the operation.

[0264] [Third Modification of the Second Embodiment] Next, a third modified example of the second embodiment will be described with reference to Fig. 23 to Fig. 28. The basic configuration of the work support system 100 according to the third modified example of the second embodiment is similar to the basic configuration of the work support system 100 according to the second embodiment. The work support system 100 according to the third modified example of the second embodiment differs from the work support system 100 according to the second embodiment in that, when the work vehicle 10 has not received operation instruction information associated with position information, the operation terminal CT is permitted to perform real-time remote operation.

[0265] As shown in FIG. 23, in the work support system 100 according to the third modified example of the second embodiment, commands are set by placing operation icons I5 to I8 at any point on the map MP displayed on the display unit 23B of the operator operation terminal 23.

[0266] The operation icon I5 is located at one end of the first furrow. The latitude and longitude of the location are associated with the operation icon I1 as position information, and operation instruction information for the work vehicle 10 set by the operator is also associated with the operation icon I1. Here, the operation instruction information in the operation icon I5 does not include the work instruction information D24, but includes the driving instruction information D15. For example, in the operation icon I5, the driving instruction information D15 for the vehicle unit 11 to proceed straight through the furrow to the position of the next operation icon I6 at a speed of 3.0 kilometers per hour is set in association with the position information of the operation icon I5.

[0267] Moreover, the operation icon I6 is placed at the other end of the first furrow, and the latitude and longitude of the location are associated with the operation icon I6 as location information. Here, the operation instruction information in the operation icon I6 does not include the work instruction information D24 either, but includes the driving instruction information D15. For example, in the operation icon I6, the driving instruction information D15 for the vehicle unit 11 to turn right at a speed of 2.0 kilometers per hour to the location of the next operation icon I7 is set in association with the location information of the operation icon I6.

[0268] Moreover, the operation icon I7 is disposed at one end of the second furrow adjacent to the first furrow. This point is the point where the turned work vehicle 10 is located, and the latitude and longitude of this point are associated with the operation icon I7 as position information. Here, the operation instruction information in the operation icon I6 does not include the work instruction information D24 either, but includes the driving instruction information D15. For example, in the operation icon I7, the driving instruction information D15 for driving the vehicle unit 11 straight through the second furrow at a speed of 3.0 km / h to the position of the next operation icon I8 is set in association with the position information of the operation icon I7.

[0269] Moreover, the operation icon I8 is disposed at the other end of the second furrow. This point is the end point of the operation (travel) of the work vehicle 10, and the latitude and longitude of this point are associated with the operation icon I8 as position information. Here, the operation instruction information in the operation icon I8 does not include the work instruction information D24 either, but includes travel instruction information D15. For example, in the operation icon I8, the travel instruction information D15 to stop the vehicle unit 18 is set in association with the position information of the operation icon I1.

[0270] In the third variant of the second embodiment, the work vehicle 10, which is traveling based on the operation instruction information (travel instruction information D15) corresponding to the commands of the operation icons I5 to I8, allows real-time remote operation of the work unit 12 in response to a request from the operator operation terminal 23.

[0271] As shown in FIG. 23, a first operation object button CR1 for requesting a real-time remote control of the vehicle unit 11 and a second operation object button CR2 for requesting a real-time remote control of the work unit 12 are displayed on the display unit 23B of the operator operation terminal 23 in the third modified example of the second embodiment, and the operator can request a real-time remote control of the vehicle unit 11 or the work unit 12 by touching the first operation object button CR1 or the second operation object button CR2. Here, when the operator touches the first operation object button CR1, real-time remote control of the vehicle unit 11 receiving the travel instruction information D15 associated with the position information of the operation icons I4 to I8 is rejected. Note that, when a real-time remote control is requested by touching the first operation object button CR1 for the vehicle unit 11 receiving the travel instruction information D15 associated with the position information of the operation icons I4 to I8, the vehicle unit 11 may end the travel based on the operation icons I4 to I8 and permit the real-time remote control of the vehicle unit 11.

[0272] When the operator touches the second operation target button CR2, a work instruction button CR3 that allows the operator to give a work instruction to the work unit 12 is displayed on the display unit 23B of the operator operation terminal 23 in the second modified example of the second embodiment. Here, an icon representing the work content according to the type of work unit 12 is displayed as the work instruction button CR3, and when the operator touches this icon and then touches the work execution button CR4, work instruction information D24 is sent to the work unit 12. This communication allows real-time remote operation. Note that, as shown in FIG. 23, multiple types of work instruction buttons CR3 may be displayed, but in this case, no operation input is accepted even if a work instruction button CR3 that does not correspond to the type of work unit 12 is touched.

[0273] As shown in FIG. 24, in the work support system 100 according to the second modified example of the second embodiment, a command may be set by placing operation icons I9 to I12 at any point on the map MP displayed on the display unit 23B of the operator terminal 23.

[0274] The operation icon I9 is ​​located at one end of the first furrow. The latitude and longitude of the location are associated with the operation icon I1 as position information, and operation instruction information for the work vehicle 10 set by the operator is also associated with the operation icon I1. Here, the operation instruction information in the operation icon I9 does not include the driving instruction information D15, but includes the work instruction information D24. For example, in the operation icon I9, the work instruction information D24 to spray pesticides at 1 milliliter per second for the work unit 12 is set in association with the position information of the operation icon I9.

[0275] Moreover, the operation icon I10 is placed at the other end of the first furrow, and the latitude and longitude of that point are associated with the operation icon I6 as location information. Here, the operation instruction information in the operation icon I10 does not include the driving instruction information D15, but includes the work instruction information D24. For example, in the operation icon I9, the work instruction information D24 to stop spraying pesticides on the work unit 12 is set in association with the location information of the operation icon I9.

[0276] Moreover, the operation icon I11 is disposed at one end of the second furrow adjacent to the first furrow. The latitude and longitude of the location are associated with the operation icon I11 as location information. Here, the operation instruction information in the operation icon I11 does not include the driving instruction information D15 either, but includes the work instruction information D24. For example, in the operation icon I11, the work instruction information D24 to spray pesticides at 1 milliliter per second for the work unit 12 is set in association with the location information of the operation icon I11.

[0277] Moreover, the operation icon I12 is disposed at the other end of the second furrow. The latitude and longitude of the location are associated with the operation icon I12 as location information. Here, the operation instruction information in the operation icon I12 does not include the driving instruction information D15, but includes the work instruction information D24. For example, in the operation icon I12, the work instruction information D24 to stop spraying pesticides on the work unit 12 is set in association with the location information of the operation icon I12.

[0278] Here, the work vehicle 10 allows real-time remote control of the vehicle unit 11 in response to a request from the operator operation terminal 23 .

[0279] 24, when the operator touches the first operation target button CR1 and real-time remote operation of the vehicle unit 11 is permitted, operation buttons CR5 capable of controlling the traveling of the vehicle unit 11 are displayed. Here, the operation button CR5 is a directional key, and by touching it, traveling instruction information D15 corresponding to the operation input to the operation button CR5 is transmitted to the vehicle unit 11, and the vehicle unit 11 travels based on the traveling instruction information D15. The operator can operate the operation button CR5 to travel the work vehicle 10 to the point of the operation icon I9 to I12, thereby causing the work unit 12 to start work corresponding to the operation icon I9 to I12 corresponding to that point.

[0280] <Data flow in the work support system according to the third modified example of the second embodiment> An example of the flow of each process in the work support system 100 according to the third modified example of the second embodiment will be described below with reference to Figs. 25 and 26. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0281] <Remote control of the work unit in real time using an operator terminal> First, an example of the flow of real-time remote control of work unit 12 by operator operated terminal 23 in the third modified example of the second embodiment will be described. Fig. 25 is a flowchart showing an example of the processing flow of real-time remote control of work unit 12 by the operator operated terminal in the third modified example of the second embodiment.

[0282] In the real-time remote operation of the work unit 12 by the operator operation terminal 23 in the third modified example of the second embodiment, the steps up to the command transmission from the operator operation terminal 23 (step S22) are performed in the same manner as the operation instruction to the work vehicle 10 by the operator operation terminal 23 in the first modified example of the second embodiment shown in FIG. 20. Note that the command does not include the work instruction information D24 here, and the travel instruction information D15 corresponding to the operation icon is transmitted to the server 21 in association with the position information of the operation icon. The server 21 then transmits the travel instruction information D15 corresponding to the operation icon in association with the position information of the operation icon to the vehicle unit 11, and transmits the position information of the operation icon to the work unit 12 (step S61). The vehicle unit 11 travels based on the travel instruction information D15 received from the server 21 and the position information associated with the travel instruction information D15 (step S62).

[0283] Thereafter, in response to an operation input to the operator operation terminal 23, the operator operation terminal 23 requests the task unit 12 to perform real-time remote operation via the server 21 (step S63). The task unit 12 that has not received the work instruction information D24 associated with the position information of the action icon transmits information to the operator operation terminal 23 via the server 21 to permit the request for real-time remote operation (step S64). The operator operation terminal 23 that has been permitted to perform real-time remote operation transmits the work instruction information D24 to the server 21 in response to an operation input to the operation input unit 23C (step S65). The server 21 transmits the work instruction information D24 received from the operator operation terminal 23 to the task unit 12 (step S66). Then, the task unit 12 performs the task based on the work instruction information D24 (step S67). This control allows the operator to perform real-time remote operation of the task unit 12.

[0284] <Remote control of vehicle units in real time via operator terminal> An example of the flow of real-time remote control of vehicle unit 11 by operator terminal 23 in the third modified example of the second embodiment will be described. Fig. 26 is a flowchart showing an example of the processing flow of real-time remote control of vehicle unit 11 by operator terminal 23 in the third modified example of the second embodiment.

[0285] In the real-time remote operation of the vehicle unit 11 by the operator operation terminal 23 in the third modified example of the second embodiment, the steps up to the command transmission from the operator operation terminal 23 (step S22) are performed in the same manner as the operation instruction to the work vehicle 10 by the operator operation terminal 23 in the first modified example of the second embodiment shown in FIG. 20. Note that the command does not include the driving instruction information D15 here, and the work instruction information D24 corresponding to the operation icon is transmitted to the server 21 in association with the position information of the operation icon. Then, the server 21 transmits the work instruction information D24 corresponding to the operation icon in association with the position information of the operation icon to the work unit 12, and transmits the position information of the operation icon to the vehicle unit 11 (step S71). The work unit 12 executes an operation based on the work instruction information D24 received from the server 21 and the position information associated with the driving instruction information D15 (step S72). For example, when the current position of the work vehicle 10 corresponds to the position associated with the driving instruction information D15, the work unit 12 executes the work based on the driving instruction information D15. Furthermore, when the current position of the work vehicle 10 does not correspond to the position associated with the driving instruction information D15, the work unit 12 goes into a standby state until the current position of the work vehicle 10 reaches the position associated with the driving instruction information D15.

[0286] Thereafter, in response to an operation input to the operator operation terminal 23, the operator operation terminal 23 requests the vehicle unit 11 to perform real-time remote operation via the server 21 (step S73). The vehicle unit 11 that has not received the driving instruction information D15 associated with the position information of the operation icon transmits information to the operator operation terminal 23 via the server 21 indicating that the request for real-time remote operation is permitted (step S74). The operator operation terminal 23 that has been permitted to perform real-time remote operation transmits the driving instruction information D15 to the server 21 in response to an operation input to the operation input unit 23C (step S75). The server 21 transmits the driving instruction information D15 received from the operator operation terminal 23 to the vehicle unit 11 (step S76). Then, the vehicle unit 11 travels based on the driving instruction information D15 (step S77). This control allows the operator to perform real-time remote operation of the vehicle unit 11. Furthermore, when the work vehicle 10 reaches a location corresponding to the position information of an operation icon as a result of the vehicle unit 11 traveling, the work unit 12 carries out work based on the work instruction information D24 of that operation icon.

[0287] In the above description, real-time remote control of the work unit 12 and real-time remote control of the vehicle unit 11 in a work vehicle 10 that has not received either the travel instruction information D15 associated with the position information or the work instruction information D24 associated with the position information has been described, but this is not limited to the configuration. For example, real-time remote control of the work unit by the operator operation terminal 23 and real-time remote control of the vehicle unit 11 by the operator operation terminal 23 are possible for a work vehicle 10 that has not received either the travel instruction information D15 associated with the position information or the work instruction information D24 associated with the position information. Real-time remote control can also be performed by the user operation terminal 22.

[0288] <Effects of the third modified example of the second embodiment> As described above, in the work assistance system 100 relating to the third modified example of the second embodiment, the work vehicle 10 has at least an acquisition unit 11A that acquires current position information of the work vehicle 10, and when operation instruction information associated with the position information of the operation icon is not received, real-time remote operation by operation input to the operation terminal CT is permitted.

[0289] In the work assistance system 100 according to the third modification of the second embodiment, a work vehicle 10 that has not received operation instruction information associated with position information can be operated by remote control in real time.

[0290] Furthermore, in the work assistance system 100 relating to the third variant of the second embodiment, the work vehicle 10 has an acquisition unit 11A that acquires at least current position information of the work vehicle 10, and the operation instruction information associated with the position information of the operation icon includes either driving instruction information D15 regarding driving instructions to the vehicle unit 11 or work instruction information D24 regarding work instructions to the work unit 12, and when the work unit 12 receives driving instruction information D15 associated with the position information of the operation icon from the operation terminal CT, it allows real-time remote operation by operation input to the operation terminal CT without using the operation icon, and when the vehicle unit 11 receives work instruction information associated with the position information of the operation icon from the operation terminal CT, it allows real-time remote operation by operation input to the operation terminal CT without using the operation icon.

[0291] In the work assistance system 100 relating to the third variant of the second embodiment, a vehicle unit 11 that has not received driving instruction information D15 associated with location information and a work unit 12 that has not received work instruction information D24 associated with location information can be operated by remote control in real time.

[0292] [Third embodiment] Next, a third embodiment will be described with reference to Fig. 27 to Fig. 29. The basic configuration of the work support system 100 according to the third embodiment is similar to that of the work support system 100 according to the first embodiment, except for the configuration of the vehicle unit 11. The work support system 100 according to the third embodiment differs from the work support system 100 according to the first embodiment in that the vehicle unit 11 has a cooperative control unit 11Fd that cooperatively controls the travel of the vehicle unit 11 and the work of the work unit 12.

[0293] As shown in Fig. 27, in a work vehicle 10 of the third embodiment, the vehicle unit 11 and the work unit 12 perform data communication without going through the server 21. As shown in Fig. 28, the vehicle unit memory unit 11E of the vehicle unit 11 in the third embodiment is conceptually configured to include, functionally, a vehicle unit data memory unit 11Ea, a work unit data memory unit 11Eb, and a cooperative control data memory unit 11Ec.

[0294] The cooperative control data storage unit 11Ec is a storage area that stores the cooperative control data D80. The cooperative control data D80 includes information on a cooperative control map that associates the travel speed of the vehicle unit 11 with the work state of the working unit 12. For example, the cooperative control map includes information on the amount of pesticide sprayed according to the travel speed of the vehicle unit 11 for the working unit 12 that can spray pesticide. In this case, for example, the faster the travel speed of the vehicle unit 11, the larger the amount of pesticide sprayed is set. For example, the cooperative control map includes information on the rotation speed of the cutting blade according to the travel speed of the vehicle unit 11 for the working unit 12 that can mow grass. In this case, for example, the faster the travel speed of the vehicle unit 11, the faster the rotation speed of the cutting blade is set. In addition, for example, the cooperative control map includes information on the amount of water sprayed according to the travel speed of the vehicle unit 11 for the working unit 12 that can sprinkle water. In this case, for example, the faster the travel speed of the vehicle unit 11, the larger the amount of water sprayed is set. Other configurations of the vehicle unit storage unit 11E in the third embodiment are similar to those of the vehicle unit storage unit 11E in the first embodiment.

[0295] Moreover, in the third embodiment, the processing unit 11F of the vehicle unit 11 is configured, functionally and conceptually, to include a data processing unit 11Fa, a communication processing unit 11Fb, a driving control unit 11Fc, and a cooperation control unit 11Fd.

[0296] In the third embodiment, the cooperative control unit 11Fd is common to a plurality of types of work units 12. That is, the cooperative control unit 11Fd controls (cooperative control) the work corresponding to the type of work unit 12 attached to the vehicle unit 11 and the traveling of the vehicle unit 11. For example, the cooperative control unit 11Fd reads cooperative control data D80 (information on the cooperative control map) from the cooperative control data storage unit 11Ec, and cooperatively controls the traveling of the vehicle unit 11 and the work of the work unit 12 based on the actual traveling situation of the vehicle unit 11 traveling based on the traveling instruction information D15 and the information on the cooperative control map. For example, when the actual traveling speed of the vehicle unit 11 is faster (or slower) than the traveling speed based on the traveling instruction information D15, the cooperative control unit 11Fd reads information on the cooperative control map and cooperatively controls the work of the work unit 12 according to the actual traveling speed of the vehicle unit 11. That is, when the actual travel of the vehicle unit 11 differs from the travel defined in the travel instruction information D15, the cooperative control unit 11Fd controls the work of the work unit 12 according to the actual travel of the vehicle unit 11. The cooperative control unit 11Fd may also acquire information on the work type and work status of the work unit 12 from the work unit 12, and cooperatively control the travel speed of the vehicle unit 11 based on the information and the information on the cooperative control map. The cooperative control unit 11Fd may also specify the type of work unit 12 using the work unit basic information D22, calculate a travel speed according to the specified type of work unit 12, and cooperatively control the travel speed of the vehicle unit 11 so that the actual travel speed of the vehicle unit 11 becomes the travel speed according to the specified type of work unit 12. That is, when the actual work of the work unit 12 differs from the work defined in the work instruction information D24, the cooperative control unit 11Fd controls the travel of the vehicle unit 11 according to the actual work of the work unit 12.

[0297] Moreover, the cooperative control data D80 may include information on a trained model using AI (Artificial Intelligence) or reinforcement learning instead of the cooperative control map. In this case, the cooperative control unit 11Fd may read out a trained model using AI (Artificial Intelligence) or reinforcement learning from the cooperative control data storage unit 11Ec instead of the cooperative control map, and based on the trained model, when the actual traveling speed of the vehicle unit 11 is faster (or slower) than the traveling speed based on the traveling instruction information D15, control the work of the work unit 12 according to the actual traveling speed of the vehicle unit 11. Furthermore, when the actual position information of the vehicle unit 11 deviates from the traveling route based on the traveling instruction information D15, the cooperative control unit 11Fd may control the work of the work unit 12 according to the deviation of the traveling route. The other configurations of the processing unit 11F of the third embodiment are the same as those of the processing unit 11F of the first embodiment.

[0298] <Data flow in the work support system according to the third embodiment> An example of the flow of each process in the work support system 100 according to the third embodiment will be described below with reference to FIG. 29. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited to this.

[0299] <Cooperative control by vehicle units in the third embodiment> An example of the flow of cooperative control by the vehicle unit 11 in the third embodiment will be described below. Fig. 29 is a flow chart showing an example of the flow of cooperative control by the vehicle unit 11 in the third embodiment.

[0300] In the cooperative control by the vehicle unit 11 in the third embodiment, as shown in FIG. 29, the process from access permission (step S7) to the traveling of the vehicle unit 11 (step S24a) and the execution of the work by the work unit 12 (step S24b) is performed in the same manner as the command setting by the operator operation terminal 23 in the second embodiment shown in FIG. 17. In the third embodiment, the work unit 12 performing the work transmits the work status information D23 to the vehicle unit 11 (step S81). This work status information D23 is transmitted from the work unit 12 to the vehicle unit 11 in real time as needed. The vehicle unit 11 that receives the work status information D23 determines whether or not the actual operation status of the work vehicle 10 is based on the operation instruction information (travel instruction information D15 and work instruction information D24) (step S82). If the vehicle unit 11 determines that the actual operation status of the work vehicle 10 is based on the operation instruction information, it repeats the process of step S62. Then, when the vehicle unit 11 determines that the actual operation status of the work vehicle 10 is not based on the operation instruction information, the vehicle unit 11 generates cooperative control information by the cooperative control unit 11Fd and transmits the generated cooperative control information to the work unit 12 (step S83). Here, the cooperative control information is information that corrects the operation instruction information (travel instruction information D15 and work instruction information D24) generated based on a cooperative control map or a learned model by AI (Artificial Intelligence) or reinforcement learning. The vehicle unit 11 travels based on the cooperative control information. That is, the vehicle unit 11 prioritizes traveling based on the cooperative control information instead of traveling based on the travel control information (step S84a). Then, the work unit 12 that has received the cooperative control information performs work based on the cooperative control information. That is, the work unit 12 prioritizes traveling based on the cooperative control information instead of traveling based on the work control information D25 (step S84b).

[0301] <Effects of the Third Embodiment> As described above, in the work assistance system 100 of the third embodiment, the operation instruction information includes driving instruction information D15 regarding driving instructions to the vehicle unit 11 and work instruction information D24 regarding work instructions to the work unit 12, and the work assistance system 100 further includes a cooperative control unit 21Dc that cooperatively controls the driving based on the driving instruction information D15 in the vehicle unit 11 and the work based on the work instruction information D24 in the work unit 12 based on the status of the work vehicle 10.

[0302] In the work assistance system 100 according to the third embodiment, the cooperative control unit 11Fd causes the work vehicle 10 to drive and perform work based on the cooperative control information, instead of driving based on the driving instruction information D15 or work based on the work instruction information D24, depending on the actual driving situation of the vehicle unit 11 and the actual work situation of the work unit 12. Through this processing, the work assistance system 100 according to the third embodiment can automatically adjust the operation of the work vehicle 10 to be suitable for the actual situation, so that the user or operator can easily perform appropriate work using the work vehicle 10.

[0303] Furthermore, in the work assistance system 100 according to the third embodiment, the vehicle unit 11 drives based on driving instruction information D15 received from the control device 20, the work unit 12 performs work based on work instruction information D24 received from the control device 20, and when the actual driving of the vehicle unit 11 differs from the driving defined in the driving instruction information D15, the cooperative control units 11Fd, 21Dc generate cooperative control information for controlling the work of the work unit 12 in accordance with the actual driving of the vehicle unit 11, and perform the work based on the cooperative control information instead of the work based on the work instruction information D24.

[0304] The work assistance system 100 according to the third embodiment enables control to coordinate the work of the work unit 12 with the actual driving conditions of the vehicle unit 11. Therefore, the user or an operator requested by the user can perform work suited to the actual driving conditions with simple operation input.

[0305] Furthermore, in the work assistance system 100 of the third embodiment, the work unit 12 performs work based on work instruction information D24 received from the control device 20, the vehicle unit 11 performs driving based on driving instruction information D15 received from the control device 20, and when the actual work in the work unit 12 differs from the work defined in the work instruction information D24, the cooperative control units 11Fd, 12Dc generate cooperative control information that controls the driving of the vehicle unit 11 in accordance with the actual work in the work unit 12, and perform driving based on the cooperative control information instead of driving based on the driving instruction information D24.

[0306] In the work assistance system 100 according to the third embodiment, control for coordinating the travel of the vehicle unit 11 with the actual work situation of the work unit 12 becomes possible.

[0307] In the work assistance system 100 according to the third embodiment, the cooperative control unit 11Fd is included in the vehicle unit 11.

[0308] In the work assistance system 100 according to the third embodiment, the vehicle unit 11 includes the cooperative control unit Fd, so that the amount of communication with the control device 20 can be reduced.

[0309] In addition, in the work assistance system 100 relating to the third embodiment, the cooperative control units 11Fd, 21Dc cooperatively control the traveling of the vehicle unit 11 and the work of the work unit 12 based on a cooperative control map that associates the traveling speed of the vehicle unit 11 and the work state of the work unit 12.

[0310] In the work assistance system 100 according to the third embodiment, by using a cooperative control map, it becomes possible to perform cooperative control by matching the travel speed of the vehicle unit 11 with the work state of the work unit 12, thereby reducing the complexity of information processing in the cooperative control of the work vehicle 10.

[0311] [First Modification of the Third Embodiment] Next, a first modified example of the third embodiment will be described with reference to FIG. 30 and FIG. 31. The basic configuration of the work support system 100 according to the first modified example of the third embodiment is similar to the basic configuration of the work support system 100 according to the first modified example of the first embodiment. The work support system 100 according to the first modified example of the third embodiment is different from the work support system 100 according to the third embodiment in that the vehicle unit 11 and the work unit 12 perform data communication via a control device 20 (server 21) as shown in FIG. 30. Therefore, in the work support system 100 according to the first modified example of the third embodiment, as described later, the flow of data when performing cooperative control is also different from that of the work support system 100 according to the third embodiment. The other configurations of the work support system 100 according to the first modified example of the third embodiment are similar to those of the work support system 100 according to the third embodiment.

[0312] <Data flow in the work support system according to the first modified example of the third embodiment> An example of the flow of each process in the work support system 100 according to the third embodiment will be described below with reference to FIG. 31. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0313] <Cooperative control by vehicle units in the first modified example of the third embodiment> An example of the flow of cooperative control by vehicle unit 11 in the first modified example of the third embodiment will be described below. Fig. 31 is a flowchart showing an example of the flow of cooperative control by vehicle unit 11 in the first modified example of the third embodiment.

[0314] In the cooperative control by the vehicle unit 11 in the first modified example of the third embodiment, the process from access permission (step S7) to the traveling of the vehicle unit 11 (step S24a) and the execution of the work by the work unit 12 (step S24b) is performed in the same manner as the cooperative control by the vehicle unit 11 in the third embodiment shown in FIG. 29. In the first modified example of the third embodiment, the work status information D23 is transmitted from the work unit 12 performing the work to the vehicle unit 11 via the control device 20 (server 21) (step S81). The transmission of this work status information D23 from the work unit 12 is performed in real time at any time. The vehicle unit 11 that receives the work status information D23 determines whether or not the actual operation status of the work vehicle 10 is based on the operation instruction information (travel instruction information D15 and work instruction information D24) (step S82). If the vehicle unit 11 determines that the actual operation status of the work vehicle 10 is based on the operation instruction information, it repeats the process of step S62. Then, when the vehicle unit 11 determines that the actual operation status of the work vehicle 10 is not based on the operation instruction information, it generates cooperative control information by the cooperative control unit 11Fd and transmits the generated cooperative control information to the work unit 12 via the control device 20 (server 21) (step S83). The vehicle unit 11 travels based on the cooperative control information. That is, the vehicle unit 11 gives priority to traveling based on the cooperative control information over traveling based on the generated traveling control information D15 (step S84a). Then, the work unit 12 that has received the cooperative control information performs work based on the cooperative control information. That is, the work unit 12 gives priority to performing work based on the cooperative control information over work based on the work control information D24 (step S84b).

[0315] [Second Modification of the Third Embodiment] Next, a second modified example of the third embodiment will be described with reference to FIG. 32 and FIG. 33. The basic configuration of the work support system 100 according to the second modified example of the third embodiment is the same as the basic configuration of the work support system 100 according to the first modified example of the third embodiment, except for the configuration of the server 21. The work support system 100 according to the second modified example of the third embodiment differs from the work support system 100 according to the first modified example of the third embodiment in that the server storage unit 21C of the server 21 includes a cooperative control data storage unit 21Ch, as shown in FIG. 32. The processing unit 21D of the server 21 also differs in that it includes a cooperative control unit 21Dc in terms of functional concept. The work support system 100 according to the second modified example of the third embodiment differs from the work support system 100 according to the first modified example of the third embodiment in that the vehicle unit storage unit 11E of the vehicle unit 11 does not include a cooperative control data storage unit 11Ec, and the processing unit 11F of the vehicle unit 11 does not include a cooperative control unit 11Fd. That is, the second modification of the third embodiment differs from the task support system 100 according to the first modification of the third embodiment in that the server 21 performs cooperative control.

[0316] As shown in Fig. 32, the cooperative control data storage unit 21Ch of the server 21 is a storage area that stores cooperative control data D80. Furthermore, the cooperative control unit 21Dc of the server 21 reads out the cooperative control data D80 (information on the cooperative control map, etc.) from the cooperative control data storage unit 21Ch, and controls the travel of the vehicle unit 11 and the work of the work unit 12 based on the actual travel situation of the vehicle unit 11 traveling based on the travel instruction information D15, the actual travel situation of the vehicle unit 11 traveling based on the work instruction information D24, and the cooperative control data D80. The other configurations of the work support system 100 according to the third modified example of the third embodiment are similar to those of the work support system 100 according to the first modified example of the third embodiment.

[0317] <Data flow in the work support system according to the second modified example of the third embodiment> An example of the flow of each process in the work support system 100 according to the second modified example of the third embodiment will be described below with reference to FIG. 33. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0318] <Cooperative control by control device in second modified example of third embodiment> An example of the flow of cooperative control by control device 20 (server 21) in the second modified example of the third embodiment will be described below. Fig. 33 is a flowchart showing an example of the flow of cooperative control by control device 20 (server 21) in the second modified example of the third embodiment.

[0319] In the cooperative control by the vehicle unit 11 in the second modified example of the third embodiment, the process from access permission (step S7) to the traveling of the vehicle unit 11 (step S24a) and the execution of the work by the work unit 12 (step S24b) is performed in the same manner as the cooperative control by the vehicle unit 11 in the third embodiment shown in FIG. 29. In the second modified example of the third embodiment, the work unit 12 performing the work transmits the work status information D23 to the vehicle unit 11 (step S91). The vehicle unit 11 that receives the work status information D23 transmits the operation status information (traveling status information D13 and work status information D23) to the server 21 (step S92). The transmission of the work status information D23 from the work unit 12 is performed in real time at any time, and the transmission of the operation status information (traveling status information D13 and work status information D23) from the vehicle unit 11 is also performed in real time at any time. The server 21, which has received the operation status information (travel status information D13 and work status information D23), judges whether or not the actual operation status of the work vehicle 10 is based on the operation instruction information (travel instruction information D15 and work instruction information D24) (step S93). If the server 21 judges that the actual operation status of the work vehicle 10 is based on the operation instruction information, it repeats the process of step S73. If the server 21 judges that the actual operation status of the work vehicle 10 is not based on the operation instruction information, it generates cooperative control information by the cooperative control unit 21Dc and transmits it to the vehicle unit 11 (step S94). The vehicle unit 11, which has received the cooperative control information, transmits the cooperative control information to the work unit 12 (step S95). Then, the vehicle unit 11 travels based on the cooperative control information. That is, the vehicle unit 11 prioritizes traveling based on the cooperative control information over traveling based on the travel control information D15 (step S96a). Furthermore, the work unit 12, which has received the cooperative control information, performs work based on the cooperative control information. That is, the task unit 12 gives priority to executing a task based on the cooperative control information over a task based on the task control information D24 (step S96b).

[0320] [Third Modification of the Third Embodiment] Next, a third modified example of the third embodiment will be described with reference to FIG. 34. The basic configuration of the work support system 100 according to the third modified example of the third embodiment is similar to the basic configuration of the work support system 100 according to the first modified example of the first embodiment. The work support system 100 according to the third modified example of the third embodiment is different from the work support system 100 according to the second embodiment of the third embodiment in that the vehicle unit 11 and the work unit 12 perform data communication via a control device 20 (server 21). Therefore, as described later, in the work support system 100 according to the third modified example of the third embodiment, the flow of data when performing cooperative control is also different from that of the work support system 100 according to the second modified example of the third embodiment. The other configurations of the work support system 100 according to the third modified example of the third embodiment are similar to those of the work support system 100 according to the second modified example of the third embodiment.

[0321] <Data flow in the work support system according to the third modified example of the third embodiment> An example of the flow of each process in the work support system 100 according to the third embodiment will be described below with reference to FIG. 34. As in the above-mentioned first embodiment, in the following description, data is transmitted and received by wired communication or wireless communication via the network NW, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited to this.

[0322] <Cooperative control by control device in third modified example of third embodiment> An example of the flow of cooperative control by control device 20 (server 21) in the third modified example of the third embodiment will be described. Fig. 34 is a flowchart showing an example of the flow of cooperative control by control device 20 (server 21) in the third modified example of the third embodiment.

[0323] In the cooperative control by the vehicle unit 11 in the first modified example of the third embodiment, the steps from access permission (step S7) to the traveling of the vehicle unit 11 (step S24a) and the execution of the work by the work unit 12 (step S24b) are performed in the same manner as the cooperative control by the vehicle unit 11 in the third embodiment shown in FIG. 29. In the third modified example of the third embodiment, the work status information D23 is transmitted from the work unit 12 that is performing the work to the control device 20 (server 21) (step T1a). In addition, the traveling vehicle unit 11 transmits the traveling status information D13 to the control device 20 (server 21) (step T1b). The transmission of the work status information D23 from the work unit 12 is performed in real time as needed. In addition, the transmission of the traveling status information D13 from the vehicle unit 11 is also performed in real time as needed. The control device 20 (server 21) that has received the driving status information D13 and the work status information D23 judges whether the actual operation status of the work vehicle 10 is based on the operation instruction information (driving instruction information D15 and work instruction information D24) (step T2). If the control device 20 (server 21) judges that the actual operation status of the work vehicle 10 is based on the operation instruction information, it repeats the process of step S73. Then, if the control device 20 (server 21) judges that the actual operation status of the work vehicle 10 is not based on the operation instruction information, it generates cooperative control information by the cooperative control unit 21Dc and transmits it to the vehicle unit 11 and the work unit 12 (step T3). The vehicle unit 11 travels based on the cooperative control information. That is, the vehicle unit 11 prioritizes traveling based on the cooperative control information over traveling based on the traveling control information D15 (step T4a). Then, the work unit 12 that has received the cooperative control information performs work based on the cooperative control information. That is, the task unit 12 gives priority to executing a task based on the cooperative control information over a task based on the task control information D24 (step ST4a).

[0324] <Effects of the third modified example of the third embodiment> In a task support system 100 according to a third modified example of the third embodiment, the cooperative control unit 21Dc is included in the control device 20.

[0325] Since the control device 20 includes the cooperative control unit 21Dc, it is possible to reduce the capacity of the memory unit of the work vehicle 10 that is necessary for the work vehicle 10 to operate under coordinated control.

[0326] [Fourth Modification of the Third Embodiment] Next, a fourth modified example of the third embodiment will be described with reference to FIG. 35 and FIG. 36. The basic configuration of the work support system 100 according to the fourth modified example of the third embodiment is different from that of the work support system 100 according to the third embodiment in that a modularized travel control unit 13a is provided instead of the travel control unit 11Fc, and a modularized cooperative control unit 13b is provided instead of the cooperative control unit 11Fd. The work support system 100 according to the fourth modified example of the third embodiment is also different from the work support system 100 according to the third embodiment in that the modularized travel control unit 13a is connected to the connection unit 11G (first connection unit 11Ga) of the vehicle unit 11, and the modularized cooperative control unit 13b is connected to the connection unit 11G (second connection unit 11Gb) of the vehicle unit 11. The other basic configurations of the work support system 100 according to the fourth modified example of the third embodiment are the same as those of the work support system 100 according to the third embodiment.

[0327] 35, the traveling control unit 13a and the cooperative control unit 13b are each modularized and provided separately from the main body of the vehicle unit 11, and each is configured to be detachable from the main body of the vehicle unit 11. A connection part 11G is provided on the main body of the vehicle unit 11. The connection part 11G includes a first connection part 11Ga to which the traveling control unit 13a is connected, and a second connection part 11Gb to which the cooperative control unit 13b is connected.

[0328] The driving control unit 13a is a component having the same function as the driving control unit 11Fc of the third embodiment, and is physically connected to the first connection unit 11Ga, so as to be capable of communicating with the acquisition unit 11A, the driving output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit memory unit 11E, and the processing unit 11F.

[0329] The cooperative control unit 13b has functions similar to those of the cooperative control unit 11Fd of the third embodiment, and is physically connected to the second connection unit 11Gb, so as to be capable of communicating with the acquisition unit 11A, the driving output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit memory unit 11E, and the processing unit 11F.

[0330] <Data flow in the work support system according to the fourth modified example of the third embodiment> An example of the flow of each process in the work support system 100 according to the fourth modified example of the third embodiment will be described below with reference to FIG. 36. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0331] <Cooperative control by vehicle units in the fourth modified example of the third embodiment> An example of the flow of cooperative control by vehicle unit 11 in the fourth modified example of the third embodiment will be described below. Fig. 36 is a flowchart showing an example of the flow of cooperative control by vehicle unit 11 in the fourth modified example of the third embodiment.

[0332] In the cooperative control by the vehicle unit 11 in the fourth modified example of the third embodiment, the steps from access permission (step S7) to the traveling of the vehicle unit 11 (step S24a) and the execution of the work by the work unit 12 (step S24b) are performed in the same manner as the cooperative control by the vehicle unit 11 in the third embodiment shown in FIG. 29. In the fourth modified example of the third embodiment, the work unit 12 that is performing the work transmits the work status information D23 to the vehicle unit 11 (step T31). The work status information D23 is transmitted from the work unit 12 in real time as needed. The vehicle unit 11 that receives the work status information D23 determines whether or not the actual operation status of the work vehicle 10 is based on the operation instruction information (travel instruction information D15 and work instruction information D24) (step T32). If the vehicle unit 11 determines that the actual operation status of the work vehicle 10 is based on the operation instruction information, it repeats the process of step T32. Then, if the vehicle unit 11 determines that the actual operation status of the work vehicle 10 is not based on the operation instruction information, it generates cooperative control information by the cooperative control unit 13b and transmits the cooperative control information to the work unit 12 (step T33). The vehicle unit 11 then travels based on the cooperative control information. That is, the vehicle unit 11 gives priority to traveling based on the cooperative control information over traveling based on the travel control information D15 (T34a). The work unit 12 then receives the cooperative control information and performs work based on the cooperative control information. That is, the work unit 12 gives priority to performing work based on the cooperative control information over work based on the work control information D24 (step T34b).

[0333] <Effects of the Fourth Modification of the Third Embodiment> In the work support system 100 according to the fourth modified example of the third embodiment, the cooperative control unit 13b is configured to be detachable from the vehicle unit 11.

[0334] In work assistance system 100 according to the fourth modified example of the third embodiment, cooperative control unit 13b is configured to be detachable, so that, for example, cooperative control unit 13b can be replaced depending on the type of task unit 12 attached to vehicle unit 11. With this configuration, for example, the storage capacity required for task unit storage unit 12D in task unit 12 can be reduced while the main body of vehicle unit 11 can be made common to multiple types of task units 12.

[0335] [Fifth Modification of the Third Embodiment] Next, a fifth modified example of the third embodiment will be described with reference to Figs. 37 to 39. The basic configuration of the work support system 100 according to the fifth modified example of the third embodiment differs from that of the work support system 100 according to the fourth modified example of the third embodiment in that a modularized cooperative control unit 13b is provided in the work unit 12. The basic configuration of the work support system 100 according to the fifth modified example of the third embodiment is also different from that of the work support system 100 according to the fourth modified example of the third embodiment in that the second connection unit 11Gb is provided in the work unit 12. The other basic configurations of the work support system 100 according to the fifth modified example of the third embodiment are the same as those of the work support system 100 according to the fourth modified example of the third embodiment.

[0336] 37, in the fifth modified example of the third embodiment, the connection portion 11G of the vehicle unit 11 includes a first connection portion 11Ga. The traveling control unit 13a is physically connected to the first connection portion 11Ga, and is configured to be able to communicate with the acquisition unit 11A, the traveling output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit storage unit 11E, and the processing unit 11F.

[0337] 38, in a fifth modified example of the third embodiment, task unit 12 is provided with connection unit 12F. Connection unit 12F includes second connection unit 12Fb. Collaboration control unit 13b is physically connected to second connection unit 12Fb, and is configured to be able to communicate with acquisition unit 12A, task output unit 12B, communication unit 12C, task unit storage unit 12D, and processing unit 12E.

[0338] <Data flow in the work support system according to the fifth modified example of the third embodiment> An example of the flow of each process in the work support system 100 according to the fifth modified example of the third embodiment will be described below with reference to FIG. 39. As in the above-mentioned first embodiment, data is transmitted and received by wired communication or wireless communication via the network NW in the following description, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited thereto.

[0339] <Cooperative control by task units in the fifth modified example of the third embodiment> An example of the flow of cooperative control by the task unit 12 in the fifth modified example of the third embodiment will be described below. Fig. 39 is a flow chart showing an example of the flow of cooperative control by the task unit 12 in the fifth modified example of the third embodiment.

[0340] In the cooperative control by the vehicle unit 11 in the fifth modified example of the third embodiment, the process from access permission (step S7) to the traveling of the vehicle unit 11 (step S24a) and the execution of the work by the work unit 12 (step S24b) is performed in the same manner as the cooperative control by the vehicle unit 11 in the third embodiment shown in FIG. 29. In the fifth modified example of the third embodiment, the traveling vehicle unit 11 transmits the traveling status information D13 to the work unit 12 (step T21). The traveling status information D13 is transmitted from the vehicle unit 11 at any time in real time. The work unit 12 that has received the traveling status information D13 determines whether or not the actual operation status of the work vehicle 10 is based on the operation instruction information (traveling instruction information D15 and work instruction information D24) (step T22). If the work unit 12 determines that the actual operation status of the work vehicle 10 is based on the operation instruction information, it repeats the process of step T52. Then, if the work unit 12 determines that the actual operation status of the work vehicle 10 is not based on the operation instruction information, it generates cooperative control information by the cooperative control unit 13b and transmits the cooperative control information to the vehicle unit 11 (step T23). The vehicle unit 11 then travels based on the cooperative control information. That is, the vehicle unit 11 gives priority to traveling based on the cooperative control information over traveling based on the travel control information D15 (T24a). The work unit 12 then receives the cooperative control information and performs work based on the cooperative control information. That is, the work unit 12 gives priority to performing work based on the cooperative control information over work based on the work control information D24 (step T24b).

[0341] <Functions and Effects of the Fifth Modification of the Third Embodiment> In the task support system 100 according to the fifth modified example of the third embodiment, the cooperative control unit 13b is configured to be detachable from the task unit 12.

[0342] In the work assistance system 100 according to the fifth modified example of the third embodiment, the cooperative control unit 13b is configured to be detachable, so that, for example, the cooperative control unit 13b can be replaced depending on the location where the work vehicle 10 is traveling. With this configuration, for example, the storage capacity required for the work unit storage unit 12D in the work unit 12 can be reduced.

[0343] [Fourth embodiment] Next, the fourth embodiment will be described with reference to Fig. 40 and Fig. 42. The basic configuration of the work support system 100 according to the fourth embodiment is different from that of the work support system 100 according to the second embodiment in that, as shown in Fig. 40, the processing unit 11F is configured to further include an abnormality detection unit 11Fe in terms of functional concept. The processing unit 11F, for example, reads a program (not shown) stored in the vehicle unit storage unit 11E and executes this program to realize the processing function of the abnormality detection unit 11Fe. The other basic configurations of the work support system 100 according to the fourth embodiment are the same as those of the work support system 100 according to the second embodiment.

[0344] In the work assistance system 100 according to the fourth embodiment, when the work vehicle 10 operating based on operation instruction information associated with position information detects an abnormality such as an obstacle by the abnormality detection unit 11Fe, the operation of the work vehicle 10 is interrupted.

[0345] As shown in FIG. 41, for example, there may be an obstacle OB in the traveling direction of the work vehicle 10. The work vehicle 10 is configured to acquire information about the surrounding conditions of the work vehicle 10 by the acquisition unit 11A (various sensors such as an imaging device and an ultrasonic sensor, etc.), and the abnormality detection unit 11Fe is configured to detect an obstacle OB that exists in the traveling direction of the work vehicle 10 as an abnormality of the work vehicle 10 from the information about the surrounding conditions of the work vehicle 10 acquired by the acquisition unit 11A. When the abnormality detection unit 11Fe detects an abnormality (obstacle OB) of the work vehicle 10, it transmits the abnormality detection information to the control device 20. When the control device 20 receives the abnormality detection information, it transmits interruption instruction information to the work vehicle 10 to interrupt the operation of the work vehicle 10. Then, when the work vehicle 10 receives the interruption instruction information, it interrupts the operation.

[0346] When the work vehicle 10 receives the interruption instruction information, it interrupts the operation based on the operation instruction information and goes into a standby state. Then, when the acquisition unit 11A of the vehicle unit 11 detects that the abnormality of the work vehicle 10 has been resolved, the work vehicle 10 returns from the standby state and resumes the interrupted operation based on the operation instruction information from the operation immediately after the interruption. That is, when the work vehicle 10 receives the interruption instruction information, it interrupts the operation of the work vehicle 10, and when the abnormality detection unit 11Fe detects that the abnormality of the work vehicle 10 has been resolved, it resumes the interrupted operation from the operation immediately after the interruption.

[0347] The work vehicle 10 may receive new operation instruction information from the control device 20 when the operation based on the operation instruction information is interrupted and the work vehicle 10 is in a standby state. Furthermore, when the work vehicle 10 interrupts the operation based on the operation instruction information and is in a standby state, the work vehicle 10 may receive real-time remote operation according to an operation input to the operation terminal CT (such as the operator operation terminal 23). In other words, the work vehicle 10 may be configured to be able to receive new operation instruction information from the control device 20 when the work vehicle 10 interrupts the operation based on the operation instruction information by receiving interruption instruction information.

[0348] Furthermore, when the work vehicle 10 returns to a location where the operation based on the operation instruction information can be resumed from the middle by real-time remote control or the like, the work vehicle 10 may resume the operation based on the operation instruction information from the middle in response to an operation input to the control device 20. That is, the work vehicle 10 may move to a location where the interrupted operation can be started from the middle by remote control, and when the work vehicle 10 is located at that location, the interrupted operation may be resumed from the middle.

[0349] In the fourth embodiment, the abnormality of the work vehicle 10 is not limited to the detection of the obstacle OB. For example, the abnormality detection unit 11Fe detects, via the acquisition unit 11A, a breakdown of the work vehicle 10, the work vehicle 10 becoming derailed or stuck, contact with another object, and the like as abnormalities of the work vehicle 10.

[0350] In addition, in the fourth embodiment, for example, even if the abnormality detection unit 11Fe does not detect an abnormality, the operation of the work vehicle 10 may be interrupted by operating input to the user operation terminal 22 or the operator operation terminal 23.

[0351] <Data flow in the work support system according to the fourth embodiment> An example of the flow of each process in the work support system 100 according to the fourth embodiment will be described below with reference to FIG. 42. As in the above-mentioned first embodiment, in the following description, data is transmitted and received by wired communication or wireless communication via the network NW, but the description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, the description of the specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited to this.

[0352] <Processing for interrupting the operation of a work vehicle> Next, an example of the data flow when the operation of the work vehicle 10 in the fourth embodiment is interrupted will be described. Figure 42 is a flow chart diagram showing an example of the process for interrupting the operation of the work vehicle 10 in the fourth embodiment.

[0353] In the process of interrupting the operation of the work vehicle 10 in the fourth embodiment, the steps from access permission (step S7) to the vehicle unit 11 traveling (step S24a) and the work execution by the work unit 12 (step S24b) are performed in the same manner as the command setting by the operator operation terminal in the second embodiment shown in FIG. 17. Then, the vehicle unit 11 determines whether or not there is an abnormality such as an obstacle OB in the work vehicle 10 (step T31). If the vehicle unit 11 determines that there is no abnormality such as an obstacle OB in the work vehicle 10, it executes step T21 again. On the other hand, if the vehicle unit 11 determines that there is an abnormality such as an obstacle OB in the work vehicle 10, it transmits abnormality detection information to the control device 20 (server 21) (step T32). The control device 20 (server 21) that has received the abnormality detection information transmits interrupt instruction information to the vehicle unit 11 (step T33). If the vehicle unit 11 receives the interrupt instruction information, it transmits the interrupt instruction information to the work unit 12. Furthermore, the vehicle unit 11 suspends traveling based on the traveling instruction information D15 (step T34a). If the work unit 12 receives the suspension instruction information, it suspends work based on the work instruction information D24 (step T34b). The process of suspending the operation of the work vehicle 10 is carried out as described above.

[0354] <Effects of the Fourth Embodiment> As described above, in the work assistance system 100 relating to the fourth embodiment, the work vehicle 10 has an abnormality detection unit 11Fe that detects an abnormality in the work vehicle 10 and transmits abnormality detection information regarding the abnormality to the server 21, and when the server 21 receives the abnormality detection information, it transmits interruption instruction information to the work vehicle 10 to interrupt the operation of the work vehicle 10.

[0355] In the work assistance system 100 according to the fourth embodiment, when abnormality detection information is received from the work vehicle 10, the operation of the work vehicle 10 can be interrupted, making it easier to ensure the safety of driving and work in the work vehicle 10.

[0356] In addition, in the work assistance system 100 according to the fourth embodiment, when the work vehicle 10 receives interruption instruction information, the work vehicle 10 interrupts the operation of the work vehicle 10, and when the abnormality detection unit 11Fe detects that the abnormality of the work vehicle 10 has been resolved, the interrupted operation is resumed from the operation immediately after interruption.

[0357] In the work assistance system 100 according to the fourth embodiment, when the abnormality in the work vehicle 10 is resolved, the interrupted operation can be resumed from where it was interrupted. Since there is no need to reset the operation instructions for the work vehicle 10, work can be easily performed by the work vehicle 10.

[0358] Furthermore, in the work assistance system 100 according to the fourth embodiment, the control device 20 transmits operation instruction information regarding operation instructions to the work vehicle 10 to the work vehicle 10, and when the work vehicle 10 receives abnormality detection information while performing an operation based on the operation instruction information received from the control device 20, it interrupts the operation based on the operation instruction information.

[0359] In the work assistance system 100 according to the fourth embodiment, if abnormality detection information is received while performing an operation based on the operation instruction information received from the control device 20, the work vehicle 10 interrupts the operation based on the operation instruction information, making it easier to ensure the safety of driving and work in the work vehicle 10.

[0360] In addition, in the work assistance system 100 according to the fourth embodiment, the work vehicle 10 is configured to be able to receive new operation instruction information from the control device 20 when the work vehicle 10 suspends an operation based on operation instruction information upon receiving interruption instruction information.

[0361] In the work assistance system 100 according to the fourth embodiment, after the operation of the work vehicle 10 is interrupted, a new operation instruction can be issued from the control device CT according to the state of the work vehicle 10.

[0362] Furthermore, in the work assistance system 100 according to the fourth embodiment, the control device 20 has operation input units 22C, 23C that accept operation input, and when the work vehicle 10 receives interruption instruction information, the work vehicle 10 is configured to interrupt the operation of the work vehicle 10 and accept real-time remote operation in response to the operation input to the operation input units 22C, 23C.

[0363] In the work assistance system 100 according to the fourth embodiment, after the operation of the work vehicle 10 is interrupted, an operation corresponding to the state of the work vehicle 10 can be made by inputting an operation to the control device 20.

[0364] Furthermore, in the work assistance system 100 according to the fourth embodiment, the work vehicle 10 is remotely operated to move to a location where the interrupted operation can be resumed from the middle, and when the work vehicle 10 reaches that location, it resumes the interrupted operation from the middle.

[0365] In the work assistance system 100 according to the fourth embodiment, there is no need to reset the operation instructions for the work vehicle 19, so work can be easily performed by the work vehicle 10.

[0366] In addition, in the work support system 100 of the fourth embodiment, the control device 20 includes an operation terminal CT having operation input units 22C, 23C that accept operation input, and a server 21 that can communicate with the work vehicle 10 and the operation terminal CT, and the server 21 is capable of transmitting interruption instruction information to the work vehicle based on operation input to the operation input unit.

[0367] In the work assistance system 100 of the fourth embodiment, the operation of the work vehicle 10 can be interrupted at the discretion of the user or operator even before abnormality detection information is received from the work vehicle 10, thereby further improving the safety of traveling and working on the work vehicle 10.

[0368] [Fifth embodiment] Next, the fifth embodiment will be described with reference to FIG. 43 and FIG. 44. As shown in FIG. 43, in the work assistance system 100 according to the fifth embodiment, a modularized traveling control unit 13a and a modularized cooperative control unit 13b are provided, similar to the work assistance system 100 according to the fourth modified example of the third embodiment. The traveling control unit 13a is physically connected to the first connection unit 11Ga, and is configured to be able to communicate with the acquisition unit 11A, the traveling output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit storage unit 11E, and the processing unit 11F. The cooperative control unit 13b is physically connected to the second connection unit 11Gb, and is configured to be able to communicate with the acquisition unit 11A, the traveling output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit storage unit 11E, and the processing unit 11F.

[0369] In the fifth embodiment, a safety control unit 13c is provided. The safety control unit 13c is a unit that causes the work vehicle 10 to execute an abnormality safety operation that suppresses or halts the operation of the work vehicle 10 when an abnormality is detected in the work vehicle 10. For example, when the safety control unit 13c detects the occurrence of an abnormality in the work vehicle 10, it intervenes in the control of the travel of the vehicle unit 11 by the travel control unit 13a to execute an abnormality safety operation corresponding to the abnormality. In the fifth embodiment, the safety control unit 13c is modularized and provided separately from the main body of the vehicle unit 11, and is configured to be detachable from the main body of the vehicle unit 11. In the fifth embodiment, the connection unit 11G of the vehicle unit 11 includes a third connection unit 11Gc, and the safety control unit 13c is physically connected to the third connection unit 11Gc, so that it can communicate with the acquisition unit 11A, the travel output unit 11B, the network communication unit 11C, the communication unit 11D, the vehicle unit storage unit 11E, and the processing unit 11F. Other basic configurations of the work support system 100 according to the fifth embodiment are similar to those of the fourth modified example of the third embodiment.

[0370] The safety control unit 13c functions independently of the processing unit 11F of the vehicle unit 11 and the like, and causes the work vehicle 10 to execute an abnormality safety operation when an abnormality is detected in the work vehicle 10. In the fifth embodiment, the safety control unit 13c has an acquisition unit that detects an abnormality in the work vehicle 10 in addition to the acquisition unit 11A. The acquisition unit of the safety control unit 13c is connected to, for example, various sensors, detectors, thermometers, GPS receivers, imaging devices, and the like provided in the main body of the vehicle unit 11. The acquisition unit of the safety control unit 13c detects an abnormality in the work vehicle 10 based on information acquired from these sensors, detectors, thermometers, GPS receivers, imaging devices, and the like. In addition, the acquisition unit of the safety control unit 13c may be configured to include, for example, equipment that acquires various information from the processing unit 11F that comprehensively controls the entire vehicle unit 11. In this case, the acquisition unit of the safety control unit 13c detects abnormalities in the work vehicle 10 not only from information acquired from various sensors, detectors, thermometers, GPS receivers, imaging devices, etc. provided in the main body of the vehicle unit 11, but also from various information acquired from the processing unit 11F.

[0371] For example, when the acquisition unit of the safety control unit 13c detects an abnormality in the work vehicle 10, the safety control unit 13c intervenes in the control of the vehicle unit 11 as a safety operation in the event of an abnormality, and suspends the travel of the vehicle unit 11. Also, when the acquisition unit of the safety control unit 13c detects an abnormality in the work vehicle 10, the safety control unit 13c may intervene in the control of the vehicle unit 11 as a safety operation in the event of an abnormality, and slow down the travel speed of the vehicle unit 11.

[0372] Furthermore, for example, when an acquisition unit of the safety control unit 13c detects an abnormality in the work vehicle 10, the safety control unit 13c may intervene in the control of the work unit 12 as a safety operation in an abnormality, and interrupt the work of the work unit 12. Furthermore, when an acquisition unit of the safety control unit 13c detects an abnormality in the work vehicle 10, the safety control unit 13c may intervene in the control of the work unit 12 as a safety operation in an abnormality, and suppress the work of the work unit 12.

[0373] Here, suppressing the work of the work unit 12 by the safety control unit 13c refers to reducing the amount of work of the work unit 12. For example, when suppressing the work of a work unit 12 capable of spraying pesticides, the safety control unit 13c reduces the amount of pesticide sprayed. Also, for example, when suppressing the work of a work unit 12 capable of mowing, the safety control unit 13c slows down the rotation speed of the cutting blade. Also, for example, when suppressing the work of a work unit 12 capable of watering, the safety control unit 13c reduces the amount of water sprinkled.

[0374] Furthermore, if the acquisition section of the safety control section 13c detects an abnormality in the work vehicle 10, the safety control section 13c may intervene in the control of both the vehicle unit 11 and the work unit 12 to execute an abnormality safety operation.

[0375] For example, the acquisition section of the safety control section 13c detects as an abnormality of the work vehicle 10 the following cases: when an obstacle is detected in the traveling direction of the work vehicle 10, when the work vehicle 10 runs off the road, when the processing section 11F cannot control the traveling of the vehicle unit 11, when the work of the work unit 12 cannot be normally controlled by the processing section 12E, etc., when the wind speed in the place where the work vehicle 10 is traveling is faster than a predetermined wind speed, when the temperature of the battery of the work vehicle 10 is higher than a predetermined temperature, etc. The safety control section 13c judges the danger level of the abnormality according to the content of the detected abnormality, and causes the work vehicle 10 to perform an abnormality safety operation according to the danger level.

[0376] For example, if the safety control unit 13c detects an abnormality that makes it difficult for the work vehicle 10 to continue working, such as when an obstacle is detected in the direction of travel of the work vehicle 10, when the work vehicle 10 goes off the road, when the processing unit 11F cannot control the travel of the vehicle unit 11, and when the work of the work unit 12 cannot be normally controlled by the processing unit 12E, etc., the safety control unit 13c judges the danger level of the abnormality to be relatively high and interrupts the operation of the work vehicle 10.

[0377] In addition, for example, when the wind speed in the area where the work vehicle 10 is traveling is faster than a predetermined wind speed, and when the temperature of the battery of the work vehicle 10 is higher than a predetermined temperature, etc., if suppressing the operation of the work vehicle 10 allows the work vehicle 10 to continue working, the safety control unit 13c determines the risk of the abnormality to be relatively low and suppresses the operation of the work vehicle 10.

[0378] Here, the safety control unit 13c may be set with multiple thresholds for the wind speed at the location where the work vehicle 10 is traveling. For example, the safety control unit 13c may be set with a first threshold and a second threshold greater than the first threshold as the thresholds for the wind speed at the location where the work vehicle 10 is traveling. In this case, the first threshold is the upper limit value (wind speed) at which the work vehicle 10 can operate without performing an abnormality safety operation. The second threshold is the upper limit value at which the work vehicle 10 can continue working if the operation of the work vehicle 10 is suppressed by the safety control unit 13c, and when the wind speed at the location where the work vehicle 10 is traveling exceeds the second threshold, the safety control unit 13c interrupts the operation of the work vehicle 10.

[0379] Furthermore, the safety control unit 13c may be set with a plurality of thresholds for the temperature of the battery of the work vehicle 10. For example, the safety control unit 13c may be set with a third threshold and a fourth threshold greater than the third threshold as thresholds for the temperature of the battery of the work vehicle 10. In this case, the third threshold is the upper limit value (temperature) at which the work vehicle 10 can operate without executing an abnormality safety operation. The second threshold is the upper limit value at which the work vehicle 10 can continue working if the operation of the work vehicle 10 is suppressed by the safety control unit 13c, and when the temperature of the battery of the work vehicle 10 exceeds the fourth threshold, the safety control unit 13c interrupts the operation of the work vehicle 10.

[0380] <Data flow in the work support system according to the fifth embodiment> An example of the flow of each process in the work support system 100 according to the fifth embodiment will be described below with reference to FIG. 44. As in the first embodiment and the like, in the following description, data is transmitted and received by wired communication or wireless communication via the network NW, but a detailed description of this point may be omitted. In addition, since the following description focuses mainly on the flow of data, a description of specific processing operations related to the storage unit and processing unit in each device may be omitted as appropriate, and the outline of the overall configuration described above will be referred to as necessary. In addition, the flow of each process described below is merely a representative example and is not limited to this.

[0381] <Safety control during abnormality in the work assistance system according to the fifth embodiment> An example of the flow of safety control in an abnormal state in the work support system according to the fifth embodiment will be described below. Fig. 44 is a flow chart showing an example of the flow of safety control in an abnormal state in the work support system according to the fifth embodiment.

[0382] In the abnormality safety control in the work support system according to the fifth embodiment, the process from access permission (step S7) to the vehicle unit 11 traveling (step S24a) and the work performed by the work unit 12 (step S24b) is performed in the same manner as the cooperative control by the vehicle unit 11 in the third embodiment shown in FIG. 29. Thereafter, in the fifth embodiment, the vehicle unit 11 detects an abnormality in the work vehicle 10 (step T41). If the vehicle unit 11 does not detect an abnormality in the work vehicle 10, it executes step T41 again. On the other hand, if the vehicle unit 11 detects an abnormality in the work vehicle 10, it generates safety control information for causing the work vehicle 10 to execute an abnormality safety operation according to the detected abnormality, and transmits the safety control information to the work unit 12 (step T42). The vehicle unit 11 executes an abnormality safety operation based on the safety control information (step T43a). Also, the work unit 12 executes an abnormality safety operation based on the received safety control information (step T43b).

[0383] <Cooperative control by vehicle units in the fifth embodiment> In the fifth embodiment, similarly to the fourth modified example of the third embodiment, the vehicle unit 11 can perform cooperative control of the vehicle unit 11 and the work unit 12 by the cooperative control unit 13b. For example, the data flow in the cooperative control of the fifth embodiment is similar to the data flow in the cooperative control of the fourth modified example of the third embodiment shown in FIG.

[0384] In the above description of the fifth embodiment, a configuration in which one working unit 12 is mounted on one vehicle unit 11 has been described as an example, but the present invention is not limited to this configuration. For example, multiple working units 12 may be mounted on one vehicle unit 11, or multiple vehicle units 11 may be mounted with one working unit 12. Also, for example, multiple vehicle units 11 and multiple working units 12 may be combined to perform one task. Specifically, a first vehicle unit 11 and a first working unit 12 may carry a pesticide tank, and a second vehicle unit 11 and a second working unit 12 may spray the pesticide supplied from the pesticide tank to the surroundings, thereby performing one task (spraying the pesticide). Also, one task may be performed by mounting one working unit 12 on multiple vehicle units 11 arranged in the traveling direction. Also, for example, by mounting one work unit 12 capable of spraying pesticides on multiple vehicle units 11 arranged in a direction perpendicular to the direction of travel, it is possible to spray pesticides across multiple crops planted in the direction of travel.

[0385] In this case, the safety control unit 13c is configured to be able to execute an abnormality safety operation for multiple types of work units 12 that can be attached to the vehicle unit 11. In other words, the safety control unit 13c can be commonly used regardless of the type of work unit 12 attached to the vehicle unit 11. Furthermore, the cooperative control unit 13b is configured to be able to cooperatively control, based on the status of the work vehicle 10, the traveling of the vehicle unit 11 based on the traveling instruction information D15 and the work of at least one of the multiple work units 12 based on the work instruction information D24.

[0386] In the above-described fifth embodiment, the safety control unit 13c is modularized and provided separately from the main body of the vehicle unit 11, but the present invention is not limited to this configuration. For example, the safety control unit 13c may be conceptually included in the processing unit 11F of the vehicle unit 11. In other words, the processing unit 11F may have the function of the safety control unit 11c.

[0387] <Effects of the Fifth Embodiment> As described above, in the work assistance system 100 according to the fifth embodiment, the vehicle unit 11 has a driving control unit 13a that controls the driving of the vehicle unit 11 based on operation input to the operation terminal CT, and a safety control unit 13c that executes an abnormality safety operation in response to an abnormality that has occurred in the work vehicle 10, and when the safety control unit 13c detects the occurrence of an abnormality in the work vehicle 10, it intervenes in the control of the driving of the vehicle unit 11 by the driving control unit 13a, and executes an abnormality safety operation corresponding to the abnormality.

[0388] In the work assistance system 100 according to the fifth embodiment, when the safety control unit 13c detects an abnormality in the work vehicle 10, it can cause the work vehicle 10 to execute an abnormality safety operation, making it easier to ensure the safety of traveling and work in the work vehicle 10. Also, since the safety control unit 13c generates safety control information for causing the work vehicle 10 to execute an abnormality safety operation, it is possible to cause the work vehicle 10 to quickly execute an abnormality safety operation without the need for communication with external devices (such as the control device 20).

[0389] In the work assistance system 100 according to the fifth embodiment, at least one of the traveling control unit 13a and the safety control unit 13c is configured to be detachable from the vehicle unit 11.

[0390] In the work assistance system 100 according to the fifth embodiment, at least one of the travel control unit 13a and the safety control unit 13c is provided detachably, so that the travel control unit 13a and the safety control unit 13c can be replaced depending on the type of work unit 12 attached to the vehicle unit 11. With this configuration, for example, the storage capacity required for the vehicle unit storage unit 11E in the vehicle unit 11 can be reduced, while the main body of the vehicle unit 11 can be made common to multiple types of work units 12.

[0391] Furthermore, in the work assistance system 100 relating to the fifth embodiment, the vehicle unit 11 can be equipped with multiple types of work units 12, each capable of performing a different task, and the safety control unit 13c is configured to be able to cause each of the multiple types of work units 12 to perform safety operations in the event of an abnormality.

[0392] In the work assistance system 100 according to the fifth embodiment, one of multiple types of work units 12 is selected and attached to the vehicle unit 11, allowing work to be performed according to the type of work unit 12. Furthermore, because the safety control section 13c can cause multiple work units 12 to execute safety operations in the event of an abnormality, the vehicle unit 11 can be standardized for multiple types of work units 12. Furthermore, even if the work unit 12 attached to the vehicle unit 11 is changed, the vehicle unit 11 can be standardized, so the method of driving control of the vehicle unit 11 does not change. Therefore, there is no need to change the driving control program of the vehicle unit 11 for each work performed by the work unit 12, making it easier to develop the work vehicle 10.

[0393] In addition, in the work assistance system 100 relating to the fifth embodiment, the operation instruction information includes driving instruction information D15 regarding driving instructions to the vehicle unit 11 and work instruction information D24 regarding work instructions to the work unit 12, and the work vehicle 10 has a cooperative control unit 13b that cooperatively controls the driving based on the driving instruction information D15 in the vehicle unit 11 and the work based on the work instruction information D24 in the work unit 12 based on the status of the work vehicle 10.

[0394] In the work assistance system 100 according to the fifth embodiment, the cooperative control unit 13b causes the work vehicle 10 to drive and perform work based on the cooperative control information, instead of driving based on the driving instruction information D15 or work based on the work instruction information D24, depending on the actual driving situation of the vehicle unit 11 and the actual work situation of the work unit 12. Through this processing, the work assistance system 100 according to the fifth embodiment can automatically adjust the operation of the work vehicle 10 to be suitable for the actual situation, so that the user or operator can easily perform appropriate work using the work vehicle 10.

[0395] In the work assistance system 100 according to the fifth embodiment, the cooperative control unit 13b is included in the vehicle unit 11 and is configured to be detachable from the vehicle unit 11.

[0396] In the work assistance system 100 according to the fifth embodiment, the cooperative control unit 13b is configured to be detachable, so that the cooperative control unit 13b can be replaced depending on the type of task unit 12 attached to the vehicle unit 11. With this configuration, for example, the storage capacity required for the capacity of the vehicle unit storage unit 11E in the vehicle unit 11 can be reduced, while the main body of the vehicle unit 11 can be made common to multiple types of task units 12.

[0397] Furthermore, in the work assistance system 100 relating to the fifth embodiment, the work vehicle 10 has a plurality of work units 12 that can be attached and detached to the vehicle unit 11, and each of the plurality of work units 12 can perform work while attached to the vehicle unit 11, and the cooperative control unit 13b cooperatively controls the driving of the vehicle unit 11 based on the driving instruction information D15 and the work of at least one work unit 12 based on the work instruction information D24.

[0398] In the work assistance system 100 according to the fifth embodiment, by mounting multiple work units 12 on the vehicle unit 11, it is possible, for example, to increase the amount of work that can be done by one vehicle unit 11. Also, by combining the work performed by each work unit 12, it is possible to have one work unit 12 perform a task that would be difficult for a single work unit 12 to perform. Furthermore, by controlling the travel of the vehicle unit 11 and the work of the work units 12 in a coordinated manner, the operation of the work vehicle 10 can be automatically adjusted to suit the actual situation, allowing the user or operator to easily perform appropriate work.

[0399] [First Modification of Fifth Embodiment] Next, a first modified example of the fifth embodiment will be described with reference to Figs. 45 and 46. As shown in Figs. 45 and 46, in the work support system 100 according to the first modified example of the fifth embodiment, a modularized travel control unit 13a, a modularized cooperative control unit 13b, and a modularized safety control unit 13c are provided, as in the fifth embodiment. Here, in the work support system 100 according to the first modified example of the fifth embodiment, the basic configuration differs from that of the work support system 100 according to the fifth embodiment in that the cooperative control unit 13b is provided in the work unit 12. The other configurations are the same as those of the fifth embodiment.

[0400] As shown in Fig. 45, in the fifth embodiment, the connection portion 11G of the vehicle unit 11 includes a first connection portion 11Ga and a third connection portion 11Gc. The traveling control portion 13a is physically connected to the first connection portion 11Ga, and is configured to be able to communicate with the acquisition portion 11A, the traveling output portion 11B, the network communication portion 11C, the communication portion 11D, the vehicle unit storage portion 11E, and the processing portion 11F. The safety control portion 13bc is physically connected to the second connection portion 11Gb, and is configured to be able to communicate with the acquisition portion 11A, the traveling output portion 11B, the network communication portion 11C, the communication portion 11D, the vehicle unit storage portion 11E, and the processing portion 11F.

[0401] 46, task unit 12 is provided with connection unit 12F. Connection unit 12F includes second connection unit 12Fb. Collaboration control unit 13b is physically connected to second connection unit 12Fb, and is configured to be able to communicate with acquisition unit 12A, task output unit 12B, communication unit 12C, task unit storage unit 12D, and processing unit 12E. The other configurations of task support system 100 according to the first modified example of the fifth embodiment are similar to the basic configuration of the task support system according to the fifth embodiment.

[0402] The work assistance system 100 according to the first modified example of the fifth embodiment can cause the work vehicle 10 to perform an abnormality safety operation by the safety control section 13c of the vehicle unit 11, similarly to the fifth embodiment.

[0403] In addition, the work assistance system 100 according to the first variant of the fifth embodiment can perform cooperative control of the vehicle unit 11 and the work unit 12 by the cooperative control unit 13b of the work unit 12, in the same manner as the fifth variant of the third embodiment.

[0404] <Functions and Effects of the First Modification of the Fifth Embodiment>

[0405] As described above, in the task support system 100 according to the first modified example of the fifth embodiment, the cooperative control unit 13b is included in the task unit 12 and is configured to be detachable from the task unit 12.

[0406] In the work assistance system 100 according to the first modified example of the fifth embodiment, the cooperative control unit 13b is configured to be detachable, so that, for example, the cooperative control unit 13b can be replaced depending on the location where the work vehicle 10 is traveling. With this configuration, for example, the storage capacity required for the work unit storage unit 12D in the work unit 12 can be reduced.

[0407] The contents disclosed in the above embodiments and modifications can be implemented in appropriate combinations. [Explanation of symbols]

[0408] 10 Work vehicles 11 Vehicle Unit 12 Unit of Work 20 Control Equipment 21 Server 22 User-operated terminal 23 Operator terminal 100 Work Support System

Claims

1. A work vehicle including a vehicle unit and a work unit that is detachable from the vehicle unit and capable of performing work while attached to the vehicle unit; an operation terminal that accepts operation input; A server capable of communicating with the work vehicle and the operation terminal; Equipped with The server identifies the work vehicle that can be operated by the operation terminal, and transmits operation instruction information based on an operation input to the operation terminal to the identified work vehicle; The work vehicle operates based on the operation instruction information received from the server. Work support system.

2. The server has a storage unit that stores registration information regarding operator authority of the work vehicle, and identifies the work vehicle for which the operator of the operation terminal has the operator authority based on the registration information. The work support system according to claim 1 .

3. the operation instruction information includes driving instruction information related to a driving instruction to the vehicle unit and work instruction information related to a work instruction to the work unit, The vehicle unit drives based on the driving instruction information received from the server, The task unit executes a task based on the task instruction information received from the server. The work support system according to claim 1 .

4. The vehicle unit can be equipped with a plurality of types of working units each capable of performing a different task, the work vehicle is configured by mounting one of the work units selected from a plurality of types of the work units on the vehicle unit, When the operation terminal receives work unit identification information including information regarding the type of the work unit attached to the vehicle unit, the operation terminal accepts an operation input corresponding to the type of the work unit attached to the vehicle unit. The work support system according to any one of claims 1 to 3.

5. The operation terminal includes a user operation terminal operated by a user who uses the work vehicle, and an operator operation terminal operated by an operator who manages registration information of the work vehicle, The user operation terminal is capable of requesting an operation instruction to the operator operation terminal for the work vehicle, the operator operation terminal transmits to the work vehicle the operation instruction information regarding the operation instruction to the work vehicle requested from the user operation terminal; The work vehicle operates based on the operation instruction information. The work support system according to any one of claims 1 to 3.

6. the operation instruction information includes driving instruction information related to a driving instruction to the vehicle unit and work instruction information related to a work instruction to the work unit, The vehicle unit is further provided with a cooperative control unit that cooperatively controls the traveling based on the traveling instruction information in the vehicle unit and the work based on the work instruction information in the work unit based on a status of the work vehicle. The work support system according to any one of claims 1 to 3.

7. the operation terminal has a display unit that displays a map corresponding to a location where the work vehicle is traveling, and based on an operation input to the operation terminal, arranges an operation icon related to an operation instruction to the work vehicle on the map, and transmits operation instruction information corresponding to the operation icon to the work vehicle in association with position information of the operation icon on the map; The work vehicle operates based on the operation instruction information. The work support system according to any one of claims 1 to 3.

8. The work vehicle has an acquisition unit that acquires at least current position information of the work vehicle, The work vehicle starts the operation included in the operation instruction information based on the current position information and the position information of the operation icon acquired by the acquisition unit. The work support system according to claim 7.

9. The work vehicle has an acquisition unit that acquires at least current position information of the work vehicle, When the work vehicle has not received the operation instruction information associated with the position information of the operation icon, real-time remote operation by operation input to the operation terminal is permitted. The work support system according to claim 7.

10. the server has a storage unit that stores predetermined position information and the operation instruction information in association with each other; The work vehicle has an acquisition unit that acquires at least current position information of the work vehicle, The server transmits only the position information stored in the storage unit to the work vehicle, The work vehicle requests the server to transmit the operation instruction information corresponding to the position information received from the server, based on the position information received from the server and current position information of the work vehicle. The work support system according to any one of claims 1 to 3.

11. The work vehicle has an abnormality detection unit that detects an abnormality in the work vehicle and transmits abnormality detection information regarding the abnormality to the server, When the server receives the abnormality detection information, the server transmits interruption instruction information to the work vehicle to interrupt the operation of the work vehicle. The work support system according to any one of claims 1 to 3.

12. The vehicle unit has a travel control unit that controls travel of the vehicle unit based on an operation input to the operation terminal, and a safety control unit that executes an abnormality safety operation in response to an abnormality that has occurred in the work vehicle, When the safety control unit detects the occurrence of an abnormality in the work vehicle, the safety control unit intervenes in the control of the travel of the vehicle unit by the travel control unit to execute an abnormality safety operation corresponding to the abnormality. The work support system according to any one of claims 1 to 3.

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