Management center apparatus

Abstract

In consideration of various needs of users, the present inventor considers that the trend of continuously implementing convenient functions in automatic driving work vehicles will be accelerated. However, the inventor of the present invention has found that a conventional management center apparatus for an automatic operation work vehicle or the like is not always user-friendly when a convenient function is used. More specifically, the inventor of the present invention noticed that the instruction of the field to the work vehicle is not necessarily appropriate, and the work efficiency is often not sufficiently high.SOLUTION: In the vehicle moving system 1, when the plurality of automatic driving work vehicles 11 to 14 perform work while traveling in a plurality of fields, the management center device (remote monitoring center) instructs the field in which the work is to be performed based on the information on the vehicle position and the work progress state for each of the plurality of automatic driving work vehicles 11 to 14.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control center device for an autonomously driven work vehicle or the like. [Background technology]

[0002] An agricultural work support system is known which includes a positioning unit provided on a work vehicle capable of traveling in a field and which measures the work vehicle's own position; a control unit provided on the work vehicle and which is capable of generating work-related information including at least information on the traveling area in which the work vehicle can be driven automatically; and an information processing device which is capable of communicating with the control unit, wherein the information processing device stores field-related information associated with identification information for each of a plurality of fields, and which is capable of acquiring the work-related information generated by the control unit and storing it independently for each field (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-114138 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of taking into consideration the various needs of users and implementing convenient functions one after another into self-driving work vehicles will continue to accelerate.

[0005] However, the inventors have noticed that conventional management center devices for self-driving work vehicles and the like are not necessarily easy to use when using convenient functions.

[0006] More specifically, the inventors have noticed that instructions for work vehicles in a field are not always appropriate, and that work efficiency is often far from being sufficiently high.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems in the prior art, an object of the present invention is to provide a management center device that can improve usability. [Means for solving the problem]

[0008] The first invention is a management center device that, when multiple autonomous work vehicles are traveling and working in multiple fields, instructs the fields where the work will be performed based on information regarding the vehicle position and work progress status for each of the multiple autonomous work vehicles.

[0009] The second aspect of the present invention is a method for controlling a work vehicle, when the vehicle is traveling and working in a field, to instruct the work based on information relating to an autonomous work route for the vehicle; This is a first management center device of the present invention, characterized in that when the specified autonomous work vehicle is instructed to suspend the work in the specified field, it determines based on specified rules whether to have the specified autonomous work vehicle continue the work that was instructed to be suspended, or whether to have another autonomous work vehicle continue the work, and instructs the continued work.

[0010] The third invention is a management center device of the second invention, characterized in that when it is decided to have the other autonomously driven work vehicle perform the continuing work, it decides whether to adjust the autonomously driven work route based on information regarding the vehicle position of the specified autonomously driven work vehicle at the time the interruption of the work was instructed and the work equipment width of the other autonomously driven work vehicle.

[0011] A fourth aspect of the present invention is a method for preparing a field for farming, If the work implement width of the other autonomously driven work vehicle is smaller than the work implement width of the specified autonomously driven work vehicle, determining to adjust the autonomously driven work route so that an unworked area in the specified field that remains due to the interruption of the work is eliminated by the continued work using the smaller work implement width; A third management center device of the present invention is characterized in that, when the work equipment width of the other autonomous work vehicle is larger than the work equipment width of the specified autonomous work vehicle, it decides to adjust the autonomous work route only at the outermost periphery of the unworked area so that contact with obstacles during the continuing work due to the larger work equipment width is avoided at the outermost periphery of the unworked area.

[0012] In a fifth aspect of the present invention, an obstacle sensor unit that detects the obstacle is provided in the other autonomous driving work vehicle, When the traveling of the other autonomously driven work vehicle in the outermost periphery of the unworked area is started, a point in the specified field that is more inward than the adjusted autonomously driven work route is set as the point from which the traveling will start, A fourth management center device of the present invention is characterized in that after the other autonomous work vehicle starts traveling around the outermost periphery of the unworked area, the vehicle follows the adjusted autonomous work route while avoiding contact with the obstacle based on the detection of the obstacle by the obstacle sensor unit.

[0013] A sixth aspect of the present invention is the management center device according to the fifth aspect of the present invention, characterized in that it performs individual communication and simultaneous communication or group communication with a plurality of said autonomously driven work vehicles. [Effects of the Invention]

[0014] The first aspect of the present invention makes it possible to improve usability.

[0015] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to reduce the burden on the worker.

[0016] According to the third aspect of the present invention, in addition to the effect of the second aspect of the present invention, it is possible to improve convenience.

[0017] According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to further improve convenience.

[0018] According to the fifth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to improve reliability.

[0019] According to the sixth aspect of the present invention, in addition to the effects of the fifth aspect of the present invention, it is possible to improve practicality. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a block diagram of a vehicle movement system according to an embodiment of the present invention; [Figure 2] FIG. 1 is an explanatory diagram (part 1) of a travel route of a vehicle travel system according to an embodiment of the present invention. [Figure 3] FIG. 1 is an explanatory diagram (part 1) of an autonomous driving work route of an autonomous driving work vehicle according to an embodiment of the present invention. [Figure 4] FIG. 2 is an explanatory diagram of an autonomous driving work route of an autonomous driving work vehicle according to an embodiment of the present invention (part 2); [Figure 5] FIG. 3 is an explanatory diagram of an autonomously driven work route of an autonomously driven work vehicle according to an embodiment of the present invention. [Figure 6] FIG. 1 is an explanatory diagram of an autonomously driven work vehicle according to an embodiment of the present invention; [Figure 7] FIG. 2 is an explanatory diagram of a travel route of the vehicle travel system according to the embodiment of the present invention (part 2); [Figure 8] 1 is a block diagram of a vehicle movement system according to an embodiment of the present invention (part 2); [Figure 9] 1 is a block diagram of a vehicle movement system according to an embodiment of the present invention (part 3); DETAILED DESCRIPTION OF THE INVENTION

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0022] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0023] While explaining the operation of the management center device 30 according to the embodiment of the present invention, a management center device operation control method according to the present invention, which is realized by a controller or the like, will also be explained.

[0024] (1) First, the configuration and operation of the management center device 30 according to the embodiment of the present invention will be specifically described with reference to FIGS.

[0025] Here, Figure 1 is a block diagram (part 1) of a vehicle movement system 1 according to an embodiment of the present invention, Figure 2 is an explanatory diagram (part 1) of the movement route of the vehicle movement system 1 according to an embodiment of the present invention, and Figures 3 and 4 are explanatory diagrams (parts 1 and 2) of the autonomously driven work routes of autonomously driven work vehicles 11 and 12 according to an embodiment of the present invention.

[0026] When multiple autonomous work vehicles 11, 12, 13, and 14 travel and work in multiple fields, the management center device 30 instructs the field where work will be performed based on information regarding the vehicle position and work progress status for each of the multiple autonomous work vehicles 11, 12, 13, and 14.

[0027] Vehicle movement system 1, which remotely monitors multiple autonomous work vehicles 11, 12, 13, and 14, such as tractors, and manually operated vehicles 20, shares information via vehicle communication to grasp the progress of work in managed fields and appropriately allocates vehicles to work fields where work such as plowing, leveling, and plowing is performed. By taking into account the progress of work in each field and managing the fields to minimize vehicle travel distances, for example, vehicle work efficiency can be improved during busy seasons. Because management center device 30 centrally manages the vehicle work status, it can instruct vehicles that have completed work on the appropriate next field based on the progress of work.

[0028] When a specified autonomously driven work vehicle 11 performs work while traveling in a specified field, the management center device 30 instructs the specified autonomously driven work vehicle 11 to perform the work based on information regarding the autonomously driven work route for the specified autonomously driven work vehicle 11.

[0029] Work progress information is managed for each field so that information is available on at least the status of work not yet being done, the status of work already completed, and the status of work currently being done, as well as the status of work that has been suspended and is waiting to be completed. If work is suspended the previous day due to sunset or other reasons, the suspended work can be resumed the following day or later by automatic driving. For fields where work has been suspended and not yet completed, work can be resumed from the position where it was suspended, which is expected to improve vehicle work efficiency during busy seasons.

[0030] When a specific autonomous work vehicle 11 is instructed to suspend work in a specific field, the management center device 30 determines based on specific rules whether to have the specific autonomous work vehicle 11 continue the work that it has been instructed to suspend, or to have another autonomous work vehicle 12 continue the work, and instructs the continued work.

[0031] Typically, when work is interrupted due to sunset or the like, it is often appropriate to instruct another of the multiple autonomous work vehicles 11, 12, 13, and 14 that has returned to a vehicle warehouse or the like, that is close to the field where the continuation of work is to be performed, to continue the work the next day or later. On the other hand, when work is interrupted due to a malfunction of a specific autonomous work vehicle 11, it is often appropriate to immediately instruct another of the multiple autonomous work vehicles 11, 12, 13, and 14 that is not only close to the field where the continuation of work is to be performed, but is not currently working, to continue the work.

[0032] When it is decided to have another automatically driven work vehicle 12 carry out the subsequent work, the management center device 30 decides whether to adjust the automatically driven work route based on the vehicle position of the specified automatically driven work vehicle 11 when the work suspension was instructed and information regarding the width of the work equipment of the other automatically driven work vehicle 12.

[0033] The autonomously driven work route for resuming work from the work interruption location is newly generated based on the work equipment width, also known as the work width. The work equipment width of another autonomously driven work vehicle 12 selected based on work plans that change daily may differ from the work equipment width of the specified autonomously driven work vehicle 11 that performed the work the previous day, and flexible vehicle allocation that is not affected by work equipment width is desirable. Even if the work equipment width of another autonomously driven work vehicle 12 differs from the work equipment width of the specified autonomously driven work vehicle 11, the autonomously driven work route for resuming work from the work interruption location is appropriately set, allowing for flexible work planning without major obstacles to vehicle allocation.

[0034] The work is work for leveling the ground in a given field.

[0035] If the work is not for leveling the ground but for spraying pesticides, the automated driving work route before the work resumes can be used as is, and differences in the work width can be absorbed by adjusting the spray width. Even if the spray width cannot be adjusted to be smaller or larger in such pesticide spraying work, the aerial diffusion effect of the pesticide can be expected, so meaningful work can be performed without generating a new automated driving work route. If the extra route creation labor required to generate a new automated driving work route is not required, the increase in the calculation load on the controller can be suppressed.

[0036] In the case of land leveling work, not only is a first type of autonomously driven work route generated to pass through a substantially rectangular inner area a predetermined distance inward from the outermost perimeter of the field, but also a second type of autonomously driven work route is generated to pass through an outer area between this inner area and the outermost perimeter of the field. If the work widths are different, a new second type of autonomously driven work route is generated when work is resumed in the outer area. This is because, in autonomous driving using different work implement widths, the work implement often interferes with obstacles outside the field, which can easily cause serious damage to property. For example, even when the normal work implement width is not necessarily assumed, by appropriately generating a second type of autonomously driven work route based on the outermost perimeter, it is less likely to interfere with obstacles outside the field, and it is expected that the resumed work will be completed without unintended unworked areas due to the small work implement width.

[0037] If the work implement width of another autonomously driven work vehicle 12 is smaller than the work implement width of the specified autonomously driven work vehicle 11, the management center device 30 decides to adjust the autonomously driven work route so that the unworked area in the specified field that remains after work is interrupted is eliminated by continuing work with the smaller work implement width. If the work implement width of another autonomously driven work vehicle 12 is larger than the work implement width of the specified autonomously driven work vehicle 11, the management center device 30 decides to adjust the autonomously driven work route only on the outermost periphery of the unworked area so that contact with obstacles during continuing work with the larger work implement width is avoided on the outermost periphery of the unworked area.

[0038] Typically, when the width of the work implement increases, problems are unlikely to occur on the first type of autonomous driving route even without adjusting the autonomous driving route, but collisions with obstacles are likely to occur on the second type of autonomous driving route.On the other hand, when the width of the work implement decreases, collisions with obstacles are unlikely to occur, but unworked areas are likely to occur.

[0039] Even if the work implement width of another autonomously driven work vehicle 12 has changed compared to the work implement width of a predetermined autonomously driven work vehicle 11, a warning message such as an error display may be output to prompt the user to confirm the difference in work implement width, and then the user may be allowed to omit adjustment of the autonomously driven work route in accordance with an explicit user selection. In cases such as sowing work, where continuous work at a predetermined furrow width is often desirable, the autonomously driven work route can be used as is without adjustment even if the work implement width has changed slightly.

[0040] For fields where work has been suspended and is not yet completed, the system visually indicates the unworked area, which is an area where work is required and is determined by the location where work was suspended, as well as the work resume position for another autonomously driven work vehicle 12. By easily grasping the work start point, which serves as the work resume position, along with the unworked area, an easy-to-understand indicator is provided for a new autonomously driven work route generated for another autonomously driven work vehicle 12. Even if the work implement width is different, an autonomously driven work route is generated that clearly indicates the work zone, which is the remaining unworked area.

[0041] When the width of the work implement is changing, a conceivable mode is to change and instruct the work resume point of another autonomously driven work vehicle 12 based on the vehicle reference position of a given autonomously driven work vehicle 11 when work was interrupted so that it does not coincide with the work interruption point of a given autonomously driven work vehicle 11. For example, when vehicle specifications such as work implement width differ, it is often desirable for the work resume point to not necessarily coincide with the work interruption point. When the autonomously driven work route is adjusted, the work resume point of another autonomously driven work vehicle 12 is clearly instructed, which is expected to allow work to be resumed without any problems.

[0042] (2) Next, the configuration and operation of the management center device 30 according to the embodiment of the present invention will be described in more detail with reference mainly to FIGS.

[0043] Here, Figure 5 is an explanatory diagram (part 3) of the autonomously driven work routes of autonomously driven work vehicles 11 and 12 according to an embodiment of the present invention, and Figure 6 is an explanatory diagram of autonomously driven work vehicle 12 according to an embodiment of the present invention.

[0044] An obstacle sensor unit 60 that detects obstacles is provided on another autonomously driven work vehicle 12.

[0045] Of course, it is also conceivable that, for example, the obstacle sensor unit 60 is provided not on another autonomously driven work vehicle 12 but on a specified autonomously driven work vehicle 11, and the specified autonomously driven work vehicle 11 similarly follows an autonomously driven work route as described below.

[0046] When another autonomously driven work vehicle 12 starts traveling on the outermost periphery of the unworked area, a point in the specified field that is more inward than the adjusted autonomously driven work route is set as the point from which it will start traveling. After another autonomously driven work vehicle 12 starts traveling on the outermost periphery of the unworked area, it follows the adjusted autonomously driven work route while avoiding contact with obstacles based on the detection of obstacles by the obstacle sensor unit 60.

[0047] Vehicle movement system 1 generates an automated driving work route based on information managed for each field regarding the work areas of the work machines connected to the multiple automated driving work vehicles 11, 12, 13, and 14. As described above, this system realizes automated work from a roughly rectangular inner area, a predetermined distance inward from the outermost perimeter of the field, to an outer area. In traditional tillage work, work begins in an inner area, a predetermined headland width inward. After work in this inner area is completed, the work machine is driven to the outermost perimeter of the field and work in the outer area begins. This eliminates almost no interference with ridges during initial work in the inner area, and only delicate manual adjustments are required to avoid interference with ridges during work in the outermost perimeter of the outer area. In robotic work, attention to ridge interference only needs to be paid during work in the outermost perimeter of the outer area. Since the robotic work procedures are consistent with traditional work procedures, high robotic work efficiency is achieved. The vehicle movement system 1 that performs remote monitoring essentially only checks for obstacles in the direction of travel, and then causes a predetermined autonomously driven work vehicle 11 to begin field work from the inner area.

[0048] The autonomous driving route for traveling around the perimeter of the field is then adjusted as necessary while checking the distance between the work implement and the outermost perimeter of the field. This is because it is necessary to avoid interference with obstacles such as ridges, stationary utility poles, or water inlets that exist on the outer perimeter of the field. The vehicle movement system 1 performs automatic operations using remote monitoring. However, since the vehicle movement system 1 performs operations based on previously generated autonomous driving route information and map information that depends on area information, it is subject to the influence of not only the accuracy of the GNSS measurement position for the current operation but also the accuracy of the past GNSS measurement position, resulting in significant errors in the accuracy of the GNSS measurement position. By utilizing the various advanced sensor functions of the obstacle sensor unit 60, the distance between the work implement and the outermost perimeter of the field is checked in real time, and the autonomous driving route is appropriately adjusted, reducing the likelihood of serious interference with obstacles.

[0049] The autonomous driving work route itself, which is based on past information, is not used, but a predetermined point a few centimeters inside is set as the work start point, and after the work implement is positioned at the height at which work begins, the distance between the side of the work implement and the outermost periphery of the field is confirmed and a sufficient distance is subsequently maintained. The work implement is positioned without interfering with obstacles at the start of work, and the autonomous driving work route is appropriately adjusted, allowing the machine to quickly and safely follow the adjusted autonomous driving work route.

[0050] To detect the positional relationship with obstacles such as levees or utility poles, the obstacle sensor unit 60 uses a vehicle-mounted 3D LIDAR or similar device to recognize the distance between the obstacle and the work machine in three dimensions, and performs space checks in front and behind the vehicle in the direction of travel. The position of the obstacle relative to the vehicle and work machine is accurately determined. By placing sensors such as 3D LIDAR that can detect three-dimensional distances in front and behind the vehicle, changes in the distance to the levees over time can be measured in detail, and an adjusted autonomous driving work route can be sequentially formed while appropriately securing space to avoid interference with obstacles.

[0051] Following the completion of work on the outermost perimeter of the roughly rectangular inner and outer areas, the automated driving route for the remaining work on the outer area can be used without adjustment. After the outermost perimeter of the outer area is successfully completed, serious interference with obstacles rarely occurs. Therefore, by utilizing the already generated automated driving route information, sequential calculations that tend to increase the controller's computational load can be omitted. The automated driving route generated based on past performance, etc., is meaningfully utilized, and the complex image processing required for the outermost perimeter is not performed unnecessarily. This reduces the CPU processing time required, stabilizing the automated driving work. For example, although a processing load is generated to detect obstacles in the direction of travel, this processing load is small. Unnecessary vehicle speed reductions and temporary stops are unlikely to occur, allowing the work to continue stably.

[0052] (3) Next, the configuration and operation of the management center device 30 according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0053] Here, Figure 7 is an explanatory diagram (part 2) of the travel route of the vehicle travel system 1 according to the embodiment of the present invention, and Figures 8 and 9 are block diagrams (parts 2 and 3) of the vehicle travel system 1 according to the embodiment of the present invention.

[0054] The management center device 30 communicates individually with a plurality of automatically driven work vehicles 11, 12, 13, and 14, as well as simultaneously or in groups.

[0055] Since the management center device 30 at the monitoring center, which cannot perform visual monitoring, performs remote monitoring, information is shared through vehicle communications using simultaneous communication, group communication, and individual communication such as digital multi-channel access (MCA) communication, so that the vehicle locations and conditions of multiple autonomously driven work vehicles 11, 12, 13, and 14 can be ascertained. Even if the distance from the field is great, in cases such as when robotic vehicle movement between fields is prohibited due to the passage of an emergency vehicle 103, individual communication and simultaneous reception are performed by a single communication terminal device 101 to issue individual instructions or uniform instructions through simultaneous information transmission. For example, by configuring the vehicle movement system 1 as a digital MCA communication system via a relay station, the robotic agricultural machinery management of multiple autonomously driven work vehicles 11, 12, 13, and 14 can be realized by the management center device 30.

[0056] The communication terminal device 101, which serves as a portable terminal of a field monitoring operator who is stationed near the field while traveling in a monitoring patrol vehicle 102 or the like, is incorporated into the group of vehicle movement system 1 and used for robotic vehicle monitoring and management, just like the communication terminal devices of multiple autonomously driven work vehicles 11, 12, 13, and 14. Field monitoring operators who perform monitoring near the field can also share the MCA communication method of vehicle movement system 1. By incorporating the communication terminal device 101 of the field patrol operator into the group of vehicle movement system 1, highly convenient robotic agricultural machinery management can be achieved by the management center device 30.

[0057] Communications terminal device 101, such as a mobile terminal of the field monitoring operator, can communicate individually using a communications system different from the MCA communications system, such as a Wi-Fi (registered trademark) system or a Bluetooth (registered trademark) system. When each of multiple autonomously driven work vehicles 11, 12, 13, and 14 temporarily stops within a field or while moving between fields due to the detection of an obstacle, the field monitoring operator who determines the need for support can directly instruct the robotic agricultural machinery to resume work near the field. Since each of multiple autonomously driven work vehicles 11, 12, 13, and 14 is individually instructed to resume work, convenience is improved.

[0058] The field monitoring operator can communicate with individual robotic agricultural machinery using a communication terminal device 101 such as a communication terminal device for a so-called specific low-power remote control system, which is different from the communication terminal device 101 such as a mobile terminal device for an MCA communication system.

[0059] The communication terminal device 101, which is a portable terminal of the field monitoring operator, can perform GNSS positioning. The location information of the support monitor can be grasped by the management center device 30, so it is easy to give support instructions to other vehicles, such as the manually operated vehicle 20. In this way, the above-mentioned individual robotic agricultural machine communication can be reliably carried out.

[0060] Communication terminal device 101, which serves as an additional separate terminal device and communicates via the specified low-power remote control system, uses individual communication channels for each of the multiple autonomously driven work vehicles 11, 12, 13, and 14 when communicating with individual robotic agricultural machinery. Even when multiple autonomously driven work vehicles 11, 12, 13, and 14 are operating near a field, an ideal communication instruction environment is realized in which individual communications with target vehicles can be carried out without crosstalk. Because a single additional communication terminal device 101 used by the field monitoring operator can communicate individually with each of the multiple autonomously driven work vehicles 11, 12, 13, and 14, appropriate robotic agricultural machinery instructions can be given with a simple configuration.

[0061] For example, the first amount of data transmitted and received over the communication line between a given autonomously driven work vehicle 11 and the management center device 30 is larger than the second amount of data transmitted and received over the dedicated communication line between the given autonomously driven work vehicle 11 and the communication terminal device 101. It is desirable that the amount of communication information required for vehicle operation instructions in urban areas and the like is not too large. The communication terminal device 101 must frequently communicate not only with the given autonomously driven work vehicle 11 but also with the management center device 30. However, by suppressing the amount of data, such as the second amount of data transmitted and received, vehicle operation control with fewer delays in instructions and responses is achieved. Even when the communication terminal device 101 is used as an additional terminal device, stable vehicle operation control is expected due to the reduced amount of information.

[0062] Similarly, the first communication reach on the communication line between a given autonomously driven work vehicle 11 and the management center device 30 is greater than the second communication reach on the dedicated communication line between a given autonomously driven work vehicle 11 and the communication terminal device 101. By selecting a system suitable for so-called short-range communication for communicating vehicle operation instructions in urban and suburban areas, delays in instructions and responses can often be reduced. Such a system selection is expected to result in more stable vehicle operation control.

[0063] The communication terminal device 101 carried by the field monitoring operator for monitoring work can receive simultaneous distribution information and group distribution information distributed from the management center device 30 of the monitoring center, etc. The field monitoring operator is located near the field and can check such simultaneous distribution information, etc. Because the communication terminal device 101 is incorporated into the MCA system, the field monitoring operator can check the simultaneous distribution information, etc. as common information, in real time, improving practicality.

[0064] The communication terminal device 101 of the field monitoring operator, which can communicate with the MCA system, can also communicate individually with the management center device 30 at the monitoring center. The robotic agricultural machinery video confirmed by the management center device 30 and the visual video of the monitor near the field can be mutually shared through individual communication, thereby enhancing the support system. By incorporating such a communication terminal device 101 into the MCA system, practicality is further improved.

[0065] The wireless communication system near the vehicle, which has been added to the remote monitoring communication system, is a system that does not require a user license, such as a specified low-power remote control system. In a management center device 30 system that monitors the field from a distance, it is desirable for unmanned driving support to resolve vehicle accidents to be smoothly performed nearby without the driver having to leave the vehicle. Just as tractor restarts can be quickly performed using the communication terminal device 101 as an additional terminal device, the introduction of a specified low-power remote control system or Wi-Fi system allows the surrounding safety to be quickly confirmed after vehicle trouble has been resolved, allowing work to be resumed, improving work efficiency.

[0066] In addition, the program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the management center device operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0067] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the operations of all or part of the steps (or processes, operations and actions, etc.) of the management center device operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0068] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0069] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0070] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0071] The recording medium also includes a ROM (Read Only Memory).

[0072] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0073] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0074] The control center device of the present invention can improve usability and is useful for use as a control center device for autonomous driving work vehicles and the like. [Explanation of symbols]

[0075] 1. Vehicle movement system 11, 12, 13, 14 Autonomous driving vehicle 20 Manually operated vehicles 30 Management center device 60 Obstacle Sensor Unit 101 Communication terminal equipment 102 Surveillance Patrol Vehicle 103 Emergency Vehicles

Claims

1. A management center device characterized in that, when multiple automatically driven work vehicles are traveling and working in multiple fields, the device instructs the fields where the work will be performed based on information regarding the vehicle position and work progress status for each of the multiple automatically driven work vehicles.

2. When a predetermined autonomously driven work vehicle performs work while traveling in a predetermined field, the work is instructed based on information regarding the autonomously driven work route for the predetermined autonomously driven work vehicle; The management center device according to claim 1, characterized in that when the specified autonomous work vehicle is instructed to suspend the work in the specified field, a decision is made based on specified rules as to whether the specified autonomous work vehicle should continue the work that was instructed to be suspended, or whether another autonomous work vehicle should continue the work, and then the continued work is instructed.

3. The management center device described in claim 2, characterized in that when it is decided to have the other autonomously driven work vehicle perform the continuing work, it decides whether to adjust the autonomously driven work route based on information about the vehicle position of the specified autonomously driven work vehicle at the time the interruption of the work was instructed and the work equipment width of the other autonomously driven work vehicle.

4. The work is work for leveling the land in the specified field, If the work implement width of the other autonomously driven work vehicle is smaller than the work implement width of the specified autonomously driven work vehicle, determining to adjust the autonomously driven work route so that an unworked area in the specified field that remains due to the interruption of the work is eliminated by the continued work using the smaller work implement width; The management center device described in claim 3, characterized in that when the work equipment width of the other autonomous work vehicle is larger than the work equipment width of the specified autonomous work vehicle, it decides to adjust the autonomous work route only at the outermost periphery of the unworked area so that contact with obstacles during the continuing work due to the larger work equipment width is avoided at the outermost periphery of the unworked area.

5. an obstacle sensor unit that detects the obstacle is provided in the other autonomous driving work vehicle; When the traveling of the other autonomously driven work vehicle in the outermost periphery of the unworked area is started, a point in the specified field that is more inward than the adjusted autonomously driven work route is set as the point from which the traveling will start, The management center device described in claim 4, characterized in that after the other autonomous work vehicle begins traveling around the outermost periphery of the unworked area, the vehicle follows the adjusted autonomous work route while avoiding contact with the obstacle based on the detection of the obstacle by the obstacle sensor unit.

6. 6. The management center device according to claim 5, wherein the management center device performs individual communication and simultaneous communication or group communication with a plurality of the automatically driven work vehicles.

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