Surveillance system

Abstract

To properly drive a working vehicle in a first area and a second area.SOLUTION: The monitoring system 100 includes the work machine 1, at least one or more surroundings detection devices 64a that detect the surroundings of the work machine 1, and a setting changing unit 64a that changes the detection settings of the surroundings detection devices 61a between when the work machine 1 is driven in a first area and when the work machine 1 is driven in a second area different from the first area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a monitoring system for monitoring a work vehicle. [Background technology]

[0002] Patent Document 1 describes a control system for a work vehicle 1 that includes multiple tractors that autonomously travel through multiple fields while determining their position using a positioning device, and an information processing device that controls the autonomous travel of each of the multiple tractors, wherein the tractors have a first mode in which they move between fields and a second mode in which they wait at the exit of the field to switch to the first mode, and the information processing device measures the distance between the first tractor and the second tractor when a first travel route traveled by the first tractor in the first mode overlaps with a second travel route that the second tractor in the second mode is scheduled to travel when it switches to the first mode, and if the distance is greater than or equal to a predetermined threshold, switches the second tractor from the second mode to the first mode. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-193514 Summary of the Invention [Problem to be solved by the invention]

[0004] The control system described in Patent Document 1 is merely configured to prevent collisions between multiple autonomously driving tractors by adjusting the distance between them when the tractors move between fields, and since the detection settings of the surroundings detection device that detects the surroundings of the tractor (work vehicle) are not different inside and outside the field, the work vehicle cannot be operated appropriately inside the field (first area) and outside the field (second area).

[0005] In view of the above problems, the present invention has an object to provide a monitoring system that can appropriately operate a work vehicle in a first area and a second area. [Means for solving the problem]

[0006] A monitoring system according to one embodiment of the present invention comprises a work vehicle, at least one surrounding detection device that detects the surroundings of the work vehicle, and a setting change unit that changes the detection settings of the surrounding detection device between when the work vehicle is operated in a first area and when the work vehicle is operated in a second area different from the first area. [Effects of the Invention]

[0007] According to the present invention, the work vehicle can be operated appropriately in the first area and the second area. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a configuration diagram of a monitoring system according to an embodiment. [Figure 2] FIG. [Figure 3] FIG. 2 is a diagram showing an example of a travel route. [Figure 4A] FIG. 10 is a diagram showing an example of a driving control screen. [Figure 4B] FIG. 10 is a diagram showing an example of a setting screen showing an overall map including a travel route between farm fields. [Figure 5A] FIG. 1 is a diagram for explaining automatic driving of a work vehicle. [Figure 5B] FIG. 1 is a diagram for explaining automatic driving of a work vehicle. [Figure 5C] FIG. 1 is a diagram for explaining automatic driving of a work vehicle. [Figure 5D] FIG. 1 is a diagram for explaining automatic driving of a work vehicle. [Figure 5E] FIG. 1 is a diagram illustrating an example of a short-distance communication terminal. [Figure 6A] FIG. 10 is a diagram illustrating an example of setting data of the surroundings detection device. [Figure 6B]FIG. 10 is a diagram illustrating an example of setting data of the surroundings detection device. [Figure 6C] FIG. 10 is a diagram illustrating an example of setting data of the surroundings detection device. [Figure 6D] FIG. 10 is a diagram illustrating an example of setting data of the surroundings detection device. [Figure 7A] 10 is a diagram showing an example of setting data indicating the correspondence between the type of surroundings detection device and the detection settings of the first and second areas. FIG. [Figure 7B] 10 is a diagram showing an example of setting data indicating the correspondence between the type of surroundings detection device and the detection settings of the first and second areas. FIG. [Figure 7C] 10 is a diagram showing an example of setting data indicating the correspondence between the type of surroundings detection device and the detection settings of the first and second areas. FIG. [Figure 7D] 10 is a diagram showing an example of setting data indicating the correspondence between the type of surroundings detection device and the detection settings of the first and second areas. FIG. [Figure 8] 10 is a flowchart showing an operation process according to detection settings in accordance with the first and second regions. [Figure 9] 9 is a flowchart showing an operation process different from that shown in FIG. 8. [Figure 10] 10 is a flowchart showing a travel control process that differs between inside a field and outside a field. [Figure 11] FIG. 10 is a diagram showing an example of travel control setting data that differs between in-field operation and out-of-field operation. [Figure 12] FIG. 4 is a diagram showing the contents of driving control settings. [Figure 13] 10 is a flowchart illustrating an obstacle detection process. [Figure 14] FIG. 10 is a diagram showing an example of a setting screen of the first surroundings detection device. [Figure 15] FIG. 10 is a diagram showing an example of a setting screen for the second surroundings detection device. [Figure 16] FIG. 10 is a diagram showing an example of a setting screen for the second surroundings detection device. [Figure 17] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] Next, the work vehicle 1 and monitoring system 100 of this embodiment will be described. FIG. 1 is a configuration diagram of the monitoring system of this embodiment. The monitoring system 100 includes a work vehicle 1 and a remote communication terminal 50 for remotely driving the work vehicle 1. The monitoring system 100 may also include a short-range communication terminal 90. The monitoring system 100 monitors the work vehicle 1 in monitoring mode. The remote communication terminal 50 assists the work vehicle 1 in performing agricultural work using the work implement 2 while traveling in a field under remote monitoring.

[0011] First, a work vehicle (agricultural machine) 1 of this embodiment will be described. Fig. 17 is a side view of the work vehicle. In this example, the work vehicle 1 is, for example, a tractor. Note that the work vehicle 1 is not limited to a tractor, and may be, for example, other agricultural machinery such as a rice transplanter or a combine harvester, or agricultural machinery other than a tractor that performs agricultural work.

[0012] The work vehicle 1 includes a traveling body 3, a prime mover 4, a transmission 5, and a traveling unit 7. The front wheels 7F of the traveling unit 7 may be either tire-type or crawler-type. The rear wheels 7R of the traveling unit 7 may also be either tire-type or crawler-type. The prime mover 4 is configured with a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is configured with a diesel engine. The transmission 5 is capable of switching the propulsion force of the traveling unit 7 by changing gears, and can also switch the traveling unit 7 between forward and reverse motion. The driving force of the prime mover 4 is transmitted to the traveling unit 7 by the transmission 5, driving the traveling unit 7, causing the traveling body 3 to travel forward and backward. In FIG. 17, the left side is the front of the traveling body 3, and the right side is the rear of the traveling body 3. Furthermore, as you face FIG. 17, the back side is the right side of the traveling body 3, and the front side is the left side of the traveling body 3.

[0013] A cabin 9 is provided on the traveling body 3. A driver's seat 10 is provided inside the cabin 9. A coupling device 8 composed of a three-point linkage or the like is provided at the rear of the traveling body 3. The coupling device 8 couples a work implement 2 for performing agricultural work to the traveling body 3. More specifically, by coupling the work implement 2 to coupling parts 8g, 8h provided on the coupling device 8, the work implement 2 and the traveling body 3 are coupled together, making it possible for the work vehicle 1 to tow the work implement 2. In other words, the work vehicle 1 can be equipped with the work implement 2.

[0014] The work implement 2 performs ground work on the field. In this example, the work implement 2 includes, for example, a tillage implement (rotary tiller) that tills the field, a rough tillage implement (stubble cultivator) that performs rough tillage, a puddling implement (drive harrow) that puddles, a spraying implement that sprays fertilizer or pesticides, a sowing implement that sows seeds, a transplanting implement that transplants seedlings, and a harvesting implement that harvests.

[0015] 1, the work vehicle 1 is equipped with an operating device 62, a prime mover 4, a transmission 5, a braking device 6, a steering device 29, a coupling device 8, a positioning device 40, an alarm device 63, a detection device 64, a storage device 65, and a communication device 66. The communication device 66 is composed of a communication circuit that wirelessly communicates with a remote communication terminal 50. The communication device 66 is, for example, a communication interface, a communication module, or the like that wirelessly communicates with the communication device 54 of the remote communication terminal 50 via a communication network such as the Internet, a mobile phone communication network, or another data communication network.

[0016] The work vehicle 1 is equipped with a control device 60 (processing circuit) that includes one or more processors. The control device 60 is a controller for the work vehicle 1, and performs various controls related to the work vehicle 1. The control device 60 is communicably connected to multiple devices mounted on the work vehicle 1 via an on-board network N1 such as CAN, ISOBUS, LIN, or FlexRay. For example, the control device 60 performs various control processes (operations) such as driving, gear changes, braking, and steering of the work vehicle 1, and operation of the work implement 2, based on signals (operation signals) input from the operating device 62, steering device 29, etc.

[0017] The control device 60 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by one or more processors. The control device 60 can read software programs from one or more memories using one or more processors and execute various processes based on the software programs. Note that the control device 60 may also be able to execute various processes based on predetermined logic circuits using one or more processors.

[0018] The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), etc. The software program may be stored in a recording medium (a non-volatile memory such as an HDD, SSD, CD-ROM, or DVD-ROM) communicably connected to the control device 60, or in an external server device connected via the network, and may be installed from there into the memory.

[0019] The operating device 62 is made up of switches, levers, pedals, other keys, etc. that can be operated by a user (operator) such as a driver seated in the driver's seat 10 or a worker in the vicinity of the work vehicle 1.

[0020] The storage device 65 is a storage device such as a non-volatile memory, and stores various control programs (setting change program, driving control program, control determination program, inside / outside determination program, etc.), various data, etc. The storage device 65 is, for example, a hard disk drive (HDD), a solid state drive (SSD), etc.

[0021] The operating device 62 includes a mode switch 62a and a lifting / lowering operation lever 62b. The mode switch 62a is an operating member for switching the mode of the work vehicle 1. The lifting / lowering operation lever 62b is an operating member operated by the driver to change the lifting height as the attitude of the work device 2, and holds an operating position corresponding to the operation.

[0022] The modes of the work vehicle 1 include a monitoring mode, an automatic steering work mode, and a manual mode, which can be selected using the mode switch 62a. The monitoring mode is a mode for monitoring and driving the work vehicle 1, and is broadly divided into an automatic driving mode (in other words, an automatic driving work mode) and a remote driving mode. The control device 60 of the work vehicle 1 can be set to the monitoring mode based on a command signal for the monitoring mode from the remote communication terminal 50, to the automatic steering work mode based on a command signal for the automatic steering work mode, or to the manual mode based on a command signal for the manual mode.

[0023] The autonomous driving work mode is a mode in which the work vehicle 1 (traveling body 3) travels autonomously while performing agricultural work (ground work) using the work implement 2. Autonomous driving of the work vehicle 1 means automatically changing the travel speed of the traveling body 3 and automatically steering the traveling body 3. The remote driving mode will be described later.

[0024] The automatic steering work mode is a mode in which agricultural work (ground work) is performed by the work device 2 while the traveling body 3 is automatically steered. When the work vehicle 1 is in the automatic steering work mode, the driver of the work vehicle 1 operates the accelerator member or brake member included in the operation device 62, and the traveling speed of the traveling body 3 is changed in accordance with the operation. In other words, in the automatic steering work mode, the traveling speed of the traveling body 3 is changed based on manual operation.

[0025] Furthermore, in manual mode, the work vehicle 1 can be driven manually and, while driving, can perform ground work using the work implement 2. Manual driving of the work vehicle 1 means that the driver operates the accelerator member or brake member of the operating device 62 to change the traveling speed of the traveling body 3, and operates the steering wheel 30 to steer the traveling body 3.

[0026] The drive, stop, and rotation speed of the prime mover 4 (engine) are controlled by the control device 60. The transmission 5 is connected to a control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 37 is supplied with hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, an appropriate number of control valves 37 are provided according to the number of hydraulic devices, such as hydraulic clutches or hydraulic cylinders, provided in the transmission 5.

[0027] The braking device 6 is connected to a control valve 38. The control valve 38 is an electromagnetic valve that operates based on a control signal transmitted from a control device 60. The control valve 38 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening degree of the control valve 38, thereby operating the braking device 6 and applying the brakes to the traveling vehicle body 3.

[0028] The control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the drive of the transmission 5. The transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, which operates the traveling device 7 and causes the traveling vehicle body 3 to travel forward and backward. Furthermore, for example, when the working device 2 performs ground work, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. This increases the operating force of the working device 2.

[0029] The control device 60 also communicates with the work apparatus 2 via the in-vehicle network N1. Specifically, the work apparatus 2 is equipped with a control unit 21 and a communication unit 22. The control device 60 transmits a work command to the work apparatus 2 via the in-vehicle network N1. When the control unit 21 of the work apparatus 2 receives the work command via the communication unit 22, it controls the operation of each unit of the work apparatus 2 based on the work command to perform agricultural work (ground work). The control unit 21 of the work apparatus 2 also transmits information or data indicating the work status, etc. to the control device 60 via the in-vehicle network N1 using the communication unit 22. The control device 60 detects the work status, etc. of the work apparatus 2 based on the information or data received from the work apparatus 2 via the in-vehicle network N1.

[0030] It should be noted that there are also working apparatuses 2 that do not have the control unit 21 and the communication unit 22. When this type of working apparatus 2 is used, the control device 60 does not communicate with the working apparatus 2 via the in-vehicle network N1, but as will be described later, the control device 60 controls the operation of the working apparatus 2 by raising and lowering the working apparatus 2 using the coupling device 8 to change the position of the working apparatus 2, and detects the working state of the working apparatus 2, etc.

[0031] The steering device 29 has a handle (steering wheel) 30, a steering shaft (rotating shaft) 31, and an assist mechanism (power steering mechanism) 32. The handle 30 is provided inside the cabin 9 (FIG. 17). The steering shaft 31 rotates in conjunction with the rotation of the handle 30. The assist mechanism 32 assists steering by the handle 30.

[0032] The assist mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal sent from the control device 60. More specifically, the control valve 34 is configured as a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 is supplied with hydraulic oil discharged from the hydraulic pump 33. The control device 60 electrically controls the switching position and opening of the control valve 34 to adjust the hydraulic pressure supplied to the steering cylinder 35, thereby extending and retracting the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm 39 that changes the direction of the front wheels 7F.

[0033] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates in accordance with the operating state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 extends and contracts to the left or right of the traveling vehicle body 3 in accordance with the switching position and opening degree of the control valve 34. This extension and contraction movement of the steering cylinder 35 changes the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0034] The work vehicle 1 is capable of manual steering by manually operating the steering wheel 30, and automatic steering by the control device 60. Furthermore, the traveling body 3 can travel and stop by operating the transmission 5 or the brake device 6 in response to manual operation of the accelerator member or brake pedal provided on the operation device 62. Furthermore, the traveling body 3 can travel and stop automatically in response to control of the transmission 5 and the brake device 6 by the control device 60. Furthermore, the control device 60 controls the control valve 34 to extend and retract the steering cylinder 35, and the steering direction of the front wheels 7F is changed by the knuckle arm 39. In other words, the work vehicle 1 is capable of manual driving in which the driver performs driving and steering operations, automatic driving in which the control device 60 automatically performs driving and steering, and auto-steer control (also called automatic steering control or semi-automatic driving) in which the control device 60 automatically performs steering and the driver performs driving operations.

[0035] FIG. 2 is a perspective view of the coupling device 8. The coupling device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts up and down) when driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a control valve 36 (FIG. 1). The control valve 36 is an electromagnetic valve that operates based on a control signal sent from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0036] The front end of lower link 8b shown in Figure 2 is supported on the rear lower part of transmission 5 (Figures 1 and 17) so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a and lower link 8b. Connecting portions 8g and 8h to which working implement 2 can be connected are provided at the rear ends of lower link 8b and top link 8c.

[0037] The control valve 36 shown in FIG. 1 includes a control valve 36a and a control valve 36b shown in FIG. 2. The control device 60 (FIG. 1) electrically controls the switching position or opening of the control valve 36a to adjust the hydraulic pressure supplied to the lift cylinder 8e, thereby extending or retracting the lift cylinder 8e. The extension and retraction of the lift cylinder 8e raises and lowers the lift arm 8a, and also raises and lowers the lower link 8b connected to the lift arm 8a via the lift rod 8d. As a result, the working device 2 swings (lifts and lowers) upward or downward, with the front part of the lower link 8b (the side opposite the connecting parts 8g and 8h) as a fulcrum.

[0038] The control device 60 controls the prime mover 4, transmission 5, braking device 6, traveling device 7, steering device 29, and coupling device 8 to automatically drive or steer the work vehicle 1 while performing agricultural work in the field using the work device 2. In particular, the control device 60 performs automatic driving, in which the work vehicle 1 travels automatically while performing agricultural work using the work device 2. The control device 60 also automatically steers the work vehicle 1, while leaving changes in the travel speed of the work vehicle 1 to manual operation, and performs automatic steering (auto-steer), in which the work device 2 performs agricultural work in the field.

[0039] The positioning device 40 shown in FIG. 1 includes a receiving device 40a and an inertial measurement unit 40b (IMU: Inertial Measurement Unit). The receiving device 40a receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. The positioning device 40 detects the current position (e.g., latitude and longitude) based on the satellite signals received by the receiving device 40a. In other words, the positioning device 40 is a position detection unit that detects the position of the work vehicle 1 (traveling body 3). The inertial measurement unit 40b includes an acceleration sensor and a gyro sensor, etc. The inertial measurement unit 40b detects the roll angle, pitch angle, yaw angle, etc. of the traveling body 3. The warning device 63 is composed of a buzzer, speaker, warning light, etc. provided on the traveling body 3. The alarm device 63 outputs an alarm or warning to the surroundings of the traveling vehicle body 3 by sound or light.

[0040] The detection device 64 includes sensors, cameras, and electrical circuits that process output signals from the sensors or cameras installed in various parts of the work vehicle 1 and the work implement 2. Based on output signals from these sensors, the detection device 64 detects the operating state (driving and stopped states, operating positions, etc.) of various parts of the work vehicle 1, such as the transmission 5, braking device 6, traveling device 7, coupling device 8, steering device 29, and operation device 62. The detection device 64 also detects the operating state of the work implement 2 based on output signals from the sensors, etc.

[0041] The detection device 64 also includes at least one or more surrounding detection devices 64a that detect the surroundings of the work vehicle 1. The surrounding detection device 64a is a device (sensor, camera, etc.) that detects the surroundings of the work vehicle 1 and the work implement 2, and is capable of detecting, for example, objects that exist around the work vehicle 1 and the work implement 2. The objects include people, animals, vehicles, objects, and installed structures (fences, guardrails), and may also include the surrounding environmental conditions such as ground conditions (unevenness) of fields, private roads, public roads, etc., as well as ridges, ditches, etc.

[0042] The surroundings detection device 64a includes a first surroundings detection device 64a1 and a second surroundings detection device 64a2. The first surroundings detection device 64a1 is, for example, a millimeter-wave radar, a LiDAR (Light Detection and Ranging), or a laser scanner, and is assumed to be a millimeter-wave radar in this embodiment. The second surroundings detection device 64a2 is, for example, a camera, an AI (Artificial Intelligence) camera, or an ultrasonic sonar, and is assumed to be an AI camera in this embodiment. The AI ​​camera performs object detection processing (e.g., human detection processing, animal detection processing, obstacle detection processing, etc.) on captured images, and is able to detect objects present around the work vehicle 1 and the work device 2, identify the type of object (such as person, animal, or object), and identify the distance to the object.

[0043] The first surroundings detection devices 64a1 are installed respectively at the front and rear of the traveling vehicle body 3. That is, a total of two first surroundings detection devices 64a1 are installed at the front and rear of the traveling vehicle body 3. The second surroundings detection devices 64a2 are installed respectively at the front, rear, and left and right sides of the traveling vehicle body 3. That is, a total of four second surroundings detection devices 64a2 are installed at the front, rear, and left and right sides of the traveling vehicle body 3. The first surroundings detection device 64a1 and second surroundings detection device 64a2 detect the presence or absence of objects around the work vehicle 1 and work implement 2, the distance to the objects, etc.

[0044] When the remote communication terminal 50 is performing monitoring operation (automated driving or remote driving), the communication device 66 transmits various information about the work vehicle 1, the work implement 2, etc. to the remote communication terminal 50. The various information includes position information (e.g., latitude, longitude) of at least one of the work vehicle 1 and the work implement 2, equipment information about the work vehicle 1 and the work implement 2, and various information detected by the detection device 64. The equipment information about the work vehicle 1 and the work implement 2 includes information such as dimensional information (working width) of the work vehicle 1 and the work implement 2 and the type of work performed by the work implement 2. The information detected by the detection device 64 includes information about the operating state of the work vehicle 1 detected by a sensor serving as the detection device 64, captured images of the surroundings of the work vehicle 1 and the work implement 2 captured by an AI camera serving as the second surroundings detection device 64a2, and object detection information detected by a millimeter-wave radar serving as the first surroundings detection device 64a1.

[0045] Next, the remote communication terminal 50 will be described. For example, the remote communication terminal 50 is a terminal that communicates with the work vehicle 1 via the Internet and monitors and operates the work vehicle 1. The remote communication terminal 50 is a fixed computer such as a server or a personal computer.

[0046] The remote communication terminal 50 may be a mobile terminal such as a smartphone, tablet, or PDA. In this case, the remote communication terminal 50 is carried by a remote user (remote monitor, remote operator, etc.) and moved to the outside of the work vehicle 1, or installed at a predetermined position inside the cabin 9 of the work vehicle 1. In other words, the remote communication terminal 50 can be operated outside the work vehicle 1, and can also be operated inside the work vehicle 1. Note that the outside of the work vehicle 1 is not limited to the outside of the cabin 9, but means a position, device, or equipment other than the work vehicle 1, and the position, device, or equipment other than the work vehicle 1 may be near the work vehicle 1 or far away.

[0047] The remote communication terminal 50 includes a control unit 51, a display operation unit 52, a storage device 53, a communication device 54, a display device 55, and a notification unit 56. The control unit 51 includes an electric / electronic circuit, a processor, a memory, etc. The processor may be, for example, a CPU, a GPU, a DSP, an FPGA, or an ASIC. The memory of the control unit 51 includes a volatile memory and a non-volatile memory. The control unit 51 controls each unit of the remote communication terminal 50. The control unit 51 includes an area setting unit 51b and a route generation unit 51c. For example, the processor of the control unit 51 executes control programs (area setting program, route generation program) stored in the storage device 53 to function as the area setting unit 51b and the route generation unit 51c. In this example, the area setting unit 51b and the route generation unit 51c are configured as software programs, but may also be configured as hardware such as electrical circuits.

[0048] The display device 55 is, for example, a liquid crystal display or an organic EL display, and displays various types of information on the screen.

[0049] The display operation unit 52 is composed of a touch panel arranged in front of the display screen of the display device 55. Various inputs can be made by performing predetermined operations on the display screen of the display device 55. The display operation unit 52 is made up of a display unit, an operation unit, and an input unit. Information indicating a predetermined warning is displayed on the display device 55 to notify the remote operator, etc. Alternatively, a sound, voice, or light indicating the predetermined warning may be output from the alarm device 63.

[0050] The storage device 53 is configured from a non-volatile memory, etc. Information or data that supports the travel of the work vehicle 1 and the agricultural work performed by the work implement 2 is stored in the storage device 53 in a readable and writable manner.

[0051] The communication device 54 is composed of an electric circuit or semiconductor element for communicating with the communication device 66 or the control device 60. The communication device 54 is capable of transmitting, for example, control data related to the autonomous driving of the work vehicle 1, or more precisely, control data related to the autonomous driving operation of the work vehicle 1 and the work device 2, to the work vehicle 1. The communication device 54 is, for example, a communication interface, a communication module, or the like that performs wireless communication with the communication device 66 of the work vehicle 1 via a communication network such as the Internet, a mobile phone communication network, or another data communication network. In particular, when the remote communication terminal 50 is outside the work vehicle 1, the communication device 54 and the communication device 66 communicate with each other wirelessly via the Internet, rather than short-range wireless communication such as Bluetooth (registered trademark). Furthermore, when the remote communication terminal 50 is installed inside the cabin 9 (inside the vehicle) of the work vehicle 1 and electrically connected to the on-board network N1 by a cable or the like, the communication device 54 and the control device 60 can also communicate with each other via a wired connection.

[0052] If the notification unit 56 is an audio output device such as a speaker, it issues an audio notification. If the notification unit 56 is an indicator lamp or indicator light, it issues a lighting notification. If the notification unit 56 is a display device 55, it issues a display notification on the display screen of the display device 55.

[0053] After starting up the remote communication terminal 50, the remote user performs a predetermined operation on the screen displayed on the display operation unit 52, thereby inputting information about the field H, the work vehicle 1, or the work implement 2, work conditions for performing agricultural work in the field H using the work vehicle 1 and the work implement 2, or information for automatic driving of the work vehicle 1, etc., into the remote communication terminal 50. Thereafter, when the remote user performs a predetermined operation on the display operation unit 52 and confirms the input contents, the area setting unit 51b sets a predetermined area on a map showing the field H. In addition, the route generation unit 51c creates a travel route for the work vehicle 1 to travel on the map.

[0054] FIG. 3 is a diagram showing an example of a travel route L1 created by the path generation unit 51c. The area setting unit 51b (FIG. 1) sets a central area C1 and a headland area E1 in the field map MP2 as shown in FIG. 3 based on, for example, position information (e.g., latitude and longitude information) of the field H, dimensional information of the work implement 2, and working conditions. More specifically, for example, the area setting unit 51b calculates contours Hc, Hb, and Ha formed by offsetting the contour H1 of the field H inward a number of times equal to the number of headlands (in FIG. 3, the number of headlands is set to "3," for example) using a width obtained by subtracting the headland overlap from the working width of the work implement 2. Then, the area setting unit 51b sets the area (central portion) surrounded by the innermost contour Ha as the central area C1. The area setting unit 51b also sets the frame-shaped area (outer frame portion) outside the central area C1 and inside the contour H1 of the field H as the headland area E1. In addition, the area setting unit 51b sets the areas between adjacent contours of the contour H1 of the field H and the contours Hc, Hb, and Ha obtained by offsetting the contour H1 in the headland area E1 as headland E2a, E2b, and E2c. In other words, the area between the contour H1 and the contour Hc is the headland E2c, the area between the contour Hb and the contour Hc is the headland E2b, and the area between the contour Ha and the contour Hb is the headland E2a. Note that if the number of headlands is set to "1," for example, the headland area E1 is composed of only the headland E2c, and the area (central portion) surrounded by the contour Hc is set as the central area C1.

[0055] The path generation unit 51c (FIG. 1) creates a travel route L1 on the field map MP2 based on information such as the position of the field H, the central area C1, the headland area E1, dimensional information about the work vehicle 1 and work implement 2, work conditions, and automatic driving information. Specifically, the path generation unit 51c creates multiple unit work sections within the central area C1 by dividing the central area C1 from one end (the right end in FIG. 3) of the central area C1 parallel to the work direction (the up-down direction in FIG. 3) by a width calculated by subtracting the overlapping space at the center, which is included in the work conditions, from the working width of the work implement 2. Then, the path generation unit 51c creates a straight route L1a along which the traveling vehicle body 3 travels straight, along the center line of the width of each unit work section (the left-right direction in FIG. 3). Next, the path generation unit 51c creates a turning route L1b in the headland area E1 that connects adjacent straight routes L1a. The turning route L1b is a route that goes from one of the two adjacent straight routes L1a to the other. When creating the turning route L1b, the path generating unit 51c ensures a turning space in the headland area E1 for turning the work vehicle 1 and the work implement 2.

[0056] 3 shows a simple semicircular turning route L1b as an example, but this shape is for convenience, such as making it easier to display on the display screen of the display operation unit 52 and making the traveling route L1 easier to visually recognize on the display screen. In reality, when the traveling body 3 and working implement 2 of the work vehicle 1 travel based on one straight route L1a and then turn toward the other straight route L1a, the traveling body 3 and the like may not only move forward but also move backward or turn around, drawing a trajectory with a shape more complex than a semicircle. In other words, the turning route L1b is a route for display on the display operation unit 52, and the work vehicle 1 may not always turn based on the turning route L1b.

[0057] The control device 60 (FIG. 1) of the work vehicle 1, while the traveling body 3 is traveling based on the straight route L1a, uses the coupling device 8 (FIG. 2) to lower the working implement 2 to a working position P1, and performs ground work with the working implement 2. Furthermore, when the traveling body 3 is turned at a location corresponding to the turning route L1b, that is, when the traveling body 3 is turned from one straight route L1a to the other straight route L1a, the control device 60 uses the coupling device 8 to raise the working implement 2 to a non-working position P2, and stops ground work by the working implement 2. In other words, the straight route L1a is a work route where ground work is performed by the working implement 2 while the traveling body 3 of the work vehicle 1 is traveling in an autonomous manner. Furthermore, the central area C1, for which multiple straight routes L1a have been created, is a work area where ground work is performed by the working implement 2 while the traveling body 3 is traveling back and forth in an autonomous manner in a straight manner.

[0058] Furthermore, for example, if the work conditions input are to work in the central area C1 and the innermost headland E2a, the path generation unit 51c will create a circular route L1c in the headland area E1 that circles around the outside of the central area C1, in addition to the straight route L1a and the turning route L1b. The circular route L1c is a work route on which ground work is performed using the work implement 2 while the traveling body 3 of the work vehicle 1 is traveling in automatic driving mode. The circular route L1c includes multiple substantially straight straight routes L1s and turning routes L1r that curve with a predetermined radius of curvature or greater. Multiple straight routes L1s are created on the center line in the width direction of the headland E2a to correspond to each straight section of the contour H2a of the central area C1.

[0059] The turning route L1r is a route that runs from one straight route L1s to another straight route L1s that is adjacent to the extension direction of the one straight route L1s. One straight route L1s and the other straight route L1s extend in different directions, but the end of one straight route L1s and the start of the other straight route L1s are connected by the turning route L1r. When creating the turning route L1r, the path generation unit 51c also ensures a turning space in the headland area E1 for turning the traveling body 3 and work implement 2 of the work vehicle 1.

[0060] For convenience, Figure 3 illustrates a simple arc-shaped turning route L1b. However, when the work vehicle 1 or the like actually turns from one straight route L1s to the other straight route L1s, it may not only move forward but also move backward or turn around, tracing a trajectory with a shape more complex than an arc. In other words, the turning route L1r is a route for display on the display operation unit 52, and the work vehicle 1 may not always turn based on the turning route L1r.

[0061] After creating the circular route L1c, the route generation unit 51c sets a start position Ps at one end of the straight route L1a at either end (the left and right ends in FIG. 3) of the central area C1, which is not connected to the turning route L1b, and connects the circular route L1c to the other end of the straight route L1a (the lower end of the straight route L1a at the left end in FIG. 3). The route generation unit 51c also sets a goal position Pg at the end of the circular route L1c that is not connected to the straight route L1a. The route generation unit 51c then stores information indicating the central area C1, headland area E1, traveling route L1, start position Ps, goal position Pg, and turning space in an internal memory as route information.

[0062] When the path generation unit 51c has completed creation of the travel route L1, the control unit 51 causes the display operation unit 52 to display route information such as the field map MP2, central area C1, headland area E1, travel route L1, start position Ps, and goal position Pg. Thereafter, when a remote user performs a predetermined operation on the display operation unit 52, the control unit 51 causes the display operation unit 52 to display a travel control screen D8 shown in FIG. 4A. The control unit 51 also generates automatic travel data based on the setting information stored in the internal memory, and transmits (outputs) the automatic travel data to the control device 60 of the work vehicle 1 via the communication device 54.

[0063] The autonomous driving data includes route information, setting information for the work vehicle 1, setting information for the work device 2, and autonomous driving information. Of these, the information on the driving route L1 included in the route information includes information indicating the positions of the work routes L1a and L1s, but does not necessarily include information indicating the positions of the turning routes L1b and L1r. Furthermore, the setting information for the work vehicle 1 and the work device 2 includes dimensional information for the work vehicle 1 and the work device 2, the type of agricultural work to be performed, and the like.

[0064] The navigation control screen D8 shown in FIG. 4A displays the driving status of the work vehicle 1 and the work status of the work implement 2 in the autonomous driving work mode. Note that FIG. 4A shows the driving status and work status of the work vehicle 1 some time after the autonomous driving work mode is initiated on the navigation control screen D8. The navigation control screen D8 displays a field map MP2, a driving route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, the driving status of the work vehicle 1, a setting change key B20, a status display key B21, a work trajectory key B22, and a trajectory clear key B23. The control unit 51 periodically acquires the actual position of the traveling vehicle body 3 detected by the positioning device 40 via the communication device 54 and displays the agricultural machine mark X2 at the corresponding location on the field map MP2 corresponding to the position of the traveling vehicle body 3. In other words, the agricultural machine mark X2 on the navigation control screen D8 indicates the actual position of the traveling vehicle body 3 of the work vehicle 1.

[0065] For example, while viewing the driving control screen D8, the remote user manually drives the work vehicle 1 to the start position Ps, and then performs a predetermined operation on the mode switch 62a (Fig. 1) to switch to the automatic driving work mode. This causes the control device 60 to switch to the automatic driving work mode, and based on the automatic driving data received from the remote communication terminal 50 and the position of the traveling body 3 detected by the positioning device 40, the control device 60 starts automatic driving of the work vehicle 1, and performs ground work using the work device 2 while the traveling body 3 travels in automatic driving.

[0066] In more detail, the control device 60 first reads the route information included in the automatic traveling data and ascertains the central area C1, headland area E1, traveling route L1 (work routes L1a, L1s), start position Ps, and goal position Pg. The control device 60 then performs ground work using the work implement 2 while automatically driving the traveling body 3 based on the straight route L1a of the traveling route L1 from the start position Ps. When the traveling body 3 (work vehicle 1) reaches the end of one straight route L1a, the control device 60 temporarily stops the ground work using the work implement 2, raises the work implement 2, and turns the traveling body 3 toward the start of the other adjacent straight route L1a. In other words, the control device 60 turns the work vehicle 1 and the work implement 2 at a point corresponding to the turning route L1b. At this time, the control device 60 turns the work vehicle 1 and the work implement 2 based on the position information of the central area C1 and the headland area E1, the position information of the straight route L1a, the dimensional information of the work vehicle 1 and the work implement 2, the position of the traveling body 3 detected by the positioning device 40, and the detection results of the detection device 64.

[0067] Then, when the traveling body 3 reaches the start of the other straight route L1a, the control device 60 lowers the work implement 2, and when the traveling body 3 starts to travel in automatic driving based on the other straight route L1a, the control device 60 resumes ground work by the work implement 2. As a result, the traveling body 3 travels in an automatic driving manner back and forth in the central area C1, and the work implement 2 performs ground work in the central area C1.

[0068] Thereafter, the control device 60 performs ground work with the work implement 2 while causing the traveling vehicle body 3 to travel in automatic driving mode based on the circular route L1c and the position of the traveling vehicle body 3. At this time, the control device 60 performs ground work with the work implement 2 while causing the traveling vehicle body 3 to travel in automatic driving mode based on the straight route L1s, and when turning the traveling vehicle body 3 at a location corresponding to the turning route L1r, the control device 60 raises the work implement 2 and stops the ground work by the work implement 2. During this turning, the control device 60 turns the work vehicle 1 and the work implement 2 based on position information of the central area C1 and headland area E1, position information of the straight route L1s, dimensional information of the work vehicle 1 and the work implement 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection results of the detection device 64, etc. As a result, the traveling vehicle body 3 travels in automatic driving mode outside the central area C1, and the work implement 2 performs ground work on the headland E2a ( FIG. 3 ) that surrounds the central area C1.

[0069] 5A to 5D are diagrams illustrating automatic steering of the work vehicle 1. In the automatic driving work mode, the control device 60 calculates the deviation between the position of the traveling body 3 detected by the positioning device 40 and the traveling route L1 (work routes L1a, L1s) while automatically driving the traveling body 3. If the deviation is less than a threshold (e.g., FIG. 5A), the control device 60 maintains the rotation angle of the steering shaft 31 (FIG. 1). If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than the threshold and the traveling body 3 is located on the left side of the traveling route L1 (e.g., FIG. 5B), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling body 3 is rightward. If the deviation between the position of the traveling body 3 and the traveling route L1 is equal to or greater than the threshold and the traveling body 3 is located on the right side of the traveling route L1 (e.g., FIG. 5C), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling body 3 is leftward. The above is one example of an automatic steering method for the work vehicle 1, and the automatic steering method for the work vehicle 1 is not limited to the above method.

[0070] When the traveling vehicle body 3 is automatically traveling based on the traveling route L1, the control device 60 calculates the actual vehicle speed of the traveling vehicle body 3 based on changes in the position of the traveling vehicle body 3. Then, the control device 60 controls the driving of the transmission 5, the braking device 6, and the prime mover 4 so that the actual vehicle speed matches (or approximately matches) the vehicle speed associated with the straight route L1a, the turning route L1b, or the circular route L1c.

[0071] As described above, in the automatic traveling work mode of the work vehicle 1, the control device 60 automatically changes the traveling speed of the traveling body 3 based on the traveling route L1 and the position of the traveling body 3 (work vehicle 1), while automatically steering the traveling body 3. The control device 60 also automatically starts and stops agricultural work (ground work) by the work implement 2.

[0072] FIG. 4B is a diagram showing an example of the setting screen J4 showing an overall map MP1 including an inter-field travel route L2. The route generation unit 51c is capable of generating the inter-field travel route L2 as shown in FIG. 4B. The inter-field travel route L2 is a route taken by the work vehicle 1, which is monitored and driven (automatically or remotely) by the remote communication terminal 50, on a farm road (e.g., a private road) connecting the fields H and HH. The display device 55 displays the overall map MP1. The overall map MP1 includes a field map MP2 of field H, a field map MP4 of field HH, and a road map MP3 showing the farm road RD connecting the fields H and HH. The remote user operates the display operation unit 52 to specify a route for the work vehicle 1 to travel on the farm road RD, thereby generating the inter-field travel route L2.

[0073] Furthermore, the work vehicle 1 can be remotely driven based on the operation of the short-distance communication terminal 90 by a short-distance user (a remote operator located at a short distance outside the work vehicle 1). That is, when the work vehicle 1 is in remote driving mode, the control device 60 controls the transmission 5 and the braking device 6 based on control signals from the short-distance communication terminal 90 to remotely drive and stop the traveling body 3, controls the control valve 34 to extend and retract the steering cylinder 35, and changes the steering direction of the front wheels 7F with the knuckle arm 39. That is, the work vehicle 1 can be remotely driven by remotely controlling driving and steering based on control signals from the short-distance communication terminal 90 in response to the operation of the short-distance user.

[0074] As shown in FIG. 5E, the short-distance communication terminal 90 is a small operating device that can communicate with the communication device 66 of the work vehicle 1 and can be held by a short-distance user. For example, the short-distance communication terminal 90 is a remote controller and has a communication unit 91. The communication unit 91 is a communication device that performs short-distance communication with the communication device 66 of the work vehicle 1. The short-distance communication terminal 90 has, for example, six buttons (first button 90a to sixth button 90f) and three indicators (first indicator 90g to third indicator 90i). The numbers of buttons and indicators may be other than these.

[0075] The sixth button 90f is a function button. When the sixth button 90f is pressed and held down, the power of the short-range communication terminal 90 is turned ON. When the sixth button 90f is pressed twice, the short-range communication terminal 90 outputs a remote driving start signal, and the work vehicle 1 enters remote driving mode. When the sixth button 90f is pressed twice while the power of the short-range communication terminal 90 is ON, the short-range communication terminal 90 outputs a remote driving end signal, and if the work vehicle 1 is in remote driving mode, the remote driving mode ends. When the sixth button 90f is pressed and held down while the power of the short-range communication terminal 90 is ON, the power of the short-range communication terminal 90 is turned OFF.

[0076] The first button 90a is a button that, when pressed simultaneously with the sixth button 90f, moves the work vehicle 1 forward. When this operation is performed, the short-range communication terminal 90 transmits a forward movement signal to the work vehicle 1, and the work vehicle 1 in remote operation mode moves forward under remote control.

[0077] The second button 90b is a button that, when pressed simultaneously with the sixth button 90f, causes the work vehicle 1 to move in reverse. When this operation is performed, the short-range communication terminal 90 transmits a reverse signal to the work vehicle 1, and the work vehicle 1 in remote driving mode moves in reverse under remote driving.

[0078] The third button 90c is a button that, when pressed simultaneously with the sixth button 90f, causes the work vehicle 1 to turn left. When this operation is performed, the short-range communication terminal 90 transmits a left turn signal to the work vehicle 1, and the work vehicle 1 in remote driving mode turns left by remote driving. Furthermore, when the pressing of the third button 90c is stopped, the short-range communication terminal 90 transmits a left turn end signal to the work vehicle 1, and the work vehicle 1 in remote driving mode stops turning left.

[0079] The fourth button 90d is a button that, when pressed simultaneously with the sixth button 90f, causes the work vehicle 1 to turn right. When this operation is performed, the short-range communication terminal 90 transmits a right turn signal to the work vehicle 1, and the work vehicle 1 in remote driving mode turns right by remote driving. Furthermore, when the pressing of the fourth button 90d is stopped, the short-range communication terminal 90 transmits a right turn end signal to the work vehicle 1, and the work vehicle 1 in remote driving mode stops turning right.

[0080] The fifth button 90e is a button that, when pressed simultaneously with the sixth button 90f, stops the work vehicle 1. When this operation is performed, the short-range communication terminal 90 transmits a stop signal to the work vehicle 1, and the work vehicle 1 in remote driving mode stops. For example, the work vehicle 1 in remote driving mode stops moving forward and backward.

[0081] Furthermore, when the first button 90a, the third button 90c, and the sixth button 90f are pressed simultaneously, the short-range communication terminal 90 transmits a work start signal to the work vehicle 1, and the work vehicle 1 in remote operation mode begins remotely operating the work device 2. On the other hand, when the second button 90b, the fourth button 90d, and the sixth button 90f are pressed simultaneously, the short-range communication terminal 90 transmits a work end signal to the work vehicle 1, and the work vehicle 1 in remote operation mode ends remotely operating the work device 2.

[0082] The first indicator 90g shows the remaining battery charge when the short-distance communication terminal 90 is powered on, and changes color from green to red when the remaining battery charge becomes low. The second indicator 90h shows the communication status with the work vehicle 1, showing green when communication is good and red when communication is not possible. The third indicator 90i shows green when the work vehicle 1 is in remote operation mode, is off when not in remote operation mode, and shows red when there is an abnormality with the work vehicle 1.

[0083] The above-described operation contents of the first button 90a to the sixth button 90f are merely examples, and are not limited to these contents, and may be other contents than those described above. The number of buttons may also be a number other than six. Furthermore, the display contents of the first indicator 90g to the third indicator 90i are merely examples, and are not limited to these contents, and may be other contents than those described above. The number of indicators may also be a number other than three.

[0084] The monitoring system 100 is configured such that the detection settings of the surroundings detection device 64a that detects the surroundings of the work vehicle 1 are different between the first area and the second area. This will be explained below.

[0085] The control device 60 includes a setting change unit 61a. For example, the aforementioned processor of the control device 60 functions as the setting change unit 61a by executing a setting change program stored in the storage device 65. The setting change unit 61a changes the detection settings of the surroundings detection device 64a depending on whether the work vehicle 1 is driven in a first area or a second area different from the first area.

[0086] In this embodiment, the work vehicle 1 is capable of monitored driving (automatic driving or remote driving) by the remote communication terminal 50. Monitored driving is automatic driving or remote driving of the work vehicle 1 by the remote communication terminal 50. The control device 60 performs automatic driving of the work vehicle 1 in and outside the field (including movement between fields) under remote monitoring by the remote communication terminal 50 (for example, driving along the travel route L1 and inter-field travel route L2 generated by the route generation unit 51c). The control device 60 can also perform remote driving of the work vehicle 1 in and outside the field (including movement between fields) in accordance with remote control by the remote communication terminal 50 or the short-range communication terminal 90.

[0087] The setting change unit 61a changes the detection setting of the surroundings detection device 64a depending on whether the monitoring operation (automated driving or remote driving) of the work vehicle 1 is performed in the first area or in the second area.

[0088] In the case of in-field operation, where the work vehicle 1 is automatically or remotely operated within a field, the setting change unit 61a sets the detection setting of the perimeter detection device 64a to the in-field setting, and in the case of out-of-field operation, where the work vehicle 1 is automatically or remotely operated outside a field, the setting change unit 61a sets the detection setting of the perimeter detection device 64a to the out-of-field setting. In addition, out-of-field operation includes inter-field operation, where the work vehicle 1 is moved between fields by automatic or remote operation. In the case of inter-field operation, i.e., movement between fields, the detection setting of the perimeter detection device 64a is set to the inter-field movement setting.

[0089] The setting change unit 61a sets the detection settings of the surroundings detection device 64a using the setting data shown in FIG. 6A. FIG. 6A is a diagram showing an example of the detection setting data of the surroundings detection device. As shown in FIG. 6A, the storage device 65 of the work vehicle 1 pre-stores the detection setting data of the surroundings detection device 64a. The detection setting data of the surroundings detection device 64a is data in which the contents of the detection settings of the surroundings detection device 64a are different when the work vehicle 1 is located in a first area and when the work vehicle 1 is located in a second area. The detection setting data shown in FIG. 6A is data in which the detection settings of the surroundings detection device 64a are set to the detection settings of the first area when the work vehicle 1 is located in the first area, and the detection settings of the surroundings detection device 64a are set to the detection settings of the second area when the work vehicle 1 is located in the second area.

[0090] The storage device 65 of the work vehicle 1 may store in advance the detection setting data of the perimeter detection device 64a shown in Fig. 6B. Fig. 6B is a diagram showing an example of the detection setting data of the perimeter detection device. The detection setting data shown in Fig. 6B defines the first region as a region within a farm field and the second region as a region outside the farm field, and is data that sets the detection setting of the perimeter detection device 64a to the detection setting within the farm field (appropriately referred to as the in-farm field setting) when the work vehicle 1 is located within the farm field, and sets the detection setting of the perimeter detection device 64a to the detection setting outside the farm field (appropriately referred to as the out-of-farm field setting) when the work vehicle 1 is located in the second region.

[0091] Furthermore, the storage device 65 of the work vehicle 1 may store in advance the detection setting data of the perimeter detection device 64a shown in Fig. 6C. Fig. 6C is a diagram showing an example of the detection setting data of the perimeter detection device. The detection setting data shown in Fig. 6C defines the first region as a region within a field and the second region as a region for movement between fields, and is data in which, when the work vehicle 1 is located within a field, the detection setting of the perimeter detection device 64a is the detection setting within the field, and, when the work vehicle 1 is located in the second region, the detection setting of the perimeter detection device 64a is the detection setting for movement between fields.

[0092] The detection settings for the first and second regions shown in Fig. 6A have different contents (here, detection ranges) depending on the type of surroundings detection device 64a, as shown in Fig. 7A. Fig. 7A is a diagram showing an example of setting data indicating the correspondence between the type of surroundings detection device and the detection settings for the first and second regions.

[0093] 7A, the detection setting for the first region includes a setting to disable the first surroundings detection device 64a1, and the detection setting for the second region includes a setting to enable the first surroundings detection device 64a1. The detection setting for the first region includes a setting to set the detection range of the second surroundings detection device 64a2 as a first detection range, and the detection setting for the second region includes a setting to set the detection range of the second surroundings detection device 64a2 as a second detection range that is larger than the first detection range.

[0094] The setting change unit 61a sets the first surroundings detection device 64a1 to a first-area detection setting, i.e., disabled, in the first area, and to a second-area detection setting, i.e., enabled, in the second area. The setting change unit 61a sets the second surroundings detection device 64a2 to a first detection range in the first area and a second detection range in the second area. The second detection range is larger than the first detection range.

[0095] The detection settings for the first area and the detection settings for the second area shown in Fig. 6A may be the settings shown in Fig. 7B, which is a diagram showing an example of setting data indicating the correspondence between the type of surrounding detection device and the detection settings for the first and second areas.

[0096] As shown in Fig. 7B, the detection settings of the first surroundings detection device 64a1 are the same as those in Fig. 7A. The detection settings for the first region include a setting in which the detection period of the second surroundings detection device 64a2 is a first detection period, and the detection settings for the second region include a setting in which the detection period of the second surroundings detection device 64a2 is a second detection period that is shorter than the first detection period. For example, the first detection period is 100 ms, and the second detection period is 50 ms, but are not limited to these values.

[0097] The first surroundings detection device 64a1 is set by the setting change unit 61a to the same setting as in Fig. 7A. The second surroundings detection device 64a2 is set by the setting change unit 61a to have a first detection period in the first region and a second detection period in the second region.

[0098] The detection settings for the first area and the detection settings for the second area shown in Fig. 6A may be the settings shown in Fig. 7C, which is a diagram showing an example of setting data indicating the correspondence between the type of surrounding detection device and the detection settings for the first and second areas.

[0099] As shown in Fig. 7C, the detection settings of the first surroundings detection device 64a1 are the same as those in Fig. 7A. The detection settings for the first region include a setting for the second surroundings detection device 64a2 to a first setting that is a first height and a first angle, and the detection settings for the second region include a setting for the second surroundings detection device 64a2 to a second setting that is at least one of a second height different from the first height and a second angle different from the first angle.

[0100] The first surroundings detection device 64a1 is set by the setting change unit 61a to the same setting as in Fig. 7A. The second surroundings detection device 64a2 is set by the setting change unit 61a so that at least one of the height and angle is set to the first setting in the first region, and at least one of the height and angle is set to the second setting in the second region.

[0101] For example, the second surroundings detection device 64a2 is supported by a height position change mechanism and is displaceable in the vertical direction by the height position change mechanism, so that it can be displaced between a first height of a first setting and a second height of a second setting. The second height is higher than the first height. Therefore, the second surroundings detection device 64a2 is located at a second height, which is higher than the first height, in the second area, so that it can detect the surrounding conditions from a higher position. Note that if the top plate of the cabin 9 is configured to be displaceable in the vertical direction, the second surroundings detection device 64a2 may be disposed on the top plate of the cabin 9 and displaced between the first height and the second height by the vertical movement of the top plate of the cabin 9.

[0102] Second surroundings detection device 64a2 is supported by, for example, a tilt angle change mechanism, and the tilt angle change mechanism can change the tilt angle within a range from a diagonally downward angle to a horizontal angle, so that second surroundings detection device 64a2 can be changed between a first angle (first tilt angle) of a first setting and a second angle (second tilt angle) of a second setting. The second angle (second tilt angle) is larger than the first angle (first tilt angle). Therefore, second surroundings detection device 64a2 is changed to the second angle (second tilt angle) larger than the first angle (first tilt angle) in the second region, and can detect surrounding conditions in a farther range.

[0103] The second surroundings detection device 64a2 may be, for example, a device capable of changing the range angle indicating the detection range. In this case, the range angle can be changed between a first set first range angle (first detection range angle) and a second set second range angle (second detection range angle). The second range angle (second detection range angle) is larger than the first range angle (first detection range angle). Therefore, in the second area, the second surroundings detection device 64a2 changes the range angle to the second range angle (second detection range angle) larger than the first range angle (first detection range angle), and can detect the surrounding conditions over a wider range.

[0104] The detection settings for the first area and the second area shown in Fig. 6A may be the settings shown in Fig. 7D. Fig. 7D is a diagram showing an example of setting data indicating the correspondence between the type of surroundings detection device and the detection settings for the first and second areas. The first surroundings detection device 64a1 is the same as in Fig. 7A. The second surroundings detection device 64a2 is set to a first detection range, a first detection cycle, and a first setting in the first area, and a second detection range, a second detection cycle, and a second setting in the second area.

[0105] The in-field setting and out-of-field setting shown in Fig. 6B can be interpreted by replacing the detection setting of the first region in Fig. 7A to Fig. 7D with the in-field setting (detection setting within a field) and the detection setting of the second region in Fig. 7D with the out-of-field setting (detection setting outside a field). Furthermore, the in-field setting and inter-field movement setting shown in Fig. 6C can be interpreted by replacing the detection setting of the first region in Fig. 7A to Fig. 7D with the in-field setting (detection setting within a field) and the detection setting of the second region in Fig. 7D with the inter-field movement setting (detection setting for movement between fields).

[0106] The control device 60 includes a driving control unit 61b and a control determination unit 61c. For example, the above-mentioned processor of the control device 60 executes control programs (driving control program, control determination program) stored in the storage device 65, thereby functioning as the driving control unit 61b and the control determination unit 61c, respectively.

[0107] The travel control unit 61b controls the travel of the work vehicle 1. The control determination unit 61c determines control based on the distance to an obstacle detected by the surroundings detection device 64a. If the distance is equal to or less than a first distance, the control determination unit 61c transmits a first distance signal to the remote communication terminal 50. The remote communication terminal 50 issues a warning of the detection of an obstacle based on the first distance signal. If the distance is equal to or less than a second distance that is smaller than the first distance, the control determination unit 61c transmits a second distance signal to the travel control unit 61b. The travel control unit 61b stops the work vehicle 1 based on the second distance signal.

[0108] The control device 60 includes an inside / outside determination unit 61d. For example, the aforementioned processor of the control device 60 executes a control program (inside / outside determination program) stored in the storage device 65, thereby functioning as the inside / outside determination unit 61d.

[0109] The inside / outside determination unit 61d determines whether the work vehicle 1 is located inside or outside the field. For example, the storage device 65 has a field map showing the field stored in advance. The inside / outside determination unit 61d may determine whether the position of the traveling vehicle body 3 detected by the positioning device 40 is located inside or outside the field shown in the field map. The storage device 65 may also store in advance field inside / outside information attached to the traveling route L1. In this case, when the work vehicle 1 travels along the traveling route L1 by monitoring driving or manual driving, the inside / outside determination unit 61d may determine whether the work vehicle 1 is located inside or outside the field based on the field inside / outside information attached to the traveling route L1.

[0110] When the inside / outside determination unit 61d determines that the vehicle is inside the field, the travel control unit 61b performs travel control corresponding to driving inside the field, and when the inside / outside determination unit 61d determines that the vehicle is outside the field, the travel control unit 61b performs travel control corresponding to driving outside the field.

[0111] When driving outside a field, the driving control section 61b controls the driving of the work vehicle 1 using driving control values ​​that are different from those used when driving within a field.

[0112] When driving outside the field, the driving control unit 61b controls driving of at least one of the driving control values, namely the speed of the work vehicle 1, the rotation speed of the prime mover 4, the steering angle of the steering device 29, the switching between forward and reverse, and the braking of the braking device 6, with content that differs from the content for driving within the field and corresponds to the driving outside the field.

[0113] The remote communication terminal 50 notifies the start of out-of-field operation. The control device 60 of the work vehicle 1 stops the work vehicle 1 before starting automatic or remote operation of the work vehicle 1 outside the field. After the work vehicle 1 has stopped, the remote communication terminal 50 notifies confirmation of the start of out-of-field operation, and upon receiving an instruction to start out-of-field operation, notifies the start and starts automatic or remote operation of the work vehicle 1 outside the field.

[0114] 8 is a flowchart showing the driving process with detection settings according to the first and second regions. The control device 60 of the work vehicle 1 acquires the position of the traveling vehicle body 3 detected by the positioning device 40 (S1).

[0115] The control device 60 determines whether or not there is an instruction to start remote operation from the remote communication terminal 50 (S2). If the communication device 66 receives an instruction to start remote operation from the remote communication terminal 50, the control device 60 determines that there is a start instruction (S2: YES), and if the communication device 66 does not receive a start instruction, the control device 60 determines that there is no start instruction (S2: NO), and returns to the processing of S1.

[0116] When the control device 60 determines that a start command has been received (S2: YES), it determines whether the work vehicle 1 is in the first area (S3). If the position of the traveling body 3 detected by the positioning device 40 is located within the field indicated by the field map stored in the storage device 65, the control device 60 determines that the work vehicle 1 is in the first area (S3: YES).

[0117] When it is determined that the work vehicle 1 is in the first area (S3: YES), the setting change unit 61a sets the surroundings detection device 64a to the detection setting for the first area shown in FIG. 6A (S4). Here, the first area is an area within the field, and the second area is an area outside the field, so the setting is set to the in-field setting shown in FIG. 6B. Specifically, as shown in FIG. 7A, the setting change unit 61a disables the first surroundings detection device 64a1 and sets the second surroundings detection device 64a2 to the first detection range. Note that the setting change unit 61a may also disable the first surroundings detection device 64a1 and set the second surroundings detection device 64a2 to the detection setting shown in FIGS. 7B to 7D.

[0118] On the other hand, if the work vehicle 1 is not in the first area (S3: NO), that is, if it is not located within the field, the control device 60 determines whether or not the work vehicle 1 is in the second area (S5). If the position of the traveling vehicle body 3 detected by the positioning device 40 is outside the field shown on the field map, the control device 60 determines that the work vehicle 1 is in the second area (S5: YES).

[0119] If it is determined that the work vehicle 1 is in the second area (S5: YES), the setting change unit 61a sets the surroundings detection device 64a to the detection setting for the second area shown in Fig. 6A (S6). As shown in Fig. 7A, the setting change unit 61a changes the first surroundings detection device 64a1 from disabled to enabled, and changes the second surroundings detection device 64a2 from the first detection range to the second detection range. Note that the setting change unit 61a may change the detection setting of the second surroundings detection device 64a2 to the detection settings shown in Figs. 7B to 7D.

[0120] After S4 or S6, the control device 60 executes operation (S7).

[0121] On the other hand, if the work vehicle 1 is not in the second area in S5 (S5: NO), that is, if the work vehicle 1 is located in a prohibited area even outside the field, the control device 60 ends this process. For example, a prohibited area is an area outside the field where it is prohibited to be located or travel, and includes roads, places, buildings, ponds, rivers, swamps, etc. other than the route for movement between fields.

[0122] The detailed processing content of the operation execution shown in S7 will be explained using Fig. 10. Fig. 10 is a flowchart showing the travel control processing that differs between inside a field and outside a field.

[0123] The inside / outside determination unit 61d determines whether the work vehicle 1 is located inside or outside the field (S11). If the position of the traveling vehicle body 3 detected by the positioning device 40 is located inside the field indicated by the field map, the inside / outside determination unit 61d determines that the work vehicle 1 is inside the field (S12: YES). On the other hand, if the position of the traveling vehicle body 3 detected by the positioning device 40 is outside the field indicated by the field map and is not in a prohibited area, the inside / outside determination unit 61d determines that the work vehicle 1 is outside the field (S12: NO).

[0124] If it is determined in S12 that the vehicle is within a field (S12: YES), the travel control unit 61b controls the work vehicle 1 to travel within the field (S13). On the other hand, if it is determined in S12 that the vehicle is not within a field (S12: NO), the travel control unit 61b controls the work vehicle 1 to travel outside the field (S17).

[0125] Fig. 11 is a diagram showing an example of driving control setting data that differs between in-field driving and out-of-field driving. The storage device 65 pre-stores the driving control setting data shown in Fig. 11. The driving control setting data is data that associates driving types with driving control of the work vehicle 1. If the driving type is in-field driving, the driving control unit 61b sets the driving control settings of the work vehicle 1 to in-field driving control settings. On the other hand, if the driving type is out-of-field driving, the driving control unit 61b sets the driving control settings of the work vehicle 1 to out-of-field driving control settings.

[0126] The in-field travel control settings and out-of-field travel control settings shown in Fig. 11 will be described with reference to Fig. 12. Fig. 12 is a diagram showing the contents of the travel control settings. As shown in Fig. 12, the in-field travel control settings are settings related to the travel control values, such as vehicle speed, rotation speed, steering angle, forward / reverse switching, and braking. Note that the in-field travel control settings may also be settings related to at least one of vehicle speed, rotation speed, steering angle, forward / reverse switching, and braking.

[0127] For example, the driving control settings within the field are such that the upper limit of the vehicle speed of the work vehicle 1 is a first upper limit speed, the upper limit of the rotation speed of the prime mover 4 is a first upper limit rotation speed, the upper limit of the steering angle of the steering device 29 is a first upper limit steering angle, the forward / reverse shuttle switching (forward / reverse switching) is a first switching speed, and the braking of the braking device 6 is a first braking distance and / or a first braking force.

[0128] In addition, the travel control settings outside the field are set so that the upper limit of the vehicle speed of the work vehicle 1 is a second upper limit speed that is smaller than the first upper limit speed, the upper limit of the rotation speed of the prime mover 4 is a second upper limit rotation speed that is smaller than the first upper limit rotation speed, the upper limit of the steering angle of the steering device 29 is a second upper limit steering angle that is smaller than the first upper limit steering angle, the forward / reverse shuttle switching (forward / reverse switching) is a second switching speed that is larger than the first switching speed, and the braking of the braking device 6 is a second braking distance that is smaller than the first braking distance and / or a second braking force that is larger than the first braking force.

[0129] After S13, the control device 60 of the work vehicle 1 executes the obstacle detection process (S14). The obstacle detection process shown in S14 will be explained using Figure 13. Figure 13 is a flowchart showing the obstacle detection process.

[0130] The surroundings detection device 64a detects obstacles (S21). Specifically, the first surroundings detection device 64a1 is a millimeter wave radar that detects obstacles in front of and behind the work vehicle 1. The second surroundings detection device 64a2 is an AI camera that detects obstacles in front of, behind, and on both the left and right sides of the work vehicle 1.

[0131] When the surroundings detection device 64a detects an obstacle (S21: YES), the control determination unit 61c determines whether to perform control depending on the distance to the obstacle detected by the surroundings detection device 64a.

[0132] Specifically, the control determination unit 61c determines whether the distance to the obstacle detected by the surroundings detection device 64a is equal to or less than a first distance (S22). If the distance is equal to or less than the first distance (S22: YES), the control determination unit 61c determines whether the distance to the obstacle detected by the surroundings detection device 64a is equal to or less than a second distance (S23). If the distance is not equal to or less than the second distance (S23: NO), the control determination unit 61c determines whether to issue a notification as control in accordance with the distance to the obstacle (S24).

[0133] That is, when the distance is equal to or less than the first distance and equal to or greater than the second distance, control determination unit 61c transmits a first distance signal to remote communication terminal 50 via communication device 66. Remote communication terminal 50 issues a warning that an obstacle has been detected based on the first distance signal (S24).

[0134] If the distance is equal to or less than the second distance in S23 (S23: YES), the control determination unit 61c transmits a second distance signal to the travel control unit 61b. The travel control unit 61b stops the work vehicle 1 based on the second distance signal (S25). In this case, the control determination unit 61c may transmit the second distance signal to the communication device 66 to the remote communication terminal 50. The control unit 51 of the remote communication terminal 50 may notify the work vehicle 1 that it will be stopped based on the second distance signal.

[0135] Returning to Fig. 10, after S14, the control device 60 determines whether remote driving within the field has ended (S16). For example, if the work vehicle 1 has not yet reached the end position of remote driving within the field, it determines that the remote driving has not ended (S16: NO) and returns to the processing of S13. On the other hand, if the work vehicle 1 is located at the end position of remote driving within the field in S16, the control device 60 determines that the remote driving has ended (S16: YES) and ends this processing.

[0136] Note that the obstacle detection process when outside the field shown in S18 is the same as the obstacle detection process when inside the field shown in S14, and the termination judgment shown in S19 is the same as the termination judgment shown in S16, so explanations will be omitted here.

[0137] The detection settings for the first area and the second area shown in Figures 7A to 7D can be registered, changed, and the like using the remote communication terminal 50. When a remote user performs a predetermined display operation, the display device 55 of the remote communication terminal 50 displays setting screens J1 to J3 as shown in Figures 14 to 16. The control unit 51 outputs the detection settings for the first area (inside the field) and the detection settings for the second area (outside the field) to the work vehicle 1 in response to an operation instruction from the remote user.

[0138] Fig. 14 is a diagram showing an example of a setting screen for the first surroundings detection device, Fig. 15 is a diagram showing an example of a setting screen for the second surroundings detection device, and Fig. 16 is a diagram showing an example of a setting screen for the second surroundings detection device.

[0139] As shown in FIG. 14, a remote user can configure the in-field and out-field settings of the first surrounding detection device 64a1 (millimeter-wave radar) on a setting screen J1 of the display device 55. The setting screen J1 includes a first item K11 and a second item K12. The first item K11 includes forward setting information and rearward setting information for the first surrounding detection device 64a1 within the field. For example, the forward setting information within the field is information indicating whether the two first surrounding detection devices 64a1 (millimeter-wave radars) at the front and rear of the work vehicle 1 are enabled or disabled within the field. The second item K12 includes forward setting information and rearward setting information for the first surrounding detection device 64a1 outside the field. In other words, the information indicates whether the two first surrounding detection devices 64a1 (millimeter-wave radars) at the front and rear of the work vehicle 1 are enabled or disabled outside the field.

[0140] 14, both the forward setting and the rear setting are disabled within the field because neither is checked. Outside the field, both the forward setting and the rear setting are checked, so both are enabled. The display operation unit 52 (touch panel) receives an instruction to enable or disable the forward setting and the rear setting, i.e., the front and rear first surrounding detection devices 64a1, by touch operation by the remote user.

[0141] As shown in Fig. 15, a remote user can configure the settings for the second periphery detection device 64a2 (AI camera) within the field on a setting screen J2 of the display device 55. The setting screen J2 includes a third item K21 and a fourth item K22. The third item K21 includes whether or not to change the forward setting information and rearward setting information for the second periphery detection device 64a2 within the field. The fourth item K22 includes various contents (e.g., range, period, height, and angle) regarding the forward setting information and rearward setting information for the second periphery detection device 64a2 within the field.

[0142] 15, the first detection range, first detection cycle, first height, and first angle for the forward and rearward settings are all checked in the field, and therefore selected. The display operation unit 52 (touch panel) accepts a selection instruction for the forward setting and rearward setting, that is, the first detection range, first detection cycle, first height, and first angle for the forward and rearward second periphery detection devices 64a2 (AI cameras) through touch operations by the remote user.

[0143] As shown in Fig. 16, a remote user can configure the out-of-field settings of the second periphery detection device 64a2 (AI camera) on the setting screen J3 of the display device 55. The setting screen J3 includes a fifth item K23 and a sixth item K24. The fifth item K23 includes whether or not to change the forward setting information and rear setting information of the second periphery detection device 64a2 outside the field. The sixth item K24 includes various contents (e.g., range, period, height, and angle) regarding the forward setting information and rear setting information of the second periphery detection device 64a2 outside the field.

[0144] 16, the second detection range, second detection cycle, first height, and first angle for the forward setting and rear setting are all checked outside the field, so these are selected. The display operation unit 52 (touch panel) accepts a selection instruction for the forward setting and rear setting, that is, the second detection range, second detection cycle, first height, and first angle for the forward and rear second surrounding detection devices 64a2 (AI cameras) through a touch operation by a remote user.

[0145] 14 to 16 is transmitted from the communication device 54 of the remote communication terminal 50 to the communication device 66 of the work vehicle 1. Based on the setting information from the remote communication terminal 50, the setting change unit 61a sets the detection settings of the surrounding detection device 64a to the detection settings shown on the setting screens J1 to J3 in FIGS.

[0146] Furthermore, the storage device 65 of the work vehicle 1 may store in advance the detection setting data of the perimeter detection device 64a shown in FIG. 6D. FIG. 6D is a diagram showing an example of the detection setting data of the perimeter detection device. The detection setting data shown in FIG. 6D defines the first region as the region within a farm field, and the second region as the region for movement between farm fields and movement on public roads. Specifically, this detection setting data is data such that when the work vehicle 1 is located within a farm field, the detection setting of the perimeter detection device 64a is the detection setting within a farm field, when the work vehicle 1 is located in the second region (movement between farm fields), the detection setting of the perimeter detection device 64a is the detection setting for movement between farm fields, and when the work vehicle 1 is located in the second region (movement on public roads), the detection setting of the perimeter detection device 64a is the detection setting for movement on public roads.

[0147] In the case of the detection setting data shown in Fig. 6D, the control device 60 performs the operation processing shown in Fig. 9. Fig. 9 is a flowchart showing an operation processing different from that shown in Fig. 8. The operation processing shown in Fig. 9 adds the processes of S5A, S6A, and S6B to the operation processing shown in Fig. 8. Therefore, S5A, S6A, and S6B shown in Fig. 9 will be described in detail.

[0148] In S5, when the control device 60 determines that the work vehicle 1 is in the second area (S5: YES), it determines whether or not the work vehicle 1 is in a specific area (public road) (S5A). When the position of the traveling vehicle body 3 detected by the positioning device 40 is located on a farm road (private road) other than the specific area (public road) (S5A: NO), the setting change unit 61a sets the surroundings detection device 64a to the inter-field movement setting shown in FIG. 6D (S6A). As shown in FIG. 7A, the setting change unit 61a changes the first surroundings detection device 64a1 from disabled to enabled, and changes the second surroundings detection device 64a2 from the first detection range to the second detection range. Note that the setting change unit 61a may change the detection setting of the second surroundings detection device 64a2 to the detection setting shown in FIGS. 7B to 7D.

[0149] On the other hand, if the position of the traveling vehicle body 3 detected by the positioning device 40 is located in a specific area (public road) (S5: YES), the setting change unit 61a sets the surroundings detection device 64a to the public road movement setting shown in FIG. 6D (S6B). The setting change unit 61a changes the first surroundings detection device 64a1 from disabled to enabled, and changes the second surroundings detection device 64a2 from the second detection range to the third detection range. For example, the third detection range is larger than the second detection range. Note that the setting change unit 61a may change the second surroundings detection device 64a2 from the second detection cycle to the third detection cycle, or from the second setting (second height and second angle) to the third setting (third height and third angle). For example, the third detection cycle is smaller than the second detection cycle. The third height is higher than the second height. The third angle (third tilt angle) is larger than the second angle (second tilt angle).

[0150] After S4, S6A, or S6B, the control device 60 executes operation (S7). Note that S7 in Fig. 9 is the same as Fig. 8, and therefore the explanation will be omitted.

[0151] 6A to 6D, the detection setting for the first area (i.e., the setting within the field) is a single setting regardless of whether or not the work implement 2 is working, but this is not limiting. For example, the setting change unit 61a may set the periphery detection device 64a to a detection setting with work when the work implement 2 is working, and may set the periphery detection device 64a to a detection setting without work when the work implement 2 is not working.

[0152] In other words, the detection setting for the first area (intra-field setting) may include a detection setting for when work is being performed and a detection setting for when no work is being performed. For example, in the detection setting for when no work is being performed, both of the two first surroundings detection devices 64a1 (millimeter-wave radars) at the front and rear of the work vehicle 1 may be disabled, and in the detection setting for when work is being performed, the first surroundings detection device 64a1 (millimeter-wave radar) at the front of the work vehicle 1 may remain disabled, but the first surroundings detection device 64a1 (millimeter-wave radar) at the rear of the work vehicle 1 may be enabled. Therefore, when the work implement 2 is not performing work, the first surroundings detection device 64a1 (millimeter-wave radar) is disabled, and the first surroundings detection device 64a1 (millimeter-wave radar) does not detect the surroundings of the work implement 2. However, when the work implement 2 is performing work, the first surroundings detection device 64a1 (millimeter-wave radar) can detect the surroundings of the work implement 2. Therefore, detection by the surroundings detection device 64a can be performed depending on whether the work implement 2 is performing work or not.

[0153] For example, in a detection setting when no work is being performed, the rear second surroundings detection device 64a2 (AI camera) of the four second surroundings detection devices 64a2 at the front, rear, and left and right sides of the work vehicle 1 may be disabled, and in a detection setting when work is being performed, the rear second surroundings detection device 64a2 (AI camera) may be enabled. Therefore, when the work implement 2 is not working, the rear second surroundings detection device 64a2 (AI camera) is disabled and detection is not performed behind the work vehicle 1, i.e., around the work implement 2, but when the work implement 2 is working, all four second surroundings detection devices 64a2 (AI cameras) can detect the rear of the work vehicle 1, i.e., the periphery of the work implement 2. Therefore, detection by the surroundings detection device 64a can be performed depending on whether the work implement 2 is working or not.

[0154] According to this configuration, the detection settings of the surroundings detection device 64a are changed depending on whether or not the work implement 2 is working, so that the surroundings of the work vehicle 1 can be appropriately detected depending on whether or not the work implement 2 is working.

[0155] In the above-described embodiment, the first surroundings detection device 64a1 is a millimeter-wave radar, but is not limited to this. The first surroundings detection device 64a1 may be a LiDAR, a laser scanner, a camera, an AI camera, or an ultrasonic sonar. The second surroundings detection device 64a2 is an AI camera, but is not limited to this. The second surroundings detection device 64a2 may be a millimeter-wave radar, a LiDAR, a laser scanner, a camera, or an ultrasonic sonar.

[0156] The main characteristic features and effects of the monitoring system 100 in the above-described embodiment are as follows.

[0157] (Item A1) A monitoring system 100 comprising a work vehicle 1, at least one or more surrounding detection devices 64a that detect the surroundings of the work vehicle 1, and a setting change unit 61a that changes the detection settings of the surrounding detection devices 64a depending on whether the work vehicle 1 is operated in a first area or a second area different from the first area.

[0158] According to this configuration, the detection settings of the surroundings detection device 64a that detects the surroundings of the work vehicle 1 are different between the first area and the second area, so that the settings can be changed to appropriate settings for the first area and the second area. Therefore, the work vehicle 1 can be driven appropriately in the first area and the second area.

[0159] (Item A2) A monitoring system 100 as described in Item A1, which is provided with a remote communication terminal 50 for monitoring operation of the work vehicle 1, wherein the work vehicle 1 is capable of being monitored and operated using the remote communication terminal 50, and the setting change unit 61a changes the detection settings of the surrounding detection device 64a depending on whether the monitoring operation of the work vehicle 1 is performed in the first area or the second area.

[0160] According to this configuration, the detection settings of the surroundings detection device 64a that detects the surroundings of the work vehicle 1 are different between the first area and the second area, so that the settings can be changed to appropriate settings for the first area and the second area. Therefore, monitoring operation of the work vehicle 1 can be performed appropriately in the first area and the second area.

[0161] (Item A3) The monitoring operation is automatic or remote driving of the work vehicle 1 by the remote communication terminal 50, the first area is an area within a field, and the second area is an area outside the field, and the setting change unit 61a sets the detection setting of the surrounding detection device 64a to the in-field setting in the case of in-field driving in which the automatic or remote driving of the work vehicle 1 is performed within the field, and sets the detection setting of the surrounding detection device 64a to the out-of-field setting in the case of out-of-field driving in which the automatic or remote driving of the work vehicle 1 is performed outside the field, in the monitoring system 100 described in Item A2.

[0162] With this configuration, the detection setting of the surroundings detection device 64a that detects the surroundings of the work vehicle 1 is set to an in-field setting when inside a field and an out-of-field setting when outside the field, so it is possible to change to an appropriate setting whether inside or outside the field. As a result, automatic or remote driving of the work vehicle 1 can be performed appropriately both inside and outside the field.

[0163] (Item A4) A monitoring system 100 described in Item A3, wherein the at least one or more surrounding detection devices 64a include a first surrounding detection device 64a1, the in-field setting includes a setting to disable the first surrounding detection device 64a1, and the out-of-field setting includes a setting to enable the first surrounding detection device 64a1.

[0164] According to this configuration, the first surrounding detection device 64a1, which is disabled when set within the field, is set to enabled when set outside the field, so that automatic or remote operation outside the field can be carried out more carefully than when set within the field.

[0165] (Item A5) The at least one or more perimeter detection devices 64a include a second perimeter detection device 64a2, the in-field setting includes a setting in which the detection range of the second perimeter detection device 64a2 is a first detection range, and the out-of-field setting includes a setting in which the detection range of the second perimeter detection device 64a2 is a second detection range that is larger than the first detection range, in the monitoring system 100 described in item A3 or A4.

[0166] With this configuration, the second periphery detection device 64a2, which is set to a first detection range when set within a farm field, is set to a second detection range that is larger than the first detection range when set outside a farm field, so that when driving automatically or remotely outside a farm field, a wider range of the surroundings of the work vehicle 1 can be detected than when driving inside a farm field. Therefore, automatic driving or remote driving outside a farm field can be performed with more leeway than when driving inside a farm field.

[0167] (Item A6) A monitoring system 100 described in any one of items A3 to A5, wherein the at least one or more perimeter detection devices 64a include a second perimeter detection device 64a2, the in-field setting includes a setting in which the detection period of the second perimeter detection device 64a2 is a first detection period, and the out-of-field setting includes a setting in which the detection period of the second perimeter detection device 64a2 is a second detection period that is shorter than the first detection period.

[0168] According to this configuration, the second surroundings detection device 64a2, which is set to a first detection cycle when set in a field, is set to a second detection cycle that is shorter than the first detection cycle when set outside a field. Therefore, when automated or remotely driven outside a field, the surroundings of the work vehicle 1 can be detected at an earlier timing than when set inside a field. For example, objects (people, objects, etc.) that move faster outside a field than inside a field can be detected more quickly than when set inside a field. This improves the safety of automated or remotely driven outside a field.

[0169] (Item A7) A monitoring system 100 described in any one of items A3 to A6, wherein the at least one or more perimeter detection devices 64a include a second perimeter detection device 64a2, the in-field setting includes a setting in which the second perimeter detection device 64a2 is at a first setting which is a first height and a first angle, and the out-of-field setting includes a setting in which the second perimeter detection device 64a2 is at a second setting which is at least one of a second height different from the first height and a second angle different from the first angle.

[0170] With this configuration, the second surroundings detection device 64a2, which is set to a first setting when in the field, is set to a second setting that is different from the first setting when out of the field, so that the setting can be changed to an appropriate setting when in the field or outside of the field. This allows the work vehicle 1 to be driven automatically or remotely appropriately both in the field and outside of the field.

[0171] (Item A8) The remote communication terminal 50 is the monitoring system 100 according to any one of items A2 to A7, which notifies the start of the out-of-field operation.

[0172] According to this configuration, the remote monitor or remote operator can be notified that out-of-field operation will begin by a notification from the remote communication terminal 50. Therefore, the remote monitor or remote operator can clearly understand that operation is switching from in-field operation (automatic operation or remote operation within the field) to out-of-field operation (automatic operation or remote operation outside the field).

[0173] (Item A9) The monitoring system 100 according to item A8, wherein the work vehicle 1 is equipped with a control device 60 that stops the work vehicle 1 before automatic or remote driving of the work vehicle 1 begins outside the field.

[0174] According to this configuration, by stopping the work vehicle 1, it is possible to clearly distinguish between automatic driving or remote driving within the field and automatic driving or remote driving outside the field.

[0175] (Item A10) The remote communication terminal 50 notifies confirmation of the start of off-field operation after the work vehicle 1 has stopped, and upon receiving an instruction to start off-field operation, notifies the start and starts automatic or remote operation of the work vehicle 1 outside the field, as described in Item A9.

[0176] With this configuration, a start confirmation notification is sent after the work vehicle 1 has stopped, allowing the remote monitor or remote operator ample time to check the work vehicle 1 and the surrounding conditions and to issue a start command to the remote communication terminal 50. This allows the remote monitor or remote operator ample time to start automatic driving or remote driving outside the field.

[0177] (Item A11) A monitoring system 100 described in any one of items A3 to A10, comprising a driving control unit 61b that controls the driving of the work vehicle 1, and a control determination unit 61c that determines control depending on the distance to an obstacle detected by the surroundings detection device 64a, wherein the control determination unit 61c transmits a first distance signal to the remote communication terminal 50 when the distance is equal to or less than a first distance, and the remote communication terminal 50 warns of the detection of the obstacle based on the first distance signal, and the control determination unit 61c transmits a second distance signal to the driving control unit 61b when the distance is equal to or less than a second distance that is smaller than the first distance, and the driving control unit 61b stops the work vehicle 1 based on the second distance signal.

[0178] According to this configuration, if the distance to the obstacle is equal to or less than a first distance, a warning of the detection of an obstacle is issued by the remote communication terminal 50, and if the distance to the obstacle is equal to or less than a second distance that is smaller than the first distance, the work vehicle 1 is stopped. Therefore, control appropriate for the distance to the obstacle can be executed.

[0179] (Item A12) The monitoring system 100 according to any one of items A3 to A11, wherein the out-of-field driving includes inter-field driving in which the work vehicle 1 is moved between fields by automatic driving or remote driving.

[0180] According to this configuration, the work vehicle 1 can be appropriately moved between fields by automatic driving or remote driving.

[0181] (Item A13) A monitoring system 100 described in any one of items A3 to A12, comprising an inside / outside determination unit 61d that determines whether the work vehicle 1 is located inside or outside a field, and a driving control unit 61b that controls the driving of the work vehicle 1, wherein the driving control unit 61b performs driving control corresponding to driving inside the field when the inside / outside determination unit 61d determines that the work vehicle 1 is located inside the field, and performs driving control corresponding to driving outside the field when the inside / outside determination unit 61d determines that the work vehicle 1 is outside the field.

[0182] With this configuration, when inside the field, the work vehicle 1 is controlled to travel in a manner suitable for driving within the field, and when outside the field, the work vehicle 1 is controlled to travel in a manner suitable for driving outside the field. This makes it possible to preferably perform driving within the field and driving outside the field.

[0183] (Item A14) The monitoring system 100 according to item A13, wherein the driving control unit 61b controls driving of the work vehicle 1 with driving control values ​​that are different when driving outside a field from when driving within a field.

[0184] According to this configuration, when driving outside a field, travel control is performed using travel control values ​​for the work vehicle 1 that are different from those used when driving inside a field, so travel control suitable for driving outside a field can be performed.

[0185] (Item A15) In the case of off-field driving, the driving control unit 61b controls at least one of the driving control values, namely the speed of the work vehicle 1, the rotation speed of the prime mover 4, the steering angle of the steering device 29, the switching between forward and reverse travel, and the braking of the braking device 6, in a manner that is different from the contents used in on-field driving and corresponds to the off-field driving, in the monitoring system 100 described in Item A14.

[0186] According to this configuration, at least one of the vehicle speed of the work vehicle 1, the rotation speed of the prime mover 4, the steering angle of the steering device 29, the switching between forward and reverse, and the braking of the braking device 6 is adapted to driving outside a field, so that driving control suitable for driving outside a field can be performed. The following specific examples will only be described in the examples. For example, when driving outside the field, the upper limit (maximum value) of the vehicle speed, rotation speed, and steering angle is set lower than when driving within the field. In this case, driving outside the field can be performed more carefully than driving within the field. Also, when driving outside the field, the forward / reverse switching speed is set faster than when driving within the field. In this case, driving outside the field can be performed safer than driving within the field. Also, when driving outside the field, the braking distance of the braking device 6 is set shorter than when driving within the field. In other words, when driving outside the field, the braking force of the braking device 6 is set greater than when driving within the field. In this case, the braking distance when driving outside the field is shorter than when driving within the field, and driving outside the field can be performed safer than driving within the field. In addition, when driving outside the field, the vehicle speed may be faster than when driving within the field. In this case, the speed during off-field driving is higher, so the off-field driving time can be shortened. For example, in cases such as large-scale farms where the routes between fields are private roads and there are no or almost no obstacles such as people or cars, the vehicle may travel at a higher speed than within the field, allowing for efficient movement between fields.

[0187] (Item A16) The monitoring system 100 according to item A4, wherein the first surroundings detection device 64a1 is a millimeter wave radar, a LiDAR, or a laser scanner.

[0188] With this configuration, the first surroundings detection device 64a1, i.e., millimeter wave radar, LiDAR (Light Detection and Ranging), or laser scanner, is disabled in the in-field setting but is enabled in the out-of-field setting, allowing automated or remote driving outside the field to be performed more carefully than in the in-field setting.

[0189] (Item A17) The monitoring system 100 according to item A5, wherein the second surroundings detection device 64a2 is a camera, an AI camera, or an ultrasonic sonar.

[0190] According to this configuration, the second surroundings detection device 64a2, i.e., a camera, an AI (Artificial Intelligence) camera, or an ultrasonic sonar, is set to a first detection range in the in-field setting, but is set to a second detection range that is larger than the first detection range in the out-field setting. Therefore, automated or remote operation outside the field can be performed more carefully than in the in-field setting.

[0191] (Item A18) The monitoring system 100 according to item A6, wherein the second surroundings detection device 64a2 is a camera, an AI camera, or an ultrasonic sonar.

[0192] According to this configuration, the second surroundings detection device 64a2, i.e., the camera, AI camera, or ultrasonic sonar, is set to a first detection cycle when set within a farm field, but is set to a second detection cycle that is shorter than the first detection cycle when set outside a farm field. Therefore, when autonomously or remotely driving outside a farm field, the surroundings of the work vehicle 1 can be detected earlier than when set within a farm field. For example, when autonomously or remotely driving outside a farm field, objects (such as people or objects) that move faster than when set within a farm field can be detected more quickly than when set within a farm field. This improves the safety of autonomously or remotely driving outside a farm field.

[0193] (Item A19) The work vehicle 1 can be equipped with a work implement 2 that performs work on a field, and the setting change unit 61a sets the surrounding detection device 64a to a detection setting with work when the work implement 2 is being used to perform work, and sets the surrounding detection device 64a to a detection setting without work when the work implement 2 is not being used to perform work. This is a monitoring system 100 described in Item A3.

[0194] According to this configuration, the detection settings of the surroundings detection device 64a are changed depending on whether or not the work implement 2 is working, so that the surroundings of the work vehicle 1 can be appropriately detected depending on whether or not the work implement 2 is working.

[0195] In the above-described embodiment, the short-distance communication terminal 90 is, for example, a remote control, but is not limited to this. For example, the short-distance communication terminal 90 may be a tablet terminal device or a smartphone.

[0196] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0197] 1 Work vehicle 2. Work equipment 50 Telecommunications Terminal 61a Setting change section 61b Travel control unit 61c Control judgment unit 61d Internal / external determination section 64a Surrounding detection device 64a1 First surrounding detection device 64a2 Second surrounding detection device 100 Surveillance System H field

Claims

1. A work vehicle, at least one or more surrounding detection devices that detect the surroundings of the work vehicle; A monitoring system comprising: a setting change unit that changes the detection settings of the surrounding detection device depending on whether the work vehicle is driven in a first area or a second area different from the first area.

2. a remote communication terminal for monitoring and operating the work vehicle; The work vehicle can be monitored and operated using the remote communication terminal, The monitoring system according to claim 1 , wherein the setting change unit changes the detection setting of the surroundings detection device depending on whether the monitoring operation of the work vehicle is performed in the first area or the second area.

3. the monitoring operation is automatic or remote operation of the work vehicle by the remote communication terminal, the first area is an area within a farm field, and the second area is an area outside the farm field; The monitoring system of claim 2, wherein the setting change unit sets the detection setting of the surrounding detection device to the in-field setting when the work vehicle is operated automatically or remotely within the field, and sets the detection setting of the surrounding detection device to the out-of-field setting when the work vehicle is operated automatically or remotely outside the field.

4. the at least one surroundings detection device includes a first surroundings detection device; the in-field setting includes a setting to disable the first periphery detection device, The monitoring system according to claim 3 , wherein the out-of-field setting includes a setting that enables the first surroundings detection device.

5. the at least one surroundings detection device includes a second surroundings detection device; the in-field setting includes setting a detection range of the second periphery detection device as a first detection range, The monitoring system according to claim 3 or 4, wherein the outside-field setting includes a setting that sets the detection range of the second periphery detection device to a second detection range that is larger than the first detection range.

6. the at least one surroundings detection device includes a second surroundings detection device; the in-field setting includes setting a detection cycle of the second surrounding detection device to a first detection cycle; The monitoring system according to claim 3 or 4, wherein the out-of-field setting includes a setting that sets the detection period of the second surrounding detection device to a second detection period that is shorter than the first detection period.

7. the at least one surroundings detection device includes a second surroundings detection device; the in-field setting includes setting the second periphery detection device to a first setting having a first height and a first angle; The monitoring system described in claim 3 or 4, wherein the out-of-field setting includes a setting in which the second surrounding detection device is set to a second setting that is at least one of a second height different from the first height and a second angle different from the first angle.

8. The monitoring system according to claim 3 , wherein the remote communication terminal notifies the start of the out-of-field operation.

9. The monitoring system according to claim 8 , wherein the work vehicle is equipped with a control device that stops the work vehicle before automatic or remote driving of the work vehicle is started outside the field.

10. The monitoring system described in claim 9, wherein the remote communication terminal notifies confirmation of the start of off-field operation after the work vehicle has stopped, and upon receiving an instruction to start off-field operation, notifies the start and starts automatic or remote operation of the work vehicle outside the field.

11. a travel control unit that controls travel of the work vehicle; a control determination unit that determines control depending on the distance to the obstacle detected by the surroundings detection device, the control determination unit transmits a first distance signal to the remote communication terminal when the distance is equal to or less than a first distance; the remote communication terminal issues an alarm upon detection of the obstacle based on the first distance signal; When the distance is equal to or shorter than a second distance that is smaller than the first distance, the control determination unit transmits a second distance signal to the traveling control unit; The monitoring system according to claim 3 , wherein the travel control unit stops the work vehicle based on the second distance signal.

12. The monitoring system according to claim 3 , wherein the out-of-field driving includes inter-field driving in which the work vehicle is moved between fields by automatic driving or remote driving.

13. an inside / outside determination unit that determines whether the work vehicle is located inside or outside the field; a travel control unit that controls travel of the work vehicle, The monitoring system according to claim 3, wherein the driving control unit performs driving control corresponding to driving within the field when the inside / outside determination unit determines that the vehicle is inside the field, and performs driving control corresponding to driving outside the field when the inside / outside determination unit determines that the vehicle is outside the field.

14. The monitoring system according to claim 13 , wherein the driving control unit controls driving of the work vehicle using driving control values ​​for the outside-of-field driving that are different from those for the inside-of-field driving.

15. The monitoring system of claim 14, wherein, in the case of off-field driving, the driving control unit controls driving of at least one of the driving control values, namely the work vehicle's speed, the engine rotation speed, the steering angle of the steering device, the forward / reverse switching, and the braking of the braking device, in a manner that is different from the contents for on-field driving and corresponds to the off-field driving.

16. The surveillance system according to claim 4 , wherein the first surroundings detection device is a millimeter wave radar, a LiDAR, or a laser scanner.

17. The surveillance system according to claim 5 , wherein the second surroundings detection device is a camera, an AI camera, or an ultrasonic sonar.

18. The surveillance system according to claim 6 , wherein the second surroundings detection device is a camera, an AI camera, or an ultrasonic sonar.

19. The work vehicle can be equipped with a work device for performing work on a farm field, The monitoring system according to claim 3, wherein the setting change unit sets the surrounding detection device to a detection setting for when the work device is operating, and sets the surrounding detection device to a detection setting for when the work device is not operating.

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