Autonomous driving vehicle

Abstract

Conventional autonomous vehicles are not always easy to use when using convenient functions. More specifically, there is a demand for improved usability in autonomous vehicle management via wireless communication. [Solution] An autonomously driven work vehicle that uses a satellite positioning device 10 to drive autonomously in a field, and is equipped with a camera unit 20 that acquires image data of the area around the vehicle while it is driving autonomously, a first wireless communication unit 31 that transmits the image data to a management center device 60 via wireless communication, and a second wireless communication unit 32 that transmits vehicle data to the management center device 60 via wireless communication, and the first wireless communication unit 31 is an autonomously driven work vehicle 1 that transmits image data in real time.

Description

[Technical Field]

[0001] The present invention relates to an autonomously driven work vehicle that uses a satellite positioning device to travel autonomously in a field. [Background technology]

[0002] A known farm management system includes a map data recording unit having a field map layer that records field map data, a field work data recording unit having a model-specific field work layer that records field work data generated for each task performed on the field by various agricultural machines, a data management unit that manages the field map data and the field work data at common coordinate positions, and an evaluation unit that evaluates the farming of the field based on the field work data (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-68533 Summary of the Invention [Problem to be solved by the invention]

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

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

[0006] More specifically, the inventors have recognized that there is a need for improved usability of autonomous work vehicle management via wireless communication.

[0007] The present invention has been made in consideration of the above-mentioned conventional problems, and aims to provide an autonomously driven work vehicle that can improve usability. [Means for solving the problem]

[0008] The first invention is an autonomous driving work vehicle that uses a satellite positioning device to automatically navigate in a field, a camera unit for acquiring image data of the surroundings of the vehicle while the vehicle is being automatically driven; a first wireless communication unit that transmits the image data to a management center device via wireless communication; a second wireless communication unit for transmitting vehicle data to the management center device via wireless communication; It is equipped with The first wireless communication unit is an autonomously driven work vehicle that transmits the image data in real time.

[0009] A second aspect of the present invention is the autonomously driven work vehicle according to the first aspect of the present invention, wherein the second wireless communication unit transmits farm field data to the management center device via wireless communication.

[0010] A third aspect of the present invention is a system including a memory unit that stores the vehicle data and the farm field data, The second autonomously driven work vehicle of the present invention is characterized in that the second wireless communication unit periodically transmits the vehicle data and the farm field data.

[0011] A fourth aspect of the present invention is a method for manually operating a portable radio device by wireless communication with a third wireless communication unit, The third aspect of the present invention is an autonomously driven work vehicle, characterized in that the communication distance for wireless communication between the portable wireless device and the third wireless communication unit is set so as not to exceed a predetermined level.

[0012] The fifth aspect of the present invention is the autonomously driven work vehicle according to the fourth aspect of the present invention, characterized in that the suspension and resumption of the autonomous driving and the change of the route setting can be instructed by the manual operation.

[0013] A sixth aspect of the present invention is a camera unit, wherein the camera direction of the camera unit is adjustable, The fifth aspect of the present invention is an autonomously driven work vehicle, characterized in that the camera orientation when the autonomous driving is being performed is upward compared to the camera orientation when the autonomous driving is not being performed.

[0014] A seventh aspect of the present invention is a wireless communication device comprising: an alarm unit that issues a visual or audio notification when the manual operation is recognized by the third wireless communication unit; The fifth or sixth aspect of the present invention is an autonomously driven work vehicle, characterized in that the third wireless communication unit reports the recognition of the manual operation to the portable wireless device together with the vehicle's own vehicle number by replying to the portable wireless device via wireless communication. [Effects of the Invention]

[0015] The first aspect of the present invention makes it possible to improve usability.

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

[0017] According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to improve practicality.

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

[0019] According to the fifth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to reduce the burden on the worker.

[0020] According to the sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, it is possible to further reduce the burden on the worker.

[0021] According to the seventh aspect of the present invention, in addition to the effects of the fifth or sixth aspect of the present invention, it is possible to improve convenience. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a block diagram of a vehicle management system according to an embodiment of the present invention; [Figure 2] FIG. 1 is an explanatory diagram of a camera unit according to an embodiment of the present invention; [Figure 3] (a) An explanatory diagram (part 1) of a portable wireless device according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of a portable wireless device according to an embodiment of the present invention. [Figure 4] 1 is a block diagram of a vehicle management system according to an embodiment of the present invention (part 2); [Figure 5] 1 is a block diagram of a vehicle management system according to an embodiment of the present invention (part 3); [Figure 6] FIG. 1 is an explanatory diagram of the operation of an autonomous driving work vehicle according to an embodiment of the present invention (part 1); [Figure 7] 1 is a diagram illustrating the operation of an autonomously driven work vehicle according to an embodiment of the present invention (part 2); [Figure 8] FIG. 2 is an explanatory diagram of a camera unit according to an embodiment of the present invention (part 2); [Figure 9] (a) An explanatory diagram (part 3) of a camera unit according to an embodiment of the present invention, (b) An explanatory diagram (part 4) of a camera unit according to an embodiment of the present invention, (c) An explanatory diagram (part 5) of a camera unit according to an embodiment of the present invention [Figure 10] FIG. 6 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 11] (a) An explanatory diagram (part 7) of a camera unit according to an embodiment of the present invention, (b) An explanatory diagram (part 8) of a camera unit according to an embodiment of the present invention. [Figure 12] FIG. 9 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 13](a) An explanatory diagram (part 1) of a vehicle management system according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of a vehicle management system according to an embodiment of the present invention, and (c) An explanatory diagram (part 3) of a vehicle management system according to an embodiment of the present invention. [Figure 14] (a) An explanatory diagram (part 4) of a vehicle management system according to an embodiment of the present invention, (b) An explanatory diagram (part 5) of a vehicle management system according to an embodiment of the present invention, and (c) An explanatory diagram (part 6) of a vehicle management system according to an embodiment of the present invention. [Figure 15] FIG. 7 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. [Figure 16] FIG. 8 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. [Figure 17] FIG. 9 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. [Figure 18] FIG. 10 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0024] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0025] While explaining the operation of an autonomously driven work vehicle 1 according to an embodiment of the present invention, we will also explain an autonomously driven work vehicle operation control method according to an invention related to the present invention, which is realized by a management center device 60 and the like.

[0026] (1) First, with reference to FIGS. 1 to 8, the configuration and operation of an autonomously driven work vehicle 1 according to an embodiment of the present invention will be specifically described.

[0027] Here, Figure 1 is a block diagram (part 1) of a vehicle management system according to an embodiment of the present invention, Figure 2 is an explanatory diagram (part 1) of a camera unit 20 according to an embodiment of the present invention, Figures 3(a) and 3(b) are explanatory diagrams (parts 1 and 2) of a portable wireless device 70 according to an embodiment of the present invention, Figures 4 and 5 are block diagrams (parts 2 and 3) of a vehicle management system according to an embodiment of the present invention, Figures 6 and 7 are explanatory diagrams (parts 1 and 2) of the operation of an autonomously driven work vehicle 1 according to an embodiment of the present invention, and Figure 8 is an explanatory diagram (part 2) of a camera unit 20 according to an embodiment of the present invention.

[0028] The autonomously driven work vehicle 1 is an autonomously driven work vehicle that uses a satellite positioning device 10 to travel autonomously in a field. The camera unit 20 is a unit that acquires image data of the area around the vehicle while it is traveling autonomously. The first wireless communication unit 31 is a unit that transmits the image data to the management center device 60 via wireless communication. The second wireless communication unit 32 is a unit that transmits vehicle data to the management center device 60 via wireless communication. The first wireless communication unit 31 transmits the image data in real time.

[0029] As shown in FIG. 1 , in a remote monitoring multiplex communication system in which a management center device 60 monitors an autonomous work vehicle 1, such as a robot tractor, that cannot be monitored visually. To monitor multiple autonomous work vehicles 1 from a remote location, the management center device 60 can grasp the vehicle location and vehicle status of each autonomous work vehicle 1. Information such as image data captured by a camera mounted on the vehicle's camera unit 20 is shared via communication with a first wireless communication unit 31, which is a so-called external communication unit. Vehicle data such as vehicle operating status data relating to engine speed, fuel consumption, and remaining fuel level is also transmitted at predetermined time intervals via a second wireless communication unit 32, which is provided as a communication unit distinct from the first wireless communication unit 31. Ideally, vehicle data would be stored as valuable record data on a server such as the management center device 60. However, transmitting vehicle data together with large amounts of image data for real-time monitoring increases the data volume, often resulting in delays in image transmission. Vehicle data collected by sensors mounted on the vehicle, etc., is automatically transmitted to the management center device 60 by regular information transmission via the second wireless communication unit 32, which is a dedicated communication means, and image data is reliably transmitted via the first wireless communication unit 31, thereby mitigating delays in image data transmission, which can easily hinder real-time monitoring, and achieving both optimized vehicle monitoring and reliable work data collection.

[0030] The second wireless communication unit 32 transmits the farm field data to the management center device 60 via wireless communication.

[0031] As shown in Fig. 2, the vehicle data is periodically transmitted together with positioning information obtained by the GNSS positioning sensor of the satellite positioning device 10 mounted on the vehicle. The vehicle data, which is machine operation data based on the position information for each field, is recorded as so-called big data. The vehicle data that can be collected by the vehicle's mounted sensors is periodically transmitted to a server of the management center device 60 and securely stored there.

[0032] The memory unit 40 is a unit for storing vehicle data and farm field data. The second wireless communication unit 32 periodically transmits the vehicle data and farm field data.

[0033] Field data, which is a variety of distribution data collected as work progresses and obtained as numerical values ​​for each position in the field, including not only data on field fertility distribution, field depth distribution, and field crop yield distribution, but also data on the results of variable fertilization, is temporarily stored in memory unit 40, which is a memory unit on the vehicle, linked to positions in the field, and then configured as map-based data and transmitted collectively or in parts at predetermined time intervals as work data for each field. Vehicle data is often collected as periodic data, but field data is often collected as map distribution data for each field according to the work results for each field, ensuring a high data collection density while reducing communication delays so as not to interfere with remote vehicle monitoring.

[0034] The third wireless communication unit 33 is a unit for performing manual operations via wireless communication with the portable wireless device 70. The communicable distance of wireless communication between the portable wireless device 70 and the third wireless communication unit 33 is set so as not to exceed a predetermined level.

[0035] As shown in Figures 3(a) and 3(b), a third wireless communication unit 33 is further provided as on-board communication means in a manner different from the communication manner of the first wireless communication unit 31 and the second wireless communication unit 32, and can start, resume, and stop autonomous vehicle operation using the third wireless communication unit 33. In remote monitoring of multiple autonomously driven work vehicles 1, a field monitoring operator is assigned to patrol the field to support the monitoring system and can restart or stop the vehicles not only when a problem occurs but also when refueling is required, for example. Because the third wireless communication unit 33 is installed on the autonomously driven work vehicle 1 as a communication means different from the communication means for collecting surveillance footage and reference data, the field monitoring operator can directly restart autonomous operation and stop the vehicles around the vehicles using an independent communication means.

[0036] The communication method adopted as the communication method for the third wireless communication unit 33 is a communication method that can only perform short-range communication, compared to the communication methods for the first wireless communication unit 31 and the second wireless communication unit 32. Manual wireless operation by the field monitoring operator is less likely to cause malfunctions in other autonomously driven work vehicles 1 that are located at a distance. Because such manual wireless operation is performed in the vicinity of the appropriate autonomously driven work vehicle 1, the short-range communication method functions sufficiently as the communication method for the third wireless communication unit 33.

[0037] As shown in FIG. 4, a short-distance communication method of a specific low-power remote controller such as a walkie-talkie can be used as a communication method of the third wireless communication unit 33.

[0038] As shown in FIG. 5, a short-range communication method of a Wifi (registered trademark)-compatible or Bluetooth (registered trademark)-compatible mobile terminal device such as a smartphone can be used as a communication method of the third wireless communication unit 33.

[0039] The automatic driving can be stopped and resumed, and the route settings can be changed by manual operation.

[0040] As shown in Figure 6, for example, the third wireless communication unit 33 can set an autonomous driving route for each work area of ​​a field, modify a set route, or set, modify, or add information about the autonomous work vehicle's 1 driving position, such as material supply locations and harvested product discharge locations. The autonomous work vehicle 1 drives based on data transmission instructions from the management center device 60, but new driving routes can also be set as needed through direct manual wireless operation by the field monitoring operator. This type of flexible specification improves system reliability.

[0041] Individual data on route setting or route correction for each field area is shared with the management center device 60 via the third wireless communication unit 33, for example, and such data can be selectively saved or discarded. The created data is linked to so-called machine information and work implement information, such as vehicle data, and work information, such as field data, and recorded for each field. Data that does not need to be saved is appropriately discarded.

[0042] The data for which settings or route corrections have been made is linked to the autonomous work vehicle 1 performing the work, the work equipment, the type of work, etc. for each field area.

[0043] The data is stored and linked to the date and time of the work. If necessary, the work record can be linked to weather or temperature data at a later date, which simplifies the management of farm work and the process of planning for the next year.

[0044] As shown in FIG. 7 , the status of work progress in a specified field by an autonomous work vehicle 1 selected from multiple autonomous work vehicles 1 can be tracked by the management center device 60 by distinguishing between states where work has started, work is in progress, and work has been completed. One possible configuration is to change the primary communication information transmitted by the first wireless communication unit 31 and the second wireless communication unit 32 depending on these states. For example, the second wireless communication unit 32, which transmits vehicle data to the management center device 60, is installed in parallel with the first wireless communication unit 31, which transmits image data to the management center device 60. However, the amount of data, not only of image data but also of vehicle data such as data related to work results, work area, or work route, increases, increasing the load on the communication line. Therefore, when various data are transmitted simultaneously over the same line, data transmission delays are likely to occur. By selectively determining the primary data to be transmitted and received, important data can be transmitted and received appropriately as needed.

[0045] When the vehicle state of the autonomously driven work vehicle 1 is the state before work has started, the data necessary to carry out work in the field is selected as the main information data for communication with the management center device 60.

[0046] When the vehicle state of the autonomous work vehicle 1 is such that it is moving between fields, information necessary for safe movement, such as vehicle position information, is considered important, and information from the vehicle's onboard safety sensors, including camera information, and vehicle operating information such as engine speed are selected as the main communication information data with the management center device 60.

[0047] Even when communication is being performed between the management center device 60 and the first wireless communication unit 31, communication between the data accumulation server of the management center device 60 and the second wireless communication unit 32 basically continues at a predetermined communication interval. Therefore, the vehicle status is continuously recorded and saved. The communication method of the second wireless communication unit 32 is not the same as that of the first wireless communication unit 31, so that the second wireless communication unit 32 can independently perform periodic communication without any problems.

[0048] The amount of data transmitted by the second wireless communication unit 32 per communication is greater than the amount of data transmitted by the third wireless communication unit 33 per communication, but less than the amount of data transmitted by the first wireless communication unit 31 per communication. The amounts of data transmitted by each unit are determined according to their respective purposes, enabling flexible data collection and the issuing of driving instructions to the autonomously driven work vehicle 1 while minimizing communication delays. The third wireless communication unit 33, which uses a so-called vehicle communication line, is provided for the special purpose of controlling vehicle operations, such as emergency stop operations, from the vicinity of the vehicle using a portable wireless device 70. Although the amount of data transmitted is extremely small, it can issue quick operational instructions. Because the second wireless communication unit 32 transmits vehicle operation data in a regular communication cycle, it can divide and transmit large amounts of work data for the entire field using a relatively small amount of data. By appropriately allocating the amount of data in each communication, the first wireless communication unit 31 can not only continuously transmit large amounts of image data when field work or movement between fields is being carried out, but can also collectively transmit relatively large amounts of data regarding the work results or work methods for individual fields when work starts or ends.

[0049] The display monitor of the portable wireless device 70, which functions as a remote controller, is provided with multiple operation units for sending and receiving instructions to multiple autonomously driven work vehicles 1, such as starting operation, temporarily stopping operation, and ending work including emergency stops, over different vehicle communication channels (see Figure 3(a)). Multiple autonomously driven work vehicles 1 can be controlled with a single portable wireless device 70, which acts as a remote controller, improving convenience. The simplified configuration makes the system user-friendly.

[0050] The operation section of portable wireless device 70, which functions as a Wi-Fi-enabled device, is provided with multiple operation sections for sending and receiving instructions to multiple autonomously driving work vehicles 1, such as starting operation, temporarily stopping operation, and ending work including emergency stops, on different vehicle selection screens (see FIG. 3(b)). Multiple autonomously driving work vehicles 1 can be controlled with portable wireless device 70, which is like a single portable terminal device, improving convenience.

[0051] The camera orientation of the camera unit 20 is adjustable. The camera orientation when the vehicle is automatically traveling is upward compared to the camera orientation when the vehicle is not automatically traveling.

[0052] As shown in FIG. 8 , the camera view angle of the camera unit 20 can be changed to enable remote monitoring of the driving conditions around the vehicle using image data captured and transmitted by the on-board camera unit 20. The camera view angle is set to an angle that allows for viewing of distant objects when work is being performed or when autonomous driving is in progress, and the camera view angle is set to an angle that allows for viewing of the vehicle's exterior, including the ground around the vehicle, when autonomous driving is initiated or resumed. Monitoring using image data obtained at such a camera view angle primarily allows for confirmation that no humans are present around the vehicle, including near the wheels, when autonomous driving is initiated, and confirmation that no humans or obstacles are present in the distance when autonomous driving is in progress. While an increase in the amount of image data must often be avoided by reducing resolution, the camera view angle and camera direction are changed to suit different viewing image areas depending on the autonomous driving state, allowing autonomous driving to be performed safely even with a minimum amount of image data.

[0053] It is also possible to adjust the camera orientation so as to achieve an effect similar to that associated with changing the camera's field of view angle, even if the camera's field of view angle itself is not changed. For example, when autonomous driving is initiated or resumed, which requires monitoring the area around the vehicle, the camera orientation is adjusted to face downward compared to the camera orientation when autonomous driving is in progress.

[0054] Similarly, even if the camera field of view angle itself is not changed, it is possible to adjust the transmitted image area by processing the captured camera image.For example, when autonomous driving that requires monitoring the area around the vehicle is started or resumed, the transmitted image area is adjusted to be lower based on the vehicle height or the like compared to the transmitted image area when autonomous driving is being performed.

[0055] The notification unit 50 is a unit that provides a visual or audible notification when a manual operation is recognized by the third wireless communication unit 33. The third wireless communication unit 33 reports the recognition of the manual operation to the mobile wireless device 70 together with the vehicle's own vehicle number by sending a reply to the mobile wireless device 70 via wireless communication.

[0056] Not only is the notification provided by the notification unit 50 mounted on the roof or the like of the autonomously driven work vehicle 1, but the validity of manual operation is also clearly output by a report from the third wireless communication unit 33 to the portable wireless device 70, thereby realizing user-friendly specifications.

[0057] (2) Next, the configuration and operation of the autonomously driven work vehicle 1 according to the embodiment of the present invention will be described in more detail.

[0058] The location of the GNSS positioning sensor of the satellite positioning device 10 is above the driver's seat, which is approximately the same as the location of a GNSS positioning sensor for so-called series-type straight-line driving assist, and the monitoring camera of the camera unit 20 is located around the GNSS positioning sensor of the satellite positioning device 10. The camera unit 20, which is located under the autonomously driven work vehicle 1 as a rice planter for paddy field work and is easily affected by splashes of water, often becomes dirty with muddy water. The camera unit 20, which is located near the GNSS positioning antenna, is less affected by splashes of water.

[0059] The monitoring camera of the camera unit 20 is placed outside the GNSS positioning sensor of the satellite positioning device 10 and at a position lower than the antenna viewing angle. By placing it at a position lower than the antenna viewing angle, there is almost no adverse effect on the reception of GNSS positioning information, etc.

[0060] The surveillance cameras of the camera unit 20 are arranged in front, behind, left and right of the GNSS positioning sensor of the satellite positioning device 10 so that the surroundings of the vehicle can be monitored without bias in the shooting direction when capturing images.

[0061] As shown in Figures 9(a), 9(b), and 9(c), which are explanatory diagrams (parts 3 to 5) of the camera unit 20 according to an embodiment of the present invention, the surveillance cameras of the camera unit 20, which are mounted on a vehicle for remote monitoring, are positioned near the top of the combine harvester to capture images of the front, rear, left, and right sides of the vehicle, ensuring uniform capture of images of the surroundings of the operating vehicle. Because combine harvesting generates a large amount of dust, it is often preferable to position the cameras at a high position to mitigate the adverse effects of such dust. The camera placement described above is expected to contribute to improved accuracy of remote monitoring.

[0062] As shown in FIG. 10, which is an explanatory diagram (part 6) of the camera unit 20 according to an embodiment of the present invention, ultrasonic sensor detection is enabled only during autonomous driving. When the vehicle temporarily stops due to the detection of an obstacle, ultrasonic sensor detection can be temporarily disabled by instruction from the management center device 60 at the monitoring center or from the mobile wireless device 70 of the field monitoring operator. Disabling false detection is useful in fields where so-called short-range detection sensors are prone to false detection of ridges or weeds. By adopting a specification that allows ultrasonic sensor detection to be disabled by checking the monitoring image, efficient autonomous driving operations can be achieved without sacrificing safety. Placing the ultrasonic sensor on the rear of the vehicle is also often preferable.

[0063] As shown in Figures 11(a), 11(b), and 12, which are explanatory diagrams (parts 7 to 9) of the camera unit 20 according to an embodiment of the present invention, ultrasonic sensor detection is enabled only when automatic operation is being performed but harvesting is not being performed, i.e., when the so-called stalk sensor is turned off. When a combine harvester is harvesting, crops near the vehicle are likely to be inappropriately detected as obstacles, so ultrasonic sensor detection is disabled when harvesting is being performed. However, by enabling ultrasonic sensor detection when harvesting is not being performed, safety can be fully ensured. Ultrasonic sensor detection is enabled only when meaningful obstacle detection is expected, such as when the combine is unloading crops, moving within the field, or moving between fields, thereby improving safety while avoiding false detections associated with harvesting.

[0064] Even when ultrasonic sensor detection is enabled, in the event of a temporary stoppage due to the detection of an obstacle, ultrasonic sensor detection can be temporarily disabled by instruction from the management center device 60 of the monitoring center or from the portable wireless device 70 of the field monitoring operator.

[0065] (3) Next, the configuration and operation of the autonomously driven work vehicle 1 according to the embodiment of the present invention will be described in more detail.

[0066] As shown in Figures 13(a), 13(b), and 13(c), which are explanatory diagrams (parts 1 to 3) of a vehicle management system according to an embodiment of the present invention, the data configuration of a system for remotely monitoring an autonomously driven work vehicle 1 can be configured such that data for each field, temporarily stored in the vehicle's memory unit 40, is organized into data groups by task type, and this data is used to provide work instructions to the autonomously driven work vehicle 1 while also collecting data on the results of the work. Since data varies depending on the task type, it is desirable to standardize this data. By linking data groups by task type to data groups for each field based on area data for each field, data management is simplified, and the driving instructions for the autonomously driven work vehicle 1 and the collection and storage of work result data resulting from the vehicle's work can be standardized, making data management easier.

[0067] The field information data for each field could be configured to include work area information and field location information, and also store environmental information around the field (temperature, rainfall, etc.) as needed. Data varies depending on the type of work, so it would be desirable to standardize this information. The crop growth environment for each field would be stored as data, making it easier to compare and analyze the information resulting from work performed by autonomous work vehicles 1 for each field.

[0068] It is possible to configure the field information data so that disaster information (earthquakes, floods, etc.) can be stored. Depending on the disaster, it may be necessary to reconfirm area information and field location information. Depending on the extent of the disaster, it will be possible to issue instructions such as reconfirming work areas for each field, and instructions given before work begins will lead to safe work.

[0069] If disaster information has been registered in the field information, one possible configuration is to first issue an area reconfirmation instruction to the autonomous work vehicle 1, and then update the work area information and field location information as necessary. Depending on the disaster, it may be necessary to reconfirm the area information and field location information. Depending on the extent of the disaster, it may be possible to issue instruction information such as a work area reconfirmation for each field, which leads to safe work by issuing instructions before work begins, and also allows information to be updated if necessary, such as when changing areas.

[0070] As shown in Figures 14(a), 14(b), 14(c), and 15, which are explanatory diagrams (parts 4 to 7) of a vehicle management system according to an embodiment of the present invention, data groups for each work type can be configured to hold both driving route information and work machine information as integrated data as the base information required for autonomous driving work, allowing the system to instruct the optimal driving route for each autonomously driven work vehicle 1. The autonomously driven route requires different work route settings depending on factors such as the type of work being performed and the width of the work. By holding driving route information based on work machine information as integrated data, it becomes possible to set and instruct the optimal route for each field based on the work machine information. The driving route can also be set by the vehicle itself each time based on the field area information in the data group and the autonomously driven work vehicle's own work machine information.

[0071] As shown in FIG. 16 , which is an explanatory diagram (part 8) of a vehicle management system according to an embodiment of the present invention, the work area information and field location information included in the field information data for each field can be shared with the autonomous work vehicle 1, and the driving route for each work machine can be set by the autonomous work vehicle 1 itself based on its own work machine information. Different work routes must be set for different tasks depending on factors such as the type of work being performed and the width of the work. The sharing of work area information and field location information can be achieved by distributing them simultaneously with driving route information. Based on its own work machine information, the autonomous work vehicle 1 can generate its own route once it knows the area's location information. This eliminates the need for the management center device 60 to instruct the vehicle each time, and enables driving based on an appropriate autonomous driving route even when a situation arises in which the route needs to be reset.

[0072] The data for each task type in the task type-specific data group can be broadly divided into two types: base information required for performing autonomous driving tasks and result information for performing autonomous driving tasks. The base information is information provided and shared by the management center device 60, while result information is information collected by the vehicle and shared with the management center device 60 (including the data server). It is desirable to store the information held by each vehicle in a separate memory for each task type, making the classification of shared information easier to understand and organizing data for various uses. Since the contents of the data storage device can be separated by data type, the organized data groups can be confirmed when referencing data, making it easier to use. The work equipment data in the base information data can be stored in the autonomous work vehicle 1's own vehicle memory, such as when the work equipment is attached.

[0073] The information that can be collected as a result of automated driving operations is broadly categorized and stored into multiple types, and can be managed by broadly categorizing it into content that is unique to the results of each type of operation, content that is common regardless of the type of operation, and a history of errors that occurred during the operation. At the very least, it is conceivable that the recorded data of content that is common regardless of the type of operation is recorded in a common form even if the type of operation differs. It is desirable to manage data in a common format wherever possible, as long as the data format can be standardized. By consolidating commonly handled information such as fuel consumption, operation date and time, and operation time in the same form, it becomes possible to check organized groups of data when utilizing the information, making it easier to use.

[0074] Even if there is data that cannot be collected due to the equipment of the work machine, it is possible to configure each data group by work type as a data group with a data memory area for common items. When sharing and utilizing data, it is desirable to standardize as much as possible. Even data areas that are not required due to the equipment functions of the work machine are saved in a data-free form, so the data structure by work type itself can be standardized.

[0075] The work result information for each field collected by the work machine is transmitted to the management center device 60 (including the data server) by completing the work while the work is in that field and stopping the acquisition of collected data when the work is completed. After transmission, the data stored in the vehicle's memory can be deleted by the time work begins in the next field (it is also possible to overwrite the relevant memory location when work in the next field begins). It is desirable to utilize the vehicle's memory area as much as possible for autonomous driving. For this reason, it is desirable to sequentially discard data collected during work. It is sufficient to prepare a memory area that anticipates the amount of data to be collected for each field, and this can be configured with a minimum amount of memory area on the vehicle.

[0076] One possible configuration is for the work machine information in the data groups by work type to be made up of data generated as work machine information by combining vehicle master information and work machine master information managed separately on a server or the like, and for this data to be used as shared data between the autonomously driven work vehicle 1 and the management center device 60. A configuration that allows only the work machines to be used for work in season is desirable. Only machine data for combinations that can perform each work type is used for work instructions and data collection in season, so work can be done with a small amount of data, simplifying work instruction and data collection operations.

[0077] The data for each machine number in the work machine information is constructed by referencing the vehicle license plate data linked to the management vehicle, the work machine license plate data linked to the management machine, and the minimum data necessary for autonomous driving, which is linked to each vehicle or work machine number and stored as separate management data. The data can be generated from the vehicle and work machine exterior data linked to the GNSS positioning sensor installation location information, the data necessary to determine obstacle contact and deviation from the work area, and the data necessary to determine the width of the work results. It is desirable to have the minimum data necessary for shared utilization. With the above configuration, the management vehicle and work machine performing a specific task in a specific field can be identified by their license plate alone. When autonomous driving is performed, the vehicle and work machine exterior information linked to the GNSS installation location and the work width information enable appropriate driving route generation, obstacle contact avoidance, and work results recording.

[0078] As shown in Figure 17, which is an explanatory diagram (part 9) of a vehicle management system according to an embodiment of the present invention, an autonomously driven work vehicle 1 can be configured to transmit data acquired by the vehicle at a specified time during non-operational periods (such as at night) to a management center device 60 (which could also be a data server). It is desirable to acquire data all at once that can confirm the fuel and materials needed for preparations when work begins the next day, as well as the need for maintenance. Data for preparations for the next day's work can be acquired before work begins the next morning, allowing for efficient preparation work for each machine when work begins that day.

[0079] One possible configuration is for the autonomous work vehicle 1 to be able to recognize the location information of the storage warehouse, and send this information to the management center device 60 (a data server is also possible) at a specified time after being positioned at the storage warehouse. It is desirable to obtain all the data in one go that can confirm the fuel and materials needed for preparation when work begins the next day, as well as the need for maintenance. Even if the data for preparation for the next day's work involves changing work equipment at the storage warehouse, the information needed for preparation work for each vehicle can be obtained before work begins, allowing for efficient preparation work.

[0080] The data sent for preparation before work begins the next day can be configured to include at least the machine number (work machine information) of the autonomously driven work vehicle 1, the amount of remaining fuel, the amount of remaining materials, and error history. It is desirable to obtain all the data in one go that can confirm the fuel and materials needed for preparation when work begins the next day, as well as the need for maintenance. This makes it possible to recognize the data for preparation for work the next day.

[0081] As shown in Figure 18, which is an explanatory diagram (part 10) of a vehicle management system according to an embodiment of the present invention, one possible configuration for monitoring autonomously driven work vehicles 1 during the work season is to select and monitor and manage only the autonomously driven work vehicles 1 that are operated each work season from among the autonomously driven work vehicles 1 managed by the management center device 60. Because autonomously driven work vehicles 1 that are not used during the season do not need to be monitored or managed, it is desirable to be able to monitor and manage only the autonomously driven work vehicles 1 that are in use. Work machine information and information by work type are organized into groups by work season, allowing monitoring and management work to be carried out with a minimum of shared information required for autonomous driving, monitoring, and work management.

[0082] In addition, the program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the autonomously driven work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0083] In addition, the recording medium of an invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the autonomously driven work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0084] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0085] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0086] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0087] The recording medium also includes a ROM (Read Only Memory).

[0088] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0089] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0090] The autonomously driven work vehicle of the present invention can improve usability and is useful for use as an autonomously driven work vehicle that uses a satellite positioning device to travel autonomously in fields. [Explanation of symbols]

[0091] 1. Self-driving work vehicles 10 Satellite positioning device 20 Camera Unit 31 First wireless communication unit 32 Second wireless communication unit 33 Third wireless communication unit 40 Memory Unit 50 Alarm unit 60 Management Center Device 70 Portable radio equipment

Claims

1. An autonomous driving work vehicle that uses a satellite positioning device to automatically navigate in a field, a camera unit for acquiring image data of the surroundings of the vehicle while the vehicle is being automatically driven; a first wireless communication unit that transmits the image data to a management center device via wireless communication; a second wireless communication unit for transmitting vehicle data to the management center device via wireless communication; It is equipped with The first wireless communication unit transmits the image data in real time.

2. 2. The autonomously driven work vehicle according to claim 1, wherein the second wireless communication unit transmits the farm field data to the management center device via wireless communication.

3. a memory unit that stores the vehicle data and the farm field data; 3. The autonomously driven work vehicle according to claim 2, wherein the second wireless communication unit periodically transmits the vehicle data and the farm field data.

4. a third wireless communication unit for performing manual operation via wireless communication with a portable wireless device; 4. The autonomously driven work vehicle according to claim 3, wherein the communication distance for wireless communication between the portable wireless device and the third wireless communication unit is set so as not to exceed a predetermined level.

5. 5. The autonomous work vehicle according to claim 4, wherein the suspension and resumption of the autonomous driving and the change of the route setting can be instructed by the manual operation.

6. The camera direction of the camera unit is adjustable, 6. The autonomously driven work vehicle according to claim 5, wherein the camera is oriented upward when the autonomous driving is being performed, compared to the camera orientation when the autonomous driving is not being performed.

7. a notification unit that provides a visual or audio notification when the manual operation is recognized by the third wireless communication unit; The autonomously driven work vehicle according to claim 5 or 6, characterized in that the third wireless communication unit reports the recognition of the manual operation to the portable wireless device together with the vehicle's own vehicle number by replying to the portable wireless device via wireless communication.

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