Vehicle Management System

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] This is a vehicle management system that manages an autonomously driven work vehicle 1 that drives autonomously in a field using a satellite positioning device 10, wherein the autonomously driven work vehicle 1 acquires image data of the vehicle's surroundings and sends it to a management center device 60, and if an obstacle is detected, it suspends autonomous driving and reports the point in time when autonomous driving was suspended to the management center device 60, and the management center device 60 is a vehicle management system that has a judgment unit 61 that judges whether or not to allow the suspended autonomous driving to be resumed based on at least the reported image data at the time when autonomous driving was suspended.

Description

[Technical Field]

[0001] The present invention relates to a vehicle management system that manages autonomously driven work vehicles that travel autonomously in farm fields using a satellite positioning device. [Background technology]

[0002] A special-purpose vehicle operating status management system is known, which (A) receives the operating status of a controlled device from a special-purpose vehicle vehicle-side control device that controls the controlled device mounted on the special-purpose vehicle and manages the operating status, (B) includes at least one user portable device and at least one user-side administrator terminal device, and (C) has a safety device operating information management means that, when the user portable device receives safety device operating information of a mounted object from the special-purpose vehicle vehicle-side control device, stores the safety device operating information and transmits the safety device operating information or safety device operating output information generated based on the safety device operating information to the user-side administrator terminal device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-19625 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 has an object to provide a vehicle management system that can improve usability. [Means for solving the problem]

[0008] The first invention is a vehicle management system that manages an autonomous driving work vehicle that automatically travels in a field using a satellite positioning device, The autonomous driving work vehicle acquires image data of the surroundings of the vehicle and transmits it to a management center device, and when an obstacle is detected, the autonomous driving is interrupted and the point in time when the autonomous driving was interrupted is reported to the management center device; The management center device is a vehicle management system characterized by having a judgment unit that determines whether to allow the interrupted automatic driving to be resumed based on at least the image data at the time of the reported automatic driving interruption.

[0009] A second aspect of the present invention is the vehicle management system of the first aspect of the present invention, wherein the autonomously driven work vehicle detects the obstacle by analyzing the image data.

[0010] The third invention is the vehicle management system of the second invention, characterized in that the judgment unit records the transmitted image data, plays back the image data for a predetermined period including the time when the automatic driving was interrupted, and does not allow the resumption of the interrupted automatic driving until the playback of the image data is complete.

[0011] In a fourth aspect of the present invention, the start point of the predetermined period including the time point at which the automatic traveling is suspended is designated manually or automatically by the management center device, The end point of the predetermined period, which includes the time point at which the automatic driving is suspended, is the current time point, In a third aspect of the present invention, there is provided a vehicle management system, wherein the image data is reproduced in fast forward mode.

[0012] A fifth aspect of the present invention is a method for determining whether the start time of the predetermined period, including the time when the automatic driving is suspended, is manually or automatically specified by the management center device; In a third aspect of the present invention, there is provided a vehicle management system, wherein the end point of the predetermined period, which includes the point at which the automatic driving is suspended, is specified manually or automatically by the management center device.

[0013] The sixth aspect of the present invention is the vehicle management system of the fourth aspect of the present invention, characterized in that the playback of the image data is performed at fast forward, so that the playback time of the image data catches up with the current time, and then the transmitted image data continues to be displayed in real time.

[0014] A seventh aspect of the present invention is that even when the reproduction of the image data is not completed, a predetermined portable wireless device issues an instruction to resume the interrupted automatic traveling, so that the automatic traveling can be resumed without the management center device permitting the resumption of the automatic traveling; In the vehicle management system of the fifth or sixth invention, the communication distance of the portable wireless device is set so as not to exceed a predetermined level. [Effects of the Invention]

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

[0016] The second aspect of the present invention makes it possible to improve practicality in addition to the effects of the first aspect of the present invention.

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

[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 convenience.

[0019] According to the fifth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to improve convenience.

[0020] According to the sixth aspect of the present invention, in addition to the effects of the fourth aspect of the present invention, it is possible to further improve convenience.

[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 reduce the burden on the worker. [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] FIG. 2 is an explanatory diagram of a camera unit according to an embodiment of the present invention (part 2); [Figure 4] FIG. 3 is an explanatory diagram of a camera unit according to an embodiment of the present invention; [Figure 5] FIG. 4 is an explanatory diagram of a camera unit according to an embodiment of the present invention; [Figure 6] 1 is a block diagram of a vehicle management system according to an embodiment of the present invention (part 2); [Figure 7] 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 8] FIG. 5 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 9] FIG. 6 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 10] FIG. 7 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 11] 1 is a diagram illustrating the operation of an autonomously driven work vehicle according to an embodiment of the present invention (part 2); [Figure 12] 1 is a diagram illustrating the operation of an autonomously driven work vehicle according to an embodiment of the present invention (part 3); [Figure 13] 4 is an explanatory diagram of the operation of an autonomous driving work vehicle according to an embodiment of the present invention (part 4); [Figure 14] 5 is an explanatory diagram of the operation of an autonomous driving work vehicle according to an embodiment of the present invention; [Figure 15] 1 is a block diagram of a vehicle management system according to an embodiment of the present invention (part 3); [Figure 16] 4 is a block diagram of a vehicle management system according to an embodiment of the present invention; [Figure 17] 5 is a block diagram of a vehicle management system according to an embodiment of the present invention. [Figure 18] FIG. 8 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 19] 6 is a block diagram of a vehicle management system according to an embodiment of the present invention; [Figure 20] 7 is a block diagram of a vehicle management system according to an embodiment of the present invention; [Figure 21] 8 is a block diagram of a vehicle management system according to an embodiment of the present invention. [Figure 22] 9 is a block diagram of a vehicle management system according to an embodiment of the present invention. [Figure 23] FIG. 9 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 24] (a) An explanatory diagram (part 10) of a camera unit according to an embodiment of the present invention, (b) An explanatory diagram (part 11) of a camera unit according to an embodiment of the present invention. [Figure 25] FIG. 12 is an explanatory diagram of a camera unit according to an embodiment of the present invention. [Figure 26] (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 27](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 28] FIG. 7 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. [Figure 29] FIG. 8 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. [Figure 30] FIG. 9 is an explanatory diagram of a vehicle management system according to an embodiment of the present invention. [Figure 31] 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 the vehicle management system according to the embodiment of the present invention, a vehicle management system operation control method according to the invention, which is realized by the management center device 60 and the like, will also be explained.

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

[0027] Here, Figure 1 is a block diagram (part 1) of a vehicle management system according to an embodiment of the present invention, Figures 2 to 5 are explanatory diagrams (parts 1 to 4) of a camera unit 20 according to an embodiment of the present invention, Figure 6 is a block diagram (part 2) of a vehicle management system according to an embodiment of the present invention, Figure 7 is an explanatory diagram (part 1) of the operation of an autonomously driven work vehicle 1 according to an embodiment of the present invention, Figures 8 to 10 are explanatory diagrams (parts 5 to 7) of a camera unit 20 according to an embodiment of the present invention, Figures 11 to 14 are explanatory diagrams (parts 2 to 5) of the operation of an autonomously driven work vehicle 1 according to an embodiment of the present invention, and Figures 15 to 17 are block diagrams (parts 3 to 5) of a vehicle management system according to an embodiment of the present invention.

[0028] A vehicle management system according to an embodiment of the present invention is a vehicle management system that manages an autonomously driven work vehicle 1 that travels autonomously in a field using a satellite positioning device 10. The autonomously driven work vehicle 1 acquires image data of the vehicle's surroundings and sends it to a management center device 60. If an obstacle is detected, the autonomously driven work vehicle 1 suspends autonomous traveling and reports the point in time at which autonomous traveling was suspended to the management center device 60. The management center device 60 has a judgment unit 61 that judges whether or not to permit the suspension of autonomous traveling to be resumed, based at least on the reported image data at the time of suspension.

[0029] As shown in FIG. 1 , when an autonomous work vehicle 1, such as an autonomous agricultural machine, is remotely monitored by a control center device 60 or the like, and stops autonomous driving of its own accord, it transmits stop judgment data, which provides the direct basis for the stop judgment, and data from a predetermined period before the timing at which the stop judgment data was acquired, to a monitoring center such as the control center device 60 via a wireless communication unit 30. Data from after the timing at which the stop judgment data was acquired is also continuously shared with the control center device 60. By continuously checking the data before and after the timing at which the stop judgment data was acquired without any time gap, an accurate investigation of the cause of the stop can be immediately performed, leading to the prompt resumption of autonomous driving. By checking the data before and after the timing at which the stop judgment data was acquired as trigger data together with the stop judgment data, even if there is a delay in the transmission of image data, for example, by checking data up to the current time in a fast-forward manner, it is possible to confirm the absence of an obstacle and safely permit the resumption of autonomous driving, thereby ensuring safety.

[0030] The autonomously driven work vehicle 1 detects obstacles by analyzing image data.

[0031] The judgment unit 61 records the transmitted image data, plays back the image data for a predetermined period including the time when the automatic driving was interrupted, and does not allow the interrupted automatic driving to be resumed until the playback of the image data is complete.

[0032] As shown in Figures 2 to 4, the data continuously shared with the management center device 60 can be the camera image data itself captured by the camera unit 20, which is the camera unit mounted on the autonomously driven work vehicle 1, and so-called AI camera judgment data used to make stopping decisions.

[0033] The start point of the predetermined period including the point at which the automatic driving is suspended is specified manually or automatically by the management center device 60. The end point of the predetermined period including the point at which the automatic driving is suspended is the current time. The image data is played back in fast forward.

[0034] The end point of the predetermined period, including the point at which the automatic driving is suspended, may be specified manually or automatically by the management center device 60.

[0035] As shown in Figure 5, it is also possible for the data continuously shared with the management center device 60 to be the camera image data itself captured by the camera unit 20 and so-called sensor data used to determine whether the vehicle should be stopped due to an abnormality.

[0036] It is also conceivable that the data continuously shared with the management center device 60 may be the camera image data itself captured by the camera unit 20 and sensor data of the object detection position obtained when a stop decision is made when an object enters the approach warning area.

[0037] By fast-forwarding the reproduction of the image data, the reproduction time of the image data catches up with the current time, and then the transmitted image data continues to be displayed in real time.

[0038] When the vehicle is traveling automatically, data for making stopping decisions as needed is constantly transmitted from the automatically driven work vehicle 1 to the management center device 60, and consecutive data before and after the timing at which the trigger data is acquired from the transmitted data is recorded and saved on the management center device 60 side, so that obstacle information up to the current time can be checked by fast-forwarding playback, etc.

[0039] Even when the playback of the image data is not complete, the predetermined portable wireless device 70 can instruct the automatic driving to resume, without the management center device 60 permitting the automatic driving to resume. The communication distance of the portable wireless device 70 is set so as not to exceed a predetermined level.

[0040] As shown in Figure 6, monitoring terminal instruction operations using a portable wireless device 70 to start autonomous driving of an autonomously driven work vehicle 1 and resume autonomous driving after it has stopped, which are monitored from a remote location such as by a management center device 60, are only valid for one autonomously driven work vehicle 1, and instructions to multiple autonomously driven work vehicles 1 being issued simultaneously from a single portable wireless device 70 are not permitted. This is because when multiple autonomously driven work vehicles 1 are stopped, it is easy for dangers to be overlooked, and it may not be desirable to resume autonomous driving of multiple autonomously driven work vehicles 1 simultaneously. Because monitoring terminal instruction operations using a single portable wireless device 70 are only valid for a single autonomously driven work vehicle 1, the autonomous driving of the autonomously driven work vehicles 1 can be started and resumed under accurate monitoring even when multiple autonomously driven work vehicles 1 are stopped simultaneously.

[0041] As shown in Figures 7 to 14, commands to start and resume autonomous driving of a temporarily stopped autonomous work vehicle 1 are permitted after confirming the images by reproducing surveillance footage from the time a stop trigger occurs until the operation to start or resume autonomous driving is performed (see Figures 2 to 4). The decision to resume is permitted not only by confirming the video of the stop trigger, but also by confirming the video by fast-forwarding from the time the trigger occurred to the current time. In addition to confirming the data before and after the time the stop decision data was acquired, video confirmation up to the current time is required, so more accurate safety confirmation is performed and safety is improved.

[0042] 15 and 16, short-range operation using a remote controller such as a portable wireless device 70, which can only be performed within a communication distance that does not exceed a predetermined level, is enabled in preference to remote operation from the management center device 60, and it is possible to simultaneously start and resume automatic operation of multiple autonomous work vehicles 1 at any time. When an observer patrolling a field performs short-range operation near an autonomous work vehicle 1, the automatic start and restart of multiple autonomous work vehicles 1 can be flexibly permitted after the observer confirms safety. Short-range operation using a dedicated remote controller or a general-purpose smartphone is not prohibited, improving convenience.

[0043] As shown in Figure 17, the drive data recorder 101 mounted on an autonomously driven work vehicle 1 that is monitored remotely by a management center device 60 or the like independently saves video footage of the vehicle's surroundings and vehicle data while the vehicle is being driven autonomously. Video data from the time an accident occurs is reliably saved along with other vehicle status data. Even if communication with the management center device 60 is cut off, important data can be reliably saved, allowing for an accurate investigation of the cause of the accident.

[0044] Recorded data for the periods before and after the vehicle stops is saved in the drive data recorder 101 along the time axis each time the vehicle stops. Since recorded data is saved every time automatic driving stops and restarts, there is almost no chance of data being missed. Records of accidents and other occurrences are almost always kept, improving system reliability.

[0045] Recording to the drive data recorder 101 is performed using a portable memory device. Not only is the occurrence of an accident or the like recorded with almost no error, but the record can also be quickly checked by removing the memory from the outside.

[0046] The image capture time of the playback image, which is displayed together with the current time on the screen of the image monitoring monitor of a remote monitoring device such as the management center device 60, is used to check the trigger video before and after the vehicle stops. By fast-forwarding the playback image, it can be easily confirmed that it matches the current time. It is easy to confirm that the playback image accompanying the stop trigger occurrence matches the current image. Such visual time display realizes user-friendly specifications (see Figures 8 to 10).

[0047] (2) Next, the configuration and operation of the vehicle management system according to the embodiment of the present invention will be described in more detail.

[0048] As shown in FIG. 18, which is an explanatory diagram (part 8) of the camera unit 20 according to an embodiment of the present invention, and FIGS. 19 to 22, which are block diagrams (parts 6 to 9) of a vehicle management system according to an embodiment of the present invention, when a comparison with a memory image stored in a memory unit 40 or the like determines that an object such as a person is present, the distance between the object and the vehicle is estimated using the pixel count and corresponding pixel area. If the pixel area is equal to or greater than a predetermined threshold, autonomous driving is stopped. If the pixel area is less than the predetermined threshold, an out-of-field alarm is issued to the management center device 60. The distance between the object and the vehicle can be estimated with sufficient accuracy using camera images based on AI or other methods. The size of the object is measured indirectly using pixel area, and the presence of a person or other object is determined by AI or other methods. Therefore, by estimating the approximate distance with a certain degree of accuracy, the camera of the camera unit 20 can detect the obstacle even without other sensors.

[0049] When the autonomous work vehicle 1 equipped with the camera unit 20 is a tractor, the camera unit 20 for transmitting data to the management center device 60 is shared with a so-called AI camera for determining the presence of people, etc., and the camera may be mounted on the four sides of the tractor cabin roof (see Figure 5). Children and other small children may suddenly appear outside the field, and it may be necessary to comply with the so-called remote monitoring guidelines. When a person is nearby, the autonomous work vehicle 1 automatically stops at its own discretion. However, since people standing on the ridges, etc., may suddenly enter the field, it is desirable to strengthen the monitoring system with a high level of safety by sharing information with the management center device 60.

[0050] As shown in Figure 23, which is an explanatory diagram (part 9) of the camera unit 20 of an embodiment of the present invention, when the autonomous work vehicle 1 equipped with the camera unit 20 is a rice transplanter, it is also possible that the camera mounting position is on the four sides around the housing of the GNSS positioning sensor of the satellite positioning device 10.

[0051] As shown in Figures 24(a), 24(b) and 25, which are explanatory diagrams (parts 10 to 12) of the camera unit 20 of an embodiment of the present invention, when the autonomous work vehicle 1 equipped with the camera unit 20 is a combine harvester, it is also possible for the camera to be mounted on one of the four sides near the top surface of the vehicle's exterior.

[0052] (3) Next, the configuration and operation of the vehicle management system according to the embodiment of the present invention will be described in more detail.

[0053] As shown in Figures 26(a), 26(b), and 26(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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] As shown in Figures 27(a), 27(b), 27(c), and 28, which are explanatory diagrams (parts 4 to 7) of a vehicle management system according to an embodiment of the present invention, a data group 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, so that the optimal driving route can be instructed for each autonomously driven work vehicle 1 performing the work. Different work route settings are required for autonomously driven work vehicles 1 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 1's own work machine information.

[0058] As shown in Figure 29, 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 work area information and field location information can be shared by distributing them simultaneously with the 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 the vehicle to drive based on an appropriate autonomous driving route even when a situation arises in which the route needs to be reset.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] As shown in Figure 30, 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.

[0066] 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.

[0067] 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.

[0068] As shown in Figure 31, 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.

[0069] 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 vehicle management system operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0070] In addition, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or some of the steps (or processes, operations and actions, etc.) of the vehicle management system 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.

[0071] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some of the multiple steps.

[0072] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" refer to the operations of all or part of the above-mentioned steps.

[0073] 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.

[0074] The recording medium also includes a ROM (Read Only Memory).

[0075] 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.

[0076] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0077] The vehicle management system of the present invention can improve usability and is useful for use in a vehicle management system that manages autonomously driven work vehicles that travel autonomously in fields using a satellite positioning device. [Explanation of symbols]

[0078] 1. Self-driving work vehicles 10 Satellite positioning device 20 Camera Unit 30 Wireless Communication Unit 40 Memory Unit 60 Management Center Device 61 Judgment Department 70 Portable radio equipment 101 Drive Data Recorder

Claims

1. A vehicle management system that manages an autonomous driving work vehicle that automatically travels in a field using a satellite positioning device, The autonomous driving work vehicle acquires image data of the surroundings of the vehicle and transmits it to a management center device, and when an obstacle is detected, the autonomous driving is interrupted and the point in time when the autonomous driving was interrupted is reported to the management center device; A vehicle management system characterized in that the management center device has a judgment unit that determines whether to allow the interrupted autonomous driving to be resumed based on at least the image data at the time of the reported autonomous driving interruption.

2. The vehicle management system according to claim 1 , wherein the autonomously driven work vehicle detects the obstacle by analyzing the image data.

3. The vehicle management system according to claim 2, characterized in that the judgment unit records the transmitted image data, plays back the image data for a predetermined period including the time when the automatic driving was interrupted, and does not allow the resumption of the interrupted automatic driving until the playback of the image data is complete.

4. the start point of the predetermined period including the point at which the automatic traveling is suspended is designated manually or automatically by the management center device; The end point of the predetermined period, which includes the time point at which the automatic driving is suspended, is the current time point, 4. The vehicle management system according to claim 3, wherein the image data is reproduced in fast forward.

5. the start point of the predetermined period including the point at which the automatic traveling is suspended is designated manually or automatically by the management center device; 4. The vehicle management system according to claim 3, wherein the end point of the predetermined period including the point at which the automatic driving is suspended is designated manually or automatically by the management center device.

6. The vehicle management system according to claim 4, characterized in that the playback of the image data is performed in fast forward, so that after the playback time of the image data catches up with the current time, the transmitted image data continues to be displayed in real time.

7. Even when the reproduction of the image data has not been completed, the automatic traveling can be resumed by a predetermined portable wireless device issuing an instruction to resume the interrupted automatic traveling without the management center device permitting the resumption of the automatic traveling, 7. The vehicle management system according to claim 5, wherein the communication distance of the portable wireless device is set so as not to exceed a predetermined level.

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