Motion control method, motion control program, and motion control system

Abstract

The present invention provides a motion control method, a motion control program, and a motion control system that can appropriately control the operation of agricultural work vehicles. [Solution] The automatic driving system 1 includes a setting processing unit 412 that sets the authority to give instructions regarding automatic driving to the work vehicle 10 to the operation terminals 20, 30 or the operator based on predetermined conditions, and a control processing unit 111 that operates the work vehicle 10 based on the instructions given by the operation terminals 20, 30 or the operator to whom the authority has been set.

Description

Technical Field

[0001] The present invention relates to a technique for controlling the operation of a work vehicle capable of autonomous driving.

Background Art

[0002] Conventionally, a technique for automatically driving a work vehicle performing agricultural work in a field along a preset target path is known. Also, a technique for remotely monitoring a work vehicle during autonomous driving is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a system capable of remotely monitoring a work vehicle, a short-distance operation terminal such as a remote control operable in the vicinity of the work vehicle and a long-distance operation terminal operable remotely from a remote location may be used in combination. When a plurality of operation terminals are used in combination, if the work vehicle can be operated by each operation terminal, a problem may occur in which the work vehicle performs an operation unintended by the operator.

[0005] An object of the present invention is to provide an operation control method, an operation control program, and an operation control system capable of appropriately controlling the operation of a work vehicle performing agricultural work.

Means for Solving the Problems

[0006] The motion control method according to the present invention is a method for controlling the operation of a work vehicle that performs agricultural work by automatic driving. The motion control method performs the following actions: setting an operating terminal or operator to have the authority to give instructions regarding automatic driving to the work vehicle based on predetermined conditions; and operating the work vehicle based on the instructions given by the operating terminal or operator to whom the authority has been set.

[0007] Furthermore, the operation control program according to the present invention is a program that controls the operation of a work vehicle that performs agricultural work by automatic driving. The operation control program is a program that causes one or more processors to execute the following: setting the authority to give instructions regarding automatic driving to the work vehicle to an operating terminal or operator based on predetermined conditions, and operating the work vehicle based on the instructions given by the operating terminal or operator on whom the authority has been set.

[0008] Furthermore, the motion control system according to the present invention is a system for controlling the operation of a work vehicle that performs agricultural work by automatic driving. The motion control system comprises a setting processing unit that sets an operating terminal or operator, based on predetermined conditions, the authority to give instructions regarding automatic driving to the work vehicle, and an operation processing unit that operates the work vehicle based on instructions given by the operating terminal or operator, on whom the authority has been set. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a motion control method, a motion control program, and a motion control system that can appropriately control the operation of a work vehicle performing agricultural work. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a diagram showing an overview of an automated driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 3]Figure 3 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a map screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a map screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a map screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 7A] Figure 7A shows an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 7B] Figure 7B shows an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 7C] Figure 7C shows an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 8] Figure 8 shows an example of a map screen and an operation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 9] Figure 9 is a block diagram showing the configuration of a management server according to an embodiment of the present invention. [Figure 10] Figure 10 shows an example of vehicle registration information registered in an automated driving system according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of terminal setting information registered in an automated driving system according to an embodiment of the present invention. [Figure 12] Figure 12 shows an example of authorized user setting information registered in an automated driving system according to an embodiment of the present invention. [Figure 13] Figure 13 is a flowchart showing an example of the procedure for motion control processing performed by an automated driving system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIG. 1, the automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a remote operation terminal 20, a short-distance operation terminal 30, and a management server 40. The work vehicle 10 may be one or a plurality. Also, each of the remote operation terminal 20 and the short-distance operation terminal 30 may be one or a plurality. The remote operation terminal 20 and the short-distance operation terminal 30 are an example of the operation terminal of the present invention. In the present embodiment, the case where the automatic driving system 1 includes a plurality of work vehicles 10 (two work vehicles 10 in FIG. 1) will be described as an example. In the present invention, the work vehicle 10 may be one. Also, the short-distance operation terminal 30 is arranged one by one for each work vehicle 10. The automatic driving system 1 is a system capable of controlling the operation of the work vehicle 10 by the remote operation terminal 20 and the short-distance operation terminal 30. The management server 40 controls the work vehicle 10, the remote operation terminal 20, and the short-distance operation terminal 30.

[0013] The work vehicle 10, the remote operation terminal 20, the short-distance operation terminal 30, and the management server 40 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the remote operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. The work vehicle 10 and the short-distance operation terminal 30 can communicate via a communication network N2. For example, the work vehicle 10 and the short-distance operation terminal 30 can communicate via short-distance wireless communication such as Bluetooth (registered trademark), wireless LAN, or infrared communication.

[0014] In this embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a combine, a rice transplanter, a sprayer, or the like. That is, the work vehicle of the present invention is a work vehicle that performs agricultural work. Each work vehicle 10 may be a vehicle of a different type or a vehicle of the same type. The work vehicle 10 is configured to be able to automatically travel (autonomously travel) along a preset target route within a work area of a farm field. Also, the work vehicle 10 is capable of performing a predetermined work while automatically traveling within the work area. Further, the work vehicle 10 is configured to be able to automatically travel along a preset inter-field route on a road (connection road) connecting a plurality of farm fields.

[0015] Based on the position information of the current position of the work vehicle 10 calculated by the positioning unit 17, the work vehicle 10 can automatically travel along the preset target route and inter-field route within the farm field and outside the farm field (road). Note that the work vehicle 10 may perform automatic travel in a state where an operator is on board.

[0016] For example, when a target route including a work route, a travel start position, and a travel end position are set for a farm field, the work vehicle 10 performs a predetermined work while automatically traveling from the travel start position to the travel end position along the target route within the farm field.

[0017] Also, when the work on one farm field is completed, the work vehicle 10 can move to another farm field to perform work. For example, when the work on the first farm field is completed, the work vehicle 10 automatically travels along the preset inter-field route on the road and moves to the second farm field. When the work vehicle 10 arrives at the second farm field, it performs a predetermined work while automatically traveling along the preset target route in the second farm field.

[0018] The target route within the field is set appropriately according to the work content. In addition, the inter-field routes on the roads are set in advance according to the operator's operation (teaching operation). The inter-field routes may be roads exclusively for work vehicles, such as farm roads, forest roads, public roads, private roads, and expressways, or they may be roads that are accessible to general vehicles (passenger cars, etc.).

[0019] The remote control terminal 20 and the nearby control terminal 30 are operating terminals that can be operated by an operator, such as a smartphone or tablet. The remote control terminal 20 and the nearby control terminal 30 may be devices with the same function or devices with different functions. For example, the remote control terminal 20 may be a smartphone and the nearby control terminal 30 may be a remote control.

[0020] The short-range operation terminal 30 is operated by an operator (such as a worker) within a predetermined distance from the work vehicle 10 in the field. For example, a worker can operate the short-range operation terminal 30 to start the automatic movement of the work vehicle 10, raise or lower the work implement 14, or stop the work vehicle 10 while it is moving automatically. If the short-range operation terminal 30 moves outside the predetermined range and communication with the work vehicle 10 is interrupted, the operation commands of the work vehicle 10 by the short-range operation terminal 30 will be restricted (prohibited).

[0021] The remote control terminal 20 is operated by an operator (such as a supervisor) outside the field (for example, at a remote location). For example, the supervisor can operate the remote control terminal 20 to start the automatic driving of the work vehicle 10, display the status of the automatic driving of the work vehicle 10, display images from the camera 53 mounted on the work vehicle 10, or stop the work vehicle 10 while it is driving automatically. If the communication between the remote control terminal 20 and the work vehicle 10 is lost due to a deterioration of the network environment or the like, the operation commands of the work vehicle 10 by the remote control terminal 20 will be restricted (prohibited).

[0022] Thus, the short-range operation terminal 30 is mainly used by an operator to give operational instructions while visually confirming the work vehicle 10 in the vicinity of the work vehicle 10, while the long-range operation terminal 20 is mainly used by a supervisor at a distance from the work vehicle 10 to give operational instructions while confirming (monitoring) the work vehicle 10 using camera images.

[0023] [Work Vehicle 10] As shown in Figures 2 and 3, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a travel device 13, a work machine 14, an obstacle detection device 15, a communication unit 16, a positioning unit 17, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the travel device 13, the work machine 14, the obstacle detection device 15, and the positioning unit 17, etc. The vehicle control device 11 and the obstacle detection device 15 may be capable of wireless communication, and the vehicle control device 11 and the positioning unit 17 may also be capable of wireless communication.

[0024] The communication unit 16 is a communication interface that connects the work vehicle 10 to communication networks N1 and N2 by wire or wireless means, and performs data communication with external devices (such as a long-range operation terminal 20 and a short-range operation terminal 30) via the communication networks N1 and N2 in accordance with a predetermined communication protocol.

[0025] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs, such as operation control programs, which cause the vehicle control device 11 to execute operation control processing (see Figure 13) described later. For example, the operation control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, the operation control program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores data such as target route information.

[0026] The running gear 13 is the drive unit that moves the work vehicle 10. As shown in Figure 3, the running gear 13 includes an engine 131, front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the work vehicle 10.

[0027] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11, obstacle detection device 15, positioning unit 17, and battery installed on the work vehicle 10. The battery is charged by the power supplied from the generator. The electrical components such as the vehicle control device 11, obstacle detection device 15, and positioning unit 17 installed on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0028] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via the PTO shaft (not shown). When the work vehicle 10 is driving automatically, the travel device 13 performs driving operations according to the commands of the vehicle control device 11. The travel device 13 also slows down or stops the work vehicle 10 according to the commands of the vehicle control device 11.

[0029] The implement 14 can be, for example, a tiller, a mower, a plow, a fertilizer spreader, a sprayer (chemical sprayer), a puddling machine, or a seed planter, and can be attached to and detached from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. Figure 3 shows the case where the implement 14 is a tiller.

[0030] The steering wheel 137 is an operating part that is operated by the operator or the vehicle control device 11. For example, in the travel device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the direction of travel of the work vehicle 10 is changed.

[0031] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0032] The positioning unit 17 is a communication device comprising a positioning control unit 171, a memory unit 172, a communication unit 173, and a positioning antenna 174. For example, as shown in Figure 2, the positioning unit 17 is installed on top of the cabin 138 where the worker is seated. However, the location of the positioning unit 17 is not limited to the cabin 138. Furthermore, the positioning control unit 171, memory unit 172, communication unit 173, and positioning antenna 174 of the positioning unit 17 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the positioning unit 17 is connected to the battery, and the positioning unit 17 can operate even when the engine 131 is stopped. In addition, the positioning unit 17 may be replaced with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0033] The positioning control unit 171 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 172 is a non-volatile memory that stores data such as a program for causing the positioning control unit 171 to perform positioning processing, positioning information, and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 172. Alternatively, the program may be downloaded from a server (not shown) to the positioning unit 17 via a communication network N1 and stored in the storage unit 172.

[0034] The communication unit 173 is a communication interface for connecting the positioning unit 17 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as base station servers via the communication network N1 in accordance with a predetermined communication protocol.

[0035] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0036] The positioning control unit 171 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 174 from satellites. For example, when the work vehicle 10 is automatically driving in a field, the positioning antenna 174 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 171 then calculates the distance between the positioning antenna 174 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 171 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained using the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 174), or it may be a position shifted from the positioning position. The positioning control unit 171 may also use a quantum compass to calculate (position) the current position of the work vehicle 10.

[0037] When the obstacle detection device 15 detects an object to be detected while the work vehicle 10 is automatically driving, it outputs detection information (measurement information) to the vehicle control device 11. Specifically, the obstacle detection device 15 includes a detection control unit 51, a storage unit 42, a camera 53, an obstacle sensor 54, a communication unit 55, etc. The obstacle detection device 15 may consist of a single unit mounted on the work vehicle 10, or multiple components may be distributed and arranged on the work vehicle 10.

[0038] The communication unit 55 connects the obstacle detection device 15 to the communication networks N1 and N2 by wire or wireless connection, and is a communication interface for performing data communication with external devices (such as a long-range operation terminal 20 and a short-range operation terminal 30) via the communication networks N1 and N2 in accordance with a predetermined communication protocol.

[0039] The storage unit 42 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 42 stores a control program that causes the obstacle detection device 15 to execute a predetermined process. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 42. Alternatively, the control program may be downloaded from a server (not shown) to the obstacle detection device 15 via a communication network N1 and stored in the storage unit 42.

[0040] Camera 53 is a digital camera that captures images of subjects included in a predetermined imaging range and outputs them as digital image data. Camera 53 continuously captures images of subjects at a predetermined frame rate, generates frame images (captured images) of a predetermined resolution, and transmits them sequentially to the detection control unit 51. Camera 53 also transmits the image data of the captured images to the remote operation terminal 20 via the communication unit 55. The remote operation terminal 20 can display the captured images on the operation screen of the operation display unit 23 (see Figure 7A, etc.).

[0041] Camera 53 includes a front camera 53a capable of capturing an image range in front of the work vehicle 10, a rear camera 53b capable of capturing an image range behind the work vehicle 10, a left camera 53c capable of capturing an image range to the left of the work vehicle 10, and a right camera (not shown) capable of capturing an image range to the right of the work vehicle 10. As shown in Figure 3, the front camera 53a is located on the upper front side of the cabin 138, the rear camera 53b is located on the upper rear side of the cabin 138, the left camera 53c is located on the upper left side of the cabin 138, and the right camera is located on the upper right side of the cabin 138. Note that camera 53 may consist only of the front camera 53a and the rear camera 53b. Alternatively, camera 53 may consist of a single omnidirectional camera capable of capturing images in all directions around the work vehicle 10.

[0042] The obstacle sensor 54 is a sensor that uses infrared light, ultrasound, or the like to detect objects within a predetermined detection range. For example, the obstacle sensor 54 may be a lidar sensor (distance sensor) that can measure the distance to the object in three dimensions using a laser, or it may be a sonar sensor having multiple sonars that can measure the distance to the object using ultrasound. The obstacle sensor 54 is installed in the central front, central rear, etc., of the work vehicle 10 and monitors the area around the work vehicle 10 to detect obstacles. In this embodiment, the case in which the obstacle sensor 54 includes a front obstacle sensor 54a that can detect objects within the detection range in front and to the sides (left and right) as viewed from the work vehicle 10, and a rear obstacle sensor 54b that can detect objects within the detection range in the rear and to the sides (left and right) as viewed from the work vehicle 10 will be described as an example. As shown in Figure 3, the front obstacle sensor 54a is located on the upper front side of the cabin 138, and the rear obstacle sensor 54b is located on the upper rear side of the cabin 138. The front obstacle sensor 54a and the rear obstacle sensor 54b enable detection of objects within a 360-degree detection range around the work vehicle 10. The front camera 53a and the front obstacle sensor 54a may be configured as a single unit, and the rear camera 53b and the rear obstacle sensor 54b may be configured as a single unit. The obstacle sensor 54 may also include a left-side obstacle sensor capable of detecting objects within the detection range to the left as viewed from the work vehicle 10, and a right-side obstacle sensor capable of detecting objects within the detection range to the right as viewed from the work vehicle 10.

[0043] The obstacle sensor 54 measures the distance to each measurement point (object to be measured) within the measurement range, for example, using a laser (such as near-infrared laser light), and generates a distance image based on the measurement information. The obstacle sensor 54 includes a processing unit constructed from an electronic control unit with an integrated microcontroller and various control programs, and is connected to the detection control unit 51, the vehicle control device 11, etc., via CAN for mutual communication.

[0044] The obstacle sensor 54 measures the distance to the measurement points within the measurement range from the obstacle sensor 54 by the TOF (Time Of Flight) method that measures the distance to the measurement points based on the round-trip time until the irradiated laser reaches the measurement point and returns. The obstacle sensor 54 performs three-dimensional measurement in the measurement range by scanning the laser vertically and horizontally at high speed over the entire measurement range and sequentially measuring the distances to the measurement points for each scanning angle (coordinates). The obstacle sensor 54 sequentially measures the intensity of the reflected light (reflection intensity) from each measurement point obtained when scanning the laser vertically and horizontally at high speed over the entire measurement range. The obstacle sensor 54 repeatedly measures in real time the distances to each measurement point in the measurement range, the reflection intensities, etc.

[0045] The obstacle sensor 54 generates a distance image from the measurement information such as the distances to the measured measurement points and the scanning angles (coordinates) for each measurement point, extracts a group of measurement points estimated to be obstacles, and transmits the measurement information regarding the extracted group of measurement points to the detection control unit 51 as the measurement information regarding the obstacles.

[0046] In addition, a control range corresponding to the distance from the work vehicle 10 is set in the measurement range (detection range) of the obstacle sensor 54. For example, in the measurement range, a range with a distance L1 from the work vehicle 10 is set as the stop control range, a range from the distance L1 to the distance L2 is set as the deceleration control range, and a range from the distance L2 to the distance L3 is set as the notification control range (however, L1 < L2 < L3). Each control range can be set according to the type, model, work content, vehicle speed, etc. of the work vehicle 10. Also, the control range may be switchable according to the traveling direction of the work vehicle 10. For example, the detection control unit 51 sets the control range on the front side of the aircraft when the work vehicle 10 is traveling forward, and sets the control range on the rear side of the aircraft when the work vehicle 10 is traveling backward.

[0047] The detection control unit 51 outputs measurement information acquired from the obstacle sensor 54 to the vehicle control device 11. While the work vehicle 10 is automatically driving, the detection control unit 51 sequentially outputs measurement information to the vehicle control device 11 each time it acquires measurement information from the obstacle sensor 54. In another embodiment, the detection control unit 51 may determine the type of detection target (measurement target) (person, vehicle, structure, material, etc.) based on the captured image acquired from the camera 53 and the measurement information acquired from the obstacle sensor 54, and output the determination result to the vehicle control device 11.

[0048] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile storage unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as temporary storage memory for various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs that are pre-stored in the ROM or storage unit 12 using the CPU.

[0049] Specifically, as shown in Figure 2, the vehicle control device 11 includes processing units such as the control processing unit 111. The vehicle control device 11 functions as various processing units by executing various processes in accordance with the operation control program using the CPU. Some or all of the processing units may be composed of electronic circuits. The operation control program may be a program that causes multiple processors to function as processing units.

[0050] The control processing unit 111 controls the operation of the work vehicle 10. For example, when the work vehicle 10 is in automatic driving mode, the control processing unit 111 causes the work vehicle 10 to drive automatically based on position information (positioning information) indicating the current position of the work vehicle 10, which is determined by the positioning unit 17. For example, when the work vehicle 10 meets the conditions for starting automatic driving and receives a driving start instruction from the operator (operation terminal), the control processing unit 111 causes the work vehicle 10 to start driving automatically based on the positioning information. For example, the control processing unit 111 causes the work vehicle 10 to drive automatically from the starting position to the ending position according to a pre-generated and set target route.

[0051] Furthermore, if the control processing unit 111 receives a stop command from the operator while the work vehicle 10 is automatically driving, it stops the automatic driving of the work vehicle 10.

[0052] Furthermore, when the work vehicle 10 is in manual driving mode, it is possible to manually drive the work vehicle 10 based on the operation (manual steering) of the occupant (worker). For example, the control processing unit 111 acquires operation information corresponding to driving operations such as steering, shifting gears, changing direction of travel, and braking by the worker, and causes the travel device 13 to execute a driving operation based on said operation information.

[0053] Furthermore, the control processing unit 111 causes the work vehicle 10 to execute a predetermined countermeasure when it detects an obstacle while the work vehicle 10 is automatically driving. Specifically, the control processing unit 111 causes the work vehicle 10 to emit a warning sound when it detects an obstacle within the notification control range. Also, the control processing unit 111 causes the work vehicle 10, which is automatically driving, to decelerate from a preset speed when it detects an obstacle within the deceleration control range. Also, the control processing unit 111 causes the work vehicle 10, which is automatically driving, to temporarily stop (commute) when it detects an obstacle within the stop control range. The control processing unit 111 may also cause the work vehicle 10 to execute a countermeasure according to the type of object detected by the obstacle detection device 15.

[0054] Furthermore, the control processing unit 111 changes the vehicle speed of the work vehicle 10 while it is automatically traveling. For example, the control processing unit 111 increases the vehicle speed in response to an increase in speed operation by the operator at the operation terminal (long-range operation terminal 20, short-range operation terminal 30), and decreases the vehicle speed in response to a deceleration operation by the operator. The control processing unit 111 also changes the engine speed of the work vehicle 10 while it is automatically traveling in response to the operator's operation at the operation terminal. In addition, the control processing unit 111 raises and lowers the work equipment 14 in response to the operator's operation at the operation terminal.

[0055] In this manner, the control processing unit 111 controls the operation of the work vehicle 10 in response to the operation of operators at the operation terminals (long-range operation terminal 20, short-range operation terminal 30) and manual operation by the vehicle's occupants. The control processing unit 111 is an example of the operation processing unit of the present invention.

[0056] Here, the work vehicle 10 includes a short-range mode in which the operation of the work vehicle 10 can be controlled within a predetermined range, and a long-range mode in which the operation of the work vehicle 10 can be controlled via a communication network N1 (such as the Internet) (operable via cloud connection). The control processing unit 111 can set and switch between the short-range mode and the long-range mode. The short-range mode is a mode in which the operation of the work vehicle 10 can be controlled by short-range communication, and the long-range mode is a mode in which the operation of the work vehicle 10 can be controlled by long-range communication. The short-range mode may also be a remote control mode, and the long-range mode may also be a smartphone mode. The control processing unit 111 can also control the operation of the work vehicle 10 according to the set mode. For example, the control processing unit 111 sets the short-range mode and the long-range mode in response to an operator's operation (mode setting / switching operation) on an operation terminal (main unit terminal) mounted on the work vehicle 10.

[0057] [Remote Operation Terminal 20] As shown in Figure 2, the remote operation terminal 20 is an information processing device comprising an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. For example, the remote operation terminal 20 is composed of a mobile device such as a smartphone or a tablet. Alternatively, the remote operation terminal 20 may be a stationary (desktop) personal computer.

[0058] The communication unit 24 is a communication interface for connecting the remote operation terminal 20 to the communication network N1 by wire or wireless connection, and for performing data communication with one or more external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0059] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The display unit displays a map of a predetermined area including the field to be worked on, predetermined information about the work vehicle 10, etc. The predetermined information includes at least one of the following: information about the current surrounding environment of the work vehicle 10, information about the current driving status of the work vehicle 10, and information about the current working status of the work vehicle 10. The operator (supervisor), from a location away from the work vehicle 10, can grasp the driving status of the work vehicle 10 as it automatically travels through fields, roads, etc., the results of obstacle detection, etc., from the predetermined information displayed on the remote operation terminal 20. In other words, the supervisor can remotely monitor the work vehicle 10 using the remote operation terminal 20.

[0060] Furthermore, the display unit shows an operation screen for issuing commands to start driving, stop driving, and resume driving for the work vehicle 10. The display unit also shows a registration screen for registering work vehicle information, field information, work information, etc.

[0061] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores control programs, such as control programs that cause the operation control unit 21 to execute various processes. For example, the control programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 22. Alternatively, the control programs may be downloaded from a server (not shown) to a remote operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0062] Furthermore, the storage unit 22 stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is the identification information of the work vehicle 10. The model is the model of the work vehicle 10. The storage unit 22 may store the work vehicle information for one work vehicle 10, or it may store the work vehicle information for multiple work vehicles 10. In this embodiment, the storage unit 22 stores the work vehicle information for each of the two work vehicles 10 that are monitored by the remote operation terminal 20.

[0063] The target route information includes information such as the route name, field name, address, field area, and working time for each target route. The route name is the name of the target route. The field name is the name of the field to which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The working time is the time required for the work to be performed on the field by the work vehicle 10.

[0064] If the target route is a route corresponding to a road (a route between fields), the target route information includes information such as the route name, address, distance traveled, and travel time. The route name is the name of the road, and the address is the address of the road. The distance traveled is the distance the work vehicle 10 travels on the road, for example, the distance from the first field to the second field. The travel time is the time the work vehicle 10 travels on the road, for example, the time required to travel from the first field to the second field.

[0065] The memory unit 22 may store the target route information for one target route, or it may store the target route information for multiple target routes. For example, if an operator generates multiple target routes for one or more fields under their management, the target route information for each target route is stored in the memory unit 22. One target route may be set for one field, or multiple target routes may be set. Also, one inter-field route may be set for a pair of fields, or multiple inter-field routes may be set. In this embodiment, the memory unit 22 stores target route information corresponding to the target route that the work vehicle 10a travels on in the first field, and target route information corresponding to the target route that the work vehicle 10b travels on in the second field.

[0066] In another embodiment, some or all of the information, such as the work vehicle information and the target route information, may be stored in a server (management server 40) accessible from the remote operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information in the management server 40. In this case, the operation control unit 21 may obtain the information from the management server 40 and execute the respective processes.

[0067] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The operation control unit 21 controls the remote operation terminal 20 by executing various control programs that are pre-stored in the ROM or memory unit 22 using the CPU.

[0068] As shown in Figure 2, the operation control unit 21 includes various processing units such as a setting processing unit 211, a display processing unit 212, and a reception processing unit 213. The operation control unit 21 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0069] The setting processing unit 211 sets information regarding the work vehicle 10 (hereinafter referred to as work vehicle information), information regarding the field (hereinafter referred to as field information), and information regarding how the work will be carried out in detail (hereinafter referred to as work information).

[0070] Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the location where the positioning antenna 174 is attached to the work vehicle 10, the type of work equipment 14, the size and shape of the work equipment 14, the position of the work equipment 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 while turning, by having the operator perform an operation to register this information on the remote operation terminal 20.

[0071] Furthermore, the setting processing unit 211 sets information such as the location and shape of the field, the work start position (travel start position) where work begins, the work end position (travel end position) where work ends, and the work direction by performing an operation to register such information on the remote operation terminal 20.

[0072] Information on the location and shape of the field can be automatically acquired, for example, by having an operator ride in the work vehicle 10 and drive it in a circle along the outer perimeter of the field, while recording the changes in the position information of the positioning antenna 174 during that time. Alternatively, the location and shape of the field can also be acquired based on a polygon obtained by having a worker operate the remote control terminal 20 to specify multiple points on the map displayed on the remote control terminal 20.

[0073] Furthermore, the setting processing unit 211 is configured to be able to set work information such as whether or not there is coordinated work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the number of skips which is the number of work paths that the work vehicle 10 skips when turning in the headland, the width of the headland, and the width of the non-cultivated land.

[0074] Furthermore, the setting processing unit 211 generates a target route for the work vehicle 10 to automatically travel in the field based on the setting information. Specifically, the setting processing unit 211 generates a target route within the field based on the start and end positions of travel registered in the field settings. For example, the setting processing unit 211 generates a target route including the start position, end position, straight route, and turning route based on the operator's setting operations. The setting processing unit 211 registers the generated target route in association with the field. The setting processing unit 211 also outputs the route data of the target route to the work vehicle 10.

[0075] In another embodiment, the configuration processing unit 211 may be included in another device such as a management server 40, and the other device may configure the aforementioned information.

[0076] The display processing unit 212 displays various information on the operation display unit 23. Specifically, the display processing unit 212 displays pre-registered work vehicles 10 on a map screen P1 that can be selected by the operator. For example, when a supervisor registers a work vehicle 10 to be monitored (managed), the display processing unit 212 displays the work vehicle 10 on the map screen P1 so that it can be selected. The work vehicle 10 displayed on the map screen P1 may be a work vehicle 10 whose information is registered in the remote operation terminal 20, or it may be a work vehicle 10 selected by the supervisor from among several registered work vehicles 10 to start work now. Alternatively, the work vehicle 10 displayed on the map screen P1 may be all work vehicles 10 registered in the management server 40, in which case the display processing unit 212 may display the work vehicle 10 that is under monitoring on its own terminal (remote operation terminal 20) in an identifiable manner.

[0077] Figure 4 shows an example of the map screen P1. As shown in Figure 4, the display processing unit 212 displays a map of a predetermined area on the map screen P1 that includes the current locations of two pre-registered work vehicles (work vehicles 10a and 10b). The display processing unit 212 also displays the identification information of work vehicle 10 at a position corresponding to the current location of work vehicle 10 on the map. Specifically, as shown in Figure 4, the display processing unit 212 displays the icon image A1 of work vehicle 10a at a position corresponding to the current location of work vehicle 10a on the map, and displays the icon image B1 of work vehicle 10b at a position corresponding to the current location of work vehicle 10b. The display processing unit 212 acquires location information (positioning information) from work vehicle 10 and displays the icon image of work vehicle 10 on the map. The display processing unit 212 updates the position of the icon image on the map in real time. In another embodiment, the display processing unit 212 may display the name (text information) of work vehicle 10a on the map instead of the icon image.

[0078] Furthermore, the display processing unit 212 may display the icon image A1 of the work vehicle 10a and the icon image B1 of the work vehicle 10b in a distinguishable manner. For example, the display processing unit 212 may display the name of the work vehicle 10a near the icon image A1 and the name of the work vehicle 10b near the icon image B1. Also, the display processing unit 212 may display the identification information (such as the name) of the work vehicle 10a when the monitor touches or mouses over the icon image A1, and display the identification information (such as the name) of the work vehicle 10b when the monitor touches or mouses over the icon image B1.

[0079] Furthermore, the display processing unit 212 may enlarge or reduce the map on the map screen P1 in response to operations to enlarge or reduce the map. The display processing unit 212 may also automatically adjust the display magnification according to the position of the monitored work vehicles 10. For example, the display processing unit 212 may determine the display magnification of the map so that the icon images of all monitored work vehicles 10 fit on one screen (the same page).

[0080] According to the map screen P1 shown in Figure 4, the monitor can determine the current location of all monitored work vehicles 10. The display processing unit 212 may be configured to display work vehicles 10 that are not yet in operation and are stored in a storage location (such as a warehouse) on the map screen P1, or it may be configured not to display work vehicles 10 that are not yet in operation and are stored in a storage location on the map screen P1. Furthermore, the monitor may be able to set whether or not to display work vehicles 10 that are not yet in operation and are stored in a storage location on the map screen P1.

[0081] Furthermore, the display processing unit 212 displays identification information on the map in a display manner corresponding to the current status of the work vehicle 10. Specifically, the display processing unit 212 displays an icon image on the map that allows identification of whether the work vehicle 10 is automatically driving or stopped. That is, the display processing unit 212 makes the display manner on the map different when the work vehicle 10 is automatically driving compared to when the work vehicle 10 is stopped. In the example shown in Figure 5, when the work vehicle 10a is stopped, the display processing unit 212 displays icon image A1 in a manner indicating that it is stopped. Also, when the work vehicle 10b is automatically driving, the display processing unit 212 displays icon image B1 in a manner indicating that it is automatically driving. Note that the display manner may also be the type, color, and thickness of the lines in the frame image surrounding the icon image, or the color, size, and display method (on, blinking) of the icon image. For example, as shown in Figure 5, the display processing unit 212 displays the frame image A2 of icon image A1 and the frame image B2 of icon image B1 in different display modes.

[0082] In another embodiment, the display processing unit 212 may hide the frame image when the work vehicle 10 is driving automatically normally, and display the frame image when the work vehicle 10 has stopped driving automatically.

[0083] Furthermore, the display processing unit 212 may display a message (text information) indicating that the vehicle is stopped near icon image A1, and a message indicating that the vehicle is automatically driving near icon image B1. Additionally, the display processing unit 212 may display a message indicating that the vehicle is stopped when the operator touches or mouses over icon image A1, and display a message indicating that the vehicle is automatically driving when the operator touches or mouses over icon image B1.

[0084] Furthermore, the work vehicle 10 will stop its automatic operation in cases such as when it detects an obstacle, when it has completed its work, when the amount of sprayed material or fuel falls below a specified amount, when the yield of harvested crops exceeds a specified amount, when DPF (Diesel Particulate Filter) regeneration work is required, or when urea solution replenishment work is required.

[0085] In another embodiment, the display processing unit 212 may display identification information on the map screen P1 that allows identification of the detection of an obstacle when an obstacle is detected. For example, when the work vehicle 10a detects an obstacle, the display processing unit 212 may light up or blink the icon image A1, or display the frame image A2 of the icon image A1 in a predetermined color. The display processing unit 212 may also display the icon image A1 or the frame image A2 in a display manner corresponding to the detection position (control range) when the work vehicle 10a detects an obstacle. For example, when the work vehicle 10a detects an obstacle in the notification control range, the display processing unit 212 may display the frame image A2 in green; when the work vehicle 10a detects an obstacle in the deceleration control range, the display processing unit 212 may display the frame image A2 in yellow; and when the work vehicle 10a detects an obstacle in the stop control range, the display processing unit 212 may display the frame image A2 in red.

[0086] Furthermore, the display processing unit 212 may display identification information on the map screen P1 that allows for the identification of the work status. For example, when the work vehicle 10a has finished work in the field to be worked on, the display processing unit 212 may light up or blink the icon image A1, or display the frame image A2 of the icon image A1 in a predetermined color. Also, for example, if the work vehicle 10a is a vehicle (sprayer) that sprays a material (chemical solution, water, etc.), the display processing unit 212 may light up or blink the icon image A1, or display the frame image A2 of the icon image A1 in a predetermined color, when the remaining amount of the material in the work vehicle 10a falls below a specified amount, or when it is time to replenish the material. For example, if the work vehicle 10a is a vehicle that harvests crops (such as a combine harvester), the display processing unit 212 lights up or flashes the icon image A1, or displays the frame image A2 of the icon image A1 in a predetermined color, when the yield of the harvested crop exceeds a specified amount, or when it is time to discharge the harvested crop.

[0087] Thus, when the work vehicle 10 stops automatically driving, the display processing unit 212 may display the stopped state of the work vehicle 10 on the map screen P1 in an identifiable manner, or when the work vehicle 10 stops automatically driving, it may display identification information on the map screen P1 that allows for the identification of the cause of the work vehicle 10 stopping.

[0088] According to the map screen P1 shown in Figure 5, the monitor can understand the current status of each of the 10 work vehicles being monitored.

[0089] Here, the display processing unit 212 makes the work vehicle 10 selectable on the map screen P1 (see Figures 4 and 5). Specifically, the display processing unit 212 makes icon images A1 and B1 selectable on the map on the map screen P1. The reception processing unit 213 receives the icon image selection operation from the operator on the map screen P1. For example, as shown in Figure 6, when a supervisor touches the icon image A1 of the work vehicle 10a displayed on the map screen P1 with their finger, the reception processing unit 213 receives the touch operation. For example, if a supervisor looks at the map screen P1 and realizes that the work vehicle 10a has stopped automatically driving, they touch the icon image A1 of the work vehicle 10a to check the reason for the stop.

[0090] The display processing unit 212 displays predetermined information regarding the work vehicle 10 selected by the supervisor on the operation display unit 23. Specifically, the display processing unit 212 displays the predetermined information on the operation screen P2. The predetermined information includes at least one of the following: information regarding the current surrounding environment of the work vehicle 10, information regarding the current driving status of the work vehicle 10, and information regarding the current work status of the work vehicle 10. For example, when the supervisor selects the icon image A1 of the work vehicle 10a (see Figure 6), the display processing unit 212 displays the captured images of the area around the work vehicle 10a, captured by the camera 53 mounted on the work vehicle 10a, on the operation screen P2, as shown in Figure 7A. Here, the display processing unit 212 acquires front, rear, left, and right images of the work vehicle 10a from the camera 53 and displays them on the operation screen P2. Also, as shown in Figure 7A, the display processing unit 212 displays the front image at the top of the operation screen P2, and the rear, left, and right images at the bottom of the operation screen P2. In another embodiment, the display processing unit 212 may display the front image below the operation screen P2, as shown in Figure 7B, and the rear image, left side image, and right side image above the operation screen P2. Furthermore, the arrangement, size, and display / hide status of each image may be set (customized) by the operator.

[0091] Furthermore, when the work vehicle 10a detects an obstacle, the display processing unit 212 may display on the operation screen P2 an image containing the obstacle from among the multiple images captured by the camera 53 so that it can be identified. For example, when the obstacle sensor 54 of the work vehicle 10a detects an obstacle in front of the work vehicle 10a, the display processing unit 212 will highlight and display the forward image on the operation screen P2, as shown in Figure 7A.

[0092] In this manner, the display processing unit 212 displays the icon images of the pre-registered work vehicles 10 on the map screen P1 in a display mode corresponding to the current status of the work vehicle 10 (see Figure 6), and displays the captured images of the area around the work vehicle 10, captured by the camera 53 mounted on the work vehicle 10 corresponding to the icon image selected by the supervisor from among the multiple icon images on the map screen P1, on the operation screen P2 (see Figure 7A).

[0093] Furthermore, the display processing unit 212 displays switching buttons ("NEXT" button, "BACK" button) on the operation screen P2 to switch between displayed images. When the monitor presses the "NEXT" button once, the display processing unit 212 enlarges the front image (see Figure 7C). When the monitor presses the "NEXT" button again, the display processing unit 212 enlarges the right image, when the monitor presses the "NEXT" button again, the display processing unit 212 enlarges the rear image, and when the monitor presses the "NEXT" button again, the display processing unit 212 enlarges the left image. Each time the monitor presses the "NEXT" button, the display processing unit 212 switches between the front image, right image, rear image, and left image in this order. Similarly, each time the monitor presses the "BACK" button, the display processing unit 212 switches between the front image, left image, rear image, and right image in this order. Furthermore, when the monitor presses the "4CAM" button on the operation screen P2 shown in Figure 7C, the display processing unit 212 displays the captured images from four directions (front image, rear image, left side image, and right side image) on the operation screen P2 (see Figure 7A).

[0094] Furthermore, the display processing unit 212 may change (zoom) the display magnification (field of view size) of the captured image on the operation screen P2 shown in Figures 7A to 7C. For example, on the operation screen P2 shown in Figure 7C, if the observer performs a zoom operation (pinch out), the display processing unit 212 will enlarge the forward image (zoom in), and if the observer performs a zoom operation (pinch in), the display processing unit 212 will reduce the forward image (zoom out). In addition, the display processing unit 212 may change the imaging range (shooting direction) of the camera 53 in response to the observer's operation.

[0095] Furthermore, the display processing unit 212 may highlight the detected obstacle in the captured image by surrounding it with a frame image, or track the obstacle. The display processing unit 212 may also display information on the distance to the detected obstacle and information on the type of obstacle (person, vehicle, structure, material, etc.) on the operation screen P2. The camera 53 may be positioned so that a part of the work vehicle 10 is captured in the image to make it easier to grasp the sense of distance to the detected obstacle.

[0096] Furthermore, the display processing unit 212 displays a "START" button and a "STOP" button on the operation screen P2. When the supervisor presses the "START" button, the reception processing unit 213 accepts the operation and outputs an instruction (driving start instruction) to the work vehicle 10 to start or restart automatic driving. For example, when starting automatic driving of the work vehicle 10a, the supervisor selects the work vehicle 10a on the map screen P1 (see Figure 6), confirms the safety of the area around the work vehicle 10a on the operation screen P2, and then presses the "START" button. As a result, the reception processing unit 213 outputs an instruction (driving start instruction) to the work vehicle 10a to start automatic driving, and the work vehicle 10a starts automatic driving according to the instruction. The operation control unit 21 may permit the pressing of the "START" button if the work vehicle 10 meets the conditions for starting automatic driving. Furthermore, for example, if the work vehicle 10a detects an obstacle and stops automatic driving, the supervisor selects the work vehicle 10a on the map screen P1 (see Figure 6), confirms the safety of the area around the work vehicle 10a on the operation screen P2, and then presses the "START" button. As a result, the reception processing unit 213 outputs an instruction to the work vehicle 10a to resume automatic driving (driving start instruction), and the work vehicle 10a resumes automatic driving in accordance with the instruction. In another embodiment, the reception processing unit 213 may permit the pressing of the "START" button only on the condition that no obstacles are detected.

[0097] Furthermore, for example, if the work vehicle 10b is driving automatically and the supervisor selects the work vehicle 10b on the map screen P1 and presses the "STOP" button on the operation screen P2, the reception processing unit 213 outputs an instruction to the work vehicle 10b to stop automatic driving (driving stop instruction). As a result, the work vehicle 10b stops automatic driving in accordance with the instruction.

[0098] Furthermore, when the monitor presses the "MAP" button on the operation screen P2, the display processing unit 212 switches to the map screen P1 (see Figure 5). In this way, the monitor can switch between the map screen P1 and the operation screen P2.

[0099] In another embodiment, the display processing unit 212 may display the map screen P1 and the operation screen P2 side by side in a horizontal or vertical direction. For example, as shown in Figure 8, the display processing unit 212 displays the map screen P1 in the left display area of ​​the operation display unit 23, and displays the operation screen P2 corresponding to the work vehicle 10a selected on the map screen P1 in the right display area. Furthermore, when the monitor presses the "MAP" button on the operation screen P2 shown in Figure 8, the display processing unit 212 enlarges the map screen P1 (see Figure 6), and when the monitor presses the "Camera" button, it enlarges the operation screen P2 (see Figure 7A). The display processing unit 212 may also display the front image at the bottom of the operation screen P2, and the rear image, left side image, and right side image at the top of the operation screen P2. In addition, the arrangement, size, and display / hide of each image may be set (customized) by the monitor.

[0100] The reception processing unit 213 can receive operation instructions to control the operation of the work vehicle 10, in addition to start and stop instructions for automatic driving. For example, the reception processing unit 213 can receive instructions from the supervisor to set and change the vehicle speed and engine speed of the work vehicle 10, as well as to raise and lower the work equipment 14 and perform ridge-raising operations. For example, the display processing unit 212 displays an operation section on the operation screen P2 (see Figure 7A) that accepts instructions to set and change the vehicle speed and engine speed of the work vehicle 10, raise and lower the work equipment 14 and perform ridge-raising operations. The supervisor can give operation instructions to control the operation of the work vehicle 10 while being able to check the camera image. The operation control unit 21 outputs the operation instructions received by the reception processing unit 213 to the work vehicle 10.

[0101] The setting process in the setting processing unit 211 described above may also be performed by the management server 40, the short-range operation terminal 30, or an operation terminal (not shown) on board the work vehicle 10. Furthermore, the process of starting automatic driving in the operation control unit 21 can also be performed by the short-range operation terminal 30, as described above. For example, an operator (worker) within a predetermined range of the field can operate the short-range operation terminal 30 to issue a command to start automatic driving.

[0102] Furthermore, the remote operation terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server (e.g., the management server 40) via the communication network N1. In this case, the remote operation terminal 20 can function as an operation terminal for the server by having a browser program executed by the operation control unit 21. The server then comprises the processing units described above and executes each of these processes.

[0103] Here, the remote control terminal 20 may be configured to control the operation of the work vehicle 10 when the mode is set to the remote mode. That is, the automatic driving system 1 sets the operation content that the remote control terminal 20 can control the operation of the work vehicle 10 depending on whether the set mode is the short-range mode or the long-range mode. The operation control unit 21 may display information that can identify whether the current mode is the short-range mode or the long-range mode on the map screen P1 and the operation screen P2. For example, the operation control unit 21 may display the icon image of the work vehicle 10 set to the short-range mode and the icon image of the work vehicle 10 set to the long-range mode in different colors on the map screen P1.

[0104] [Short-range operation terminal 30] The short-range operation terminal 30 consists of a mobile device such as a smartphone, tablet, or remote control. The short-range operation terminal 30 may have the same functions as the long-range operation terminal 20. The short-range operation terminal 30 connects to the work vehicle 10 via Bluetooth within a predetermined range relative to the work vehicle 10.

[0105] The short-range operation terminal 30 may be capable of receiving operation instructions to control the operation of the work vehicle 10, in addition to instructions to start and stop automatic driving. For example, the short-range operation terminal 30 may receive instructions from the operator to set and change the vehicle speed and engine speed of the work vehicle 10, raise and lower the implement 14, and perform ridge-raising operations. For example, the short-range operation terminal 30 has an operation unit that receives instructions to set and change the vehicle speed and engine speed of the work vehicle 10, raise and lower the implement 14, and perform ridge-raising operations. The operator can give operation instructions to control the operation of the work vehicle 10 while the work vehicle 10 is in a state where it can be visually confirmed in the field. The short-range operation terminal 30 outputs the operation instructions received from the operator to the work vehicle 10.

[0106] Here, the short-range operation terminal 30 may be configured to authorize operation instructions to control the operation of the work vehicle 10 when the mode is set to the short-range mode. In other words, the automatic driving system 1 sets the operation content that the short-range operation terminal 30 can control the operation of the work vehicle 10, depending on whether the set mode is the short-range mode or the long-range mode.

[0107] The automatic driving system 1 is configured to control the operation of the work vehicle 10 according to the set mode (short-range mode, long-range mode). The short-range operation terminal 30 may display information on its operation screen or on its indicator lights that allows it to identify whether the current mode is short-range mode or long-range mode. In addition, the operation terminal mounted on the work vehicle 10 (main terminal) may also display information that allows it to identify whether the current mode is short-range mode or long-range mode.

[0108] As described above, in the automated driving system 1, multiple operating terminals (long-range operating terminal 20, short-range operating terminal 30) can be used in conjunction with one work vehicle 10. However, when multiple operating terminals are used in conjunction, if the work vehicle 10 can be operated from each terminal, a problem arises in which the work vehicle 10 may perform actions unintended by the operator. For example, if a monitor monitoring the work vehicle 10 with the long-range operating terminal 20 does not want the work vehicle 10 to start (or restart) automated driving, and an operator near the work vehicle 10 issues a command to start automated driving using the short-range operating terminal 30, the automated driving will start against the monitor's wishes. Also, if one work vehicle 10 is monitored by two long-range operating terminals 20, and one monitor issues a command to start automated driving using the long-range operating terminal 20, the automated driving will start against the other monitor's wishes.

[0109] In view of the above-mentioned problems, the automated driving system 1 according to this embodiment is configured to appropriately control the operation of the work vehicle 10. Specifically, the automated driving system 1 is configured to set the authority to give instructions regarding automated driving to the work vehicle 10 to an operation terminal (long-range operation terminal 20, short-range operation terminal 30) or an operator based on predetermined conditions, and to operate the work vehicle 10 based on instructions given from the operation terminal or operator to whom the authority has been set. For example, the management server 40 is configured to set the authority to an operation terminal or an operator.

[0110] [Management Server 40] As shown in Figure 9, the management server 40 is an information processing device (server device) that includes a management control unit 41, a storage unit 42, an operation display unit 43, and a communication unit 44. For example, the management server 40 is composed of a personal computer or the like. Alternatively, the management server 40 may be composed of a cloud server.

[0111] The communication unit 44 is a communication interface that connects the management server 40 to the communication network N1 by wire or wireless connection and performs data communication in accordance with a predetermined communication protocol with one or more external devices such as operation terminals (long-range operation terminal 20, short-range operation terminal 30) via the communication network N1.

[0112] The operation display unit 43 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations.

[0113] The storage unit 42 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 42 stores control programs, such as operation control programs, that cause the management control unit 41 to execute operation control processing (see Figure 13) described later. For example, the operation control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 42. Alternatively, the operation control program may be downloaded from a server (not shown) to a management server 40 via a communication network N1 and stored in the storage unit 42.

[0114] Furthermore, the storage unit 42 stores data such as vehicle registration information D1 (see Figure 10) related to the work vehicle 10, terminal setting information D2 (see Figure 11) related to an operation terminal that can issue operation commands to the work vehicle 10, and authority setting information D3 (see Figure 12) related to an authority that has the authority to issue operation commands to the work vehicle 10.

[0115] As shown in Figure 10, the vehicle registration information D1 registers, for each work vehicle 10, the following information in association: the identification information of the work vehicle 10 (vehicle ID), the identification information of the implementing entity (agricultural corporation, management corporation, etc.) that introduces the work vehicle 10 (implementing entity ID), the identification information of the user of the work vehicle 10 (user ID), and the identification information of the assistant (assistant ID). The "user" is the user who has all operational rights to the work vehicle 10, and can, for example, issue commands to start automatic driving, stop automatic driving, change vehicle speed and engine speed, raise and lower the work implement 14, fold the field, and set the work. In contrast, the "assistant" is a user who has only some operational rights to the work vehicle 10, and can, for example, only issue commands to stop automatic driving and fold the field.

[0116] As shown in Figure 11, the terminal setting information D2 registers, for each work vehicle 10, the identification information (terminal ID) of the operation terminals (long-range operation terminal 20, short-range operation terminal 30) that can issue operation commands to the work vehicle 10, the identification information (terminal ID) of the operation terminal with first authority set (main operation terminal), and the identification information (terminal ID) of the operation terminal with second authority set (sub-operation terminal). The first and second authorities are authorities that allow different commands to be issued to the work vehicle 10.

[0117] As shown in Figure 12, the authorization settings information D3 registers, for each work vehicle 10, the identification information (user ID) of the operator with first authority and the identification information (user ID) of the operator with second authority in association.

[0118] In another embodiment, some or all of the information such as vehicle registration information D1, terminal setting information D2, and authorized person setting information D3 may be stored in an operating terminal (for example, a remote operation terminal 20).

[0119] The management control unit 41 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The management control unit 41 controls the management server 40 by executing various control programs that are pre-stored in the ROM or memory unit 42 using the CPU.

[0120] As shown in Figure 9, the management control unit 41 includes various processing units such as a registration processing unit 411 and a setting processing unit 412. The management control unit 41 functions as these various processing units by executing various processes according to the operation control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The operation control program may be a program that causes multiple processors to function as processing units.

[0121] The registration processing unit 411 registers vehicle registration information D1, terminal setting information D2, and authorized user setting information D3. For example, when an implementing entity purchases a new work vehicle 10 and applies to start using the management service, the registration processing unit 411 issues an ID to the implementing entity and registers vehicle registration information D1 (see Figure 10) that links the vehicle ID of the work vehicle 10 with the implementing entity ID. Also, for example, when an implementing entity purchases an additional work vehicle 10 and applies to start using the management service, the registration processing unit 411 registers vehicle registration information D1 that links the vehicle ID of the work vehicle 10 with the implementing entity ID. The registration processing unit 411 manages each work vehicle 10 by associating its vehicle ID with the implementing entity ID.

[0122] Furthermore, for example, when the implementing entity logs in to the management page (not shown) and registers users and assistants, the registration processing unit 411 issues user IDs and assistant IDs, links the user IDs and assistant IDs with the vehicle ID, and registers them in the vehicle registration information D1 (see Figure 10). As shown in Figure 10, the registration processing unit 411 manages the user IDs and assistant IDs in association for each work vehicle 10.

[0123] Furthermore, the registration processing unit 411 registers an operating terminal (long-range operating terminal 20, short-range operating terminal 30) for each work vehicle 10. For example, when a work vehicle 10 to be monitored (managed) is registered in the long-range operating terminal 20, the registration processing unit 411 registers the vehicle ID and the identification information (terminal ID) of the long-range operating terminal 20 in association (see Figure 11). Also, if a short-range operating terminal 30 has been registered in advance for a work vehicle 10, the registration processing unit 411 acquires and manages the vehicle ID and the identification information (terminal ID) of the short-range operating terminal 30.

[0124] The setting processing unit 412 sets (grants) the authority to give instructions regarding automatic driving to the work vehicle 10 to an operation terminal (long-range operation terminal 20, short-range operation terminal 30) or an operator based on predetermined conditions. Specifically, the setting processing unit 412 sets authority for a single work vehicle 10 to multiple operation terminals or multiple operators, and sets different authority for each operation terminal or operator, which allows them to give instructions to the work vehicle 10. Specific examples of the method for setting the authority will be described below. Below, a configuration in which the authority is set to the operation terminals (long-range operation terminal 20, short-range operation terminal 30) ([First Embodiment]) and a configuration in which the authority is set to an operator ([Second Embodiment]) will be described. The setting processing unit 412 is an example of the setting processing unit of the present invention.

[0125] [First Embodiment] The automated driving system 1 according to the first embodiment grants each operating terminal (long-range operating terminal 20, short-range operating terminal 30) the authority to give instructions regarding automated driving to the work vehicle 10. Furthermore, the automated driving system 1 sets one operating terminal as the main operating terminal for each work vehicle 10, and sets one or more other operating terminals as sub-operating terminals.

[0126] For example, on the control terminal with first authority (main control terminal), the operator can issue commands to start automatic driving, stop automatic driving, change vehicle speed and engine speed, raise and lower the work equipment 14, fold the soil, and set the work. On the other hand, on the control terminal with second authority (sub-control terminal), the operator can only issue commands to stop automatic driving and fold the soil. In this way, the automatic driving system 1 sets different authority for multiple control terminals and sets the content that can be instructed to the work vehicle 10 for each control terminal according to the authority.

[0127] For example, if two remote control terminals 20 and one local control terminal 30 are registered for a work vehicle 10a, the setting processing unit 412 sets first authority for one of the remote control terminals 20 and second authority for the other remote control terminal 20 and the local control terminal 30. The setting processing unit 412 also sets one of the remote control terminals 20 as the main control terminal and sets the other remote control terminal 20 and the local control terminal 30 as sub-control terminals.

[0128] Specifically, when the mode is set to long-distance mode, the setting processing unit 412 sets one of the two long-distance operation terminals 20 as the main operation terminal. For example, the setting processing unit 412 sets the long-distance operation terminal 20 that first receives an automatic driving start instruction (driving start instruction) from the operator (supervisor) as the main operation terminal, and sets the other long-distance operation terminal 20 as the sub-operation terminal.

[0129] For example, if the map screen P1 (see Figure 4) is displayed on both remote control terminals 20A and 20B, and supervisor A is monitoring the work vehicle 10 on remote control terminal 20A, and supervisor B is monitoring the work vehicle 10 on remote control terminal 20B, when supervisor A selects the work vehicle 10 (for example, icon image A1 of work vehicle 10a) on remote control terminal 20A and presses the "START" button on the operation screen P2 (see Figure 7A, etc.), the setting processing unit 412 sets the first authority to operate the work vehicle 10a on remote control terminal 20A (setting remote control terminal 20A as the main operation terminal). The setting processing unit 412 also sets the second authority to operate the work vehicle 10a on remote control terminal 20B (setting remote control terminal 20B as the sub-operation terminal). Furthermore, the setting processing unit 412 sets a second authority to operate the work vehicle 10a on the short-range operation terminal 30 corresponding to the work vehicle 10a (setting the short-range operation terminal 30 as a sub-operation terminal).

[0130] Furthermore, in the above example, if, for example, the operator first issues an instruction to start automatic driving at the short-range operation terminal 30 corresponding to the work vehicle 10a, the setting processing unit 412 sets the first authority to operate the work vehicle 10a on the short-range operation terminal 30 (setting the short-range operation terminal 30 as the main operation terminal), and sets the second authority to operate the work vehicle 10a on each of the long-range operation terminals 20A and 20B (setting the long-range operation terminals 20A and 20B as sub-operation terminals).

[0131] In another embodiment, the setting processing unit 412 may perform an operation to set the permissions (main operation terminal, sub operation terminal) on the operation terminal selected by the operator (such as an administrator), and set the permissions (main operation terminal, sub operation terminal) according to that operation. For example, when an administrator registers a work plan for a work vehicle 10a, if they select a main operation terminal and a sub operation terminal (first permission and second permission) for the work vehicle 10a, the setting processing unit 412 sets the main operation terminal and sub operation terminal (first permission and second permission) for the work vehicle 10a. The administrator selects a main operation terminal and a sub operation terminal (first permission and second permission) for each work vehicle 10.

[0132] In this way, the configuration processing unit 412 sets the aforementioned permissions on the operation terminal corresponding to the work vehicle 10, or sets a main operation terminal and a sub-operation terminal corresponding to the work vehicle 10. For example, as shown in Figure 11, the configuration processing unit 412 registers the vehicle ID, the terminal ID of the main operation terminal, and the terminal ID of the sub-operation terminal for each work vehicle 10 in association with each other.

[0133] Furthermore, the setting processing unit 412 outputs terminal setting information D2 (see Figure 11) to each operation terminal and the work vehicle 10. Each operation terminal accepts operator input based on the terminal setting information D2 and outputs operation instructions to the work vehicle 10. The work vehicle 10 controls its operation based on the terminal setting information D2.

[0134] For example, the remote control terminal 20A (main control terminal) which has first authority set for the work vehicle 10a is authorized to receive instructions such as starting automatic driving, stopping automatic driving, changing vehicle speed and engine speed, raising and lowering the work implement 14, ridge-raising instructions, and setting work instructions, and outputs the instruction to the work vehicle 10a when it receives such an instruction. The control processing unit 111 of the work vehicle 10a controls the operation of the work vehicle 10a in accordance with the instructions. For example, if the mode is set to remote mode and the control processing unit 111 receives an instruction to start automatic driving (driving start instruction) from the remote control terminal 20A of the main control terminal, it will start automatic driving if the work vehicle 10a meets the conditions for starting automatic driving. Also, for example, if the mode is set to remote mode and the control processing unit 111 receives an instruction to lower the work implement 14 from the remote control terminal 20A of the main control terminal, it will lower the work implement 14.

[0135] For example, if the short-range operation terminal 30 corresponding to the work vehicle 10a is set as the main operation terminal, the control processing unit 111 will start automatic driving if the mode is set to short-range mode and it receives an instruction to start automatic driving from the short-range operation terminal 30, and the work vehicle 10a meets the conditions for starting automatic driving.

[0136] In contrast, the remote operation terminal 20B (sub-operation terminal) and the nearby operation terminal 30, which are set to have second authority over the work vehicle 10a, are permitted to accept only instructions to stop automatic driving and instructions to move the vehicle along the bank, and are prohibited from accepting other instructions. For example, the remote operation terminal 20B grays out the "START" button on the operation screen P2 (see Figure 7A, etc.) and prohibits the acceptance of instructions to start automatic driving. In another embodiment, the control processing unit 111 of the work vehicle 10a may prohibit automatic driving when it receives an instruction to start automatic driving from the remote operation terminal 20B. In this way, when the remote operation terminal 20 is set as a sub-operation terminal, even if the mode is set to the remote mode, instructions to start automatic driving by the remote operation terminal 20 are prohibited.

[0137] Furthermore, if the mode is set to long-distance mode and the main operating terminal is set to short-distance operating terminal 30, or if the mode is set to short-distance mode and the main operating terminal is set to long-distance operating terminal 20, automatic driving will not be possible from either operating terminal. In this case, the automatic driving system 1 may prompt the operator to switch modes or to switch between the main and sub-operating terminals (transfer of authority).

[0138] Here, the configuration processing unit 412 may transfer (delegate) the permissions set for each operation terminal. For example, if the configuration processing unit 412 sets the first permission for the remote operation terminal 20A and the second permission for the remote operation terminal 20B and the nearby operation terminal 30 for the work vehicle 10a (see Figure 11), it may change the settings thereafter. For example, if communication between the remote operation terminal 20A and the work vehicle 10a is interrupted while the work vehicle 10a is driving automatically, the configuration processing unit 412 sets the first permission for the remote operation terminal 20B or the nearby operation terminal 30 (setting the remote operation terminal 20B or the nearby operation terminal 30 as the main operation terminal).

[0139] For example, if the remote operation terminal 20A has been pre-assigned first-priority authority, the remote operation terminal 20B has been pre-assigned second-priority authority, and the nearby operation terminal 30 has been pre-assigned third-priority authority, and communication between the remote operation terminal 20A and the work vehicle 10a is interrupted, the setting processing unit 412 will set the first authority (e.g., the authority to start automatic driving) to the second-priority remote operation terminal 20B (transferring the authority). In another embodiment, the setting processing unit 412 may pre-assign a specific operation terminal as the destination for the authority transfer in the event of a communication interruption. Furthermore, if, for example, the setting processing unit 412 has transferred the authority to start automatic driving, and no instruction to start automatic driving is output from the destination operation terminal within a predetermined time, the setting processing unit 412 may transfer the start authority to another operation terminal.

[0140] In another embodiment, if communication between the remote operation terminal 20A and the work vehicle 10a is interrupted, the setting processing unit 412 may notify the operator (supervisor) of the remote operation terminal 20B and the operator (worker) of the nearby operation terminal 30 of an inquiry asking whether or not to change from the second authority to the first authority, and the authority may be transferred based on the response of each operator to the inquiry.

[0141] In another embodiment, if communication between the remote operation terminal 20A and the work vehicle 10a is interrupted, the setting processing unit 412 may, for example, automatically set the first authority on the remote operation terminal 20B if the remote operation terminal 20B is displaying the camera image operation screen P2, and automatically set the first authority on the nearby operation terminal 30 if the remote operation terminal 20B is not displaying the camera image operation screen P2 (see Figure 7A, etc.).

[0142] The configuration processing unit 412 may also notify both the source terminal and the destination terminal that the authority has been transferred when the authority has been transferred.

[0143] In another embodiment, the configuration processing unit 412 may transfer authority based on an operator's request. For example, if an operator of a remote operation terminal 20A configured as the main operation terminal requests (transfer request) to transfer the first authority configured on the remote operation terminal 20A to another remote operation terminal 20B or nearby operation terminal 30, the configuration processing unit 412 receives the transfer request and outputs the transfer request to the destination (remote operation terminal 20B or nearby operation terminal 30) specified by the operator. If the destination operator accepts the transfer request (agrees to the transfer of the first authority), the configuration processing unit 412 transfers the first authority to the destination operation terminal. For example, if an operator of a remote operation terminal 20A makes a transfer request specifying nearby operation terminal 30 as the destination, and the operator of nearby operation terminal 30 agrees to the transfer request, the configuration processing unit 412 changes the authority of nearby operation terminal 30 from the second authority to the first authority and changes the authority of remote operation terminal 20A from the first authority to the second authority. In other words, the setting processing unit 412 changes the short-range operation terminal 30 from a sub-operation terminal to a main operation terminal, and changes the long-range operation terminal 20A from a main operation terminal to a sub-operation terminal.

[0144] As another example, if an operator of a remote control terminal 20B or a nearby control terminal 30 configured as a sub-operating terminal requests (transfer request) to transfer the first authority configured on the remote control terminal 20A to their own operating terminal, the configuration processing unit 412 receives the transfer request and outputs the transfer request to the remote control terminal 20A that holds the first authority. When the operator of the remote control terminal 20A accepts the transfer request (agrees to the transfer of the first authority), the configuration processing unit 412 transfers the first authority to the operating terminal that made the transfer request. For example, if a monitor of the remote control terminal 20B of the sub-operating terminal makes the aforementioned transfer request for the authority of the remote control terminal 20A of the main operating terminal, and the monitor of the remote control terminal 20A agrees to the transfer request, the configuration processing unit 412 changes the authority of the remote control terminal 20B from the second authority to the first authority, and changes the authority of the remote control terminal 20A from the first authority to the second authority. In other words, the configuration processing unit 412 changes the remote operation terminal 20B from a sub-operation terminal to a main operation terminal, and changes the remote operation terminal 20A from a main operation terminal to a sub-operation terminal. When the authority of the operation terminals is changed, the configuration processing unit 412 updates the terminal configuration information D2.

[0145] This makes it possible to transfer the primary authority to another terminal and execute the corresponding operation commands even if the primary terminal becomes inoperable (due to communication errors, operator absence, terminal malfunction, etc.).

[0146] As another embodiment of the first embodiment, if the operating terminal on which the authority has been set can display the image from the camera 53, the automatic driving system 1 does not impose restrictions on the content that can be instructed to the work vehicle 10 based on the distance between the work vehicle 10 and the operating terminal. However, if the operating terminal on which the authority has been set cannot display the image, restrictions on the content that can be instructed to the work vehicle 10 based on the distance may be imposed. For example, if the operating terminal has a camera image display function, the status of the work vehicle 10 can be confirmed by the camera image, and therefore a predetermined operation (e.g., instruction to start automatic driving, commencement of inter-field movement, change of status of the work implement 14, etc.) is permitted. On the other hand, if, for example, the short-range operating terminal 30 does not have a camera image display function and there is a communication distance limitation, the predetermined operation is permitted on the condition that the distance between the short-range operating terminal 30 and the work vehicle 10 is less than a predetermined distance, and the predetermined operation is prohibited if the distance is greater than or equal to the predetermined distance. Even if the operating terminal can display the camera image, the distance limitation may be imposed if the camera image is not displayed.

[0147] In another embodiment, the setting processing unit 412 may set an authority (first authority) on an unregistered operating terminal for the work vehicle 10. Also, after the automatic driving of the work vehicle 10 has started, the setting processing unit 412 may permit a change in the operating terminal to which authority has been set, or a change in authority (switching between the first and second authority), when the automatic driving stops.

[0148] Furthermore, the authority transfer process may be permitted when the work vehicle 10 is stopped. For example, after the automatic driving of the work vehicle 10 has started, the setting processing unit 412 permits the authority transfer (change of the operating terminal to which the authority is set) only when the automatic driving is stopped, and prohibits the authority transfer while the vehicle is driving automatically.

[0149] In another embodiment, if an abnormality occurs in the work vehicle 10 and the authorized operating terminal is located more than a predetermined distance from the work vehicle 10, the setting processing unit 412 may transfer the authorization to another operating terminal located less than a predetermined distance from the work vehicle 10. For example, if the work vehicle 10 detects an obstacle while automatically driving and stops, and the operating terminal is located less than a predetermined distance from the work vehicle 10, the setting processing unit 412 sets the first authorization to that operating terminal. In this case, the operator of the operating terminal removes the obstacle detected by the work vehicle 10 and then issues a command to start automatic driving using the operating terminal. As a result, the work vehicle 10 resumes automatic driving.

[0150] [Second Example] The automated driving system 1 according to the second embodiment grants (assigns) the operator the authority to give instructions regarding automated driving to the work vehicle 10. Furthermore, the automated driving system 1 sets first authority for one operator and second authority for one or more other operators for one work vehicle 10.

[0151] For example, an operator with first authority (first authority holder) can issue commands to start automatic driving, stop automatic driving, change vehicle speed and engine speed, raise and lower the work equipment 14, fold the field, and set the work settings. An operator with second authority (second authority holder) can only issue commands to stop automatic driving and fold the field. In this way, the automatic driving system 1 sets different authority for multiple operators and sets the content that can be commanded to the work vehicle 10 according to the authority for each operator.

[0152] For example, if a user and an assistant are registered for a work vehicle 10a (see Figure 10), the setting processing unit 412 sets the user to have first authority and the assistant to have second authority. Also, if multiple users are registered for one work vehicle 10, the setting processing unit 412 sets first authority for one of the users and second authority for the other users. For example, a user may be qualified to be both a first and second authority holder, while an assistant may only be qualified to be a second authority holder and not a first authority holder.

[0153] In another embodiment, the setting processing unit 412 may set first authority to the operator who performed a specific operation among multiple operators. For example, the setting processing unit 412 sets first authority to the operator who first gives the automatic driving start command (driving start command) among multiple operators, and sets second authority to the other operators. For example, when operator (supervisor A) enters a user ID (e.g., user ID) and logs in on the remote operation terminal 20, selects the work vehicle 10a, and presses the "START" button on the operation screen P2 (see Figure 7A, etc.), the setting processing unit 412 sets first authority to supervisor A in association with the work vehicle 10a. The setting processing unit 412 also sets second authority to the other operators in association with the work vehicle 10a.

[0154] As another example, the configuration processing unit 412 may set a first authority corresponding to the work vehicle 10 to the operator who first selected the work vehicle 10 on the map screen P1 (see Figure 4) among multiple operators. For example, if operator (supervisor A) logs in by entering a user ID (e.g., user ID) on the remote operation terminal 20 and selects the work vehicle 10a on the map screen P1, the configuration processing unit 412 sets the first authority for supervisor A in association with the work vehicle 10a. The configuration processing unit 412 also sets a second authority for the other operators in association with the work vehicle 10a.

[0155] In another embodiment, the setting processing unit 412 may perform an operation in which an administrator sets the aforementioned permissions for an operator in advance, and set the permissions according to that operation. For example, when an administrator registers a work plan for a work vehicle 10a and selects a first and second authority holder for the work vehicle 10a, the setting processing unit 412 sets the first and second authority holders for the work vehicle 10a. The administrator selects a first and second authority holder for each work vehicle 10.

[0156] In this way, the setting processing unit 412 sets the aforementioned authority for the operator corresponding to the work vehicle 10, or sets a first and second authority holder corresponding to the work vehicle 10. For example, as shown in Figure 12, the setting processing unit 412 registers the vehicle ID, the first authority holder's ID, and the second authority holder's ID in association for each work vehicle 10. The remote operation terminal 20 may, for example, display the first and second authority holders corresponding to the work vehicle 10 in an identifiable manner on the map screen P1 (see Figure 4).

[0157] Furthermore, the setting processing unit 412 outputs the authorized user setting information D3 to each operation terminal and the work vehicle 10. Each operation terminal accepts operator operations based on the authorized user setting information D3 and outputs instructions to the work vehicle 10. The work vehicle 10 controls its operation based on the authorized user setting information D3.

[0158] For example, when an operator with primary authority over the work vehicle 10a (primary authority holder) logs into the remote control terminal 20A, the remote control terminal 20A authorizes the reception of instructions such as starting automatic driving, stopping automatic driving, changing vehicle speed and engine speed, raising and lowering the work implement 14, ridge-aligning instructions, and setting work instructions. Upon receiving such instructions, the terminal outputs the instructions to the work vehicle 10a. The control processing unit 111 of the work vehicle 10a controls the operation of the work vehicle 10a according to the instructions. For example, if the mode is set to remote mode and the control processing unit 111 receives an instruction to start automatic driving from the remote control terminal 20A logged into by the primary authority holder, the control processing unit 111 will start automatic driving if the work vehicle 10a meets the conditions for starting automatic driving. Also, for example, if the mode is set to remote mode and the control processing unit 111 receives an instruction to lower the work implement 14 from the remote control terminal 20A logged into by the primary authority holder, the control processing unit 111 will lower the work implement 14.

[0159] For example, if the primary authorized user corresponding to the work vehicle 10a logs into the short-range operation terminal 30, the control processing unit 111 will set the mode to short-range mode and receive an automatic driving start instruction from the short-range operation terminal 30, and if the work vehicle 10a meets the conditions for starting automatic driving, it will start automatic driving.

[0160] In contrast, when an operator with secondary authority over the work vehicle 10a (secondary authority holder) logs into the remote control terminal 20A, the remote control terminal 20A only allows the acceptance of instructions to stop automatic driving and instructions to move the vehicle along the bank, and prohibits the acceptance of other instructions. For example, the remote control terminal 20A grays out the "START" button on the operation screen P2 (see Figure 7A, etc.) and prohibits the acceptance of instructions to start automatic driving from the secondary authority holder. In another embodiment, the control processing unit 111 of the work vehicle 10a may prohibit automatic driving when it receives an instruction to start automatic driving from the remote control terminal 20A logged into by the secondary authority holder. In this way, when a secondary authority holder logs in, instructions to start automatic driving are prohibited.

[0161] Here, the configuration processing unit 412 may transfer (delegate) the privileges set for each operator. Specifically, the configuration processing unit 412 may transfer privileges based on the operator's request. For example, if operator X, who has been set with the first privilege, requests (transfer request) to transfer the first privilege to operator Y, the configuration processing unit 412 receives the transfer request and outputs a transfer request to operator Y. When operator Y accepts the transfer request (agrees to the transfer of the first privilege), the configuration processing unit 412 transfers the first privilege to operator Y. In other words, the configuration processing unit 412 changes operator X from the first privilege holder to the second privilege holder, and changes operator Y from the second privilege holder to the first privilege holder.

[0162] As another example, if operator Y, who has been assigned second authority, requests to transfer first authority to themselves (transfer request), the configuration processing unit 412 receives the transfer request and outputs it to operator X, who has first authority. When operator X accepts the transfer request (agrees to transfer first authority), the configuration processing unit 412 transfers first authority to operator Y, who made the transfer request. In other words, the configuration processing unit 412 changes operator Y from second authority holder to first authority holder, and changes operator X from first authority holder to second authority holder. When the operator's authority is changed, the configuration processing unit 412 updates the authority holder setting information D3.

[0163] This makes it possible to transfer the primary authority to another operator and execute the corresponding action instructions even if, for example, the operator with primary authority becomes incapacitated (e.g., absent).

[0164] In another embodiment of the second embodiment, the setting processing unit 412 may, for example, grant the operator who first enters the image captured by the camera 53 when starting automatic driving (for example, a user detected from the camera image among multiple registered users) the authority to start automatic driving. Operators who have been granted the authority to start can start automatic driving using the long-range operation terminal 20 and the short-range operation terminal 30. Operators who have not been granted the authority to start are prohibited from starting automatic driving. However, operators who have not been granted the authority to start are permitted to stop the work vehicle 10 while it is in automatic driving mode.

[0165] In another embodiment, the setting processing unit 412 may, for example, revoke the operator's start authority and transfer it to another operator if the operator granted start authority does not perform a predetermined operation (automatic driving start operation) within a predetermined time. In other words, the setting processing unit 412 may revoke the start authority due to a timeout. When the setting processing unit 412 revokes the start authority, it transfers it to another operator.

[0166] Furthermore, instead of the timeout configuration, the setting processing unit 412 may revoke the start authority when automatic driving is interrupted at the nearby operation terminal 30 and the far-range operation terminal 20. In this case, the setting processing unit 412 may transfer the start authority to another operator whose image is captured by the camera 53 when automatic driving is resumed. Alternatively, the setting processing unit 412 may transfer the start authority to the operator who performed the operation to resume automatic driving after temporarily stopping the work vehicle 10.

[0167] In another embodiment, the setting processing unit 412 may set permissions (first permission) for an unregistered operator for the work vehicle 10. Also, after the automatic driving of the work vehicle 10 has started, the setting processing unit 412 may allow a change in the operator to whom permissions have been set when the automatic driving stops.

[0168] Furthermore, the authority transfer process may be permitted when the work vehicle 10 is stopped. For example, after the automatic driving of the work vehicle 10 has started, the setting processing unit 412 permits the authority transfer (change of the operator to whom the authority has been set) when the automatic driving is stopped.

[0169] In addition to the first and second embodiments described above, the setting processing unit 412 may be able to change the content that can be instructed for each authority. Specifically, the setting processing unit 412 may allow the operator to change the content that can be instructed for the first authority and the content that can be instructed for the second authority. Furthermore, the setting processing unit 412 may be able to set the operation content for the same authority according to the operation terminal or operator. For example, if multiple sub-operation terminals are configured, the setting processing unit 412 may be able to set and change the content that can be instructed for each sub-operation terminal. That is, the content of the first authority may differ for each operation terminal, and the content of the second authority may differ for each operation terminal.

[0170] [Motion control processing] The following describes an example of the motion control processing performed by the automated driving system 1, with reference to Figure 13.

[0171] Furthermore, the present invention can be understood as an operation control method (an example of the operation control method of the present invention) that executes one or more steps included in the operation control process. Also, the one or more steps included in the operation control process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the operation control process may differ to the extent that similar effects are produced. In addition, although the vehicle control device 11 and the management control unit 41 execute each step in the operation control process as an example, an operation control method in which one or more processors distribute and execute each step in the operation control process can also be considered as another embodiment.

[0172] Furthermore, the operation control process corresponding to the first embodiment will be described here.

[0173] <Step S1> In step S1, the vehicle control device 11 sets a mode for controlling the operation of the work vehicle 10. Specifically, the vehicle control device 11 is set to either a short-range mode or a long-range mode. For example, the vehicle control device 11 is set to either a short-range mode or a long-range mode depending on the mode selected by the operator on the operation terminal (main terminal) mounted on the work vehicle 10.

[0174] <Step S2> In step S2, the control unit 41 sets permissions for each of the multiple operation terminals that output operation instructions to the work vehicle 10. Specifically, the control unit 41 sets permissions for each of the long-range operation terminals 20A and 20B and the short-range operation terminal 30. For example, the control unit 41 sets a first permission to one of the operation terminals, which allows all operation instructions, and a second permission to the other two operation terminals, which allows only some operation instructions. In other words, the control unit 41 sets one of the operation terminals as the main operation terminal and the other two operation terminals as sub-operation terminals. The control unit 41 registers the setting information in terminal setting information D2 (see Figure 11).

[0175] <Step S3> In step S3, the vehicle control device 11 determines whether or not it has received an instruction to start automatic driving (driving start instruction). If the vehicle control device 11 has received a driving start instruction (S3: Yes), it proceeds to step S4. The vehicle control device 11 waits until it receives a driving start instruction (S3: No). Specifically, the vehicle control device 11 proceeds to step S4 when it receives the driving start instruction from a main operation terminal that has a first authority set, which includes the authority to start automatic driving. On the other hand, if the vehicle control device 11 receives the driving start instruction from a sub-operation terminal that has a second authority set, which does not include the authority to start automatic driving, it may notify the operation terminal of an error.

[0176] <Step S4> In step S4, the vehicle control device 11 causes the work vehicle 10 to start automatic driving. The work vehicle 10 starts automatic driving according to the target route and performs predetermined work in the work area.

[0177] <Step S5> In step S5, the management control unit 41 determines whether or not an abnormality has occurred in the main operation terminal to which the first authority has been set. For example, if communication between the main operation terminal and the work vehicle 10 is interrupted, the management control unit 41 determines that an abnormality has occurred in the main operation terminal. If an abnormality has occurred in the main operation terminal (S5:Yes), the management control unit 41 proceeds to step S6. On the other hand, if no abnormality has occurred in the main operation terminal (S5:No), the management control unit 41 proceeds to step S10.

[0178] <Step S6> In step S6, the vehicle control device 11 stops the automatic driving of the work vehicle 10. The work vehicle 10 stops its automatic driving (comes to a stop) and also stops its work. In this way, the vehicle control device 11 temporarily stops the work vehicle 10 when an abnormality occurs in the main operation terminal.

[0179] <Step S7> In step S7, the management control unit 41 transfers (delegates) the authority to start the automatic operation of the work vehicle 10 to another operating terminal. For example, the management control unit 41 transfers the authority to a pre-configured operating terminal or an operating terminal designated by the operator.

[0180] <Step S8> In step S8, the vehicle control device 11 determines whether or not it has received a start-driving instruction from the operating terminal to which the start authority has been transferred. If the vehicle control device 11 has received a start-driving instruction (S8:Yes), it proceeds to step S9. If the vehicle control device 11 has not received a start-driving instruction (S8:No), it determines in step S81 whether or not a predetermined time has elapsed. If the predetermined time has elapsed without the vehicle control device 11 receiving a start-driving instruction from the operating terminal to which the start authority has been transferred (S81:Yes), it returns to step S7 and transfers the start authority to yet another operating terminal. The vehicle control device 11 waits for a start-driving instruction from the other operating terminal until a predetermined time has elapsed since the start authority was transferred to that other operating terminal (S81:No).

[0181] <Step S9> In step S9, the vehicle control device 11 instructs the work vehicle 10 to resume automatic driving. The work vehicle 10 resumes automatic driving according to the target route and resumes the predetermined work in the work area.

[0182] <Step S10> In step S10, the vehicle control device 11 determines whether the work vehicle 10 has reached the end of its journey position. If the work vehicle 10 has reached the end of its journey position (S10: Yes), the vehicle control device 11 terminates the vehicle control process. If the work vehicle 10 has not reached the end of its journey position (S10: No), the vehicle control device 11 proceeds to step S5 and continues automatic driving.

[0183] The automated driving system 1 executes the vehicle control process as described above. The automated driving system 1 also executes the vehicle control process in parallel for each work vehicle 10.

[0184] As described above, the automated driving system 1 according to this embodiment controls the operation of a work vehicle 10 that performs agricultural work by automated driving. Specifically, the automated driving system 1 sets the authority to give instructions regarding automated driving to an operation terminal or operator based on predetermined conditions, and operates the work vehicle 10 based on the instructions given from the set operation terminal or operator. Specifically, the automated driving system 1 sets authority over a single work vehicle 10 to multiple operation terminals or multiple operators, sets different authority for multiple operation terminals or multiple operators, and sets the content that can be instructed to the work vehicle 10 according to the authority for each operation terminal or operator. For example, the automated driving system 1 sets a first authority that includes the authority to start automated driving to a long-range operation terminal 20 or user, and sets a second authority that does not include the authority to start automated driving to a short-range operation terminal 30 or assistant.

[0185] With the above configuration, for example, if a long-range control terminal 20 and a short-range control terminal 30 are registered as control terminals capable of issuing operation commands to a single work vehicle 10, automatic driving can only be started from the long-range control terminal 20. Also, if a user and an assistant are registered as operators capable of issuing operation commands to a single work vehicle 10, automatic driving can only be started from the user. This prevents situations such as multiple control terminals issuing automatic driving start commands to the work vehicle 10, or multiple operators issuing automatic driving start commands to the work vehicle 10. Thus, it becomes possible to appropriately control the operation of the work vehicle 10.

[0186] [Other embodiments] Other embodiments of the automated driving system 1 will be described below.

[0187] In the above-described embodiment, the automated driving system 1 has multiple operating terminals or multiple operators assigned authority to a single work vehicle 10. However, in another embodiment, the automated driving system 1 may assign authority to a single operating terminal or a single operator for multiple work vehicles 10. For example, if work vehicles 10a and 10b are managed by a single operating terminal, the operating terminal may be assigned a first authority for issuing operation commands to work vehicle 10a and a second authority for issuing operation commands to work vehicle 10b. Similarly, if work vehicles 10a and 10b are managed by a single operator, the operator may be assigned a first authority for issuing operation commands to work vehicle 10a and a second authority for issuing operation commands to work vehicle 10b. In this way, the automated driving system 1 may assign different authority to each of the work vehicles 10 under its management.

[0188] For example, multiple remote control terminals 20 may be registered for each of multiple work vehicles 10. In this case, it becomes difficult for the operator to know which remote control terminal 20 is associated with which work vehicle 10. Therefore, the automated driving system 1, for example, when the operator performs a predetermined operation on a remote control terminal 20, outputs visual information (e.g., lights up, displays text) or auditory information (e.g., emits a buzzer) from the work vehicle 10 registered in association with that remote control terminal 20.

[0189] In another embodiment, the automated driving system 1 may, for example, have a remote control terminal 20 registered in association with the work vehicle 10 output visual information, output auditory information, or perform a predetermined action (vibration) when an operator performs a predetermined operation on the work vehicle 10.

[0190] In the above-described embodiment, the management server 40 sets permissions for the operating terminal or operator, but in another embodiment, each operating terminal may set permissions for itself or the operator. For example, if permissions are set for each operating terminal in a particular operating terminal, the information on the set permissions (terminal setting information D2 (see Figure 11)) may be shared among the operating terminals. In this case, each operating terminal may refer to the permission information for its own terminal to decide whether or not to issue an operation command. Furthermore, the management server 40 may be omitted in the automatic driving system 1.

[0191] Furthermore, for example, if permissions are set for each operator on a specific operating terminal, the information on the set permissions may be shared among the operating terminals. In this case, each operating terminal may refer to the operator's permission information (permission setting information D3 (see Figure 12)) to identify the permissions of the logged-in operator and decide whether or not to issue an operation command.

[0192] In another embodiment, information regarding the permissions set for each operating terminal, or information regarding the permissions set for each operator, may be registered in each work vehicle 10. In this case, the work vehicle 10 may refer to the information to determine whether the operating terminal or operator that issued the operation command has the prescribed permissions, and then decide whether or not to proceed with the operation.

[0193] As described above, in the above embodiment, the automatic driving system 1 corresponds to the operation control system according to the present invention. However, the operation control system according to the present invention may consist of a management server 40 alone, a vehicle control device 11 alone, or a long-range operation terminal 20 and a short-range operation terminal 30.

[0194] [Notes on the invention] The following is an overview of the invention extracted from the embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0195] <Note 1> A motion control method for controlling the operation of a work vehicle that performs agricultural work by autonomous driving, The authority to give instructions regarding automatic driving to the aforementioned work vehicle is to be set on the operating terminal or operator based on predetermined conditions, To operate the work vehicle based on instructions given by the operating terminal or operator on which the aforementioned authority has been set, A method for controlling the operation to perform the following.

[0196] <Note 2> The authority over one of the aforementioned work vehicles is set on multiple of the aforementioned operating terminals or multiple of the aforementioned operators, For each of the aforementioned operating terminals or operators, different permissions are set for the content that can be instructed to the work vehicle. The operation control method described in Appendix 1.

[0197] <Note 3> After the automatic operation of the aforementioned work vehicle has started, the change of the operating terminal or operator to which the aforementioned authority is set, or the change of the aforementioned authority, will be permitted when the automatic operation is stopped. The operation control method described in Appendix 2.

[0198] <Note 4> The content that can be instructed for each of the aforementioned privileges can be changed. The operation control method described in Appendix 2 or 3.

[0199] <Note 5> The authority is set on the operating terminal selected by the operator from among a plurality of pre-registered operating terminals. The operation control method described in any of the appendices 1 to 4.

[0200] <Note 6> The authority is set for the operator who performed the specific operation, among the multiple operators that have been registered in advance. The operation control method described in any of the appendices 1 to 5.

[0201] <Note 7> The authority over multiple work vehicles is set to one of the operating terminals or one of the operators. The operation control method described in any of the appendices 1 to 6.

[0202] <Note 8> If the operating terminal on which the aforementioned authority has been set is capable of displaying video from a camera installed on the work vehicle that captures images of the area around the work vehicle, then the distance between the work vehicle and the operating terminal does not impose any restrictions on the content of the instructions that can be given to the work vehicle. If the video cannot be displayed on the operating terminal on which the aforementioned authority has been set, the content of the instructions that can be given to the work vehicle will be restricted based on the distance. The operation control method described in any of the appendices 1 to 7.

[0203] <Note 9> If communication between the operating terminal on which the aforementioned authority is set and the work vehicle is interrupted while the work vehicle is automatically driving, the authority is transferred to another operating terminal on which the aforementioned authority can be set. The operation control method described in any of the appendices 1 to 8.

[0204] <Note 10> When an abnormality occurs in the aforementioned work vehicle, if the operating terminal on which the authority is set is located more than a predetermined distance from the work vehicle, the authority is transferred to another operating terminal located less than the predetermined distance from the work vehicle. The operation control method described in any of the appendices 1 to 9.

[0205] <Note 11> A motion control program that controls the operation of a work vehicle performing agricultural work by autonomous driving, The authority to give instructions regarding automatic driving to the aforementioned work vehicle is to be set on the operating terminal or operator based on predetermined conditions, To operate the work vehicle based on instructions given by the operating terminal or operator on which the aforementioned authority has been set, An operation control program to cause one or more processors to execute.

[0206] <Note 12> A motion control system that controls the operation of a work vehicle performing agricultural work by autonomous driving, A setting processing unit that, based on predetermined conditions, grants the authority to give instructions regarding automatic driving to the aforementioned work vehicle to an operating terminal or operator, An operation processing unit that operates the work vehicle based on instructions given by the operation terminal or operator on which the aforementioned authority has been set, A motion control system equipped with the following features. [Explanation of Symbols]

[0207] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 14: Work Machines 15: Obstacle detection device 20: Remote control terminal (operating terminal) 21: Operation Control Unit 30: Short-range operating terminal (operating terminal) 40: Management Server 41: Management and Control Unit 53: Camera 111: Control Processing Unit (Operation Processing Unit) 211: Configuration Processing Unit 212: Display Processing Unit 213: Reception Processing Section 411: Registration Processing Unit 412: Configuration Processing Unit A: Supervisor (Operator) B: Supervisor (Operator) D1: Vehicle registration information D2: Terminal settings information D3: Authority settings information P1: Map screen P2: Operation screen

Claims

1. A motion control method for controlling the operation of a work vehicle that performs agricultural work by autonomous driving, The authority to give instructions regarding automatic driving to the aforementioned work vehicle is to be set on the operating terminal or operator based on predetermined conditions, To operate the work vehicle based on instructions given by the operating terminal or operator on which the aforementioned authority has been set, A method for controlling the operation to perform the following.

2. The authority over one of the aforementioned work vehicles is set on multiple of the aforementioned operating terminals or multiple of the aforementioned operators, For each of the aforementioned operating terminals or operators, different permissions are set for the content that can be instructed to the work vehicle. The operation control method according to claim 1.

3. After the automatic operation of the aforementioned work vehicle has started, the change of the operating terminal or operator to which the aforementioned authority is set, or the change of the aforementioned authority, will be permitted when the automatic operation is stopped. The operation control method according to claim 2.

4. The content that can be instructed for each of the aforementioned privileges can be changed. The operation control method according to claim 2.

5. The authority is set on the operating terminal selected by the operator from among a plurality of pre-registered operating terminals. The operation control method according to claim 1.

6. The authority is set for the operator who performed the specific operation, among the multiple operators that have been registered in advance. The operation control method according to claim 1.

7. The authority over multiple work vehicles is set to one of the operating terminals or one of the operators. The operation control method according to claim 1.

8. If the operating terminal on which the aforementioned authority has been set is capable of displaying video from a camera installed on the work vehicle that captures images of the area around the work vehicle, then the distance between the work vehicle and the operating terminal does not impose any restrictions on the content of the instructions that can be given to the work vehicle. If the video cannot be displayed on the operating terminal on which the aforementioned authority has been set, the content of the instructions that can be given to the work vehicle will be restricted based on the distance. The operation control method according to any one of claims 1 to 7.

9. If communication between the operating terminal on which the aforementioned authority is set and the work vehicle is interrupted while the work vehicle is automatically driving, the authority is transferred to another operating terminal on which the aforementioned authority can be set. The operation control method according to any one of claims 1 to 7.

10. When an abnormality occurs in the aforementioned work vehicle, if the operating terminal on which the authority is set is located more than a predetermined distance from the work vehicle, the authority is transferred to another operating terminal located less than the predetermined distance from the work vehicle. The operation control method according to any one of claims 1 to 7.

11. A motion control program that controls the operation of a work vehicle performing agricultural work by autonomous driving, The authority to give instructions regarding automatic driving to the aforementioned work vehicle is to be set on the operating terminal or operator based on predetermined conditions, To operate the work vehicle based on instructions given by the operating terminal or operator on which the aforementioned authority has been set, An operation control program to cause one or more processors to execute.

12. A motion control system that controls the operation of a work vehicle performing agricultural work by autonomous driving, A setting processing unit that, based on predetermined conditions, grants the authority to give instructions regarding automatic driving to the aforementioned work vehicle to an operating terminal or operator, An operation processing unit that operates the work vehicle based on instructions given by the operation terminal or operator on which the aforementioned authority has been set, A motion control system equipped with the following features.

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