Remotely controlled agricultural machinery travel control system

Abstract

This travel control system for agricultural machine capable of remote-controlled travel comprises: a storage device that stores the position of a permitted area where the remote-controlled travel is permitted and the position of a prohibited area where the remote-controlled travel is prohibited; and a control device capable of operating in an automatic travel mode in which the agricultural machine is caused to run automatically in an automatic travel area and a remote control mode in which the travel of the agricultural machine is controlled by remote control. The control device disables remote control that causes the agricultural machine to enter the prohibited area, sets at least a portion of the automatic travel area to the permitted area, sets the outside of the automatic travel area to the prohibited area, and causes the storage device to store the position of the permitted area and the position of the prohibited area.

Description

[Technical Field]

[0001] The present disclosure relates to a travel control system for an agricultural machine capable of remotely controlled travel. [Background technology]

[0002] Research and development is underway to automate agricultural machinery used in fields. For example, work vehicles such as tractors, combine harvesters, and rice transplanters that use positioning systems such as the Global Navigation Satellite System (GNSS) to navigate autonomously within fields have been put to practical use. Research and development is also underway on work vehicles that can navigate autonomously not only within fields but also outside of them. Technology for remotely operating agricultural machinery is also being developed.

[0003] Patent Documents 1 and 2 disclose examples of systems that automatically drive an unmanned work vehicle between two fields separated by a road. Patent Document 3 discloses an example of a device that remotely controls an autonomously driving work vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-073602 [Patent Document 2] Patent Publication No. 2021-029218 [Patent Document 3] International Publication No. 2016 / 017367 Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a system for inhibiting agricultural machinery from traveling in areas or conditions for which it is not intended when remotely operated. [Means for solving the problem]

[0006] A driving control system according to one aspect of the present disclosure is a driving control system for an agricultural machine capable of remotely controlled driving. The driving control system includes a storage device that stores the locations of permitted areas where remotely controlled driving is permitted and prohibited areas where remotely controlled driving is prohibited, and a control device that is operable in an automatic driving mode in which the agricultural machine automatically drives in an automatic driving area and a remote control mode in which driving of the agricultural machine is controlled by remote control. The control device disables remote control that causes the agricultural machine to enter the prohibited area, sets at least a portion of the automatic driving area as the permitted area, sets the area outside the automatic driving area as the prohibited area, and stores the locations of the permitted area and the prohibited area in the storage device.

[0007] A travel control system according to another aspect of the present disclosure is a travel control system for an agricultural machine capable of remotely controlled travel. The travel control system includes a storage device that stores the locations of permitted areas where remotely controlled travel is permitted and restricted areas where restrictions are imposed on the operation of the remotely controlled travel, and a control device that can operate in a remote control mode to remotely control the travel of the agricultural machine. The control device restricts the operation of the agricultural machine by remote control when the agricultural machine is remotely controlled to enter the restricted area from the permitted area.

[0008] An agricultural machine according to yet another aspect of the present disclosure includes the travel control system and a travel device controlled by the control device.

[0009] A general or specific aspect of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. An apparatus may be composed of multiple devices. When an apparatus is composed of two or more devices, the two or more devices may be located in a single device or may be located separately in two or more separate devices. [Effects of the Invention]

[0010] According to the embodiment of the present disclosure, it is possible to prevent an agricultural machine from traveling in an unintended area or under an unintended condition during remote control. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. [Figure 2] 1 is a side view schematically showing an example of a work vehicle and an implement coupled to the work vehicle. FIG. [Figure 3] FIG. 2 is a block diagram showing an example of the configuration of a work vehicle and an implement. [Figure 4] FIG. 1 is a conceptual diagram showing an example of a work vehicle that performs positioning using RTK-GNSS. [Figure 5] 3A and 3B are diagrams illustrating an example of an operation terminal and an operation switch group provided inside a cabin. [Figure 6] FIG. 2 is a block diagram illustrating an example of the hardware configuration of a management device and a terminal device. [Figure 7] FIG. 1 is a diagram schematically illustrating an example of a work vehicle that automatically travels along a target route in a farm field. [Figure 8] 10 is a flowchart illustrating an example of the operation of steering control during automatic driving. [Figure 9A] 1 is a diagram showing an example of a work vehicle traveling along a target route P. FIG. [Figure 9B] FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the right from the target route P. [Figure 9C] FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the left from a target route P. [Figure 9D] 10 is a diagram showing an example of a work vehicle facing in a direction inclined with respect to a target route P. FIG. [Figure 10] FIG. 1 is a diagram schematically illustrating an example of a situation in which a plurality of work vehicles are automatically traveling on roads inside and outside a farm field. [Figure 11] FIG. 10 is a diagram showing an example of setting an allowed area in an environment in which a work vehicle travels. [Figure 12] 10 is a table showing an example of permission conditions for remotely controlled traveling in each of a first permission area and a second permission area. [Figure 13] FIG. 10 is a diagram showing an example of a farm work schedule. [Figure 14A] FIG. 10 is a diagram showing an example of a display screen in an automatic driving mode. [Figure 14B] FIG. 10 is a diagram showing an example of a display screen in a remote operation mode. [Figure 14C] FIG. 10 is a diagram showing another example of the display screen in the remote control mode. [Figure 15] 10 is a flowchart illustrating an example of the operation of the control device in a remote control mode. [Figure 16] FIG. 10 is a diagram showing another example of setting permission areas and permission conditions. [Figure 17] FIG. 10 is a diagram showing another example of the display screen in the remote control mode. [Figure 18] FIG. 1 is a perspective view schematically illustrating an example of a work vehicle positioned at the entrance to a farm field. [Figure 19] FIG. 10 is a diagram showing another example in which a plurality of permission areas are set within a farm field. [Figure 20] FIG. 10 is a schematic diagram showing an example of setting a prohibited area when multiple trees exist within an automatic driving area. [Figure 21] FIG. 10 is a schematic diagram showing an example of setting a prohibited area when a row of ridges exists within an automatic travel area. [Figure 22] FIG. 10 is a schematic diagram showing an example of setting a prohibited area when a row of crops is present within an automatic driving area. [Figure 23] FIG. 10 is a schematic diagram showing an example of setting a restricted area. [Figure 24] 10 is a table showing examples of the contents of movement restrictions in each restricted area. [Figure 25] 10 is a flowchart showing an example of the operation of the control device when the environment in which the work vehicle travels includes a permitted area and a restricted area. [Figure 26] FIG. 10 is a diagram showing an example of a warning display. [Figure 27] FIG. 10 is a diagram illustrating an example of a display showing types of recommended operators. [Figure 28] FIG. 10 is a diagram illustrating an example of a table showing the correspondence between the area where the work vehicle is located and the type of operator recommended for remote operation. [Figure 29] FIG. 10 is a diagram illustrating another example of an agricultural management system. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Definition of terms) In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, and agricultural mobile robots. Not only can a work vehicle such as a tractor function alone as an "agricultural machinery," but the entire work vehicle and an implement attached to or towed by the work vehicle can also function as a single "agricultural machinery." Agricultural machinery performs agricultural work on the ground in a field, such as plowing, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work travel."

[0013] "Autonomous driving" refers to controlling the movement of an agricultural machine through the action of a control device, without manual operation by a driver. Agricultural machines that perform autonomous driving are sometimes called "autonomous agricultural machines" or "robotic agricultural machines." During autonomous driving, not only the movement of the agricultural machine but also the agricultural work operations (e.g., the operation of the implement) may be automatically controlled. When the agricultural machine is a vehicle-type machine, the movement of the agricultural machine through autonomous driving is referred to as "autonomous driving." The control device may control at least one of the following operations required for the movement of the agricultural machine: steering, adjusting the movement speed, and starting and stopping the movement. When controlling a work vehicle equipped with implements, the control device may control operations such as raising and lowering the implement, starting and stopping the operation of the implement, etc. Autonomous driving movement may include not only movement of the agricultural machine toward a destination along a predetermined route, but also movement of the agricultural machine following a tracking target. An autonomously driving agricultural machine may move partially based on user instructions. Furthermore, an autonomously driving agricultural machine may operate in a manual driving mode, in addition to an autonomous driving mode, in which the agricultural machine moves through manual operation by the driver. Steering an agricultural machine by the action of a control device, without manual operation, is called "automatic steering." Part or all of the control device may be external to the agricultural machine. Control signals, commands, data, and the like may be communicated between the agricultural machine and a control device external to the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment, without a human being being involved in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned within a field or outside a field (e.g., on a road). During autonomous movement, the machine may detect obstacles and take action to avoid them.

[0014] "Teleoperation" (also referred to as "remote control") means operating an agricultural machine using a remote control device. Remote operation can be performed by an operator (e.g., a system administrator or a user of the agricultural machine) who is located away from the agricultural machine. "Teleoperated driving" means that the agricultural machine drives in response to signals transmitted from a remote control device. The remote control device may include a device with a signal transmission function, such as a personal computer (PC), laptop computer, tablet computer, smartphone, or remote controller. By operating the remote control device, the operator can give commands to the agricultural machine, such as to start, stop, accelerate, decelerate, or change the direction of travel. The mode in which the control device controls the driving of the agricultural machine in response to these commands is called the "remote control mode."

[0015] An "allowed area" refers to an area in which remotely controlled travel of an agricultural machine is permitted. The allowed area may include an area in which remotely controlled travel of an agricultural machine is permitted under certain conditions. A allowed area in which remotely controlled travel is permitted under certain conditions may be referred to as a "conditional allowed area." On the other hand, a allowed area in which remotely controlled travel is permitted unconditionally may be referred to as an "unconditional allowed area." All allowed areas may be "conditionally allowed areas," or only some allowed areas may be "conditionally allowed areas." In some embodiments, all allowed areas may be "unconditional allowed areas." In the remote control mode, when the agricultural machine is located in a conditionally allowed area, if the permission conditions associated with the conditional allowed area are not met, remote control of the agricultural machine to travel within the allowed area is disabled. For example, if the state of the agricultural machine (e.g., a work vehicle) or the type or state of an implement attached to the work vehicle does not satisfy the conditions for permitting remotely controlled travel within the conditional allowed area, remote control of the agricultural machine to travel within the allowed area may be disabled. For example, if an agricultural machine is remotely controlled to enter a conditional permission area where remotely controlled driving is not permitted from a permission area where remotely controlled driving is permitted, the agricultural machine will be stopped, and remote control to instruct further driving may be disabled. Furthermore, if an agricultural machine enters a conditional permission area where remotely controlled driving is permitted from a permission area where remotely controlled driving is permitted, and the permission conditions for remotely controlled driving are not met, remote control to return the agricultural machine (e.g., in reverse) from the conditional permission area to the original permission area may be permitted. In this way, remote control to return the agricultural machine to a permission area where remotely controlled driving is permitted after entering a conditional permission area where remotely controlled driving is not permitted is not interpreted as "remote control of an agricultural machine to drive within a conditional permission area."

[0016] A "prohibited area" means an area where remotely controlled driving is prohibited. When an agricultural machine is located in a prohibited area in remote control mode, remote control to drive the agricultural machine within the prohibited area is disabled. For example, if an agricultural machine enters a prohibited area from a permitted area where remotely controlled driving is permitted, the agricultural machine will stop, and remote control to instruct further driving may be disabled. Note that when an agricultural machine enters a prohibited area from a permitted area where remotely controlled driving is permitted, remote control to return the agricultural machine from the prohibited area to the original permitted area (for example, in reverse) may be permitted. In this way, remote control to return the agricultural machine to a permitted area where remotely controlled driving is permitted after it has entered a prohibited area is interpreted as not falling under "remote control to drive the agricultural machine within a prohibited area."

[0017] The term "restricted area" refers to an area where remote-controlled driving is possible, but where some restrictions are imposed on the operation of the agricultural machine during remote-controlled driving. The restrictions may include, for example, at least one of a limit on driving speed, a limit on engine speed, and a limit on operations related to implements.

[0018] A "work plan" is data that schedules one or more agricultural tasks to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural tasks to be performed by the agricultural machine and the field on which each task will be performed. The work plan may also include information on the scheduled date and time for each task. A work plan that includes information on the scheduled date and time for each task is particularly referred to as a "work schedule" or simply a "schedule." The work schedule may include information on the scheduled start and / or end times for each task performed on each work day. The work plan or work schedule may include information for each task, such as the content of the task, the implements to be used, and / or the type and amount of agricultural materials to be used. Here, "agricultural materials" refers to materials used in agricultural tasks performed by an agricultural machine. Agricultural materials may also be simply referred to as "materials." Agricultural materials may include materials consumed in agricultural tasks, such as pesticides, fertilizers, seeds, or seedlings. The work plan may be created by a processing device that communicates with the agricultural machine to manage the agricultural task, or a processing device installed on the agricultural machine. The processing device can create a work plan based on information input by a user (such as a farm manager or farm worker) by operating a terminal device, for example. In this specification, a processing device that communicates with agricultural machines and manages agricultural work is referred to as a "management device." The management device may manage the agricultural work of multiple agricultural machines. In this case, the management device may create a work plan that includes information about each agricultural work to be performed by each of the multiple agricultural machines. The work plan can be downloaded by each agricultural machine and stored in a storage device. Each agricultural machine can automatically head to a field and perform the scheduled agricultural work in accordance with the work plan.

[0019] An "environmental map" is data that represents the positions or areas of objects in the environment in which the agricultural machine moves using a specified coordinate system. An environmental map may be simply referred to as a "map" or "map data." The coordinate system that defines the environmental map may be, for example, a world coordinate system such as a geographic coordinate system fixed relative to the Earth. An environmental map may also include information other than the positions of objects in the environment (e.g., attribute information and other information). Environmental maps include maps in various formats, such as point cloud maps or grid maps. Data for local or partial maps that are generated or processed in the process of constructing an environmental map are also referred to as a "map" or "map data."

[0020] "Farm road" means a road that is primarily used for agricultural purposes. Farm roads are not limited to roads paved with asphalt, but also include unpaved roads covered with dirt or gravel. Farm roads include roads (including private roads) that are exclusively passable by vehicle-type agricultural machinery (for example, work vehicles such as tractors) and roads that are also passable by general vehicles (passenger cars, trucks, buses, etc.). Work vehicles may automatically travel on general roads in addition to farm roads. General roads are roads that have been developed for the traffic of general vehicles.

[0021] A "global path" refers to data on a path connecting a starting point to a destination point when an agricultural machine moves automatically, which is generated by a processing device that performs path planning. Generating a global path is called global path planning. In the following description, the global path is also called a "target path" or simply a "path." A global path can be defined, for example, by the coordinate values ​​of multiple points through which the agricultural machine must pass. A point through which the agricultural machine must pass is called a "waypoint," and a line segment connecting adjacent waypoints is called a "link."

[0022] A "local path" refers to a local path that can avoid obstacles and is generated sequentially as the agricultural machine moves automatically along the global path. Generating a local path is called local path planning. A local path is generated sequentially based on data acquired by one or more sensing devices equipped on the agricultural machine while the agricultural machine is moving. A local path may be defined by multiple waypoints along a portion of the global path. However, if an obstacle exists near the global path, waypoints may be set to bypass the obstacle. The length of the link between waypoints on the local path is shorter than the length of the link between waypoints on the global path. The device that generates the local path may be the same as or different from the device that generates the global path. For example, a management device that manages farm work by the agricultural machine may generate the global path, and a control device installed on the agricultural machine may generate the local path. In this case, the combination of the management device and the control device functions as a "processing device" that performs path planning. The agricultural machine's controller may function as a processor that performs both global and local path planning.

[0023] (Embodiment) Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals.

[0024] The following embodiments are examples, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, step order, display screen layout, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0025] The following mainly describes an embodiment in which the technology of the present disclosure is applied to a work vehicle such as a tractor, which is an example of agricultural machinery. The technology of the present disclosure is not limited to tractors, but can also be applied to other types of agricultural machinery capable of remotely controlled driving (e.g., rice transplanters, combine harvesters, harvesters, riding cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, agricultural mobile robots, etc.). As an example, the following describes an embodiment in which a driving control system for realizing an automatic driving function and a remote control function is mounted on a work vehicle. At least some of the functions of the driving control system may be implemented in another device that communicates with the work vehicle (e.g., a terminal device that performs remote control, a server, etc.).

[0026] FIG. 1 is a diagram illustrating an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. The agricultural management system shown in FIG. 1 includes a work vehicle 100, a terminal device 400, and a management device 600. The terminal device 400 is a computer used by a user to remotely monitor the work vehicle 100. The management device 600 is a computer managed by a business operator that operates the agricultural management system. The work vehicle 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although FIG. 1 illustrates one work vehicle 100, the agricultural management system may include multiple work vehicles or other agricultural machinery.

[0027] The work vehicle 100 in this embodiment is a tractor. The work vehicle 100 can be fitted with an implement at either the rear or the front, or both. The work vehicle 100 can travel within a field while performing agricultural work according to the type of implement. The work vehicle 100 may also travel within or outside a field without an implement attached.

[0028] The work vehicle 100 in this embodiment is equipped with an automatic driving function. In other words, the work vehicle 100 can travel by the operation of a control device, without manual operation. The control device in this embodiment is provided inside the work vehicle 100, and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can travel automatically not only within a field, but also outside the field (for example, on a road). The mode in which the control device causes the work vehicle 100 to travel automatically is called the "automatic travel mode."

[0029] The work vehicle 100 is also equipped with a remotely controlled traveling function. The control device can change the traveling speed and direction of the work vehicle 100 by controlling the traveling device of the work vehicle 100 in response to remote operation by the user using the terminal device 400. The work vehicle 100 can perform remotely controlled traveling not only within a field but also outside a field. The mode in which the control device remotely controls the work vehicle 100 to travel is called the "remotely controlled mode."

[0030] The work vehicle 100 is equipped with devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. In the autonomous driving mode, the control device of the work vehicle 100 causes the work vehicle 100 to travel automatically based on the position of the work vehicle 100 and information on the target route generated by the management device 600. In addition to controlling the travel of the work vehicle 100, the control device also controls the operation of the implement. This allows the work vehicle 100 to perform agricultural work using the implement while traveling autonomously within a field. Furthermore, the work vehicle 100 can automatically travel along roads outside the field (e.g., farm roads or public roads) along the target route. When traveling autonomously along roads outside the field, the work vehicle 100 travels while generating a local route along the target route that can avoid obstacles based on data output from sensing devices such as a camera or LiDAR sensor. Within the field, the work vehicle 100 may travel while generating a local route as described above, or may travel along a target route without generating a local route and stop if an obstacle is detected.

[0031] The management device 600 is a computer that manages agricultural work performed by the work vehicle 100. The management device 600 may be, for example, a server computer that centrally manages information about farm fields on the cloud and supports agriculture by utilizing data on the cloud. The management device 600 may, for example, create a work plan for the work vehicle 100 and generate a target route for the work vehicle 100 in accordance with the work plan. Alternatively, the management device 600 may generate a target route for the work vehicle 100 in response to an operation performed by a user using the terminal device 400.

[0032] The management device 600 generates target routes within the field and outside the field using different methods. The management device 600 generates target routes within the field based on information about the field. For example, the management device 600 can generate target routes within the field based on various information, such as pre-registered field outlines, field area, the location of field entrances and exits, the width of the work vehicle 100, the width of the implement, the type of work being performed, the type of crop being cultivated, the crop growing area, the crop growth conditions, or the spacing between crop rows or furrows. The management device 600 generates target routes within the field based on information input by the user using the terminal device 400 or another device, for example. The management device 600 generates routes within the field so as to cover the entire work area where work is to be performed, for example. On the other hand, the management device 600 generates target routes outside the field in accordance with a work plan or user instructions. For example, the management device 600 can generate a target route outside the field based on various information such as the order of farm work indicated in the work plan, the location of the field where each farm work will be performed, the location of the entrance and exit to the field, the scheduled start and end times of each farm work, road surface conditions, weather conditions, or traffic conditions. The management device 600 may generate a target route based on information indicating a route or waypoints specified by a user operating the terminal device 400, rather than on a work plan. In this way, the management device 600 can generate a target route, i.e., execute global route planning, in various ways.

[0033] The management device 600 may further generate and edit an environmental map based on data collected by the work vehicle 100 or other moving bodies using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the work vehicle 100. The work vehicle 100 moves and performs farm work automatically based on this data.

[0034] It should be noted that the global route planning and the generation (or editing) of the environmental map may be performed by other devices, not just the management device 600. For example, the control device of the work vehicle 100 may generate or edit the global route planning or the environmental map.

[0035] The terminal device 400 is a computer used by a user located away from the work vehicle 100. The terminal device 400 shown in Fig. 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop personal computer (PC), or may be a mobile terminal such as a smartphone or tablet computer.

[0036] Terminal device 400 can be used to remotely monitor and remotely operate work vehicle 100. For example, terminal device 400 can display on a display video captured by one or more cameras equipped on work vehicle 100. A user can view the video to check the situation around work vehicle 100 and send instructions to work vehicle 100, such as to stop, start, accelerate, decelerate, or change the direction of travel.

[0037] The terminal device 400 can also display on the display a setting screen for the user to input information necessary to create a work plan for the work vehicle 100 (for example, a schedule for each agricultural work). When the user inputs the necessary information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 400 can also be used to register one or more fields where the work vehicle 100 will perform agricultural work, a storage location for the work vehicle 100, and one or more waiting locations where the work vehicle 100 will temporarily wait. The terminal device 400 may also have a function to display on the display a setting screen for the user to input information necessary to set a target route.

[0038] The configuration and operation of the system in this embodiment will be described in more detail below.

[0039] [1. Configuration] FIG. 2 is a side view schematically illustrating an example of a work vehicle 100 and an implement 300 coupled to the work vehicle 100. The work vehicle 100 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned. The work vehicle 100 can be automatically driven both inside and outside of a field. In the automatic driving mode, the control device can operate in an automatic driving mode in which the work vehicle 100 travels along a predetermined target route, and a remote control mode in which the work vehicle 100 travels in response to a user's operation using the terminal device 400. Switching between the automatic driving mode and the remote control mode can be performed when the user performs a predetermined operation using the terminal device 400. For example, in the automatic driving mode, if the user performs an operation using the terminal device 400 to instruct the start of remote control, the mode transitions to the remote control mode. Furthermore, in the remote control mode, if the user performs an operation using the terminal device 400 to instruct the start of automatic driving, the mode transitions to the automatic driving mode.

[0040] As shown in FIG. 2, work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. Vehicle body 101 is provided with a traveling device including wheels 104 with tires, and a cabin 105. The traveling device includes four wheels 104, axles that rotate the four wheels, and braking devices (brakes) that brake each axle. Wheels 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside cabin 105 are provided a driver's seat 107, a steering device 106, an operation terminal 200, and a group of switches for operation. When work vehicle 100 travels in a field, one or both of front wheels 104F and rear wheels 104R may be replaced with multiple wheels (crawlers) equipped with tracks rather than with tires.

[0041] The work vehicle 100 can switch between a four-wheel drive (4W) mode in which both the front wheels 104F and the rear wheels 104R are drive wheels, and a two-wheel drive (2W) mode in which either the front wheels 104F or the rear wheels 104R are drive wheels. The work vehicle 100 can also switch between a state in which the left and right brakes are coupled and a state in which the coupling is released. By releasing the coupling between the left and right brakes, the left and right wheels 104 can be braked independently. This allows for turning with a small turning radius.

[0042] The work vehicle 100 is equipped with a plurality of sensing devices that sense the surroundings of the work vehicle 100. In the example of Figure 2, the sensing devices include a plurality of cameras 120, a LiDAR sensor 140, and a plurality of obstacle sensors 130.

[0043] Cameras 120 may be installed, for example, on the front, rear, left and right sides of work vehicle 100. Cameras 120 capture images of the environment around work vehicle 100 and generate image data. Images acquired by cameras 120 may be transmitted to terminal device 400 for remote monitoring. These images may be used to monitor work vehicle 100 during unmanned operation. Cameras 120 may also be used to generate images for recognizing surrounding features or obstacles, white lines, signs, or markings when work vehicle 100 travels on roads outside of fields (farm roads or public roads).

[0044] In the example of FIG. 2, the LiDAR sensor 140 is disposed on the lower front side of the vehicle body 101. The LiDAR sensor 140 may be disposed in another location. While the work vehicle 100 is traveling mainly outside the field, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 140 is processed by a control device of the work vehicle 100. The control device can estimate the self-position of the work vehicle 100 by matching the sensor data with an environmental map. The control device can further detect objects such as obstacles present around the work vehicle 100 based on the sensor data, and generate a local path that the work vehicle 100 should actually travel along the global path. The control device can also generate or edit an environmental map using an algorithm such as SLAM (Simultaneous Localization and Mapping). Work vehicle 100 may be equipped with multiple LiDAR sensors positioned at different locations and with different orientations.

[0045] The multiple obstacle sensors 130 shown in FIG. 2 are provided at the front and rear of the cabin 105. The obstacle sensors 130 may also be located in other locations. For example, one or more obstacle sensors 130 may be provided at any position on the side, front, and rear of the vehicle body 101. The obstacle sensors 130 may include, for example, a laser scanner or ultrasonic sonar. The obstacle sensors 130 are used to detect surrounding obstacles during autonomous driving and to stop or detour the work vehicle 100. A LiDAR sensor 140 may be used as one of the obstacle sensors 130.

[0046] The work vehicle 100 further includes a GNSS unit 110. The GNSS unit 110 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the work vehicle 100 based on the signals received by the antenna. The GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. In this embodiment, the GNSS unit 110 is provided on top of the cabin 105, but it may be provided in another location.

[0047] The GNSS unit 110 may include an inertial measurement unit (IMU). Signals from the IMU can be used to complement position data. The IMU can measure the tilt and minute movements of the work vehicle 100. By complementing position data based on satellite signals with data acquired by the IMU, positioning performance can be improved.

[0048] The control device of the work vehicle 100 may use, in addition to the positioning results from the GNSS unit 110, sensing data acquired by sensing devices such as the camera 120 or LiDAR sensor 140 for positioning. If there are features that function as characteristic points in the environment in which the work vehicle 100 is traveling, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 or LiDAR sensor 140 and an environmental map that has been stored in advance in a storage device. By using the data acquired by the camera 120 or LiDAR sensor 140 to correct or complement position data based on satellite signals, the position of the work vehicle 100 can be determined with higher accuracy.

[0049] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsive force and travel speed of the work vehicle 100 by changing gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse travel.

[0050] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are steerable wheels, and the traveling direction of the work vehicle 100 can be changed by changing the turning angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an assisting force to change the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic device or electric motor under control of a control device arranged inside the work vehicle 100.

[0051] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 allows the implement 300 to be attached to and detached from the work vehicle 100. The coupling device 108 can raise and lower the three-point link using, for example, a hydraulic device, thereby changing the position or attitude of the implement 300. Power can also be sent from the work vehicle 100 to the implement 300 via the universal joint. The work vehicle 100 can pull the implement 300 and cause the implement 300 to perform a predetermined task. The coupling device may be provided at the front of the vehicle body 101. In this case, the implement can be connected to the front of the work vehicle 100.

[0052] 2 is a rotary tiller, the implement 300 is not limited to a rotary tiller. For example, any implement such as a seeder (seed sowing machine), a spreader (fertilizer applicator), a transplanter, a mower (grass cutter), a rake, a baler (grass collector), a harvester (harvesting machine), a sprayer, or a harrow can be connected to the work vehicle 100 and used.

[0053] 2 is capable of being driven by a driver, but may also be capable of being driven only unmanned. In that case, components required only for driven operation, such as the cabin 105, steering device 106, and driver's seat 107, may not be provided in the work vehicle 100. The unmanned work vehicle 100 can travel autonomously or by remote control by a user.

[0054] 3 is a block diagram showing an example configuration of the work vehicle 100 and the implement 300. The work vehicle 100 and the implement 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0055] In the example of FIG. 3 , the work vehicle 100 includes a GNSS unit 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operation terminal 200, as well as a group of sensors 150 that detect the operating state of the work vehicle 100, a cruise control system 160, a communication device 190, a group of operation switches 210, a buzzer 220, and a drive unit 240. These components are communicatively connected to each other via a bus. The GNSS unit 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The group of sensors 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. The cruise control system 160 includes a memory device 170 and a control device 180. The control device 180 includes multiple electronic control units (ECUs) 181 to 186. Implement 300 includes a drive unit 340, a control unit 380, and a communication unit 390. Note that Fig. 3 shows components that are relatively highly related to the operation of the autonomous driving by work vehicle 100, and does not show other components.

[0056] The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which a satellite signal is received.

[0057] The GNSS unit 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. Positioning using RTK-GNSS uses satellite signals transmitted from multiple GNSS satellites 50 as well as correction signals transmitted from a reference station 60. The reference station 60 may be installed near the field where the work vehicle 100 will be traveling (for example, within 10 km of the work vehicle 100). The reference station 60 generates correction signals, for example in RTCM format, based on the satellite signals received from the multiple GNSS satellites 50 and transmits them to the GNSS unit 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signals transmitted from the reference station 60. The processing circuit 116 of the GNSS unit 110 corrects the positioning results obtained by the GNSS receiver 111 based on the correction signals. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position information including latitude, longitude, and altitude information is obtained through highly accurate positioning using RTK-GNSS. The GNSS unit 110 calculates the position of the work vehicle 100, for example, at a frequency of approximately 1 to 10 times per second.

[0058] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or differential positioning) that can obtain position information with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position information with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position information may be generated without using a correction signal. In this case, the GNSS unit 110 does not need to be equipped with the RTK receiver 112.

[0059] Even when RTK-GNSS is used, in places where correction signals from the reference station 60 cannot be obtained (for example, on a road far from a field), the position of the work vehicle 100 is estimated by other methods without relying on signals from the RTK receiver 112. For example, the position of the work vehicle 100 can be estimated by matching data output from the LiDAR sensor 140 and / or camera 120 with a highly accurate environmental map.

[0060] The GNSS unit 110 in this embodiment further includes an IMU 115. The IMU 115 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 115 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signals output from the IMU 115 in addition to the satellite signals and correction signals. The signals output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (e.g., 10 Hz or higher). A three-axis acceleration sensor and a three-axis gyroscope may be provided separately instead of the IMU 115. The IMU 115 may be provided as a device separate from the GNSS unit 110.

[0061] The camera 120 is an imaging device that captures images of the environment surrounding the work vehicle 100. The camera 120 includes an image sensor, such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 120 may also include an optical system including one or more lenses and a signal processing circuit. The camera 120 captures images of the environment surrounding the work vehicle 100 while the work vehicle 100 is traveling and generates image (e.g., video) data. The camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by the camera 120 can be used, for example, when a remote observer uses the terminal device 400 to check the environment surrounding the work vehicle 100. The images generated by the camera 120 may be used for positioning or obstacle detection. As shown in FIG. 2, multiple cameras 120 may be installed at different positions on the work vehicle 100, or a single camera may be installed. A visible light camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible light camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera can also be used to detect obstacles at night.

[0062] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the work vehicle 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0063] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F, which are the steered wheels. The measurement values ​​from the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0064] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value that indicates, for example, the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the work vehicle 100.

[0065] The drive device 240 includes various devices necessary for the travel of the work vehicle 100 and the driving of the implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0066] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits the warning sound when an obstacle is detected during automatic driving. The buzzer 220 is controlled by the control device 180.

[0067] The storage device 170 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 170 stores various data generated by the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, the sensor group 150, and the control device 180. The data stored in the storage device 170 may include map data (environmental map) of the environment in which the work vehicle 100 travels, and data on a global route (target route) for autonomous driving. The environmental map includes information on multiple fields in which the work vehicle 100 will perform agricultural work and the roads in their surroundings. The environmental map and target route may be generated by a processing device (i.e., a processor) in the management device 600. Note that the control device 180 in this embodiment may have a function for generating or editing the environmental map and target route. The control device 180 can edit the environmental map and target route obtained from the management device 600 according to the travel environment of the work vehicle 100.

[0068] The storage device 170 also stores work plan data received by the communication device 190 from the management device 600. The work plan includes information regarding multiple agricultural tasks to be performed by the work vehicle 100 over multiple work days. The work plan may be, for example, work schedule data including information on the scheduled times for each agricultural task to be performed by the work vehicle 100 on each work day. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to perform various operations, which will be described later. Such computer programs may be provided to the work vehicle 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or an electric communication line (e.g., the Internet). Such computer programs may also be sold as commercial software.

[0069] In this embodiment, the storage device 170 further stores the locations of permitted areas where remotely controlled traveling of the work vehicle 100 is permitted and the locations of prohibited areas where remotely controlled traveling is prohibited. Some or all of the permitted areas may be conditionally permitted areas where remotely controlled traveling is permitted under certain conditions. The permitted areas may also include unconditionally permitted areas where remotely controlled traveling is permitted unconditionally. The storage device 170 may store the locations of multiple conditionally permitted areas with different conditions for permitting remotely controlled traveling, and the conditions for permitting remotely controlled traveling in each conditionally permitted area. The storage device 170 may store the locations of either permitted areas or prohibited areas. For example, if only the locations of permitted areas are stored, locations outside the permitted areas may be processed as prohibited areas. Conversely, if only the locations of prohibited areas are stored, locations outside the prohibited areas may be processed as permitted areas (conditionally permitted areas or unconditionally permitted areas). In the present disclosure, even if the locations of prohibited areas are stored and other areas are processed as permitted areas, the locations of the permitted areas are considered to be (indirectly) stored in the storage device 170.

[0070] The storage device 170 may further store the location of a restricted area where restrictions are imposed on the operation of remotely controlled traveling. For example, the location of a restricted area where restrictions are imposed on the traveling speed, engine RPM, operation of the implement 300, etc. during remotely controlled traveling, and information indicating the content of the restrictions may be stored in the storage device 170. A plurality of restricted areas with different content of operation restrictions may be set. The storage device 170 may store the locations of a plurality of restricted areas and information indicating the content of the restrictions in each restricted area.

[0071] The control device 180 includes a plurality of ECUs, such as an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for implement control, an ECU 184 for automatic driving control, an ECU 185 for route generation, and an ECU 186 for map generation.

[0072] The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102 , the transmission 103 , and the brakes included in the drive unit 240 .

[0073] The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic device or electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 152 .

[0074] The ECU 183 controls the operation of the three-point link and PTO shaft included in the coupling device 108, etc., in order to cause the implement 300 to perform a desired operation. The ECU 183 also generates a signal that controls the operation of the implement 300, and transmits the signal from the communication device 190 to the implement 300.

[0075] The ECU 184 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, and the sensor group 150. For example, the ECU 184 determines the position of the work vehicle 100 based on data output from at least one of the GNSS unit 110, the camera 120, and the LiDAR sensor 140. Within a farm field, the ECU 184 may determine the position of the work vehicle 100 based solely on data output from the GNSS unit 110. The ECU 184 may also estimate or correct the position of the work vehicle 100 based on data acquired by the camera 120 or the LiDAR sensor 140. By using the data acquired by the camera 120 or the LiDAR sensor 140, the accuracy of positioning can be further improved. Outside of a farm field, the ECU 184 estimates the position of the work vehicle 100 using data output from the LiDAR sensor 140 or the camera 120. For example, ECU 184 may estimate the position of work vehicle 100 by matching data output from LiDAR sensor 140 or camera 120 with an environmental map. During autonomous driving, ECU 184 performs calculations necessary for work vehicle 100 to travel along a target path or a local path based on the estimated position of work vehicle 100. ECU 184 sends a speed change command to ECU 181 and a steering angle change command to ECU 182. In response to the speed change command, ECU 181 changes the speed of work vehicle 100 by controlling prime mover 102, transmission 103, or brakes. In response to the steering angle change command, ECU 182 changes the steering angle by controlling steering device 106.

[0076] ECU 184 also controls the remotely controlled traveling of work vehicle 100. In the remote control mode, ECU 184 controls ECUs 181, 182, and 183 in response to signals received by communication device 190 from terminal device 400. This makes it possible to perform operations such as speed control of work vehicle 100, steering control, raising and lowering of implement 300, and turning implement 300 on and off in response to remote control from the user.

[0077] ECU 185 sequentially generates local paths that can avoid obstacles while work vehicle 100 is traveling along the target path. While work vehicle 100 is traveling, ECU 185 recognizes obstacles that exist around work vehicle 100 based on data output from camera 120, obstacle sensor 130, and LiDAR sensor 140. ECU 185 generates local paths that avoid the recognized obstacles.

[0078] ECU 185 may have a function for performing global route planning instead of management device 600. In this case, ECU 185 may determine the destination of work vehicle 100 based on the work plan stored in storage device 170, and determine a target route from the start point of work vehicle 100's movement to the destination point. ECU 185 may create, for example, a route that will allow the work vehicle to reach the destination in the shortest time as the target route based on an environmental map that includes road information stored in storage device 170. Alternatively, ECU 185 may generate, as the target route, a route that prioritizes specific types of roads (for example, roads that follow specific features such as farm roads or waterways, or roads that have good reception of satellite signals from GNSS satellites) based on attribute information of each road included in the environmental map.

[0079] The ECU 186 generates or edits a map of the environment in which the work vehicle 100 travels. In this embodiment, an environmental map generated by an external device such as the management device 600 is transmitted to the work vehicle 100 and recorded in the storage device 170, but the ECU 186 can also generate or edit the environmental map instead. The following describes the operation when the ECU 186 generates an environmental map. The environmental map can be generated based on sensor data output from the LiDAR sensor 140. When generating the environmental map, the ECU 186 sequentially generates three-dimensional point cloud data based on the sensor data output from the LiDAR sensor 140 while the work vehicle 100 is traveling. The ECU 186 can generate the environmental map by connecting the sequentially generated point cloud data using an algorithm such as SLAM. The environmental map generated in this manner is a highly accurate three-dimensional map and can be used by the ECU 184 for self-localization estimation. A two-dimensional map used for global path planning can be generated based on this three-dimensional map. In this specification, both the 3D map used for self-localization and the 2D map used for global route planning are referred to as “environment maps.” ECU 186 can also edit the map by adding various attribute information to the map, such as features (e.g., waterways, rivers, grass, trees, etc.) recognized based on data output from camera 120 or LiDAR sensor 140, road type (e.g., whether it is a farm road), road surface condition, or road passability.

[0080] Through the operation of these ECUs, the control device 180 realizes automatic driving and remotely controlled driving. During automatic driving, the control device 180 controls the drive device 240 based on the measured or estimated position of the work vehicle 100 and the generated route. In this way, the control device 180 can cause the work vehicle 100 to travel along a target route. During remotely controlled driving, the control device 180 controls the drive device 240 in response to operations by the user using the terminal device 400. In this way, the control device 180 can cause the work vehicle 100 to travel according to instructions from the user.

[0081] The multiple ECUs included in the control device 180 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In FIG. 3, each of the ECUs 181 to 186 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 181 to 186 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 186, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors.

[0082] The communication device 190 includes circuits for communicating with the implement 300, the terminal device 400, and the management device 600. The communication device 190 includes circuits for transmitting and receiving signals compliant with ISOBUS standards, such as ISOBUS-TIM, between the communication device 390 of the implement 300. This allows the implement 300 to perform desired operations and acquire information from the implement 300. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may also have a function for communicating with a mobile device used by a supervisor near the work vehicle 100. Communication between such mobile terminals may be performed in accordance with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G or 5G, or Bluetooth (registered trademark).

[0083] The operation terminal 200 is a terminal through which a user performs operations related to the travel of the work vehicle 100 and the operation of the implement 300, and is also referred to as a virtual terminal (VT). The operation terminal 200 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 200, a user can perform various operations, such as switching the autonomous driving mode on / off, switching the remote operation mode on / off, recording or editing an environmental map, setting a target route, and switching the implement 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located away from the work vehicle 100 may operate the detached operation terminal 200 to control the operation of the work vehicle 100. Instead of the operation terminal 200, the user may control the operation of the work vehicle 100 by operating a computer, such as the terminal device 400, on which necessary application software has been installed.

[0084] FIG. 5 is a diagram showing an example of operation terminal 200 and operation switch group 210 provided inside cabin 105. Switch group 210 including a plurality of switches that can be operated by the user is arranged inside cabin 105. Operation switch group 210 may include, for example, a switch for selecting a gear position of the main transmission or auxiliary transmission, a switch for switching between automatic driving mode and manual driving mode, a switch for switching between forward and reverse, a switch for switching between four-wheel drive and two-wheel drive, a switch for disconnecting the left and right brakes, and a switch for raising and lowering implement 300. Note that if work vehicle 100 only performs unmanned operation and does not have a function for manned operation, work vehicle 100 does not need to be equipped with operation switch group 210.

[0085] At least some of the operations that can be performed by the operation terminal 200 or the operation switch group 210 can also be performed by remote operation using the terminal device 400. When a user performs a predetermined operation on the screen displayed on the display of the terminal device 400, any of the above operations can be performed.

[0086] The drive device 340 in the implement 300 shown in FIG. 3 performs the operations required for the implement 300 to perform a predetermined task. The drive device 340 includes devices appropriate for the application of the implement 300, such as a hydraulic device, an electric motor, or a pump. The control device 380 controls the operation of the drive device 340. The control device 380 causes the drive device 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. In addition, a signal appropriate for the state of the implement 300 can also be transmitted from the communication device 390 to the work vehicle 100.

[0087] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400.

[0088] The management device 600 includes a storage device 650, a processor 660, a read-only memory (ROM) 670, a random access memory (RAM) 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed in the field by the work vehicle 100 and can function as a cloud server that supports agriculture by utilizing the data it manages. A user can input information necessary for creating a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. The management device 600 can create a schedule for agricultural work, i.e., a work plan, based on that information. The management device 600 can also generate or edit an environmental map and perform global path planning for the work vehicle 100. The environmental map may be distributed from a computer external to the management device 600.

[0089] The communication device 690 is a communication module for communicating with the work vehicle 100 and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with communication standards such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication in accordance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0090] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 may be implemented by a microprocessor or a microcontroller. Alternatively, the processor 660 may be implemented by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a group of instructions for executing at least one process, to achieve the desired process.

[0091] The ROM 670 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory. The ROM 670 stores a program that controls the operation of the processor 660. The ROM 670 does not need to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be removable memory.

[0092] The RAM 680 provides a working area for temporarily loading the control program stored in the ROM 670 at boot time. The RAM 680 does not have to be a single storage medium, but may be a collection of multiple storage media.

[0093] The storage device 650 mainly functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. An example of a magnetic storage device is a hard disk drive (HDD). An example of a semiconductor storage device is a solid state drive (SSD). The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage device.

[0094] The terminal device 400 includes an input device 420, a display device (display) 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are communicatively connected to one another via a bus. The input device 420 is a device for converting user instructions into data and inputting the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The processor 460, ROM 470, RAM 480, storage device 450, and communication device 490 are described in the hardware configuration example of the management device 600, and therefore their description will be omitted.

[0095] [2. Operation] Next, the operations of the work vehicle 100, the terminal device 400, and the management device 600 will be described.

[0096] [2-1.Automatic driving operation] First, an example of the operation of autonomous driving by the work vehicle 100 will be described. The work vehicle 100 in this embodiment can travel autonomously both inside and outside the field. In the field, the work vehicle 100 drives the implement 300 to perform predetermined agricultural work while traveling along a predetermined target route. If the obstacle sensor 130 detects an obstacle while traveling in the field, the work vehicle 100 stops traveling, emits a warning sound from the buzzer 220, and transmits a warning signal to the terminal device 400. In the field, the position of the work vehicle 100 is determined mainly based on data output from the GNSS unit 110. On the other hand, outside the field, the work vehicle 100 travels autonomously along a target route set on a farm road or public road outside the field. While traveling outside the field, the work vehicle 100 travels while performing local route planning based on data acquired by the camera 120 or the LiDAR sensor 140. When the work vehicle 100 detects an obstacle outside the field, it either avoids the obstacle or stops on the spot. Outside the field, the position of the work vehicle 100 is estimated based on the data output from the LiDAR sensor 140 or the camera 120 in addition to the positioning data output from the GNSS unit 110.

[0097] Below, we will first explain the operation of the work vehicle 100 when it travels automatically within a farm field. The operation of the work vehicle 100 when it travels automatically outside a farm field will be described later.

[0098] FIG. 7 is a diagram schematically illustrating an example of a work vehicle 100 that automatically travels through a field along a target route. In this example, the field includes a work area 72 where the work vehicle 100 performs work using an implement 300, and a headland 74 located near the outer periphery of the field. The user can set in advance which areas of the field on the map correspond to the work area 72 or the headland 74. The target route in this example includes multiple parallel main routes P1 and multiple turning routes P2 that connect the multiple main routes P1. The main routes P1 are located within the work area 72, and the turning routes P2 are located within the headland 74. Although each main route P1 shown in FIG. 7 is a straight route, each main route P1 may also include curved portions. The main path P1 can be automatically generated, for example, by a user viewing a map of the field displayed on the operation terminal 200 or the terminal device 400 and specifying two points near the edge of the field (points A and B in FIG. 7). In this case, multiple main paths P1 are set parallel to a line segment connecting points A and B specified by the user, and a target path within the field is generated by connecting these main paths P1 with a turning path P2. The dashed line in FIG. 7 represents the working width of the implement 300. The working width is set in advance and recorded in the storage device 170. The working width can be set and recorded by the user operating the operation terminal 200 or the terminal device 400. Alternatively, the working width can be automatically recognized and recorded when the implement 300 is connected to the work vehicle 100. The spacing between the multiple main paths P1 can be set to match the working width. The target path can be created based on user operation before automatic driving begins. The target route can be created so as to cover the entire work area 72 in a farm field, for example. The work vehicle 100 automatically travels back and forth from the start point of the work to the end point of the work along the target route as shown in Fig. 7. Note that the target route shown in Fig. 7 is merely an example, and the target route can be determined in any way.

[0099] Next, an example of control by the control device 180 during automatic operation in a farm field will be described.

[0100] FIG. 8 is a flowchart showing an example of the operation of steering control during automatic driving executed by the control device 180. The control device 180 performs automatic steering by executing the operations of steps S121 to S125 shown in FIG. 8 while the work vehicle 100 is traveling. The speed is maintained at, for example, a preset speed. While the work vehicle 100 is traveling, the control device 180 acquires data indicating the position of the work vehicle 100 generated by the GNSS unit 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target route (step S122). The deviation represents the distance between the position of the work vehicle 100 at that time and the target route. The control device 180 determines whether the calculated position deviation exceeds a preset threshold (step S123). If the deviation exceeds the threshold, the control device 180 changes the steering angle by changing the control parameters of the steering device included in the drive device 240 so as to reduce the deviation. If the deviation does not exceed the threshold value in step S123, the operation of step S124 is skipped. In the following step S125, the control device 180 determines whether or not a command to end the operation has been received. A command to end the operation may be issued, for example, when a user remotely instructs the work vehicle 100 to stop autonomous driving, or when the work vehicle 100 reaches its destination. If a command to end the operation has not been issued, the process returns to step S121, and the same operation is performed based on the newly measured position of the work vehicle 100. The control device 180 repeats the operations of steps S121 to S125 until a command to end the operation is issued. The above operations are executed by the ECUs 182 and 184 in the control device 180.

[0101] 8, the control device 180 controls the drive device 240 based only on the deviation between the position of the work vehicle 100 identified by the GNSS unit 110 and the target route, but the control may also take into consideration the deviation in heading. For example, when the heading deviation, which is the angular difference between the orientation of the work vehicle 100 identified by the GNSS unit 110 and the direction of the target route, exceeds a preset threshold, the control device 180 may change the control parameters (e.g., steering angle) of the steering device of the drive device 240 in accordance with the deviation.

[0102] An example of steering control by the control device 180 will be described in more detail below with reference to FIGS. 9A to 9D.

[0103] FIG. 9A is a diagram showing an example of a work vehicle 100 traveling along a target route P. FIG. 9B is a diagram showing an example of a work vehicle 100 shifted to the right from the target route P. FIG. 9C is a diagram showing an example of a work vehicle 100 shifted to the left from the target route P. FIG. 9D is a diagram showing an example of a work vehicle 100 facing in an inclined direction with respect to the target route P. In these figures, the pose indicating the position and orientation of the work vehicle 100 measured by the GNSS unit 110 is expressed as r(x, y, θ). (x, y) are coordinates representing the position of the reference point of the work vehicle 100 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the Earth. In the examples shown in FIGS. 9A to 9D, the reference point of the work vehicle 100 is located at the position where the GNSS antenna is installed on the cabin, but the position of the reference point is arbitrary. θ is an angle representing the measured orientation of the work vehicle 100. In the examples shown, the target route P is parallel to the Y axis, but generally, the target route P is not necessarily parallel to the Y axis.

[0104] As shown in FIG. 9A, if the position and orientation of the work vehicle 100 do not deviate from the target route P, the control device 180 maintains the steering angle and speed of the work vehicle 100 unchanged.

[0105] As shown in Fig. 9B, when the position of work vehicle 100 has shifted to the right from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 leans leftward and approaches route P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitude of position deviation Δx.

[0106] As shown in Fig. 9C, when the position of work vehicle 100 has shifted to the left from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 tilts to the right and approaches route P. In this case, too, the speed may be changed in addition to the steering angle. The amount of change in the steering angle may be adjusted, for example, according to the magnitude of position deviation Δx.

[0107] As shown in FIG. 9D , when the position of the work vehicle 100 is not significantly deviated from the target route P but the heading is different from the direction of the target route P, the control device 180 changes the steering angle to reduce the azimuth deviation Δθ. In this case, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the greater the amount of change in the steering angle according to the azimuth deviation Δθ. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly to return to the route P, which inevitably increases the absolute value of the azimuth deviation Δθ. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight of the azimuth deviation Δθ (i.e., the control gain) used to determine the steering angle.

[0108] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of work vehicle 100. By applying these control techniques, it is possible to smooth the control that brings work vehicle 100 closer to target path P.

[0109] If an obstacle is detected by one or more obstacle sensors 130 while the work vehicle 100 is traveling, the control device 180 will stop the work vehicle 100. At this time, the buzzer 220 may be caused to emit a warning sound or a warning signal may be sent to the terminal device 400. If it is possible to avoid the obstacle, the control device 180 may control the drive device 240 to avoid the obstacle.

[0110] The work vehicle 100 in this embodiment is capable of autonomous driving not only in farm fields but also outside of farm fields. Outside of farm fields, the control device 180 can detect objects (e.g., other vehicles or pedestrians) that are located relatively far from the work vehicle 100 based on data output from the camera 120 or the LiDAR sensor 140. The control device 180 generates a local route to avoid the detected object, and performs speed control and steering control along the local route, thereby realizing autonomous driving on roads outside of farm fields.

[0111] In this manner, the work vehicle 100 in this embodiment can autonomously travel unmanned within and outside a field. FIG. 10 is a diagram schematically illustrating an example of a situation in which multiple work vehicles 100 are autonomously traveling within a field 70 and on a road 76 outside the field 70. An environmental map and a target route for an area including multiple fields and their surrounding roads are stored in the storage device 170. The environmental map and target route can be generated by the management device 600 or the ECU 185. When the work vehicle 100 travels on a road, the work vehicle 100 travels along the target route with the implement 300 raised while sensing the surroundings using sensing devices such as the camera 120 and the LiDAR sensor 140. While traveling, the control device 180 sequentially generates local routes and causes the work vehicle 100 to travel along the local routes. This enables autonomous traveling while avoiding obstacles. The target route may be changed during travel depending on the situation. In this way, the control device 180 in this embodiment can generate a target route for autonomous driving within the field and on roads around the field. In the autonomous driving mode, the control device 180 causes the work vehicle 100 to autonomously drive within an autonomous driving area defined by the field and roads for which the target route has been generated.

[0112] [2-2. Remotely controlled driving] Next, the operation of the work vehicle 100 regarding remotely controlled traveling will be described.

[0113] [2-2-1. Overview of operations related to remotely controlled driving] In this embodiment, the storage device 170 stores the locations of one or more permission areas in which remotely controlled driving is permitted. Each permission area may be a conditional permission area in which remotely controlled driving is permitted under certain conditions, or an unconditional permission area in which remotely controlled driving is permitted unconditionally. The types of permission areas that each area falls under, and the permission conditions for remotely controlled driving in each conditional permission area, may be set in advance, and this information may be recorded in the storage device 170. When the work vehicle 100 performs autonomous driving within an autonomous driving area, as in this embodiment, an area that is the same as the autonomous driving area may be automatically set as the permission area. Alternatively, a portion of the autonomous driving area may be set as the permission area. The user (i.e., the operator) may use the terminal device 400 to set the permission areas and the permission conditions for each permission area.

[0114] In remote operation mode, if the conditions permitting remotely controlled travel within a certain permitted area are not met, the control device 180 disables remote operation of the work vehicle 100 to travel within that permitted area. For example, if the state of the work vehicle 100 or the type or state of the implement 300 does not satisfy the conditions permitting remotely controlled travel within that permitted area, the control device 180 disables remote operation of the work vehicle 100 to travel within that permitted area. This operation makes it possible to restrict remotely controlled travel in situations where it is undesirable for the work vehicle 100 to travel within that permitted area. For example, when the work vehicle 100 is holding the implement 300 in a low position for agricultural work or when the work vehicle 100 is supplying power to the implement 300, remotely controlled travel within a permitted area set on a public road may be disabled. Alternatively, on a certain work day, remote operation of the work vehicle 100 to enter a permitted area set in a field where no agricultural work is scheduled may be disabled.

[0115] The control device 180 can acquire position information of the work vehicle 100 from a positioning device such as the GNSS unit 110 that performs positioning of the work vehicle 100, and identify the area in which the work vehicle 100 is located based on the position information. This allows the control device 180 to determine whether the work vehicle 100 is located in a permitted area or a prohibited area. Positioning may also be performed using the LiDAR sensor 140 or the camera 120 instead of the GNSS unit 110. In that case, the LiDAR sensor 140 or the camera 120 can function as part of the positioning device.

[0116] In addition to the locations of permitted areas, the storage device 170 may also store the locations of prohibited areas where remotely controlled traveling is prohibited. Alternatively, areas other than permitted areas may be treated as prohibited areas. Even if only the locations of permitted areas are stored and the locations of prohibited areas are not explicitly stored, if an area other than permitted areas is treated as a prohibited area, it is interpreted that the storage device 170 has (indirectly) stored the locations of the prohibited areas. Prohibited areas may be set as areas where traveling of the work vehicle 100 is not expected. For example, areas on both sides of the road where vehicles cannot pass, ridges around fields, waterways, roads with heavy traffic, roads far from fields, and fields or other private land not managed by the user of the work vehicle 100 may be set as prohibited areas. If remote control is performed to cause the work vehicle 100 to enter a prohibited area, the control device 180 disables the remote control. This makes it possible to prevent remotely controlled traveling in prohibited areas.

[0117] When remote control is disabled, the control device 180 controls the work vehicle 100, for example, to stop. As a result, if remote control is performed to cause the work vehicle 100 to enter an area where remotely controlled driving is not permitted (i.e., a prohibited area or some conditionally permitted areas), the work vehicle 100 can be stopped and further entry can be prevented.

[0118] The control device 180 in this embodiment is operable in an automatic driving mode in which the work vehicle 100 is driven automatically in an automatic driving area, and in a remote control mode in which the driving of the work vehicle 100 is controlled by remote control. The control device 180 may set at least a portion of the automatic driving area as a permitted area, and set the area outside the automatic driving area as a prohibited area, and store the positions of the permitted area and the prohibited area in the storage device 170. This makes it possible to prevent the work vehicle 100 from being remotely controlled to unnecessarily enter areas where automatic driving is not planned.

[0119] In remote operation mode, the control device 180 may cause the display 430 of the terminal device 400 to display an image indicating an area where remotely controlled traveling is not permitted. For example, the control device 180 may cause the display 430 to display an image indicating a conditionally permitted area where remotely controlled traveling is not permitted at that time, or a prohibited area. A conditionally permitted area where remotely controlled traveling is not permitted may be determined, for example, depending on the state of the work vehicle 100 or the type or state of the implement 300. The control device 180 may cause the display 430 to display a conditionally permitted area where remotely controlled traveling is not permitted and a prohibited area in a manner that allows them to be distinguished. This allows a user (i.e., an operator) performing monitoring using the terminal device 400 to understand the areas where the work vehicle 100 cannot travel.

[0120] The control device 180 may cause the display 430 to display an image in which a camera image taken by the camera 120 mounted on the work vehicle 100 is superimposed with an indication of an area in which remotely controlled traveling is not permitted. For example, the control device 180 may cause the display 430 to display an image in which a display indicating a conditionally permitted area in which remotely controlled traveling is not permitted at that time, or a prohibited area, is superimposed on the camera image, the display being determined depending on the state of the work vehicle 100 or the type or state of the implement 300. This allows the operator to grasp the situation around the work vehicle 100 and the location of the area in which remotely controlled traveling is not permitted while viewing the image (e.g., a moving image) displayed on the display 430. The operator can remotely control the work vehicle 100 while viewing the displayed image, thereby driving the work vehicle 100 to avoid the area in question, for example.

[0121] When remote control is performed to cause the work vehicle 100 to enter an area where remote-controlled travel is not permitted (a conditionally permitted area or a prohibited area), the control device 180 may display a warning on the display 430 of the terminal device 400 used by the operator performing the remote operation. For example, the control device 180 may display a message such as "You cannot enter this area" or may alert the operator by changing the display of the area being entered to a more noticeable color or by flashing it. Upon seeing the warning, the operator can perform an operation such as reversing the work vehicle 100 to return to the permitted area where remote-controlled travel is permitted, or changing the state of the work vehicle 100 or the implement 300 to a state that satisfies the permission conditions. Alternatively, the operator may contact a worker near the work vehicle 100 to change the state of the work vehicle 100 or the implement 300 or to replace the implement 300. After disabling remote control, the control device 180 may enable remote control to drive the work vehicle 100 within the permitted area if the state of the work vehicle 100 or the type or state of the implement 300 changes to a state or type that meets the conditions for permitting remotely controlled driving within the permitted area.

[0122] The storage device 170 may store the locations of multiple permission areas with different conditions for permitting remotely controlled traveling. In this case, the storage device 170 may further store the conditions for permitting remotely controlled traveling in each of the multiple permission areas. If, in each of the multiple permission areas, the state of the work vehicle 100 or the type or state of the implement 300 does not satisfy the conditions for permitting remotely controlled traveling within that permission area, the control device 180 disables remote operation that causes the work vehicle 100 to travel within the permission area. This makes it possible, for example, to set different permission conditions for farm fields and farm roads, or to set multiple permission areas with different permission conditions within a single field.

[0123] The multiple allowed areas may include a first allowed area and a second allowed area that are adjacent to each other. In this case, if the state of the work vehicle 100 or the type or state of the implement 300 meets a first condition that permits remotely controlled traveling within the first allowed area, but does not meet a second condition that permits remotely controlled traveling within the second allowed area, the control device 180 disables remote operation that allows the work vehicle 100 to enter the second allowed area from the first allowed area. This makes it possible to prevent the work vehicle 100 from entering the second allowed area when the work vehicle 100 or the implement 300 is in a state that is not suitable for traveling within the second allowed area.

[0124] The multiple permitted areas may include a first permitted area within the field and a second permitted area outside the field. For example, the entire field, including the entrance or exit (collectively referred to as the "entrance / exit"), may be set as the first permitted area, and the road adjacent to the entrance / exit may be set as the second permitted area. In this case, if the state of the work vehicle 100 or the type or state of the implement 300 meets a first condition that permits remotely controlled travel within the field, but does not meet a second condition that permits remotely controlled travel outside the field, the control device 180 disables remote control that allows the work vehicle 100 to enter the second permitted area outside the field from the first permitted area within the field. This makes it possible to prevent the work vehicle 100 from leaving the field when the state of the work vehicle 100 or the implement 300 is not suitable for traveling on the road outside the field.

[0125] The agricultural machine in this embodiment is a work vehicle 100 equipped with an implement. The control device 180 may determine that the state of the work vehicle 100 does not satisfy the second condition when the work vehicle 100 has lowered the implement 300 below a reference height or when the work vehicle 100 is supplying power to the implement 300. In this case, the control device 180 disables remote control that causes the work vehicle 100 to enter a second permitted area outside the field from a first permitted area within the field. A state in which the work vehicle 100 has lowered the implement 300 below the reference height may be, for example, a state in which the height from the ground of the connection between the three-point hitch and the implement 300 on the work vehicle 100 is lower than a preset reference height. A state in which the work vehicle 100 is supplying power to the implement 300 may be, for example, a state in which the PTO shaft of the work vehicle 100 is rotating and the implement 300 is operating. In such a state, it may be illegal to drive on public roads outside the field, and therefore, in such a state, the control device 180 may disable remote control that causes the work vehicle 100 to drive on roads outside the field.

[0126] The storage device 170 may further store the type of implement that is suitable for the agricultural work scheduled for the field. If the type of implement 300 attached to the work vehicle 100 is incompatible with the agricultural work scheduled for the field, the control device 180 may disable remote control that allows the agricultural machine to enter the first permitted area within the field from the second permitted area outside the field. This prevents a work vehicle 100 that is not equipped with an implement 300 that is suitable for the agricultural work scheduled for the field from unnecessarily entering the field. Information indicating the agricultural work scheduled for the field and the type of implement that is suitable for that agricultural work may be included in a work plan generated by, for example, the management device 600. By referencing the work plan, the control device 180 can identify the agricultural work scheduled for the field on a certain date and time and the type of implement that is suitable for that agricultural work.

[0127] The multiple permitted areas in which remotely controlled driving is conditionally permitted may include a third permitted area in which remotely controlled driving is permitted only if the width of the implement 300 is within a specific range. The control device 180 may disable remote control of the work vehicle 100 to drive within the third permitted area if the width of the implement 300 is not within the specific range. For example, if laws and regulations permit the work vehicle 100 equipped with the implement 300 to drive on public roads only if the width of the implement 300 is smaller than a predetermined reference value, a public road may be set as the third permitted area. In this case, when the width of the implement 300 is less than the reference value, the width satisfies the condition of being "within a specific range." The control device 180 can obtain information about the width of the implement 300, for example, through communication between the work vehicle 100 and the implement 300 in accordance with the ISOBUS standard.

[0128] The third allowed area may be located on the periphery of the field. The periphery of the field is an area within the field that is near the boundary between the inside and outside of the field. If the width of the implement 300 is large, a portion of the implement 300 may extend outside the field when the work vehicle 100 is located on the periphery of the field. Therefore, it is effective to set the periphery of the field as the third allowed area, and to allow remotely controlled traveling in the third allowed area only when the width of the implement 300 is within a specific range (for example, less than a threshold value). The width of the area on the periphery of the field that is set as the third allowed area can be appropriately determined depending on the type of implement used.

[0129] Some implements are capable of changing their width. If the implement 300 is such a model, the width of the implement 300 may be changed by operating the terminal device 400. If the width of the implement 300 is variable, widening the width of the implement 300 may cause the tip of the implement 300 to go outside the field or collide with an obstacle. Therefore, the control device 180 may disable remote control to widen the width of the implement 300 if widening the width of the implement 300 would cause the tip of the implement 300 to go outside the field or collide with an obstacle. This makes it possible to prevent the tip of the implement 300 from going outside the field or colliding with an obstacle by widening the width of the implement 300 via remote control. Based on the results of positioning using the GNSS unit 110 and sensing using the camera 120 and LiDAR sensor 140, the control device 180 can determine whether the tip of the implement 300 will go outside the field or collide with an obstacle if the width of the implement 300 is increased.

[0130] The work vehicle 100 in this embodiment is a tractor capable of disengaging the left and right brakes. By disengaging the left and right brakes, it is possible, for example, to brake only the inside wheel during a turn, thereby enabling a turn with a small turning radius. However, accidentally applying the brakes on only one of the left and right wheels suddenly while traveling may result in an unexpected sharp turn. For this reason, it is preferable to have the left and right brakes coupled, particularly when the work vehicle 100 is traveling on roads outside the field. Therefore, when the left and right brakes of the work vehicle 100 are in a state in which they are disengaged, the control device 180 may determine that the state of the work vehicle 100 does not satisfy the second condition and disable remote control that causes the work vehicle 100 to enter a second permitted area outside the field from a first permitted area within the field. This prevents unintended sharp turns on roads outside the field during remote control.

[0131] Contrary to the above example, the control device 180 may disable remote control to cause the work vehicle 100 to enter the first permitted area within the field from the second permitted area outside the field if the state of the work vehicle 100 or the type or state of the implement 300 does not satisfy the first condition for permitting remotely controlled travel within the field. For example, if the work vehicle 100 is not equipped with the implement 300 required for agricultural work scheduled for that field, remote control to cause the work vehicle 100 to enter the first permitted area within the field may be disabled. This makes it possible to prevent the work vehicle 100 from unnecessarily entering a field where agricultural work is not scheduled.

[0132] The storage device 170 may further store the date and time when the work vehicle 100 is scheduled to perform agricultural work in the field. The scheduled date and time of agricultural work in the field may be recorded as schedule data in the work plan. The control device 180 may disable remote control that causes the work vehicle 100 to enter the first permitted area within the field except for a limited period that includes the scheduled date and time. This makes it possible to prevent the work vehicle 100 from unnecessarily entering the field on dates and times that are not included in the period.

[0133] In this embodiment, the work vehicle 100 is capable of switching between two-wheel drive and four-wheel drive. The multiple permitted areas in which remotely controlled driving is conditionally permitted may include a first permitted area excluding the exit of the field and a second permitted area including the exit of the field. A field may be located at a lower elevation than the surrounding roads. In such cases, the exit of the field may include an uphill slope. Four-wheel drive is suitable for driving uphill. Therefore, when the work vehicle 100 is in two-wheel drive, the control device 180 may disable remote control to enter the second permitted area including the exit from the first permitted area excluding the exit of the field. This allows the work vehicle 100 to enter the second permitted area including the exit only when in four-wheel drive. As a result, it is possible to avoid a situation in which the work vehicle 100 enters a steep uphill slope in two-wheel drive mode and is unable to complete the climb during remote control.

[0134] The work vehicle 100 in this embodiment is a tractor with an implement 300 attached to the rear. The center of gravity of such a work vehicle 100 is shifted rearward compared to when the implement 300 is not attached. As a result, when traveling up a steep slope, the front wheels 104F may lift, making it impossible to climb the slope. In this case, the work vehicle 100 is forced to travel up the slope in reverse (backing up). Therefore, when a remote control is performed to cause the work vehicle 100 to enter an uphill slope with an inclination angle of a predetermined angle or greater while traveling forward, the control device 180 may disable the remote control and stop the work vehicle 100. On the other hand, when a remote control is performed to cause the work vehicle 100 to enter an uphill slope with an inclination angle of a predetermined angle or greater while traveling backward, the control device 180 may cause the work vehicle 100 to travel backward up the uphill slope in accordance with the remote control. The location of the uphill slope with an inclination angle of a predetermined angle or greater may be recorded in advance in the storage device 170. The control device 180 can detect that the work vehicle 100 is heading uphill based on the pre-recorded positions of uphill slopes and information about the position and orientation of the work vehicle 100 acquired from a positioning device such as the GNSS unit 110. Such uphill slopes can exist in various places, such as near the exit of a field or on a farm road.

[0135] If the permitted area includes a farm field and the exit of the farm field includes an uphill slope with an inclination angle of a predetermined angle or more, when remote control is performed to cause work vehicle 100 to enter the uphill slope at the exit in a forward traveling state, control device 180 may disable the remote control and stop work vehicle 100. On the other hand, when remote control is performed to cause work vehicle 100 to enter the uphill slope at the exit in a reverse traveling state, control device 180 may cause work vehicle 100 to move backward up the uphill slope in accordance with the remote control. This makes it possible to avoid a situation where front wheels 104F are lifted when moving forward up a steep uphill slope at the exit of the farm field, making it impossible to climb the uphill slope.

[0136] Control device 180 may set a range within a predetermined distance from the trunks of trees included in the automated driving area as a prohibited area. Tree trunks present within the automated driving area may be detected in advance using a sensing device such as camera 120 or LiDAR sensor 140, or a sensing device provided on a moving body other than work vehicle 100. The position of each detected tree may be recorded in storage device 170. Control device 180 may set a prohibited area within a predetermined distance (for example, approximately 1 to 3 meters) from the previously recorded position of the tree trunk. This makes it possible to prevent work vehicle 100 from colliding with trees during remote control.

[0137] The control device 180 may set areas in a field included in the automated driving area where crop rows or ridge rows exist as prohibited areas. Crop rows or ridge rows may be detected, for example, using the camera 120 or a camera provided on a moving body other than the work vehicle 100. By setting areas where detected crop rows or ridge rows exist as prohibited areas, the control device 180 can prevent the work vehicle 100 from stepping over crop rows or ridge rows during remote control.

[0138] The control device 180 can generate a target route for automatic driving within the field and on roads around the field. In the automatic driving mode, the control device 180 can cause the work vehicle 100 to automatically drive through an area defined by the field and roads for which the target route has been generated, as an automatic driving area.

[0139] In addition to the permitted area where remotely controlled driving is permitted, a restricted area where remotely controlled driving is permitted with restrictions may be set. "Remotely controlled driving is permitted with restrictions" means that remotely controlled driving is possible, but restrictions are imposed on the operation. For example, in the restricted area, restrictions may be imposed on the driving speed, engine speed, operation of implements, etc. during remote control.

[0140] In such a configuration, the storage device 170 may store the locations of permitted areas where remotely controlled traveling is permitted and restricted areas where remotely controlled traveling is permitted with restrictions. In this case, the permitted areas may be conditionally permitted areas or unconditionally permitted areas. The control device 180 restricts the operation of the work vehicle 100 by remote control when the work vehicle 100 is remotely controlled to enter a restricted area from a permitted area.

[0141] The restricted area may be set, for example, in a farm field or on a road surrounding the farm field. The restricted area may be set, for example, in an area where it is undesirable for the work vehicle 100 to travel at high speeds, make noise, or travel with the implement 300 lowered. The location of the restricted area and the details of the operation restrictions in that restricted area may be associated and stored in the storage device 170.

[0142] For example, when remote control is performed to cause work vehicle 100 to enter a restricted area, control device 180 may limit the travel speed of work vehicle 100. This makes it possible to limit the travel speed of work vehicle 100 within the restricted area to a speed equal to or less than the speed limit. For example, if the restricted area is located within a farm field, control device 180 may limit the travel speed of work vehicle 100 to a speed appropriate for the agricultural work planned for the field when remote control is performed to cause work vehicle 100 to enter a restricted area within the field.

[0143] The speed corresponding to the agricultural work scheduled for the field may be set in advance for each agricultural work, and the information may be recorded in the storage device 170. For example, different speed limits may be set depending on the type of agricultural work, such as tilling, sowing, fertilizing, pest control, or harvesting. The agricultural work scheduled for the field is recorded in the work plan generated by the management device 600.

[0144] The control device 180 may limit the engine speed of the work vehicle 100 when remote control is performed to cause the work vehicle 100 to enter a restricted area. For example, the control device 180 may limit the engine speed of the work vehicle 100 when the restricted area includes roads or fields around at least one of houses and livestock barns, and remote control is performed to cause the work vehicle 100 to enter the restricted area. It is not desirable for the work vehicle 100 to make noise while traveling around houses and livestock barns. For this reason, it is effective to limit the engine speed to a predetermined value or below on roads around houses and livestock barns to reduce noise.

[0145] The control device 180 may restrict the operation of the implement 300 attached to the work vehicle 100 when a remote control is performed to cause the work vehicle 100 to enter a restricted area. For example, the control device 180 may disable a remote control to lower the height of the implement 300 below a predetermined height when the work vehicle 100 is located in the restricted area. This configuration is particularly effective when the restricted area is set on a road outside the field. On a road, if the work vehicle 100 travels with the implement 300 lowered, problems such as the implement 300 coming into contact with the road surface may occur. To avoid such problems, it is effective to disable a remote control to lower the height of the implement 300 below a predetermined height in a restricted area set on a road outside the field.

[0146] The control device 180 may change the restrictions on the operation of the work vehicle 100 depending on the position of the work vehicle 100 in the restricted area. The storage device 170 may store a table that defines the correspondence between the position in the restricted area and the restrictions on the operation of the work vehicle 100. The control device 180 may determine the restrictions on the operation of the work vehicle 100 based on such a table.

[0147] The control device 180 may display information indicating the type of operator permitted to remotely operate the work vehicle 100 on the display 430 of the terminal device used by the operator, depending on the location of the work vehicle 100.

[0148] In the remote operation mode, the control device 180 may display an image indicating the restricted area on the display 430 of the terminal device 400 used by the operator performing the remote operation. For example, the control device 180 may display on the display 430 an image in which an indication of the restricted area is superimposed on an image captured by a camera mounted on the work vehicle 100. This allows the operator to know which area is the restricted area based on the displayed image.

[0149] When remote control is performed to cause work vehicle 100 to enter a restricted area, control device 180 may display a warning on display 430 of the terminal device used by the operator performing the remote control. This allows the operator to know that work vehicle 100 has entered the restricted area based on the warning.

[0150] The control device 180 may set the area outside the automated driving area as a prohibited area where remotely controlled driving is not permitted, and may set at least a portion of the automated driving area as a permitted area or restricted area. This allows the work vehicle 100 to travel by remote control within the automated driving area.

[0151] [2-2-2. Specific examples of operations related to remote-controlled driving] Next, the operation of the control device 180 in the remote control mode will be described in more detail with reference to FIG.

[0152] Figure 11 is a diagram showing an example of setting a permitted area in an environment in which the work vehicle 100 travels. Figure 11 shows an example of an environmental map that includes multiple fields 70 in which the work vehicle 100 will perform agricultural work, and roads 76 surrounding those fields 70. The environmental map shown in Figure 11 also shows a storage location 90 for the work vehicle 100 and a waiting location 96 where the work vehicle 100 will temporarily wait. The storage location 90 and waiting location 96 are set as needed.

[0153] In the example shown in Figure 11, two types of permission areas (i.e., a first permission area and a second permission area) with different permission conditions for remotely controlled traveling are set. The first permission area is set within a portion of the farm field 70 where the work vehicle 100 will perform agricultural work. The second permission area is set within a portion of the road 76 on which the work vehicle 100 may travel. In Figure 11, the first permission area is represented by a dotted pattern, and the second permission area is represented by a diagonal line pattern. Areas other than these permission areas may be treated as prohibited areas.

[0154] 11 may be displayed on the display 430 of the operation terminal 200 or the terminal device 400, for example. The user can grasp the locations of the permitted areas and prohibited areas while viewing the displayed map. The user can also set the permitted areas and prohibited areas while viewing the displayed map.

[0155] In this example, storage device 170 stores the location of a first permission area within field 70, the location of a second permission area on road 76, and the permission conditions for remotely controlled driving in each permission area. The location of each permission area and the permission conditions for each permission area may be set, for example, by a user operating operation terminal 200 or terminal device 400. Alternatively, control device 180 may automatically determine the location of each permission area and the permission conditions for each permission area based on a work plan created by management device 600. For example, control device 180 may determine, among the automated driving areas defined by a target route generated based on the work plan, an area within field 70 as the first permission area and an area on road 76 outside field 70 as the second permission area.

[0156] 12 is a table showing an example of permission conditions for remotely controlled traveling in each of the first and second permission areas. In this example, in the first permission area set in the field 70, remotely controlled traveling is permitted if the following conditions (a1) and (a2) are met. (a1) An implement 300 suitable for the agricultural work planned in the field 70 is attached to the work vehicle 100. (a2) The date and time at that time is within the planned work period including the planned date and time of the agricultural work set out in the work plan.

[0157] Regarding condition (a1), the type of implement 300 that is suitable for the agricultural work that the work vehicle 100 will perform in each field 70 is pre-recorded in the storage device 170. The control device 180 references the data recorded in the storage device 170 to determine whether the type of implement 300 attached to the work vehicle 100 is suitable for the agricultural work planned for the field 70. If the type of implement 300 is not suitable for the agricultural work planned for the field 70, the control device 180 disables remote control to cause the work vehicle 100 to enter the first permitted area within the field 70. In other words, even if remote control is performed to cause the work vehicle 100 to enter the field 70 from the road 76, the control device 180 ignores the remote control and, for example, stops the work vehicle 100 just before the entrance to the field 70.

[0158] Regarding condition (a2), the work plan defines the schedule of agricultural work to be performed by the work vehicle 100. FIG. 13 shows an example of a work plan. The work plan shown in FIG. 13 may include information indicating the date and time when the agricultural work is scheduled to be performed, the field, the work content, and the type of implement to be used, for each registered agricultural machine, including the work vehicle 100. Such a work plan may be generated by the processor 660 of the management device 600. The processor 660 generates a target route for the work vehicle 100 along a road on a map in accordance with the work plan. The control device 180 of the work vehicle 100 downloads the work plan data and the target route data from the management device 600 and stores the data in the storage device 170. In the autonomous driving mode, the work vehicle 100 automatically drives along the target route in accordance with the schedule indicated in the work plan. The control device 180 can be configured to allow remotely controlled travel in each field 70 only for a relatively short period of time that includes the planned duration of the agricultural work defined in the work plan (e.g., a few hours, several tens of hours, several days, several weeks, etc.).

[0159] In the example shown in FIG. 12, remotely controlled traveling in the second permitted area set on road 76 is permitted when all of the following conditions (b1) to (b3) are met. (b1) The work vehicle 100 holds the implement 300 at a height equal to or higher than the reference height. (b2) The power supply from the work vehicle 100 to the implement 300 is stopped. (b3) The left and right brakes of the work vehicle 100 are connected.

[0160] Regarding condition (b1), if the implement 300 is held in a low position, such as when the three-point hitch is lowered, part of the implement 300 may come into contact with the road, or the lights of the work vehicle 100 may be obscured and become invisible to other vehicles, which may result in a failure to meet legal safety standards. For this reason, in the example of Fig. 12, the control device 180 disables remotely controlled traveling within the second permitted area set on the road 76 when the work vehicle 100 has lowered the implement 300 below the standard height. In this case, remote control to enter the work vehicle 100 onto the road 76 from the exit of the field 70 is disabled, and the work vehicle 100 stops near the boundary between the exit and the road 76.

[0161] Regarding condition (b2), it is not desirable to travel on the road 76 while power is being supplied from the work vehicle 100 to the implement 300 and the implement 300 is being driven, for example, when the PTO is on. For this reason, in the second permission area on the road 76, it may be set as one of the permission conditions for remotely controlled travel that the PTO is off and the supply of power to the implement 300 is stopped.

[0162] Regarding condition (b3), the work vehicle 100 can apply brakes to the left and right wheels independently to achieve small turning radius turns on headlands in farm fields, etc. This state is expressed as "the left and right brakes being disengaged." On the other hand, on road 76, it is desirable to connect the left and right brakes so that the brakes are not applied to only one side, to prevent accidental application of the brakes to only one side, which would result in an unintended sharp turn. For this reason, on road 76, the condition that the left and right brakes are connected can be set as one of the conditions for permitting remotely controlled traveling.

[0163] 12, remote-controlled driving is possible in the first permitted area within the field 70 and the second permitted area on the road 76 only when the work vehicle 100 or implement 300 is in an appropriate condition. This makes it possible to prevent the work vehicle 100 from entering areas where it is not desirable for the work vehicle 100 to travel in remote control mode.

[0164] Next, an example of the operation of switching between the automatic driving mode and the remotely controlled driving mode will be described.

[0165] In this embodiment, the work vehicle 100 travels and automatically performs agricultural work in the fields 70 each work day according to a work plan and target route that are generated in advance. In the example of FIG. 11 , the work vehicle 100 departs from the storage location 90, automatically travels along the road 76, visits multiple fields 70, performs the specified agricultural work in each field 70, and then moves to the waiting location 96. On the next work day, the work vehicle 100 departs from the waiting location 96 again according to the work plan, automatically travels along the road 76, visits multiple other fields 70 in sequence, performs the agricultural work, and then moves to the waiting location 96, another waiting location, or the storage location 90. This operation can be performed each work day. Note that in this example, a waiting location 96 is provided separately from the storage location 90, but a waiting location 96 is not necessary. In that case, the work vehicle 100 returns to the storage location 90 after completing all agricultural work for the day. Furthermore, multiple waiting locations 96 may be provided in different locations. By providing one or more waiting areas 96, agricultural work can be carried out more efficiently in many fields 70 that are spread over a wide area.

[0166] When the work vehicle 100 is traveling autonomously, the user can remotely monitor and remotely control the work vehicle 100 using the terminal device 400. When the work vehicle 100 is traveling autonomously, the control device 180 transmits images (e.g., moving images) captured by one or more cameras 120 mounted on the work vehicle 100 to the terminal device 400 via the communication device 190. The terminal device 400 displays the images on the display 430. While viewing the displayed images, the user can check the situation around the work vehicle 100 and start remote-controlled traveling as necessary.

[0167] FIG. 14A is a diagram showing an example of an image displayed on the display 430 of the terminal device 400. The image shown in FIG. 14A shows a field 70, a road 76, and the front of the work vehicle 100. This image was captured by a camera 120 capturing an image in front of the work vehicle 100. Images captured by a camera 120 capturing an image in front of the work vehicle 100, as well as images captured by a camera 120 capturing an image in the rear, right, or left direction, may also be displayed on the display 430. The display 430 displays moving images at a frame rate of, for example, 3 fps or more (typically, 30 fps or 60 fps). Multiple images captured by multiple cameras 120 may be displayed on multiple displays. In this case, the user (operator) acting as an observer can check the situation around the work vehicle 100 in detail by viewing the multiple images displayed on the multiple displays. In addition to images captured by the camera 120, a map of the area including the work vehicle 100 may also be displayed on the display.

[0168] In the example shown in FIG. 14A, the displayed image includes a button (remote control start button) 81 for instructing the start of remote control (also called "remote control"), and a button (emergency stop button) 82 for making an emergency stop of the work vehicle 100. The user can switch from automatic driving mode to remote control mode by touching or clicking the remote control start button 81. The user can also make an emergency stop of the work vehicle 100 by touching or clicking the emergency stop button 82.

[0169] FIG. 14B is a diagram showing an example of a display screen after the remote control start button 81 is pressed. In this example, when the remote control start button 81 is pressed, multiple arrows 83 for remotely controlling the work vehicle 100 are displayed. The up arrow indicates acceleration, the down arrow indicates deceleration, the right arrow indicates a right turn, and the left arrow indicates a left turn. The user can control the work vehicle 100 by touching or clicking these arrows 83. In response to a user's operation, the control device 180 causes the work vehicle 100 to perform the instructed operation. The user can also switch the display / hide of the arrows 83 by performing a predetermined operation. In the example of FIG. 14B, because the work vehicle 100 is traveling on a road 76, buttons for instructing the lifting and lowering of the implement 300 and the turning on / off of the implement 300 are not displayed. When the work vehicle 100 is located in a field 70, buttons for instructing the lifting and lowering of the implement 300 and the turning on / off of the implement 300 may be displayed. Remote control is not limited to displaying an arrow 83 as shown in Fig. 14B, but may also be performed by operating a controller such as a steering wheel or joystick connected to the terminal device 400. The user can switch from remote control mode to automatic driving mode by touching or clicking automatic driving start button 84 on the screen shown in Fig. 14B.

[0170] In this example, when the remote control start button 81 shown in FIG. 14A is pressed, a barrier 77 is displayed, as shown in FIG. 14B, indicating an area where remotely controlled driving of the work vehicle 100 is not permitted at that time. The barrier 77 indicates the boundary between a prohibited area or a permitted area that does not meet the conditions for remotely controlled driving, and an area where the work vehicle 100 can perform remotely controlled driving. The barrier 77 can also be called a "geofence." The barrier 77 shown in FIG. 14B is displayed on the boundary between the road 76 and the field 70, excluding the entrance / exit 71 of the field 70. The display of this barrier 77 can change depending on various conditions, such as the state of the work vehicle 100, the type or state of the implement 300, or the date and time. For example, on a certain work day, a barrier 77 may not be displayed at the entrance / exit 71 of the field 70 where the work vehicle 100 is scheduled to perform farm work, but a barrier 77 may be displayed at the entrance / exit of another field. Furthermore, if the work vehicle 100 is equipped with an implement 300 that is suitable for the agricultural work to be performed on that work day, a barrier 77 will not be displayed at the entrance / exit 71 of the field 70, and if the work vehicle 100 is not equipped with an implement 300 that is suitable for the agricultural work to be performed on that work day, a barrier 77 may be displayed at the entrance / exit 71 of the field 70.

[0171] 14C is a diagram showing an example of a display screen in remote operation mode when the work vehicle 100 is located in the field 70. In this example, buttons 85 to 87 are displayed for raising / lowering the implement 300 and for switching the implement 300 on / off. These buttons allow the user to change the position, posture, or operating state of the implement 300.

[0172] In the example of Figure 14C, the barrier 77 is displayed on the outer periphery of the field 70, excluding the entrance / exit 71. The display of this barrier 77 can change when the state of the work vehicle 100 or the implement 300 changes. For example, when the left and right brakes of the work vehicle 100 are disengaged, when the implement 300 is in a low position, or when the implement 300 is being driven, the barrier 77 can also be displayed at the entrance / exit 71. Any remote operation that attempts to move the work vehicle 100 outside the barrier 77 is disabled by the control device 180.

[0173] The processor 460 of the terminal device 400 controls the display as described above based on information obtained from the control device 180 or management device 600 of the work vehicle 100. The control device 180 transmits to the terminal device 400 information indicating the position and orientation of the work vehicle 100 and information on images acquired by the camera 120. The management device 600 transmits to the terminal device 400 information indicating the distribution of permitted areas and / or prohibited areas in the environment in which the work vehicle 100 is traveling. Based on this information, the processor of the terminal device 400 can display on the display 430 an image that makes it possible to distinguish between areas in which remotely controlled traveling of the work vehicle 100 is currently permitted and areas in which it is not permitted.

[0174] Next, the operation of the control device 180 in the remote control mode will be described in more detail with reference to FIG.

[0175] Fig. 15 is a flowchart showing an example of the operation of the control device 180 in the remote operation mode. In the remote operation mode, the ECU 184 of the control device 180 executes the operations of steps S141 to S149 shown in Fig. 15. The operation shown in Fig. 15 is started when the user operates the terminal device 400 to instruct the start of the remote operation mode.

[0176] In step S141, the control device 180 determines whether or not a remote control signal has been received from the terminal device 400 via the communication device 190. The remote control signal is a signal that includes a command to cause the work vehicle 100 to travel. The remote control signal may include, for example, a command to change the travel speed or travel direction of the work vehicle 100. The remote control signal may also include a command to change the position or attitude of the implement 300, or a command to change the operating state of the implement 300. If a remote control signal has been received, the process proceeds to step S142. If a remote control signal has not been received, the process proceeds to step S149.

[0177] In step S142, the control device 180 acquires position data of the work vehicle 100 from a positioning device such as the GNSS unit 110 (step S142). If self-position estimation is performed using sensor data output from the LiDAR sensor 140 instead of the GNSS unit 110, the control device 180 acquires position data based on the sensor data.

[0178] In step S143, control device 180 determines whether the position of work vehicle 100 indicated by the acquired position data is within any of the permitted areas. The positions of each permitted area are recorded in storage device 170. Control device 180 determines whether work vehicle 100 is located within any of the permitted areas based on the position data of work vehicle 100 and the position data of the permitted areas. If work vehicle 100 is located within any of the permitted areas, the process proceeds to step S144. If work vehicle 100 is not within any of the permitted areas (i.e., if it is located within a prohibited area), the process proceeds to step S146.

[0179] In step S144, the control device 180 determines whether the remote operation permission conditions are satisfied in the permission area in which the work vehicle 100 is located. For example, in the example of FIG. 12, if the permission area is a first permission area in a farm field, the control device 180 determines whether conditions (a1) and (a2) are satisfied. That is, the control device 180 determines whether an implement 300 suitable for the planned agricultural work is attached to the work vehicle 100 and whether the current date and time is within the planned work period. On the other hand, if the permission area is a second permission area on a road, the control device 180 determines whether conditions (b1) to (b3) are satisfied. That is, the control device 180 determines whether the three-point hitch is higher than the reference height, whether the PTO shaft is rotating, and whether the left and right brakes are engaged. If the permission conditions are satisfied, the process proceeds to step S145. If the permission conditions are not satisfied, the process proceeds to step S146.

[0180] In step S145, the control device 180 controls the drive device 240, including the traveling device, in accordance with the remote control signal. The control device 180 controls the engine, transmission, accelerator, brake, steering, PTO shaft, three-point hitch, etc., based on the remote control signal. In this way, the control device 180 causes the work vehicle 100 to perform the desired operation in accordance with the remote control from the user.

[0181] If it is determined that the work vehicle 100 is not within the permission area, or if it is determined that the work vehicle 100 is within the permission area but the predetermined permission conditions are not satisfied, the process proceeds to step S146. In step S146, the control device 180 disables remote operation of the work vehicle 100 to travel within that area, stops the work vehicle 100, and sends a warning signal to the terminal device 400. Upon receiving the warning signal, the terminal device 400 displays a warning on the display 430 indicating that the work vehicle 100 is located in an area where remote operation is not permitted. By viewing the warning display, the user can know that the work vehicle 100 has entered an area where remote operation is not permitted. In this case, the user can perform a return operation, for example, by reversing the work vehicle 100 to return to an area where remote operation is permitted, or by changing the state of the work vehicle 100 or implement 300 so that the permission conditions are satisfied. The return operation may include, for example, stopping the rotation of the PTO shaft to stop the supply of power to the implement 300, or lowering the three-point hitch to lower the height of the implement 300 below the reference height.

[0182] In step S147, the control device 180 determines whether or not a return operation has been performed based on the signal transmitted from the terminal device 400. If a return operation has been performed, the process proceeds to step S148.

[0183] In step S148, the control device 180 controls the drive device 240 based on the signal instructing the return operation, so that the work vehicle 100 performs the instructed return operation.

[0184] In step S149, the control device 180 determines whether a signal instructing the termination of the remote control mode has been issued. The signal instructing the termination of the remote control mode may be transmitted from the terminal device 400, for example, when the user performs an operation to terminate the remote control mode using the terminal device 400. If the signal is received, the control device 180 terminates the remote control mode. After the remote control mode is terminated, the control device 180 transitions to an automatic driving mode or stops driving in accordance with the signal transmitted from the terminal device 400. If the signal instructing the termination of the remote control mode has not been received, the process returns to step S141.

[0185] The above operations can be repeated until an instruction to end the remote operation mode is issued. This allows the work vehicle 100 to travel within the permitted area in accordance with remote control from the user. According to this embodiment, remote control to travel within the area is enabled only when the permission conditions corresponding to the area in which the work vehicle 100 is located are satisfied. This makes it possible to avoid inappropriate travel due to remote control when the state of the work vehicle 100 or implement 300 is not appropriate for executing remote control.

[0186] In this embodiment, the control device 180 of the work vehicle 100 performs the process of disabling remote control that causes the work vehicle 100 to travel in an area where remotely controlled travel is not permitted, but the terminal device 400 may perform this process instead. Alternatively, if a remote control signal from the terminal device 400 is transmitted to the control device 180 of the work vehicle 100 via the management device 600, the processor 660 of the management device 600 may perform the above process. In such a configuration, the processor of the terminal device 400 or the management device 600 serves as a control device that controls remotely controlled travel.

[0187] The settings of the permission areas and permission conditions are not limited to the above examples. For example, there may be one type of permission area, or three or more types. In addition to the permission areas where remotely controlled driving is permitted under certain conditions, permission areas where remotely controlled driving is permitted unconditionally may be set. Other examples of setting the permission areas and permission conditions will be described below.

[0188] FIG. 16 is a diagram showing another example of setting permission areas and permission conditions. In this example, a field 70 is located lower than a surrounding road 76, and an entrance / exit 71 of the field 70 has an uphill slope. In such a case, the control device 180 may disable remote control to allow the work vehicle 100 to travel in an area 75 around the entrance / exit 71 when the work vehicle 100 is in two-wheel drive mode. For example, in the example of FIG. 14C , if a remote control is performed to switch the work vehicle 100 from four-wheel drive to two-wheel drive mode, a barrier 77 may also be displayed on the display screen near the entrance / exit 71, as shown in FIG. 17. In the example shown, the display screen includes a button 88 for switching between two-wheel drive (2WD) and four-wheel drive (4WD). The user can switch between two-wheel drive mode and four-wheel drive mode by clicking or touching this button 88. In the example shown in Figure 17, when the drive mode is switched from two-wheel drive to four-wheel drive, remote-controlled driving becomes possible near the entrance / exit 71, and the display of the barrier 77 at the entrance / exit 71 disappears, as shown in Figure 14C. This makes it possible to avoid a situation where the work vehicle 100 is unable to climb the uphill slope at the entrance / exit 71 when trying to leave the field 70 in two-wheel drive mode.

[0189] In the example of FIG. 16 , a first permission area is set within the field 70, and a second permission area is set on the road 76. However, permission conditions different from those for other areas of the field 70 are set for an area 75 near the entrance / exit 71 in the field 70. For the area 75 near the entrance / exit 71, as described above, an additional permission condition may be set that the work vehicle 100 be in four-wheel drive. This allows the work vehicle 100 to travel by remote control around the entrance / exit 71, including uphill sections, only when the work vehicle 100 is in four-wheel drive. Similar permission conditions may be set not only for the entrance / exit 71, but also for areas with poor ground conditions, such as mud. A user may use the terminal device 400 to set specific locations within the field 70 or on the road 76 as permission areas where travel is permitted only in four-wheel drive.

[0190] FIG. 18 is a perspective view schematically illustrating an example of a work vehicle 100 positioned at an entrance / exit 71 of a field 70. In this example, the work vehicle 100 is permitted to exit the entrance / exit 71 of the field 70 onto an external road 76 by remote control only when the work vehicle 100 is in reverse (backing up). The control device 180 disables remote control to cause the work vehicle 100 to enter an entrance / exit 71 that includes an uphill slope when the work vehicle 100 is moving forward. This prevents the work vehicle 100 equipped with the implement 300 from entering an uphill slope in a forward-moving state, causing the front wheels to lift up and lose balance. Similar permission condition settings can be applied not only to the entrance / exit 71 of the field, but also to any area that includes an uphill slope with an inclination angle equal to or greater than a predetermined angle. Areas that include such uphill slopes can be set in advance and stored in the storage device 170. As in this example, the control device 180 may determine whether to permit remote-controlled traveling based on the relationship between the state of the work vehicle 100 and the state of the field.

[0191] FIG. 19 is a diagram showing another example in which multiple permission areas are set within a field 70. The permission areas in this example include a permission area 79 in which remotely controlled travel is permitted only when the width of the implement 300 is within a specific range. The permission area 79 is set on the periphery of the field. The outermost periphery 69 of the field 70 is set as a prohibited area, and the permission area 79 is located inside the outermost periphery 69. If the width of the implement 300 is large, a portion of the implement 300 may extend outside the field when the work vehicle 100 is located near the periphery of the field. For example, the work vehicle 100B shown in FIG. 19 is equipped with an implement 300 that is wider than the work vehicle 100A. When the work vehicle 100B travels within the permission area 79, the tip of the implement 300 may extend outside the field or collide with an obstacle such as a ridge. 19, the control device 180 permits remotely controlled traveling in the permitted area 79 only when the width of the implement 300 is less than the threshold value. This prevents the tip of the implement 300 from protruding outside the field 70 or colliding with an obstacle when the work vehicle 100B, which has a wide implement 300, travels near the outer periphery of the field 70.

[0192] The implement 300 may be a model whose width can be changed. In this case, the width of the implement 300 may be changed by operating the terminal device 400. However, if the width of the implement 300 is increased on the periphery of the field 70, there is a possibility that the tip of the implement 300 may extend outside the field or collide with an obstacle. Therefore, the control device 180 may disable remote control to increase the width of the implement 300 if increasing the width of the implement 300 would cause the tip of the implement 300 to extend outside the field or collide with an obstacle.

[0193] In the example shown in FIG. 19 , work areas other than the outermost periphery 69 and the permission area 79 in the field 70 can be set as permission areas in which remotely controlled travel is permitted only when agricultural work has not yet been performed. The work vehicle 100 shown in FIG. 19 performs predetermined agricultural work by traveling back and forth within the work area of ​​the field 70. The illustrated work area includes a worked area 73 where agricultural work has already been completed and an unworked area 78 where agricultural work has not yet been performed. If the work vehicle 100 tramples on the worked area 73, the effectiveness of the agricultural work that has already been performed will be diminished. Therefore, in the example shown in FIG. 19 , the control device 180 disables remote control to travel through the worked area 73. Remotely controlled travel of the work vehicle 100 is possible in the unworked area 78. Whether the work vehicle 100 is located in the worked area 73 or the unworked area 78 can be determined based on log data of the work vehicle 100's travel and agricultural work. In this example, remotely controlled traveling of the work vehicle 100 can prevent it from trampling on the already worked area 73. As in this example, the control device 180 may permit remotely controlled traveling of the work vehicle 100 when the state of the field 70 satisfies a predetermined condition (for example, no agricultural work has been performed yet).

[0194] As described above, the management device 600 in this embodiment generates a target route for the work vehicle 100 on roads and fields on a map in accordance with a work plan created in advance or instructions from the user. The control device 180 of the work vehicle 100 defines the area defined by the target route as an automated driving area and causes the work vehicle 100 to drive within the automated driving area. The control device 180 may set an area that is the same as the automated driving area or a part of it as a permitted area for remotely controlled driving, and may set areas outside the automated driving area as prohibited areas. Such settings can prevent the work vehicle 100 from being remotely controlled unnecessarily entering areas where automated driving is not planned.

[0195] In such a configuration, the control device 180 may set a prohibited area within the automated driving area. For example, a range within a predetermined distance from the trunk of a tree included in the automated driving area may be set as the prohibited area.

[0196] FIG. 20 is a schematic diagram showing an example of a situation in which multiple trees 93 exist within an automated driving area 92. In this example, the control device 180 sets an area within a predetermined distance from the trunk of each tree 93 as the prohibited area 91. In this example, the map data includes position information for each tree 93. Based on this position information, the control device 180 can identify the position of the trunk of each tree 93 that exists within the automated driving area 92. The control device 180 sets an area within a predetermined distance from the position of the trunk of each tree 93 as the prohibited area 91. This makes it possible to prevent the work vehicle 100 from colliding with trees during remote control.

[0197] Fig. 21 is a schematic diagram showing an example of setting a prohibited area when a ridge row 94 exists within an automatic driving area 92. As shown in Fig. 21, the control device 180 may set an area in a field included in the automatic driving area 92 where the ridge row 94 exists as the prohibited area 91. This makes it possible to prevent the work vehicle 100 from accidentally running over the ridge row 94 in remote control mode.

[0198] 22 is a schematic diagram showing an example of setting a prohibited area when a crop row 95 exists within the automatic driving area 92. As shown in FIG. 22, the control device 180 crop row 95 An area where the crop rows 95 exist may be set as the prohibited area 91. This makes it possible to prevent the work vehicle 100 from accidentally running over the crop rows 95 in the remote control mode.

[0199] The control device 180 can identify the position of the furrows 94 or the crop rows 95 based on data output from the camera 120 and the GNSS unit 110 on the work vehicle 100. The control device 180 may also determine the position of the furrows 94 or the crop rows 95 based on data previously acquired by a sensing device mounted on a moving body other than the work vehicle 100. The control device 180 sets the prohibited area 91 to include the entire furrows 94 or the crop rows 95.

[0200] In the above embodiments, remotely controlled traveling of the work vehicle 100 is permitted in each permitted area if the permission conditions set for that area are satisfied. If the permission conditions are met, no particular restrictions are imposed on remotely controlled traveling in that permitted area. On the other hand, in a permitted area where the permission conditions are not met, the control device 180 disables remotely controlled traveling and stops the work vehicle 100. In each of the above embodiments, instead of or in addition to the permitted area, a restricted area in which restrictions are imposed on the operation of remotely controlled traveling may be set. In the restricted area, remotely controlled traveling is possible, but restrictions are imposed on the operation of the work vehicle 100 or implement 300 during remotely controlled traveling. For example, restrictions may be imposed on the traveling speed of the work vehicle 100, engine speed, operation of the three-point hitch, operation of the PTO shaft, etc. In each of the above embodiments, some or all of the permitted areas may be replaced with restricted areas. In such an embodiment, a work vehicle 100 that has remotely entered a restricted area may continue remotely controlled traveling with restrictions rather than being stopped.

[0201] Restricted areas may be set both within a field and on roads outside the field. For example, in a restricted area set within a field, the travel speed of the work vehicle 100 may be limited to a speed appropriate for the agricultural work planned for that field. Alternatively, the operation of lowering the implement 300 beyond a height or depth appropriate for the agricultural work planned for that field (e.g., plowing or chemical spraying) may be restricted. Furthermore, if it is preferable for the work vehicle 100 to work in a field in four-wheel drive mode, the control device 180 may send a warning to the terminal device 400 via the communication device 190 when the work vehicle 100 is in two-wheel drive mode. For example, a message such as "Please switch to 4WD" may be displayed on the display 430 of the terminal device 400. This can prompt the user to switch from two-wheel drive to four-wheel drive. The control device 180 may also set restricted areas that limit travel speed outside a field. For example, the driving speed may be limited in restricted areas set on roads so as not to exceed the speed limit set on each road outside the field. Furthermore, the engine speed or driving speed may be limited on roads or fields close to houses or livestock barns to reduce noise. Such limitations may be implemented only at night. The control device 180 can determine whether it is nighttime by referring to a clock, such as a real-time clock.

[0202] FIG. 23 is a schematic diagram showing an example of how restricted areas are set. FIG. 24 is a table showing an example of the operation restrictions in each restricted area. In this example, three types of restricted areas with different operation restrictions are set. The field 70 is set as the first restricted area. The road 76 (excluding the area around the house 97 or livestock barn 98) is set as the second restricted area. The area 99 around the house 97 or livestock barn 98 is set as the third restricted area. In the first restricted area within the field 70, for example, the traveling speed may be limited to a speed corresponding to the planned agricultural work. In addition to or instead of this restriction, in the first restricted area, lowering the implement 300 beyond a height or depth corresponding to the planned agricultural work may be prohibited. In the second restricted area, for example, the traveling speed may be limited to a speed corresponding to the road 76. In addition to or instead of this restriction, lowering the implement 300 may be prohibited in the second restricted area. In the third restricted area, in addition to the restrictions in the second restricted area, the engine speed may be restricted to a threshold value or less. In the example of FIG. 23, the third restricted area is set on a road around the house 97 or the livestock barn 98, but it may also include part of the field 70. In that case, in the third restricted area within the field 70, an engine speed restriction may be imposed in addition to the restriction in the first restricted area. The engine speed restriction may be imposed only during a predetermined time period, such as at night.

[0203] Figure 25 is a flowchart showing an example of the operation of the control device 180 when the environment in which the work vehicle 100 travels includes a permitted area and a restricted area. The flowchart shown in Figure 25 is the same as the flowchart shown in Figure 15, except that steps S150, S151, and S152 have been added. Below, differences from the operation in Figure 15 will be described.

[0204] In the example of Figure 25, after step S142, the control device determines whether or not the work vehicle 100 is located within the restricted area. If the work vehicle 100 is located within the restricted area, the process proceeds to step S151. If the work vehicle 100 is not located within the restricted area, the process proceeds to step S143, and the operations from step S143 onwards in Figure 15 are executed.

[0205] In step S151, the control device 180 determines whether the driving conditions associated with the restricted area in which it has been determined that the work vehicle 100 is located are satisfied. For example, the control device 180 reads data from the storage device 170, such as a table that defines the correspondence between the location of the restricted area and the details of the restrictions, as shown in FIG. 24. Based on this data, the control device 180 can determine whether the driving state indicated by the remote control signal satisfies the driving conditions for that restricted area. If the driving conditions are satisfied, the process proceeds to step S145, where the drive device 240 is controlled in accordance with the remote control signal to cause the work vehicle 100 to travel as instructed. If the driving conditions are not satisfied, the process proceeds to step S152.

[0206] In step S152, the control device 180 controls the drive device 240 in accordance with the remote control signal while imposing operational restrictions so as to satisfy the travel conditions. For example, as illustrated in FIG. 24, the control device 180 controls the travel speed, the height or depth of the implement, and / or the engine speed so as to fall within a predetermined range. At this time, the control device 180 may transmit a signal indicating that operational restrictions have been imposed to the terminal device 400. The terminal device 400 may display a warning based on the signal.

[0207] FIG. 26 is a diagram showing an example of a warning display. In this example, the warning display 89 includes messages such as "The implement cannot be lowered any further," "The speed cannot be increased any further," and "Please switch to 4WD." Such warning displays inform the user that remote operation of the work vehicle 100 is being performed with restrictions. On the display screen shown in FIG. 26, areas such as the field 70 that have been set as restricted areas may be highlighted, for example, in a conspicuous color. Such a display allows the user to know which areas are restricted areas. Furthermore, as in the above-described embodiment, a barrier 77 may also be displayed to indicate areas where remote-controlled driving is not permitted.

[0208] After step S152, the process proceeds to step S149. Thereafter, the operation shown in Fig. 25 can be repeated until an instruction to end the remote control mode is issued.

[0209] Through the above operations, the control device 180 can restrict the operation of remotely controlled traveling in accordance with each restricted area, thereby enabling appropriate traveling in accordance with the characteristics of each restricted area during remote control.

[0210] Note that the above-described operation flow, setting of permitted areas and restricted areas, and content of permission conditions and operation restrictions are merely examples, and various modifications are possible. For example, only some of the permission conditions for each permitted area shown in Figure 12 may be set as permission conditions. Also, only some of the operation restrictions for each restricted area shown in Figure 24 may be applied. Which areas are to be set as permitted areas or restricted areas, whether there are conditional permitted areas, the permission conditions for each conditional permitted area, whether there are restricted areas, and the content of operation restrictions for each restricted area can be set as appropriate depending on the system.

[0211] In each of the above examples, the control device 180 may display information indicating the type of operator permitted to remotely control the work vehicle 100 on the display 430 of the terminal device 400, depending on the location of the work vehicle 100. FIG. 27 is a diagram showing an example of such a display. FIG. 27 shows an example of information displayed when the work vehicle 100 is traveling on a public road under remote control. In this example, a message is displayed stating, "On public roads, remote control should be performed by a skilled operator." If the user sees this message and determines that they do not have the skills to remotely control the work vehicle 100 on a public road, they can take action such as requesting a skilled operator to remotely control the work vehicle 100. The type of operator permitted to remotely control the work vehicle 100 may vary depending on the location of the work vehicle 100. For example, it is preferable that a highly skilled operator remotely control the work vehicle 100 when entering or leaving a garage, operating at the entrances and exits of a field, or traveling on public roads with relatively heavy traffic. For this reason, it is effective to display on the terminal device 400 information indicating the type of operator permitted to remotely control the work vehicle 100 depending on the difficulty level of remote control at the location where the work vehicle 100 is located.

[0212] In the example shown in FIG. 27 , data defining the correspondence between the location of the work vehicle 100 and the type of operator permitted or recommended for remote operation may be stored in advance in the storage device 170. FIG. 28 is a diagram showing an example of such data. The data shown in FIG. 28 is a table defining the relationship between the type of location where the work vehicle 100 is located and the type of operator recommended for remote operation. Based on this data, the control device 180 can determine the type of operator appropriate for the location where the work vehicle 100 is located. In the example shown in FIG. 28 , it is recommended that an advanced operator with high remote operation skills perform remote operation at the entrances and exits of fields, on public roads with heavy traffic, and in garages. On farm roads, it is recommended that an intermediate or advanced operator with intermediate or higher remote operation skills perform remote operation. In areas other than the entrances and exits of fields and on private property owned by users excluding garages, even beginners with low remote operation skills are permitted to perform remote operation. Note that the correspondence between areas and operator types shown in FIG. 28 is merely an example and can be changed as appropriate. Which points correspond to farm fields, farm entrances / exits, busy public roads, farm roads, user's private land, garages, etc. are recorded in advance on a map. The control device 180 can determine the operator type corresponding to the position of the work vehicle 100 based on data such as that shown in FIG. 28, the positioning results of the work vehicle 100, and the map. The control device 180 sends a command to the terminal device 400 via the communication device 190 to display information indicating the determined operator type on the display 430. In response to the command, the display 430 can display a message such as that shown in FIG. 27. Note that instead of the control device 180, the processor 660 of the management device 600 may identify the operator type corresponding to the area in which the work vehicle 100 is located based on data such as that shown in FIG. 28 and send a display command to the terminal device 400.

[0213] In the above embodiment, as illustrated in Fig. 1, the work vehicle 100 can be remotely controlled using a terminal device 400, which is a home computer. Remote control is not limited to the terminal device 400, and may be performed using other devices. For example, as shown in Fig. 29, remote control may be performed using a computer installed in a facility such as a remote monitoring center.

[0214] The agricultural management system shown in FIG. 29 includes multiple work vehicles 100. Although FIG. 29 illustrates three work vehicles 100, the number of work vehicles 100 is arbitrary. Agricultural machinery other than the work vehicles 100 (e.g., agricultural drones) may also be included in the system. In this example, a remote control device 510 installed at a remote monitoring center for the agricultural machinery transmits remote control signals to each work vehicle 100. The remote control device 510 is a computer connected to a remote control device 520 used by an operator at the remote monitoring center and one or more displays (display devices) 530. Although FIG. 29 illustrates five displays 530, the number of displays 530 is arbitrary. The remote control device 520 may include various devices for remotely controlling the work vehicle 100 (e.g., a steering wheel, an accelerator pedal, left and right brake pedals, a clutch pedal, various switches or levers, etc.). The remote control device 520 shown in FIG. 29 is a device that imitates operating devices used to manually drive the work vehicle 100, but the remote control device 520 is not limited to such devices. For example, remote control may be performed using a controller such as a joystick. Each display 530 can display, for example, an environmental map of the area including the field where work vehicle 100 will be performing agricultural work, and images (e.g., video) captured by one or more cameras mounted on work vehicle 100. The operator can grasp the situation around work vehicle 100 while viewing the images displayed on display 530. The operator can switch between automatic driving mode and remote control mode and remotely control each agricultural machine depending on the situation around each work vehicle 100. By operating remote control device 520, the operator can remotely control work vehicle 100 in the same way as in the example using terminal device 400 described above.

[0215] The configurations and operations of the above-described embodiments are merely examples, and the present disclosure is not limited to the above-described embodiments. For example, other embodiments may be configured by appropriately combining the above-described various embodiments.

[0216] In the above embodiment, the processor 660 of the management device 600 creates a work plan, generates an environmental map, plans a global route for the work vehicle 100, and sets permitted areas, prohibited areas, or restricted areas, and the control device 180 inside the work vehicle 100 plans a local route and controls the driving of the work vehicle 100. Alternatively, some of the operations of the management device 600 described above may be executed by the control device 180, the operation terminal 200, the remote device 510, or the terminal device 400. For example, the generation of a global route may be executed by the control device 180, the operation terminal 200, or the terminal device 400.

[0217] In the above embodiment, the agricultural machine performs automatic driving, but the agricultural machine does not have to have an automatic driving function. The technology of the present disclosure can be widely applied to agricultural machines that can be remotely controlled.

[0218] The cruise control system for controlling automated and / or remotely controlled cruise in the above-described embodiments can also be retrofitted to an agricultural machine that does not have these functions. Such a system can be manufactured and sold independently of the agricultural machine. The computer program used in such a system can also be manufactured and sold independently of the agricultural machine. The computer program can be provided, for example, by being stored on a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunications line (for example, the Internet).

[0219] As described above, the present disclosure includes the cruise control system, agricultural machine, and cruise control method described in the following items.

[0220] [Item 1] A travel control system for agricultural machinery capable of automatic travel and remote-controlled travel, a storage device that stores the location of a permitted area where the remotely controlled traveling is permitted and the location of a prohibited area where the remotely controlled traveling is prohibited; a control device that is operable in an automatic driving mode that causes the agricultural machine to automatically drive in an automatic driving area and in a remote control mode that controls the driving of the agricultural machine by remote control, and that disables remote control that causes the agricultural machine to enter the prohibited area; Equipped with the control device sets at least a part of the automated driving area as the permitted area, sets the outside of the automated driving area as the prohibited area, and stores the positions of the permitted area and the prohibited area in the storage device; Cruise control system.

[0221] [Item 2] Item 2. The driving control system according to item 1, wherein the control device sets the prohibited area to an area within a predetermined distance from the trunk of a tree included in the automatic driving area.

[0222] [Item 3] 3. The driving control system according to claim 1, wherein the control device sets an area in a field included in the automatic driving area where crop rows or ridge rows exist as the prohibited area.

[0223] [Item 4] The control device generating a target route for automatic travel within the field and on roads around the field; In the automatic driving mode, the agricultural machine is automatically driven in an area defined by the field and the road for which the target route has been generated, as the automatic driving area. 4. The cruise control system according to any one of items 1 to 3.

[0224] [Item 5] The agricultural machine is a work vehicle having an implement attached to the rear thereof, The control device When a remote control is performed to cause the work vehicle to enter an uphill slope having an inclination angle of a predetermined angle or more while in a forward movement state, the remote control is disabled and the agricultural machine is stopped; when a remote control is performed to cause the work vehicle to enter an uphill slope having an inclination angle equal to or greater than the predetermined angle while in a reverse drive state, the agricultural machine is caused to move backward up the uphill slope in accordance with the remote control. 5. The cruise control system according to any one of items 1 to 4.

[0225] [Item 6] The control device When the permitted area includes a farm field and the exit of the farm field includes an uphill slope having an inclination angle equal to or greater than the predetermined angle, When a remote control is performed to cause the work vehicle to enter the uphill slope in a forward movement state, the remote control is disabled to stop the agricultural machine; when a remote control is performed to cause the agricultural machine to enter the uphill slope in a reverse drive state, the agricultural machine is caused to move backward up the uphill slope in accordance with the remote control. Item 5. The cruise control system according to item 5.

[0226] [Item 7] the permitted area includes an area in which the remotely controlled traveling is permitted under certain conditions, When the state of the agricultural machine does not satisfy the conditions for permitting the remotely controlled traveling within the permitted area in the remote operation mode, the control device disables remote operation of the agricultural machine to travel within the permitted area. 7. The cruise control system according to any one of items 1 to 6.

[0227] [Item 8] the control device, in the remote operation mode, causes an image indicating the prohibited area to be displayed on a display of a terminal device used by an operator performing the remote operation. 8. The cruise control system according to any one of items 1 to 7.

[0228] [Item 9] Item 9. The driving control system according to item 8, wherein the control device displays on the display an image in which a display of the prohibited area is superimposed on an image captured by a camera mounted on the agricultural machine.

[0229] [Item 10] 10. The driving control system according to any one of items 1 to 9, wherein the control device displays a warning on a display of a terminal device used by an operator performing remote control when remote control is performed to cause the vehicle to enter the prohibited area.

[0230] [Item 11] 11. A travel control system according to any one of items 1 to 10, wherein the control device acquires position information of the agricultural machine from a positioning device that performs positioning of the agricultural machine, and identifies an area in which the agricultural machine is located based on the position information.

[0231] [Item 12] A cruise control system according to any one of items 1 to 11; a traveling device controlled by the control device; Agricultural machinery equipped with:

[0232] [Item 13] A travel control system for an agricultural machine capable of remotely controlled travel, a storage device that stores the location of a permitted area where the remote-controlled traveling is permitted and the location of a restricted area where restrictions are imposed on the operation of the remote-controlled traveling; a control device capable of operating in a remote operation mode that controls the travel of the agricultural machine by remote operation, the control device restricting the operation of the agricultural machine by the remote operation when remote operation is performed to cause the agricultural machine to enter the restricted area from the permitted area; A driving control system comprising:

[0233] [Item 14] Item 14. The driving control system according to item 13, wherein the control device limits the driving speed of the agricultural machine when remote control is performed to cause the agricultural machine to enter the restricted area.

[0234] [Item 15] The restricted area is located within a field, When remote control is performed to cause the agricultural machine to enter the restricted area in the field, the control device limits the traveling speed of the agricultural machine to a speed corresponding to the agricultural work scheduled in the field. Item 15. The cruise control system according to item 14.

[0235] [Item 16] 16. The travel control system according to any one of items 13 to 15, wherein the control device limits the engine speed of the agricultural machine when remote control is performed to cause the agricultural machine to enter the restricted area.

[0236] [Item 17] Item 17. The driving control system according to item 16, wherein the control device limits the engine speed of the agricultural machine when the restricted area includes a road or a field around at least one of a house and a livestock barn, and when remote control is performed to cause the agricultural machine to enter the restricted area.

[0237] [Item 18] The agricultural machine is a work vehicle to which an implement is attached, the control device restricts the operation of the implement when remote control is performed to cause the agricultural machine to enter the restricted area. 18. The cruise control system according to any one of items 13 to 17.

[0238] [Item 19] Item 19. The travel control system according to item 18, wherein the control device disables remote control to lower the height of the implement below a predetermined height when remote control is performed to cause the agricultural machine to enter the restricted area.

[0239] [Item 20] 20. A travel control system according to any one of items 13 to 19, wherein the control device changes the restrictions on the operation of the agricultural machine depending on the position of the agricultural machine in the restricted area.

[0240] [Item 21] Item 21. A driving control system as described in item 20, wherein the control device determines restrictions on the operation of the agricultural machine based on a table that defines a correspondence between a position in the restricted area and restrictions on the operation of the agricultural machine.

[0241] [Item 22] 22. A driving control system according to any one of items 13 to 21, wherein the control device displays information indicating the type of operator permitted to remotely operate the agricultural machine on a display of a terminal device used by the operator, depending on the location of the agricultural machine.

[0242] [Item 23] the permitted area includes an area in which the remotely controlled traveling is permitted under certain conditions, When the state of the agricultural machine does not satisfy the conditions for permitting the remotely controlled traveling within the permitted area in the remote operation mode, the control device disables remote operation of the agricultural machine to travel within the permitted area. 23. The cruise control system according to any one of items 13 to 22.

[0243] [Item 24] the control device, in the remote operation mode, causes an image indicating the restricted area to be displayed on a display of a terminal device used by an operator performing the remote operation. 24. The cruise control system according to any one of items 13 to 23.

[0244] [Item 25] Item 25. The driving control system according to item 24, wherein the control device displays on the display an image in which a display of the restricted area is superimposed on an image captured by a camera mounted on the agricultural machine.

[0245] [Item 26] 26. The travel control system according to any one of items 13 to 25, wherein the control device displays a warning on a display of a terminal device used by an operator performing remote operation when remote operation is performed to cause the agricultural machine to enter the restricted area.

[0246] [Item 27] The control device The agricultural machine is capable of operating in an automatic driving mode in which the agricultural machine is automatically driven within an automatic driving area, The outside of the automatic driving area is set as a prohibited area where the remotely controlled driving is not permitted, setting at least a part of the automated driving area as the permitted area or the restricted area; 27. The cruise control system according to any one of items 13 to 26.

[0247] [Item 28] 28. A driving control system according to any one of items 13 to 27, wherein the control device acquires position information of the agricultural machine from a positioning device that performs positioning of the agricultural machine, and identifies the area in which the agricultural machine is located based on the position information.

[0248] [Item 29] A cruise control system according to any one of items 13 to 28; a traveling device controlled by the control device; Agricultural machinery equipped with:

[0249] [Item 30] A travel control method for an agricultural machine capable of automatic travel and remote-controlled travel, comprising: acquiring information indicating a location of a permitted area where the remotely controlled traveling is permitted and a location of a prohibited area where the remotely controlled traveling is prohibited; The agricultural machine operates in an automatic driving mode in which the agricultural machine automatically drives in an automatic driving area, and in a remote control mode in which the driving of the agricultural machine is controlled by remote control; Disabling remote control of the agricultural machine to enter the prohibited area in the remote control mode; setting at least a part of the automated driving area as the permitted area, setting the area outside the automated driving area as the prohibited area, and storing the positions of the permitted area and the prohibited area in a storage device; A driving control method including:

[0250] [Item 31] A method for controlling travel of an agricultural machine capable of remotely controlled travel, comprising: acquiring information indicating a location of a permitted area in which the remotely controlled traveling is permitted and a location of a restricted area in which restrictions are imposed on the operation of the remotely controlled traveling; In a remote operation mode in which travel of the agricultural machine is controlled by remote operation, when remote operation is performed to cause the agricultural machine to enter the restricted area from the permitted area, restricting operation of the agricultural machine by the remote operation; A driving control method including: [Industrial Applicability]

[0251] The technology disclosed herein can be applied to a driving control system for autonomously operating agricultural machinery such as a tractor, a harvester, a rice transplanter, a riding tiller, a vegetable transplanter, a grass cutter, a seed sowing machine, a fertilizer applicator, or an agricultural robot. [Explanation of symbols]

[0252] 50 GNSS satellite, 60 Reference station, 70 Field, 71 Entrance / exit, 72 Work area, 74 Headland, 76 Road, 77 Barrier, 80 Network, 90 Storage area, 96 Waiting area, 100 Work vehicle, 101 Vehicle body, 102 Engine, 103 Transmission, 104 Wheels, 105 Cabin, 1 06. Steering device, 107. Driver's seat, 108. Coupling device, 110. Positioning device, 111. GNSS receiver, 112. RTK receiver, 115. Inertial measurement unit (IMU), 116. Processing circuit, 120. Camera, 130. Obstacle sensor, 140. LiDAR sensor, 150. Sensor group, 152. Steering wheel sensor, 154. Turning angle sensor, 156. axle Sensor, 160... Control system, 170... Storage device, 180... Control device, 181 to 186... ECU, 190... Communication device, 200... Operation terminal, 210... Operation switch group, 220... Buzzer, 240... Drive device, 300... Implement, 340... Drive device, 380... Control device, 390... Communication device, 400... Terminal device, 420... Input device, 430 Display device, 450 Storage device, 460 Processor, 470 ROM, 480 RAM, 490 Communication device, 510 Remote device, 520 Remote control device, 530 Display, 600 Management device, 660 Processor, 670 Storage device, 670 ROM, 680 RAM, 690 Communication device

Claims

1. A travel control system for agricultural machinery capable of automatic travel and remote-controlled travel, a storage device that stores the location of a permitted area where the remotely controlled traveling is permitted and the location of a prohibited area where the remotely controlled traveling is prohibited; a control device that is operable in an automatic driving mode that causes the agricultural machine to automatically drive in an automatic driving area and in a remote control mode that controls the driving of the agricultural machine by remote control, the control device disabling remote control that causes the agricultural machine to enter the prohibited area; Equipped with The control device setting at least a part of the automated driving area as the permitted area, and setting an area outside the automated driving area as the prohibited area; setting the prohibited area to a range where the distance from the trunk of a tree included in the automatic driving area is equal to or less than a predetermined distance, and / or an area where a crop row or a row of furrows exists in a field included in the automatic driving area; storing the positions of the permitted areas and the prohibited areas in the storage device; Cruise control system.

2. The control device generating a target route for automatic travel within the field and on roads around the field; In the automatic driving mode, the agricultural machine is automatically driven in an area defined by the field and the road for which the target route has been generated, as the automatic driving area. The cruise control system of claim 1 .

3. The agricultural machine is a work vehicle having an implement attached to the rear thereof, The control device When a remote control is performed to cause the work vehicle to enter an uphill slope having an inclination angle of a predetermined angle or more while in a forward movement state, the remote control is disabled and the agricultural machine is stopped; when a remote control is performed to cause the work vehicle to enter an uphill slope having an inclination angle equal to or greater than the predetermined angle while in a reverse travel state, the agricultural machine is caused to travel in reverse up the uphill slope in accordance with the remote control. The cruise control system of claim 1 .

4. The control device When the permitted area includes a farm field and the exit of the farm field includes an uphill slope having an inclination angle equal to or greater than the predetermined angle, When a remote control is performed to cause the work vehicle to enter the uphill slope in a forward movement state, the remote control is disabled to stop the agricultural machine; when a remote control is performed to cause the agricultural machine to enter the uphill slope in a reverse drive state, the agricultural machine is caused to move backward up the uphill slope in accordance with the remote control. The cruise control system according to claim 3 .

5. the permitted area includes an area in which the remotely controlled traveling is permitted under certain conditions, When the state of the agricultural machine does not satisfy the conditions for permitting the remotely controlled traveling within the permitted area in the remote operation mode, the control device disables remote operation of the agricultural machine to travel within the permitted area. The cruise control system of claim 1 .

6. the control device, in the remote operation mode, causes an image indicating the prohibited area to be displayed on a display of a terminal device used by an operator performing the remote operation. The cruise control system of claim 1 .

7. 7. The travel control system according to claim 6, wherein the control device causes the display to display an image in which an indication of the prohibited area is superimposed on an image captured by a camera mounted on the agricultural machine.

8. 2. The cruise control system according to claim 1, wherein the control device displays a warning on a display of a terminal device used by an operator performing remote control when remote control is performed to cause the vehicle to enter the prohibited area.

9. 2. The travel control system according to claim 1, wherein the control device acquires position information of the agricultural machine from a positioning device that measures the position of the agricultural machine, and identifies an area in which the agricultural machine is located based on the position information.

10. A travel control system for agricultural machinery capable of automatic travel and remotely controlled travel, comprising: a storage device that stores the location of a permitted area where the remotely controlled traveling is permitted and the location of a prohibited area where the remotely controlled traveling is prohibited; a control device that is operable in an automatic driving mode that causes the agricultural machine to automatically drive in an automatic driving area and in a remote control mode that controls the driving of the agricultural machine by remote control, the control device disabling remote control that causes the agricultural machine to enter the prohibited area; Equipped with the control device sets at least a part of the automated driving area as the permitted area, sets the outside of the automated driving area as the prohibited area, and stores the positions of the permitted area and the prohibited area in the storage device; The agricultural machine is a work vehicle having an implement attached to the rear thereof, The control device When a remote control is performed to cause the work vehicle to enter an uphill slope having an inclination angle of a predetermined angle or more while in a forward movement state, the remote control is disabled and the agricultural machine is stopped; when a remote control is performed to cause the work vehicle to enter an uphill slope having an inclination angle equal to or greater than the predetermined angle while in a reverse travel state, the agricultural machine is caused to travel in reverse up the uphill slope in accordance with the remote control. Cruise control system.

11. A travel control system for agricultural machinery capable of automatic travel and remotely controlled travel, comprising: a storage device that stores the location of a permitted area where the remotely controlled traveling is permitted and the location of a prohibited area where the remotely controlled traveling is prohibited; a control device that is operable in an automatic driving mode that causes the agricultural machine to automatically drive in an automatic driving area and in a remote control mode that controls the driving of the agricultural machine by remote control, the control device disabling remote control that causes the agricultural machine to enter the prohibited area; Equipped with the control device sets at least a part of the automated driving area as the permitted area, sets the outside of the automated driving area as the prohibited area, and stores the positions of the permitted area and the prohibited area in the storage device; the permitted area includes an area in which the remotely controlled traveling is permitted under certain conditions, When the state of the agricultural machine does not satisfy the conditions for permitting the remotely controlled traveling within the permitted area in the remote operation mode, the control device disables remote operation of the agricultural machine to travel within the permitted area. Cruise control system.

12. A travel control system for agricultural machinery capable of automatic travel and remotely controlled travel, comprising: a storage device that stores the location of a permitted area where the remotely controlled traveling is permitted and the location of a prohibited area where the remotely controlled traveling is prohibited; a control device that is operable in an automatic driving mode that causes the agricultural machine to automatically drive in an automatic driving area and in a remote control mode that controls the driving of the agricultural machine by remote control, the control device disabling remote control that causes the agricultural machine to enter the prohibited area; Equipped with The control device setting at least a part of the automated driving area as the permitted area, setting the area outside the automated driving area as the prohibited area, and storing the positions of the permitted area and the prohibited area in the storage device; displaying, on the display, an image in which an indication of the prohibited area is superimposed on an image captured by a camera mounted on the agricultural machine; Cruise control system.

13. A cruise control system according to any one of claims 1 to 12; a traveling device controlled by the control device; Agricultural machinery equipped with

14. A travel control method for an agricultural machine capable of automatic travel and remote-controlled travel, comprising: acquiring information indicating a location of a permitted area where the remotely controlled traveling is permitted and a location of a prohibited area where the remotely controlled traveling is prohibited; The agricultural machine operates in an automatic driving mode in which the agricultural machine automatically drives in an automatic driving area, and in a remote control mode in which the driving of the agricultural machine is controlled by remote control; Disabling remote control of the agricultural machine to enter the prohibited area in the remote control mode; setting at least a part of the automated driving area as the permitted area; setting the outside of the automatic driving area as the prohibited area; setting the prohibited area to a range where the distance from the trunk of a tree included in the automatic driving area is equal to or less than a predetermined distance, and / or an area where a crop row or a row of furrows exists in a field included in the automatic driving area; storing the positions of the permitted areas and the prohibited areas in a storage device; A driving control method including:

Images